CN112478709A - Automatic material bag arrangement manipulator system and material bag arrangement method - Google Patents

Automatic material bag arrangement manipulator system and material bag arrangement method Download PDF

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Publication number
CN112478709A
CN112478709A CN202011590029.1A CN202011590029A CN112478709A CN 112478709 A CN112478709 A CN 112478709A CN 202011590029 A CN202011590029 A CN 202011590029A CN 112478709 A CN112478709 A CN 112478709A
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China
Prior art keywords
feeding
belt
negative pressure
blanking
motor
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Granted
Application number
CN202011590029.1A
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Chinese (zh)
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CN112478709B (en
Inventor
马子领
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North China University of Water Resources and Electric Power
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North China University of Water Resources and Electric Power
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Priority to CN202011590029.1A priority Critical patent/CN112478709B/en
Publication of CN112478709A publication Critical patent/CN112478709A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • 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
    • B65B17/00—Other machines, apparatus, or methods for packaging articles or materials
    • 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
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/24—Gearing between driving motor and belt- or chain-engaging elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)

Abstract

The invention discloses an automatic material bag arrangement manipulator system which comprises a feeding belt conveying device, a material bag transfer mechanism and a discharging belt conveying device, wherein the material bag transfer mechanism is used for positioning and transferring material bags on the feeding belt conveying device to the discharging belt conveying device; the middle part of the feeding belt is provided with a horn mouth with a big back and a small front, the horn mouth is surrounded by a left half part and a right half part which are symmetrically arranged left and right, a left transmission belt is wound at the circumferential side wall of the left half part, a right transmission belt is wound at the circumferential side wall of the left half part, and the running directions of the left transmission belt and the right transmission belt at the left side wall and the right side wall of the horn mouth face backwards; the feeding baffle is connected with a first turning rod, and the first turning rod extends to the middle of the rear end of the bell mouth and is connected with a shunt rod downwards. The invention can provide the arranged material bags for the subsequent filling process at a preset stable speed, has simple integral structure and lower cost, and is convenient to control the feeding speed of the material bags to the subsequent process and prevent material blockage.

Description

Automatic material bag arrangement manipulator system and material bag arrangement method
Technical Field
The invention relates to the technical field of food processing machinery, in particular to a manipulator system for automatically sequencing seasoning packets.
Background
In daily life, people have large demand for instant noodles, sour and hot noodles and the like, and the seasoning bags are indispensable for the instant noodles, the sour and hot noodles and the like. Manufacturers of instant noodles and sour and hot noodles need to ensure that each barrel of instant noodles and sour and hot noodles has to have one seasoning bag.
Most seasoning bags such as instant noodles and hot and sour noodles are manually put into the instant noodles, a large amount of human resources are required to be consumed, meanwhile, the efficiency is low, the labor intensity is high, and potential safety hazards exist.
Moreover, the hands of people still need to be in direct contact with the material bags in the working process, although most factories can enable workers to carry sterile gloves, the workers can feel stuffy when wearing the sterile gloves for a long time, hands can still exuviate in serious cases, and the sterile gloves are replaced for a second time after being used once, so that the waste of the sterile gloves is caused, and the use cost is increased.
Although some automatic feeding devices exist at present, the devices are large in size, multifunctional and expensive, some waste is caused to some manufacturers only carrying out automatic arrangement and placement of the seasoning bags (only producing instant noodles and sour and hot noodles), the equipment cost and the benefit are not proportional, and the automatic feeding device is not suitable for some small and medium-sized enterprises.
The Chinese patent 'automatic seasoning packet feeding device for instant noodle production' (application number 201920267089.6) overcomes the defect of high labor intensity of manual work in the past. However, if the feeding place is too many in one feeding, the feeding hole is easily blocked, if the feeding is too few in one feeding, the idea that manpower is reduced by the initial design is violated, and the material bag is required to be placed from the top end, so that the feeding is very inconvenient. Secondly, the instant noodles are only bagged instant noodles, and the current young people generally pursue barreled instant noodles and sour and hot powder.
Disclosure of Invention
The invention aims to provide an automatic material bag arrangement manipulator system which can provide arranged material bags for a subsequent process (filling process) at a preset stable speed, has a simple integral structure and low cost, and is convenient for controlling the feeding speed of the material bags to the subsequent process and preventing material blockage.
In order to achieve the purpose, the automatic material bag arrangement manipulator system comprises a feeding belt conveying device, a material bag transfer mechanism and a discharging belt conveying device, wherein the feeding belt conveying device and the discharging belt conveying device are arranged in parallel;
the feeding belt conveying device comprises a driving roller, a driven roller and a feeding belt wound between the driving roller and the driven roller; a driving roller and a driven roller of the feeding belt conveying device are both arranged on the feeding frame; a driving roller of the feeding belt conveying device is connected with a feeding motor and driven by the feeding motor;
the blanking belt conveying device comprises a driving roller, a driven roller and a blanking belt wound between the driving roller and the driven roller; a driving roller and a driven roller of the blanking belt conveying device are both arranged on the blanking frame; a driving roller of the blanking belt conveying device is connected with and driven by a blanking motor;
the material bag transfer mechanism is positioned between the front end part of the feeding belt conveyer and the rear end part of the discharging belt conveyer and is used for positioning and transferring the material bags on the feeding belt conveyer to the discharging belt conveyer by taking the conveying direction of the material bags as the front direction;
the feeding racks on the left side and the right side of the feeding belt are provided with feeding baffles, and the discharging racks on the left side and the right side of the discharging belt are provided with discharging baffles; a horn mouth with a big back and a small front is arranged in the middle of the feeding belt, gaps are respectively reserved between the left side and the right side of the rear end of the horn mouth and the feeding baffle plates on the same side, and the gaps are smaller than the thickness of the material bags to be conveyed; the horn mouth is enclosed by a left half part and a right half part which are arranged in a bilateral symmetry manner, the front end of the left half part is connected with a left driving motor, and the right end of the right half part is connected with a right driving motor; the width of the front end of the bell mouth is matched with the material bag to be conveyed;
a left transmission belt is wound on the circumferential side wall of the left half part, the left transmission belt is wound through an output shaft of a left driving motor and is driven by the left driving motor, and the left side wall of the bell mouth is attached to the left transmission belt;
a right transmission belt is wound on the circumferential side wall of the left half part, the right transmission belt is wound through an output shaft of a right driving motor and is driven by the right driving motor, and the right side wall of the bell mouth is attached to the right transmission belt;
the left driving motor and the right driving motor are both variable frequency motors;
the running directions of the left driving belt and the right driving belt at the left side wall and the right side wall of the bell mouth are both towards the rear;
the feeding baffle is connected with a first turning rod, the first turning rod extends to the middle of the rear end of the bell mouth and is downwards connected with a shunt rod, the shunt rod is vertically arranged, the lower end of the shunt rod is adjacent to the feeding belt and is provided with a gap, and the gap is smaller than the thickness of the material bag to be conveyed;
a left gathering device and a right gathering device are respectively arranged on the feeding baffle plates on the left side and the right side of the feeding belt in front of the bell mouth;
the left gathering device comprises a left suspension rod connected to a feeding baffle plate on the left side of the feeding belt, and the left suspension rod extends to the left side of the front end opening of the bell mouth in the left-right direction and is connected with a left gathering baffle plate;
the right gathering device comprises a right suspension rod connected to the feeding baffle plate on the right side of the feeding belt, and the right suspension rod extends to the right side of the front end opening of the bell mouth in the left-right direction and is connected with a right gathering baffle plate;
the left gathering baffle and the right gathering baffle are arranged in parallel;
the entrance of horn mouth is located the material loading area by the one-third department forward backward, and the material loading area at horn mouth rear is the windrow region, and horn mouth and inside material loading area enclose into the rectification region, and the separation blade is closed to the left side and the separation blade is closed to the right side and the material loading area between the two encloses into the region, and the material loading area in the separation blade the place ahead of closing into is the material loading transportation region.
