CN112775634A - Material rod arranging device and material rod arranging method - Google Patents
Material rod arranging device and material rod arranging method Download PDFInfo
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- CN112775634A CN112775634A CN201911096792.6A CN201911096792A CN112775634A CN 112775634 A CN112775634 A CN 112775634A CN 201911096792 A CN201911096792 A CN 201911096792A CN 112775634 A CN112775634 A CN 112775634A
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- 239000000463 material Substances 0.000 title claims abstract description 173
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000007599 discharging Methods 0.000 claims abstract description 15
- 210000000078 claw Anatomy 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 11
- 241000233866 Fungi Species 0.000 description 17
- 238000004519 manufacturing process Methods 0.000 description 13
- 230000009471 action Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G18/00—Cultivation of mushrooms
- A01G18/60—Cultivation rooms; Equipment therefor
- A01G18/64—Cultivation containers; Lids therefor
- A01G18/66—Cultivation bags
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
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Abstract
The invention provides a material rod arranging device which comprises a rack, a first grabbing mechanism, a first driving assembly, a second grabbing mechanism, a second driving assembly, a third grabbing mechanism and a third driving assembly, wherein the rack comprises a feeding station and a discharging station, the second grabbing mechanism is movably connected to the bottom side of the first grabbing mechanism, the second grabbing mechanism comprises a second manipulator, the second driving assembly is used for driving the second manipulator to lift at the feeding station, the third grabbing mechanism is movably connected to the bottom side of the second grabbing mechanism, the third grabbing mechanism comprises a third manipulator, and the third driving assembly is used for driving the third manipulator to move back and forth between the feeding station and the discharging station; the invention also provides a material rod finishing method. According to the invention, the second manipulator, the second driving assembly and the third manipulator are matched, so that at least two material rods which are nested together in the feeding process are separated one by one, and the technical problem that the material rods are nested in each other in the feeding process of the material rods is effectively solved.
Description
Technical Field
The invention belongs to the technical field of fungus bag production equipment, and particularly relates to a material rod finishing device and a material rod finishing method.
Background
With the gradual expansion of the scale of cultivating and producing edible fungi, the method for cultivating and producing the edible fungi is developed from the original method mainly relying on artificial cultivation to the current mechanical automatic production. Whole fungus package automated production is including cultivating for the domestic fungus raw materials material loading, raw materials bagging-off, material package nest mouth inserted bar, material package pull out the stick, the fungus is annotated to the material package step, wherein, need insert the material stick in the material package nest mouthful inserted bar step with the material stick accomplish in the material package of nest mouth, with the sack locking of material bag and in the material package formation annotate the inner chamber that the fungus was used.
At present, the feed rod of fungus package production usefulness generally is hollow plastic rod, and hollow feed rod is favorable to injection moulding and inserted bar process to realize the automation, but, leads to the in-process at the feed rod material loading to take place the feed rod easily like this and nests each other for in inserting the material package with two or a plurality of feed rods during the inserted bar, cause automation line stall, need the manual work just can continue the operation after pulling out unnecessary feed rod, influenced the continuity and the efficiency of fungus package production.
Disclosure of Invention
The invention aims to provide a material rod arranging device and a material rod arranging method, which aim to solve the technical problem that material rods are nested in each other in the material rod feeding process.
In order to achieve the above object, the present invention provides a material rod arranging device, comprising:
the device comprises a frame, a feeding mechanism and a discharging mechanism, wherein the frame comprises a feeding station and a discharging station;
the first grabbing mechanism is movably connected to the rack and comprises a first manipulator, and the first manipulator is used for grabbing the material rods from the feeding device and conveying the material rods to the feeding station;
the first driving assembly is arranged on the rack and used for driving the first manipulator to reciprocate between the feeding device and the feeding station;
the second grabbing mechanism is movably connected to the bottom side of the first grabbing mechanism and comprises a second manipulator, and the second manipulator is used for grabbing the material rods from the first manipulator;
the second driving assembly is arranged on the rack and used for driving the second manipulator to lift at the feeding station;
the third grabbing mechanism is movably connected to the bottom side of the second grabbing mechanism and comprises a third manipulator, and the third manipulator is used for grabbing the material rods from the second manipulator;
and the third driving assembly is arranged on the rack and used for driving the third mechanical arm to reciprocate between the feeding station and the discharging station.
Optionally, the first manipulator comprises:
at least two pairs of first material claws; and
the fourth driving part is driven by the first driving assembly and is used for driving at least two pairs of the first material claws to open or close simultaneously;
the second robot includes:
a pair of second claws; and
the fifth driving part is driven by the second driving assembly and is used for driving the pair of second material claws to open or close;
the third robot includes:
a pair of third material claws; and
and the sixth driving piece is driven by the third driving assembly and is used for driving the pair of third material claws to open or close.