Also comprises a material supplementing mechanism;
the feeding mechanism comprises feeding frames erected on the left side and the right side of the blanking belt conveyer, the top ends of the feeding frames are higher than the blanking belt, and the top ends of the feeding frames are connected with the feeding belt conveyer;
the feeding belt conveying device comprises a driving roller, a driven roller and a feeding belt wound between the driving roller and the driven roller; a driving roller and a driven roller of the material supplementing belt conveying device are both arranged at the top end of the material supplementing frame; the material supplementing frames on the left side and the right side of the material supplementing belt are respectively provided with a material supplementing baffle, and a gap is formed between the left side and the right side of the material supplementing belt and the material supplementing baffle and is smaller than the thickness of a material bag to be conveyed;
the driving roller of the feeding belt conveying device is connected with and driven by a feeding motor, the feeding motor is a variable-frequency stepping motor, a plurality of feeding groove plates are uniformly arranged on the surface of the feeding belt along the length direction of the feeding belt at intervals, a feeding groove is enclosed by adjacent feeding groove plates and the feeding belt therebetween, and the feeding groove is used for containing a material bag;
the front end of the material supplementing baffle is connected with a discharging guide plate, and the discharging guide plate is positioned right in front of the material supplementing belt and is adjacent to the material supplementing belt; the front end of the blanking guide plate is lower than the rear end and is obliquely arranged, the front end of the blanking guide plate is narrow and the rear end of the blanking guide plate is wide and is trapezoidal, and the front end of the blanking guide plate is positioned above the middle part of the material supplementing belt in the left-right direction; the left side edge and the right side edge of the blanking guide plate are upwards connected with side baffles;
the length of one step of the stepping motor is the same as the distance between two adjacent feed trough plates.
The material bag transfer mechanism comprises a transfer frame, and the transfer frame is positioned between the front end part of the feeding belt conveyer and the rear end part of the discharging belt conveyer; the transfer frame is upwards connected with a top frame;
the bottom of the transfer frame is provided with a negative pressure generating device, the transfer frame is provided with a transfer motor and a supporting box, the supporting box is rotatably connected with a vertically arranged negative pressure barrel, the negative pressure barrel is provided with a driven gear, an output shaft of the transfer motor is provided with a driving gear, and the driving gear and the driven gear are in transmission connection through a gear belt; the device comprises a support box, a negative pressure cylinder, a plurality of height control discs, a plurality of height control plates and a plurality of labyrinth seal rings, wherein the support box is in rotating seal fit with the negative pressure cylinder through the labyrinth seal rings; the support box is connected with a negative pressure pipe downwards, and the negative pressure pipe is connected with a negative pressure generating device;
the negative pressure transfer mechanism comprises a mounting seat fixed on the upper surface of the negative pressure box, a mounting groove is formed in the top of the mounting seat, a transfer cross rod is hinged to the mounting groove, the transfer cross rod extends along the radial direction of the negative pressure box and faces inwards in the direction pointing to the center of the negative pressure box, the inner end of the transfer cross rod is located on the inner side of the mounting seat and is connected with a tension spring downwards, and the tension spring is used for pulling the inner end of the transfer cross rod downwards out of the bottom groove; the outer end of the transfer cross rod is positioned on the outer side of the mounting seat, and the rotating path of the transfer cross rod passes right above the feeding transfer area;
the outer end of the transfer cross rod is downwards connected with a hollow transfer vertical rod, and the rotary vertical rod is downwards fixedly communicated with a sucker for grabbing the material bag; the inner cavity of the transfer vertical rod is communicated with the negative pressure box through a hose;
under the pull-down action of the tension spring and the rotation supporting action of the mounting seat, the transfer cross rod is upwards contacted with the track; when the transferring cross rod passes through the arc-shaped bulge, the sucking disc moves downwards to a position adjacent to the feeding belt at the feeding transferring area and is used for sucking the material bag at the feeding transferring area;
the material area is connect the material region for the transportation to tip behind the unloading area, and the unloading baffle of the unloading area left and right sides upwards is connected with the second turning lever respectively, the free end of two second turning levers all extends to the middle part in unloading area and is connected with blanking plate respectively, and two blanking plate intervals set up and enclose into the blanking mouth between two blanking plates, and the blanking mouth is less than the width of material package and is greater than the diameter of sucking disc, and the rotation path of sucking disc passes through the blanking mouth, and the blanking mouth is located the middle part of unloading area width direction and is located the rear of feed supplement mechanism.
The upper surface of the transferring cross rod is provided with an upper groove at a position corresponding to the track, a rotating shaft is arranged in the upper groove, and the rotating shaft is in rolling compression joint with the track.
The negative pressure generator is characterized by also comprising a control box arranged at the bottom of the transfer frame, wherein an electric control device and the negative pressure generator are arranged in the control box, and the transfer motor, the feeding motor and the discharging motor are all variable frequency motors; a photoelectric sensor for detecting a material bag on the blanking belt is arranged on a blanking baffle plate between the blanking port and the material supplementing mechanism;
the electric control device is connected with the left driving motor, the right driving motor, the feeding motor, the discharging motor, the material supplementing motor, the negative pressure generating device, the transferring motor and the photoelectric sensor.
A plurality of feeding rollers for supporting the feeding belt are arranged between the upper half and the lower half of the feeding belt at intervals in parallel, and the feeding rollers are rotatably connected with the feeding baffle.
The invention also discloses a material bag arrangement method using the material bag automatic arrangement manipulator system, which comprises the following steps:
firstly, preparing;
a worker starts the left driving motor, the right driving motor, the feeding motor, the discharging motor, the negative pressure generating device, the transferring motor and the photoelectric sensor through the electric control device; the rotating speed of the left driving motor is 0.5 times of that of the right driving motor;
secondly, feeding;
an operator or upstream equipment sends a plurality of material bags and places the material bags on a feeding belt at a material stacking area;
thirdly, feeding;
controlling the total feeding speed by controlling the running frequency of a feeding motor;
the feeding motor drives the upper half width of the feeding belt to move forwards, and drives the material bag at the stacking area to move forwards; when the material bag passes through the shunting rod forwards, the material bag is divided into a left material bag flow and a right material bag flow under the blocking action of the shunting rod, and the left material bag flow and the right material bag flow enter the bell mouth along the left side and the right side of the shunting rod;
after the material bags enter the rectifying area, because the width of the front end of the bell mouth is matched with the material bags to be conveyed, the central positions of the material bags flowing out of the rectifying area are positioned on the same central line, and the central line is superposed with the central line of the bell mouth;
part of the material bag in the rectifying area is in contact with the left transmission belt and the right transmission belt, and the left transmission belt and the right transmission belt play a material stirring role in the material bag in the running process, wherein the material stirring role is opposite to the running direction of the material feeding belt;
the material bag flow with the width of one material bag enters a gathering area after passing through a horn mouth, and is gathered into a stable material bag flow; the material package flow enters a feeding transfer area after passing through a gathering area;
the fourth is the transfer;
the negative pressure generated by the fixing part negative pressure generating device is transmitted into the fixing part supporting box through the fixing part negative pressure pipe, the supporting box transmits the negative pressure to the rotating part negative pressure cylinder, the negative pressure cylinder transmits the negative pressure to the integrally rotating negative pressure box, the negative pressure box transmits the negative pressure to the hollow transfer vertical rod through the synchronously rotating hose, and the transfer vertical rod transmits the negative pressure to the sucker;
the transfer motor drives the negative pressure cylinder and the negative pressure box to rotate, and each negative pressure transfer mechanism is driven by the negative pressure box to rotate ceaselessly; the electric control device controls the running frequency of the transfer motor to enable the rotating speed of each negative pressure transfer mechanism to be matched with the feeding speed of the feeding belt; when the transfer cross rods of the negative pressure transfer mechanisms pass through the arc-shaped bulges in the process of rotating along the track, the transfer cross rods move downwards under the action of the arc-shaped bulges to drive the suckers to move downwards, so that the suckers automatically absorb the material bags in the feeding and transferring area;
when the material bag adsorbed on the sucker rotates to the blanking port, the sucker continuously rotates through the blanking port, and the material bag falls in the middle of the width direction of the blanking belt of the material transferring and receiving area after being blocked by the blanking port, moves forwards along with the blanking belt and is supplied to the next working procedure;
and continuously performing the third step and the fourth step, continuously rectifying the material bags accumulated in the stacking area into a material bag flow with uniform speed, transferring the material bag flow, and then supplying the material bag flow to a next process at a constant speed until the material bags at the stacking area are used up or are about to be used up, and performing the second step.
Also includes a feeding method;
a worker puts a material bag in each material supplementing groove on the upper half width of the material supplementing belt in advance;
in the continuous process of the fourth step, namely the transferring step, a photoelectric sensor detects whether a material bag is normally conveyed to a next process on the blanking belt; when the electrically controlled device detects that there is the material condition that leaks to take place through photoelectric sensor, leak material quantity N in succession according to photoelectric sensor detects, N is the natural number, starts the step-by-step N step-length of feed supplement motor, adjusts the operating frequency of feed supplement motor, makes the feed supplement area loop through the unloading baffle with the material package of corresponding quantity and transfers to the unloading area on, guarantees the unloading area and carries the continuity of material package to the next process.
The invention has the following advantages:
the material package is when following the material loading forward through the reposition of redundant personnel pole, is blockked the back by the reposition of redundant personnel pole and gets into the intraoral rectification region of horn along the left side or the right side of reposition of redundant personnel pole, can prevent that the feeding from concentrating too much and taking place the feeding and pile up the phenomenon.
The running direction of the left driving belt and the right driving belt at the left side wall and the right side wall of the horn mouth faces the rear side, and the material stirring effect opposite to the feeding direction of the feeding belt is achieved. If the forward moving speed of the material bags on the two sides of the flow dividing rod is the same, the two material bags are relatively easier to be squeezed together to form blockage when passing through the front part with a narrower bell mouth; according to the invention, the rotating speed of the left driving motor is 0.5 times of the rotating speed of the right driving motor, so that the material bags on the two sides of the flow dividing rod move forwards at an obvious speed difference, are not easy to be squeezed together to form blockage, and a good anti-blocking effect is achieved.
The forward feeding speed of the bell mouth of the feeding belt can be adjusted by adjusting the operating frequency of the left driving motor and the right driving motor, and a better anti-blocking effect can be obtained by adjusting the forward feeding speed.
Every time the stepping motor runs one step length, the material supplementing belt runs the distance of one material supplementing groove forwards, and a material bag in the material supplementing groove on the upper surface of the material supplementing belt falls to the middle of the material discharging belt along the discharging guide plate, so that one material supplementing action is completed. The blanking guide plate enables the material bag to stably fall on the blanking belt.
Material package transport mechanism simple structure makes through track and arc arch when transporting the horizontal pole and rotate to the protruding department of arc, moves down under the bellied pushing down effect of arc, drives and transports montant and sucking disc and move down for the automatic material package that adsorbs the material loading and transport regional department of sucking disc. The negative pressure that mounting negative pressure generating device produced spreads into mounting supporting box into through mounting negative pressure pipe, and the supporting box transmits the negative pressure to a rotation piece negative pressure section of thick bamboo, and a negative pressure section of thick bamboo transmits the negative pressure for integrative pivoted negative pressure case, and the negative pressure case transmits the negative pressure to hollow transportation montant through synchronous pivoted hose, transports the montant and transmits the negative pressure for the sucking disc, and the sucking disc passes through the material package of negative pressure absorption material loading transportation region department. The material package is blockked by the blanking plate when the sucking disc is rotatory through the blanking mouth along with the sucking disc, and the sucking disc passes through the blanking mouth and the material package is blockked and falls down in the middle part in unloading area because of being greater than the blanking mouth by the blanking plate, accomplishes material package transportation work and connects a regular spread with the material package in the middle part in unloading area.
The material package transport mechanism can accomplish the function of absorbing material package, fixed point (blanking mouth department) blanking in a rotation cycle of sucking disc through the periodic rotation and the automatic rising of sucking disc, and the characteristic that the sucking disc absorbed the material has decided can only adsorb a material package at every turn, makes the material package fold the pile state by the possibility and become the no pile state that folds of fixed point orderly arrangement.
The setting of pivot for transport horizontal pole and track become the roll cooperation by sliding fit, thereby reduce by a wide margin and transport the horizontal pole rotatory time and the track between frictional force.
The material loading area drives each material loading roller to rotate when passing through each material loading roller, and each material loading roller rotatably supports the material loading area, so that the material loading area can be well supported, and the friction force generated by supporting the material loading area is reduced through rotation.
The material bag arrangement method is simple and convenient, has less manpower requirement, can continuously and stably convey the orderly arranged material bags to the next procedure, improves the automation degree of production, has lower equipment cost and operation cost, and is more suitable for small and medium-sized manufacturers compared with the existing equipment.
The material supplementing method can still keep the continuity of conveying the material bag to the next procedure under the condition that a certain sucker or certain suckers do not suck the material bag, and realizes the timeliness of material supplementing, so that the material supplementing method has good fault tolerance.
The invention not only reduces the labor intensity of workers, but also can realize the ordered arrangement of the material bags and realize the connection with front and rear end equipment to form a production line; the automatic material bag arranging manipulator system has the advantages of compact structure, simple disassembly and assembly, easy maintenance and low cost, and completely meets the production requirements of small and medium-sized production lines; aiming at the problem that the feed inlet is easy to block in the past, the invention specially designs a flow dividing column for dividing flow, and a left transmission belt and a right transmission belt at the bell mouth control the feed speed at the bell mouth.
The invention has the main characteristics that the rotating speed of the negative pressure box is adjusted by adjusting the frequency of the transfer motor, the distance between every two material bags is controlled, and the device is further suitable for the transmission of the material bags of various instant noodles; the invention has convenient operation and simple structure, does not need too many workers, and can complete the work of maintaining equipment, discharging and the like only by one worker; in addition, the feeding belt conveying device, the discharging belt conveying device, the rotating mechanism and the material supplementing mechanism are reasonably arranged, so that the space is saved as much as possible (for example, the feeding belt and the discharging belt are parallel and side by side, and the downstream end part of the feeding belt is adjacent to the upstream end part of the discharging belt), and the cost is reduced.
Drawings
Fig. 1 is a schematic structural diagram of an automatic material bag arranging manipulator system of the invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic perspective view of the automatic material bag arrangement manipulator system at an angle;
FIG. 4 is an enlarged view at A in FIG. 3;
FIG. 5 is a schematic perspective view of the automatic material bag arranging manipulator system at another angle;
FIG. 6 is an enlarged view at B in FIG. 5;
FIG. 7 is an enlarged view at C of FIG. 1;
fig. 8 is an electrical control schematic of the present invention.
Detailed Description
As shown in fig. 1 to 8, the present invention provides an automatic arrangement manipulator system for material packages, which comprises a feeding belt conveyer, a material package transfer mechanism and a discharging belt conveyer, wherein the feeding belt conveyer and the discharging belt conveyer are arranged in parallel;
the feeding belt conveying device comprises a driving roller, a driven roller and a feeding belt 1 wound between the driving roller and the driven roller; a driving roller and a driven roller of the feeding belt conveying device are both arranged on the feeding frame 2; a driving roller of the feeding belt conveying device is connected with a feeding motor 3 and is driven by the feeding motor 3;
the feeding belt conveyer, the discharging belt conveyer and the supplementary material belt conveyer are the same in structure and are conventional technologies, and a driving roller and a driven roller in each belt conveyer are shielded by the feeding belt 1, the discharging belt 4 or the supplementary material belt 27 in each view, which is not shown in the figure.
The blanking belt conveying device comprises a driving roller, a driven roller and a blanking belt 4 wound between the driving roller and the driven roller; a driving roller and a driven roller of the blanking belt conveying device are both arranged on the blanking frame 5; a driving roller of the blanking belt conveying device is connected with a blanking motor and is driven by a blanking motor 6;
the material bag transfer mechanism is positioned between the front end part of the feeding belt conveyer and the rear end part of the discharging belt conveyer and is used for positioning and transferring the material bags on the feeding belt conveyer to the discharging belt conveyer by taking the conveying direction of the material bags as the front direction;
because the conveying direction of the material bags is used as the forward direction, the front and back directions of the feeding belt conveying device and the discharging belt conveying device are opposite, and the left and right directions are also opposite.
The feeding frames 2 on the left side and the right side of the feeding belt 1 (namely the two sides in the width direction of the feeding belt 1) are provided with feeding baffles 7, and the discharging frames 5 on the left side and the right side of the discharging belt 4 are provided with discharging baffles 8; a horn mouth with a big back and a small front is arranged in the middle of the feeding belt 1, gaps are respectively arranged between the left side and the right side of the rear end (namely the upstream end) of the horn mouth and the feeding baffle 7 on the same side, and the gaps are smaller than the thickness of the material bag to be conveyed (the material bag to be conveyed is filled with seasonings and has thickness, and the gaps are smaller than the thickness of the material bag, so that the material leakage can be avoided); the bell mouth is formed by a left half part 10 and a right half part 11 which are arranged in a bilateral symmetry mode, the front end of the left half part 10 is connected with a left driving motor 12, and the right end of the right half part 11 is connected with a right driving motor 13; the width of the front end (namely the downstream end) of the bell mouth is matched with the material bag to be conveyed, so that the central position of each material bag flowing out of the rectifying area is basically positioned on the same central line, and the central line is superposed with the central line of the bell mouth, thereby creating conditions for sucking the material bag by the sucking disc 51 at a fixed point; specifically, the width of the front end of the bell mouth is greater than the width of the material bag (so as to allow the material bag to pass) and less than the diagonal length of the material bag, so as to prevent some material bags from deviating too much from the center line of the bell mouth, so that the suction cup 51 can suck the material bags when moving down to the lowest position and passing through the center line of the bell mouth.
A left transmission belt 14 is wound on the circumferential side wall of the left half part 10, the left transmission belt 14 is wound through an output shaft of the left driving motor 12 and is driven by the left driving motor 12, and the left side wall of the bell mouth is attached to the left transmission belt 14;
a right transmission belt 15 is wound on the circumferential side wall of the left half part 10, the right transmission belt 15 is wound through an output shaft of a right driving motor 13 and is driven by the right driving motor 13, and the right side wall of the bell mouth is attached to the right transmission belt 15;
the left driving motor 12 and the right driving motor 13 are both variable frequency motors;
the traffic direction of the left drive belt 14 of lateral wall department about the horn mouth and right drive belt 15 all towards the rear (be the upstream direction that the material package carried promptly) to produce the effect of dialling the material backward to the material package that gets into the horn mouth, can control the feeding speed of horn mouth department, can prevent again that the material package from blockking up in horn mouth department.
The feeding baffle 7 is connected with a first turning rod 16, the first turning rod 16 extends to the middle of the rear end of the bell mouth and is downwards connected with a shunt rod 17, the shunt rod 17 is vertically arranged, the lower end of the shunt rod 17 is adjacent to the feeding belt 1 and has a gap, and the gap is smaller than the thickness of a material bag to be conveyed;
a left gathering device and a right gathering device are respectively arranged on the feeding baffle 7 at the left side and the right side of the feeding belt 1 in front of the bell mouth;
the left gathering device comprises a left suspension rod 18 connected to the feeding baffle 7 on the left side of the feeding belt 1, and the left suspension rod 18 extends to the left side of the front end opening of the bell mouth in the left-right direction and is connected with a left gathering baffle 19;
the right gathering device comprises a right suspension rod 20 connected to the feeding baffle 7 on the right side of the feeding belt 1, and the right suspension rod 20 extends to the right side of the front end opening of the bell mouth in the left-right direction and is connected with a right gathering baffle 21;
the left gathering baffle 19 and the right gathering baffle 21 are arranged in parallel;
the entrance of the bell mouth is located one third of the upper material belt 1 from back to front, the upper material belt 1 behind the bell mouth (namely the upstream side) is a stacking area 22, the bell mouth and the upper material belt 1 inside the bell mouth enclose a rectifying area 23, the left closing separation blade 19, the right closing separation blade 21 and the upper material belt 1 between the left closing separation blade and the right closing separation blade 21 enclose a closing area 24, and the upper material belt 1 in front of the closing separation blade is a feeding transfer area 25.
The material package is when following material loading 1 forward through reposition of redundant personnel pole 17, is blockked the left side or the right side entering horn mouth's rectification region 23 of back edge reposition of redundant personnel pole 17 by reposition of redundant personnel pole 17, can prevent that the feeding from concentrating too much and taking place the feeding and pile up the phenomenon.
The running directions of the left driving belt 14 and the right driving belt 15 at the left side wall and the right side wall of the bell mouth face to the rear, so that a material stirring effect opposite to the direction of the material feeding belt 1 is achieved, and the blockage phenomenon of materials when the materials pass through the bell mouth with a narrow front part and a wide rear part and when the material bags are gathered is prevented; the feeding speed of the feeding belt 1 can be adjusted by adjusting the running frequency of the feeding motor 3.
The invention also comprises a material supplementing mechanism; the material supplementing mechanism comprises material supplementing frames 26 erected on the left side and the right side of the blanking belt conveyer, the top ends of the material supplementing frames 26 are higher than the blanking belt 4, and the top ends of the material supplementing frames 26 are connected with the material supplementing belt conveyer;
the feeding belt conveying device comprises a driving roller, a driven roller and a feeding belt 27 wound between the driving roller and the driven roller; a driving roller and a driven roller of the feeding belt conveying device are both arranged at the top end of the feeding frame 26; the material supplementing frames 26 on the left side and the right side of the material supplementing belt 27 are respectively provided with a material supplementing baffle 28, and gaps are formed between the left side and the right side of the material supplementing belt 27 and the material supplementing baffle 28 and are smaller than the thickness of a material bag to be conveyed;
the driving roll of the feeding belt conveying device is connected with a feeding motor 29 and driven by the feeding motor 29, the feeding motor 29 is a variable-frequency stepping motor, a plurality of feeding groove plates 30 are uniformly arranged on the surface of the feeding belt 27 along the length direction of the feeding belt 27 at intervals, a feeding groove is enclosed by adjacent feeding groove plates 30 and the feeding belt 27 therebetween, and the feeding groove is used for containing a material bag;
the front end of the material supplementing baffle 28 is connected with a discharging guide plate 31, and the discharging guide plate 31 is positioned right in front of the material supplementing belt 27 and is adjacent to the material supplementing belt 27; the front end of the blanking guide plate 31 is lower than the rear end and is obliquely arranged, the front end of the blanking guide plate 31 is narrow and the rear end is wide and is trapezoidal, and the front end of the blanking guide plate 31 is positioned above the middle part of the supplement belt 27 in the left-right direction; the left side and the right side of the blanking guide plate 31 are upwards connected with side baffles 32; the length of one step of the stepping motor is the same as the distance between two adjacent feed trough plates 30.
When the stepping motor runs for one step, the material supplementing belt 27 runs forward for the distance of one material supplementing groove, and a material bag in the material supplementing groove on the upper surface of the material supplementing belt 27 falls to the middle of the discharging belt 4 along the discharging guide plate 31, so that one material supplementing action is completed. The blanking guide plate 31 allows the bale to fall smoothly onto the blanking belt 4.
The material bag transfer mechanism comprises a transfer frame 33, and the transfer frame 33 is positioned between the front end part of the feeding belt conveyer and the rear end part of the discharging belt conveyer; the transfer frame 33 is connected with a top frame 34 upwards;
a negative pressure generating device 58 (arranged in the control box 35) is arranged at the bottom of the transferring frame 33, a transferring motor 36 and a supporting box 37 are arranged on the transferring frame 33, the supporting box 37 is rotatably connected with a vertically arranged negative pressure cylinder 38, a driven gear 39 is arranged on the negative pressure cylinder 38, a driving gear is arranged on an output shaft of the transferring motor 36, and the driving gear and the driven gear 39 are in transmission connection through a gear belt 40; the drive gear is conventional and not shown in detail. The negative pressure cylinder 38 and the supporting box 37 are in rotating sealing fit through a labyrinth seal ring. The rotary sealing by means of labyrinth seals is conventional, which are not shown in detail.
The negative pressure barrel 38 is upwards fixedly communicated with a hollow cylindrical negative pressure box 41, the top of the negative pressure box 41 is uniformly connected with a plurality of negative pressure transfer mechanisms at intervals along the circumferential direction, the upper frame 34 above the negative pressure box 41 is downwards fixedly connected with a height control disc 43 for controlling the height of a transfer cross rod 42 of each negative pressure transfer mechanism, the bottom surface of the height control disc 43 is upwards sunken and provided with a bottom groove, the bottom end of the side wall of the bottom groove forms an annular rail 44, and one side of the rail 44 facing the feeding transfer area 25 is upwards provided with an arc-shaped bulge 45 with thick middle and thin two sides; the support box 37 is connected with a negative pressure pipe 46 downwards, and the negative pressure pipe 46 is connected with a negative pressure generating device 58;
the negative pressure transfer mechanism comprises an installation seat 47 fixed on the upper surface of the negative pressure box 41, the top of the installation seat 47 is provided with an installation groove 48, the installation groove 48 is hinged with a transfer cross rod 42, the transfer cross rod 42 extends along the radial direction of the negative pressure box 41 and is inward in the direction pointing to the center of the negative pressure box 41, the inner end of the transfer cross rod 42 is positioned on the inner side of the installation seat 47 and is downwards connected with a tension spring 49, and the tension spring 49 is used for downwards pulling the inner end of the transfer cross rod 42 out of a bottom; the outer end of the transfer cross bar 42 is positioned outside the mounting seat 47 and the rotating path of the transfer cross bar passes right above the feeding and transferring area 25;
the outer end of the transferring cross rod 42 is downwards connected with a transferring vertical rod 50 which is arranged in a hollow mode, and the rotating vertical rod is downwards fixedly communicated with a sucking disc 51 used for grabbing a material bag; the inner cavity of the transfer vertical rod 50 is communicated with the negative pressure box 41 through a hose; the hose is conventional and rotates with the negative pressure tank 41 and the transfer vertical rod 50, and is not shown in order to avoid disorder of the drawing.
Under the pull-down action of the tension spring 49 and the rotation supporting action of the mounting seat 47, the transfer cross rod 42 is upwards contacted with the track 44; when the transferring cross rod 42 passes through the arc-shaped bulge 45, the sucking disc 51 moves downwards to a position adjacent to the feeding belt 1 at the feeding transferring area 25 and is used for sucking the material bags at the feeding transferring area 25;
end portion (being the upper reaches tip) connects material region 52 for the transportation behind the blanking area 4, and the unloading baffle 8 of the 4 left and right sides in blanking area upwards is connected with second turning lever 53 respectively, two second turning lever 53's free end all extends to the middle part of blanking area 4 and is connected with blanking plate 54 respectively, and two blanking plate 54 intervals set up and enclose into blanking mouth 55 between two blanking plates 54, and blanking mouth 55 is less than the width of material package and is greater than sucking disc 51's diameter, and sucking disc 51's rotation route passes through blanking mouth 55, and blanking mouth 55 is located the middle part of 4 width direction in blanking area and is located the rear (being the upstream direction) of feed supplement mechanism. Among them, the negative pressure generating device 58 is preferably a vacuum pump.
Material package transport mechanism simple structure makes the transportation horizontal pole 42 rotate to the protruding 45 departments of arc through track 44 and the arch 45 of arc, moves down under the bellied 45 of arc pushes down the effect, drives and transports montant 50 and sucking disc 51 and move down, and sucking disc 51 is located the central line top of horn mouth when moving down to the extreme lower position for sucking disc 51 fixed point automatic absorption material loading transports the material package of regional 25 departments. The negative pressure that mounting negative pressure generating device 58 produced spreads into mounting supporting box 37 through mounting negative pressure pipe 46, and supporting box 37 transmits the negative pressure to a rotation piece negative pressure section of thick bamboo 38, and a negative pressure section of thick bamboo 38 transmits the negative pressure for integrative pivoted negative pressure case 41, and negative pressure case 41 transmits the negative pressure to hollow transportation montant 50 through synchronous pivoted hose, transports montant 50 and transmits the negative pressure for sucking disc 51, and sucking disc 51 passes through the material package of negative pressure absorption material loading transportation region 25 department. The material package is blockked by blanking plate 54 when sucking disc 51 is rotatory through blanking mouth 55 along with, and sucking disc 51 blocks and falls downwards in the middle part of unloading area 4 through blanking mouth 55 and the material package is blockked by blanking plate 54 because of being greater than blanking mouth 55 through blanking mouth 55, accomplishes the material package and transports work and with material package one by one regular spread in the middle part of unloading area 4.
An upper groove 56 is arranged at the position of the upper surface of the transfer cross rod 42 corresponding to the track 44, a rotating shaft 57 is arranged in the upper groove 56, and the rotating shaft 57 is in rolling pressure connection with the track 44.
The pivot 57 is configured to change the sliding engagement of the transfer rail 42 with the track 44 to the rolling engagement, thereby greatly reducing the friction between the transfer rail 42 and the track 44 during rotation.
The device also comprises a control box 35 arranged at the bottom of the transfer frame 33, wherein an electric control device 9 and the negative pressure generating device 58 are arranged in the control box 35, and the transfer motor 36, the feeding motor 3 and the discharging motor 6 are all variable frequency motors; a photoelectric sensor 59 for detecting the material bag on the blanking belt 4 is arranged on the blanking baffle 8 between the blanking port 55 and the material supplementing mechanism;
the electric control device 9 is connected with the left driving motor 12, the right driving motor 13, the feeding motor 3, the discharging motor 6, the material supplementing motor 29, the negative pressure generating device 58, the transferring motor 36 and the photoelectric sensor 59.
A plurality of feeding roller shafts used for supporting the feeding belt 1 are arranged between the upper half width and the lower half width of the feeding belt 1 at intervals in parallel, and the feeding roller shafts are rotatably connected with the feeding baffle 7.
The material loading belt 1 drives each material loading roller shaft to rotate when passing through each material loading roller shaft, and each material loading roller shaft rotatably supports the material loading belt 1, so that the material loading belt 1 can be well supported, and the friction force generated by supporting the material loading belt 1 is reduced through rotation. The loading roller is conventional and not shown.
The invention also discloses a material bag arrangement method using the material bag automatic arrangement manipulator system, which comprises the following steps:
firstly, preparing;
a worker starts the left driving motor 12, the right driving motor 13, the feeding motor 3, the discharging motor 6, the negative pressure generating device 58, the transferring motor 36 and the photoelectric sensor 59 through the electric control device 9; the rotating speed of the left driving motor 12 is 0.5 times of the rotating speed of the right driving motor 13;
secondly, feeding;
a plurality of material bags are sent by an operator or upstream equipment and are placed on the material loading belt 1 at the material stacking area 22;
thirdly, feeding;
the total feeding speed is controlled by controlling the running frequency of the feeding motor 3;
the feeding motor 3 drives the upper half of the feeding belt 1 to move forwards (namely downstream direction), and drives the material bag at the stacking area 22 to move forwards; when the material bag passes through the diversion rod 17 forwards, the material bag is divided into a left material bag flow and a right material bag flow under the blocking action of the diversion rod 17, and the left material bag flow and the right material bag flow enter the bell mouth along the left side and the right side of the diversion rod 17;
after the material package got into the rectifying area 23, because the bell mouth front end width with treat the material package phase-match that carries, consequently the central point of each material package that flows out by the rectifying area puts on same central line, and this central line coincides mutually with the central line of bell mouth, absorbs the material package for sucking disc 51 fixed point creates the condition.
The partial material bag in the rectifying area 23 is in contact with the left transmission belt 14 and the right transmission belt 15, and the left transmission belt 14 and the right transmission belt 15 play a material stirring role opposite to the running direction of the material feeding belt 1 for the material bag in the running process.
If the speed of the material bags on the two sides of the diversion rod 17 moving forward is the same, the two material bags are relatively easier to be squeezed together to form a blockage when passing through the front part with a narrower bell mouth; in the invention, the rotating speed of the left driving motor 12 is 0.5 times of the rotating speed of the right driving motor 13, so that the forward moving speed of the material bags on the two sides of the flow dividing rod 17 has obvious speed difference, the material bags are not easy to be squeezed together to form blockage, and a good anti-blockage effect is achieved.
The material bag flow with the width of one material bag enters the gathering area 24 after passing through the bell mouth, and is gathered into stable material bag flow; the material package flows through the gathering area 24 and then enters the feeding and transferring area 25; when the material package gets into material loading transshipment region 25, the phenomenon that the material package overlaps from top to bottom can appear occasionally.
The fourth is the transfer;
the negative pressure generated by the fixing part negative pressure generating device 58 is transmitted into the fixing part supporting box 37 through the fixing part negative pressure pipe 46, the supporting box 37 transmits the negative pressure to the rotating part negative pressure cylinder 38, the negative pressure cylinder 38 transmits the negative pressure to the integrally rotating negative pressure box 41, the negative pressure box 41 transmits the negative pressure to the hollow transfer vertical rod 50 through the synchronously rotating hose, and the transfer vertical rod 50 transmits the negative pressure to the suction cup 51;
the transfer motor 36 drives the negative pressure cylinder 38 and the negative pressure box 41 to rotate, and each negative pressure transfer mechanism is driven by the negative pressure box 41 to rotate ceaselessly; the electric control device 9 controls the running frequency of the transfer motor 36 to ensure that the rotating speed of each negative pressure transfer mechanism is matched with the feeding speed of the feeding belt 1; when the transfer cross rod 42 of each negative pressure transfer mechanism passes through the arc-shaped bulge 45 in the process of rotating along the track 44, the transfer cross rod moves downwards under the action of the arc-shaped bulge 45 to drive the sucking disc 51 to move downwards, so that the sucking disc 51 automatically adsorbs the material bags in the feeding transfer area 25;
when the material bag adsorbed on the suction cup 51 rotates to the blanking port 55, the suction cup 51 continuously rotates through the blanking port 55, and the material bag falls on the middle part of the width direction of the blanking belt 4 of the material transferring and receiving area 52 after being blocked by the blanking port 55, moves forwards (downstream direction) along with the blanking belt 4 and is supplied to the next process (such as filling process);
even if the phenomenon that the material bags are overlapped up and down occurs, the sucking disc 51 and the material bags are soft, so that the sucking disc or the transfer vertical rod 50 cannot be damaged due to overlarge stress. Of course, when the material bags are overlapped up and down, since the sucking disc 51 can only suck the material bag on the upper layer, the material bag can move forward along with the material feeding belt without being sucked away until falling from the front end of the material feeding belt. Therefore, during work, a material receiving box is required to be arranged below the front end of the upper material belt to receive the material bags which are not sucked away due to the vertical overlapping. After long-time work, when the material bags in the material receiving box are accumulated to be needed by one-time feeding, a worker does not take materials from the previous procedure during feeding, but pours the material bags in the material receiving box into a stacking area at the rear end part of the material feeding belt.
The third and fourth steps are continued, and the material bags accumulated in the stacking area 22 are continuously rectified into a material bag flow with uniform speed and are transported to be supplied to the next process at a constant speed, until the material bags at the stacking area 22 are used up or are about to be used up, the second step is carried out.
The material bag arrangement method is simple and convenient, has less manpower requirement, can continuously and stably convey the orderly arranged material bags to the next procedure, improves the automation degree of production, has lower equipment cost and operation cost, and is more suitable for small and medium-sized manufacturers compared with the existing equipment.
The material bag arrangement method also comprises a material supplementing method;
a worker puts a material bag in each material supplementing groove on the upper half width of the material supplementing belt 27 in advance;
in the continuous process of the fourth step, namely the transferring step, the photoelectric sensor 59 detects whether the blanking belt 4 has a material bag to be normally conveyed to the next process; when the electric control device 9 detects that the material leakage condition occurs through the photoelectric sensor 59, the continuous material leakage quantity N detected by the photoelectric sensor 59 is started, N is a natural number, the stepping N step length of the material supplementing motor 29 is started, the running frequency of the material supplementing motor 29 is adjusted, the material supplementing belt 27 enables the material bags with corresponding quantity to sequentially pass through the blanking guide plate 31 and then be placed on the blanking belt 4, and the continuity of the material bags conveyed to the next process by the blanking belt 4 is ensured.
The material supplementing method can still keep the continuity of conveying the material package to the next procedure under the condition that a certain or some sucking discs 51 do not suck the material package, thereby realizing the timeliness of material supplementing and ensuring that the material supplementing method has good fault tolerance.
Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.

Claims (8)

1. Automatic material package arrangement manipulator system, including material loading belt conveyer, its characterized in that: the automatic feeding device also comprises a material bag transfer mechanism and a discharging belt conveyer, wherein the feeding belt conveyer and the discharging belt conveyer are arranged in parallel;
the feeding belt conveying device comprises a driving roller, a driven roller and a feeding belt wound between the driving roller and the driven roller; a driving roller and a driven roller of the feeding belt conveying device are both arranged on the feeding frame; a driving roller of the feeding belt conveying device is connected with a feeding motor and driven by the feeding motor;
the blanking belt conveying device comprises a driving roller, a driven roller and a blanking belt wound between the driving roller and the driven roller; a driving roller and a driven roller of the blanking belt conveying device are both arranged on the blanking frame; a driving roller of the blanking belt conveying device is connected with and driven by a blanking motor;
the material bag transfer mechanism is positioned between the front end part of the feeding belt conveyer and the rear end part of the discharging belt conveyer and is used for positioning and transferring the material bags on the feeding belt conveyer to the discharging belt conveyer by taking the conveying direction of the material bags as the front direction;
the feeding racks on the left side and the right side of the feeding belt are provided with feeding baffles, and the discharging racks on the left side and the right side of the discharging belt are provided with discharging baffles; a horn mouth with a big back and a small front is arranged in the middle of the feeding belt, gaps are respectively reserved between the left side and the right side of the rear end of the horn mouth and the feeding baffle plates on the same side, and the gaps are smaller than the thickness of the material bags to be conveyed; the horn mouth is enclosed by a left half part and a right half part which are arranged in a bilateral symmetry manner, the front end of the left half part is connected with a left driving motor, and the right end of the right half part is connected with a right driving motor; the width of the front end of the bell mouth is matched with the material bag to be conveyed;
a left transmission belt is wound on the circumferential side wall of the left half part, the left transmission belt is wound through an output shaft of a left driving motor and is driven by the left driving motor, and the left side wall of the bell mouth is attached to the left transmission belt;
a right transmission belt is wound on the circumferential side wall of the left half part, the right transmission belt is wound through an output shaft of a right driving motor and is driven by the right driving motor, and the right side wall of the bell mouth is attached to the right transmission belt;
the left driving motor and the right driving motor are both variable frequency motors;
the running directions of the left driving belt and the right driving belt at the left side wall and the right side wall of the bell mouth are both towards the rear;
the feeding baffle is connected with a first turning rod, the first turning rod extends to the middle of the rear end of the bell mouth and is downwards connected with a shunt rod, the shunt rod is vertically arranged, the lower end of the shunt rod is adjacent to the feeding belt and is provided with a gap, and the gap is smaller than the thickness of the material bag to be conveyed;
a left gathering device and a right gathering device are respectively arranged on the feeding baffle plates on the left side and the right side of the feeding belt in front of the bell mouth;
the left gathering device comprises a left suspension rod connected to a feeding baffle plate on the left side of the feeding belt, and the left suspension rod extends to the left side of the front end opening of the bell mouth in the left-right direction and is connected with a left gathering baffle plate;
the right gathering device comprises a right suspension rod connected to the feeding baffle plate on the right side of the feeding belt, and the right suspension rod extends to the right side of the front end opening of the bell mouth in the left-right direction and is connected with a right gathering baffle plate;
the left gathering baffle and the right gathering baffle are arranged in parallel;
the entrance of horn mouth is located the material loading area by the one-third department forward backward, and the material loading area at horn mouth rear is the windrow region, and horn mouth and inside material loading area enclose into the rectification region, and the separation blade is closed to the left side and the separation blade is closed to the right side and the material loading area between the two encloses into the region, and the material loading area in the separation blade the place ahead of closing into is the material loading transportation region.
2. The automatic material package arrangement manipulator system according to claim 1, characterized in that: also comprises a material supplementing mechanism;
the feeding mechanism comprises feeding frames erected on the left side and the right side of the blanking belt conveyer, the top ends of the feeding frames are higher than the blanking belt, and the top ends of the feeding frames are connected with the feeding belt conveyer;
the feeding belt conveying device comprises a driving roller, a driven roller and a feeding belt wound between the driving roller and the driven roller; a driving roller and a driven roller of the material supplementing belt conveying device are both arranged at the top end of the material supplementing frame; the material supplementing frames on the left side and the right side of the material supplementing belt are respectively provided with a material supplementing baffle, and a gap is formed between the left side and the right side of the material supplementing belt and the material supplementing baffle and is smaller than the thickness of a material bag to be conveyed;
the driving roller of the feeding belt conveying device is connected with and driven by a feeding motor, the feeding motor is a variable-frequency stepping motor, a plurality of feeding groove plates are uniformly arranged on the surface of the feeding belt along the length direction of the feeding belt at intervals, a feeding groove is enclosed by adjacent feeding groove plates and the feeding belt therebetween, and the feeding groove is used for containing a material bag;
the front end of the material supplementing baffle is connected with a discharging guide plate, and the discharging guide plate is positioned right in front of the material supplementing belt and is adjacent to the material supplementing belt; the front end of the blanking guide plate is lower than the rear end and is obliquely arranged, the front end of the blanking guide plate is narrow and the rear end of the blanking guide plate is wide and is trapezoidal, and the front end of the blanking guide plate is positioned above the middle part of the material supplementing belt in the left-right direction; the left side edge and the right side edge of the blanking guide plate are upwards connected with side baffles;
the length of one step of the stepping motor is the same as the distance between two adjacent feed trough plates.
3. The automatic material package arrangement manipulator system according to claim 2, characterized in that: the material bag transfer mechanism comprises a transfer frame, and the transfer frame is positioned between the front end part of the feeding belt conveyer and the rear end part of the discharging belt conveyer; the transfer frame is upwards connected with a top frame;
the bottom of the transfer frame is provided with a negative pressure generating device, the transfer frame is provided with a transfer motor and a supporting box, the supporting box is rotatably connected with a vertically arranged negative pressure barrel, the negative pressure barrel is provided with a driven gear, an output shaft of the transfer motor is provided with a driving gear, and the driving gear and the driven gear are in transmission connection through a gear belt; the device comprises a support box, a negative pressure cylinder, a plurality of height control discs, a plurality of height control plates and a plurality of labyrinth seal rings, wherein the support box is in rotating seal fit with the negative pressure cylinder through the labyrinth seal rings; the support box is connected with a negative pressure pipe downwards, and the negative pressure pipe is connected with a negative pressure generating device;
the negative pressure transfer mechanism comprises a mounting seat fixed on the upper surface of the negative pressure box, a mounting groove is formed in the top of the mounting seat, a transfer cross rod is hinged to the mounting groove, the transfer cross rod extends along the radial direction of the negative pressure box and faces inwards in the direction pointing to the center of the negative pressure box, the inner end of the transfer cross rod is located on the inner side of the mounting seat and is connected with a tension spring downwards, and the tension spring is used for pulling the inner end of the transfer cross rod downwards out of the bottom groove; the outer end of the transfer cross rod is positioned on the outer side of the mounting seat, and the rotating path of the transfer cross rod passes right above the feeding transfer area;
the outer end of the transfer cross rod is downwards connected with a hollow transfer vertical rod, and the rotary vertical rod is downwards fixedly communicated with a sucker for grabbing the material bag; the inner cavity of the transfer vertical rod is communicated with the negative pressure box through a hose;
under the pull-down action of the tension spring and the rotation supporting action of the mounting seat, the transfer cross rod is upwards contacted with the track; when the transferring cross rod passes through the arc-shaped bulge, the sucking disc moves downwards to a position adjacent to the feeding belt at the feeding transferring area and is used for sucking the material bag at the feeding transferring area;
the material area is connect the material region for the transportation to tip behind the unloading area, and the unloading baffle of the unloading area left and right sides upwards is connected with the second turning lever respectively, the free end of two second turning levers all extends to the middle part in unloading area and is connected with blanking plate respectively, and two blanking plate intervals set up and enclose into the blanking mouth between two blanking plates, and the blanking mouth is less than the width of material package and is greater than the diameter of sucking disc, and the rotation path of sucking disc passes through the blanking mouth, and the blanking mouth is located the middle part of unloading area width direction and is located the rear of feed supplement mechanism.
4. The automated material package arrangement manipulator system of claim 3, wherein: the upper surface of the transferring cross rod is provided with an upper groove at a position corresponding to the track, a rotating shaft is arranged in the upper groove, and the rotating shaft is in rolling compression joint with the track.
5. The automated material package arrangement manipulator system of claim 4, wherein: the negative pressure generator is characterized by also comprising a control box arranged at the bottom of the transfer frame, wherein an electric control device and the negative pressure generator are arranged in the control box, and the transfer motor, the feeding motor and the discharging motor are all variable frequency motors; a photoelectric sensor for detecting a material bag on the blanking belt is arranged on a blanking baffle plate between the blanking port and the material supplementing mechanism;
the electric control device is connected with the left driving motor, the right driving motor, the feeding motor, the discharging motor, the material supplementing motor, the negative pressure generating device, the transferring motor and the photoelectric sensor.
6. The automated material package arrangement manipulator system of claim 4, wherein: a plurality of feeding rollers for supporting the feeding belt are arranged between the upper half and the lower half of the feeding belt at intervals in parallel, and the feeding rollers are rotatably connected with the feeding baffle.
7. A method of arranging material packages using the automated material package arrangement robot system of claim 5, comprising the steps of:
firstly, preparing;
a worker starts the left driving motor, the right driving motor, the feeding motor, the discharging motor, the negative pressure generating device, the transferring motor and the photoelectric sensor through the electric control device; the rotating speed of the left driving motor is 0.5 times of that of the right driving motor;
secondly, feeding;
an operator or upstream equipment sends a plurality of material bags and places the material bags on a feeding belt at a material stacking area;
thirdly, feeding;
controlling the total feeding speed by controlling the running frequency of a feeding motor;
the feeding motor drives the upper half width of the feeding belt to move forwards, and drives the material bag at the stacking area to move forwards; when the material bag passes through the shunting rod forwards, the material bag is divided into a left material bag flow and a right material bag flow under the blocking action of the shunting rod, and the left material bag flow and the right material bag flow enter the bell mouth along the left side and the right side of the shunting rod;
after the material bags enter the rectifying area, because the width of the front end of the bell mouth is matched with the material bags to be conveyed, the central positions of the material bags flowing out of the rectifying area are positioned on the same central line, and the central line is superposed with the central line of the bell mouth;
part of the material bag in the rectifying area is in contact with the left transmission belt and the right transmission belt, and the left transmission belt and the right transmission belt play a material stirring role in the material bag in the running process, wherein the material stirring role is opposite to the running direction of the material feeding belt;
the material bag flow with the width of one material bag enters a gathering area after passing through a horn mouth, and is gathered into a stable material bag flow; the material package flow enters a feeding transfer area after passing through a gathering area;
the fourth is the transfer;
the negative pressure generated by the fixing part negative pressure generating device is transmitted into the fixing part supporting box through the fixing part negative pressure pipe, the supporting box transmits the negative pressure to the rotating part negative pressure cylinder, the negative pressure cylinder transmits the negative pressure to the integrally rotating negative pressure box, the negative pressure box transmits the negative pressure to the hollow transfer vertical rod through the synchronously rotating hose, and the transfer vertical rod transmits the negative pressure to the sucker;
the transfer motor drives the negative pressure cylinder and the negative pressure box to rotate, and each negative pressure transfer mechanism is driven by the negative pressure box to rotate ceaselessly; the electric control device controls the running frequency of the transfer motor to enable the rotating speed of each negative pressure transfer mechanism to be matched with the feeding speed of the feeding belt; when the transfer cross rods of the negative pressure transfer mechanisms pass through the arc-shaped bulges in the process of rotating along the track, the transfer cross rods move downwards under the action of the arc-shaped bulges to drive the suckers to move downwards, so that the suckers automatically absorb the material bags in the feeding and transferring area;
when the material bag adsorbed on the sucker rotates to the blanking port, the sucker continuously rotates through the blanking port, and the material bag falls in the middle of the width direction of the blanking belt of the material transferring and receiving area after being blocked by the blanking port, moves forwards along with the blanking belt and is supplied to the next working procedure;
and continuously performing the third step and the fourth step, continuously rectifying the material bags accumulated in the stacking area into a material bag flow with uniform speed, transferring the material bag flow, and then supplying the material bag flow to a next process at a constant speed until the material bags at the stacking area are used up or are about to be used up, and performing the second step.
8. The packet arrangement method according to claim 7, characterized by further comprising a feeding method;
a worker puts a material bag in each material supplementing groove on the upper half width of the material supplementing belt in advance;
in the continuous process of the fourth step, namely the transferring step, a photoelectric sensor detects whether a material bag is normally conveyed to a next process on the blanking belt; when the electrically controlled device detects that there is the material condition that leaks to take place through photoelectric sensor, leak material quantity N in succession according to photoelectric sensor detects, N is the natural number, starts the step-by-step N step-length of feed supplement motor, adjusts the operating frequency of feed supplement motor, makes the feed supplement area loop through the unloading baffle with the material package of corresponding quantity and transfers to the unloading area on, guarantees the unloading area and carries the continuity of material package to the next process.
CN202011590029.1A 2020-12-29 2020-12-29 Material bag automatic arrangement mechanical arm system and material bag arrangement method Active CN112478709B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB367111A (en) * 1931-01-09 1932-02-18 Walter Everett Molins Improvements in or relating to packing machinery
CN103350889A (en) * 2013-07-12 2013-10-16 华北水利水电大学 Automatic product arranging mechanism
CN104229206A (en) * 2014-07-01 2014-12-24 上海松川远亿机械设备有限公司 Flattening conveyance technology applicable to flat roll packer
CN204822267U (en) * 2015-07-24 2015-12-02 广州辐艾达机电设备有限公司 Automatic parcel delivery machine of cup ramen bales off
CN205131712U (en) * 2015-11-12 2016-04-06 会泽蒄玉食品有限公司 System is loaded in letter sorting of bucket formula instant noodle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB367111A (en) * 1931-01-09 1932-02-18 Walter Everett Molins Improvements in or relating to packing machinery
CN103350889A (en) * 2013-07-12 2013-10-16 华北水利水电大学 Automatic product arranging mechanism
CN104229206A (en) * 2014-07-01 2014-12-24 上海松川远亿机械设备有限公司 Flattening conveyance technology applicable to flat roll packer
CN204822267U (en) * 2015-07-24 2015-12-02 广州辐艾达机电设备有限公司 Automatic parcel delivery machine of cup ramen bales off
CN205131712U (en) * 2015-11-12 2016-04-06 会泽蒄玉食品有限公司 System is loaded in letter sorting of bucket formula instant noodle

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