Optionally, the material stick arranging device comprises at least two first driving assemblies, and the first grabbing mechanism comprises at least two first manipulators; the second grabbing mechanism comprises a first movable platform and at least two second mechanical arms, the first movable platform is movably connected to the rack and driven by the second driving assembly, and the at least two second mechanical arms are arranged on the first movable platform; the third grabbing mechanism comprises a second movable platform and at least two third mechanical arms, the second movable platform is movably connected to the rack and driven by the third driving assembly, and the at least two third mechanical arms are arranged on the second movable platform; the first mechanical arm, the second mechanical arm, the third mechanical arm and the first driving assembly correspond to each other one by one.
Optionally, the second drive assembly comprises:
the second driving piece is arranged on the rack;
the transmission shaft is rotatably connected to the rack and is in transmission connection with the second driving piece;
the synchronous belt is in transmission connection with the transmission shaft, and the first movable platform is in fastening connection with the synchronous belt.
Optionally, at least two guide rods are arranged on the rack, and the guide rods are vertically fixed on the rack and penetrate through the first movable platform; the first movable platform is provided with at least two sliding sleeves, and the sliding sleeves are sleeved on the guide rods.
Optionally, the first grasping mechanism further includes:
and the seventh driving assembly is movably connected to the rack, is driven by the first driving assembly and is used for driving the first manipulator to rotate around the horizontal axis.
Optionally, a guide rail is arranged on the frame, and the first driving assembly is slidably connected to the guide rail.
The invention also provides a material rod finishing method, which comprises the following steps:
s01, grabbing the material rods from the feeding device through the first manipulator and conveying the material rods to a feeding station;
s02, grabbing the material rods on the first manipulator through the second manipulator;
s03, grabbing the material rods on the second manipulator through the third manipulator;
s04, separating the material rod positioned at the inner layer from the material rod positioned at the outermost layer through a second mechanical arm;
and S05, conveying the material rods positioned at the outermost layer to the discharging station through a third mechanical arm.
Further, the step S04 includes:
s041, the second mechanical hand grasps the material rods except the material rod positioned at the outermost layer;
and S042, the second driving assembly drives the second manipulator to ascend to drive the material rod positioned in the inner layer to be separated from the material rod positioned in the outermost layer.
Further, the step S01 further includes: the first mechanical arm drives the material rod to rotate around the horizontal axis to a vertical state that the thick end of the material rod is located at the upper thin end of the material rod.
The material bar arranging device and the material bar arranging method provided by the invention have the beneficial effects that: through the cooperation of the second mechanical arm, the second driving assembly and the third mechanical arm, at least two material rods which are nested together in the feeding process are separated one by one, so that the technical problem that the material rods are nested with each other in the feeding process of the material rods is effectively solved, the manual rod pulling and obstacle removing are avoided, the continuity of fungus bag production is ensured, and the production efficiency of fungus bags is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic right-view diagram of a material rod arranging device provided by an embodiment of the invention;
FIG. 2 is a schematic front perspective view of a material rod arranging device according to an embodiment of the present invention;
FIG. 3 is a bottom perspective view of a material rod arranging device according to an embodiment of the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 3;
FIG. 5 is a right side perspective view of a material rod arranging device according to an embodiment of the invention;
fig. 6 is a flowchart of a work flow of a material rod arranging method according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
1-material rod arranging device, 2-material rod, 11-machine frame, 12-first grabbing mechanism, 13-first driving assembly, 14-second grabbing mechanism, 15-second driving assembly, 16-third grabbing mechanism, 17-third driving assembly, 111-feeding station, 112-discharging station, 113-guide rod, 114-guide rail, 121-first mechanical arm, 122-seventh driving assembly, 141-second mechanical arm, 142-first movable platform, 151-second driving piece, 152-transmission shaft, 153-synchronous belt, 161-third mechanical arm, 162-second movable platform, 1211-first material claw, 1212-fourth driving piece, 1213-connecting piece, 1411-second material claw, 1412-fifth driving piece, 1420-sliding sleeve, 1611-third material claw, 1612-sixth driving piece.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that: when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and operate, and thus are not to be construed as limiting the patent, and the specific meanings of the above terms will be understood by those skilled in the art according to specific situations. The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The term "plurality" means two or more unless specifically limited otherwise.
The rod preparation apparatus provided by the present invention will now be described.
Referring to fig. 1 to 4, the material rod arranging device 1 includes a frame 11, a first grabbing mechanism 12, a first driving assembly 13, a second grabbing mechanism 14, a second driving assembly 15, a third grabbing mechanism 16, and a third driving assembly 17, wherein the frame 11 includes a feeding station 111 and a discharging station 112; the first gripping mechanism 12 is movably connected to the frame 11, where the first gripping mechanism 12 includes a first manipulator 121, and the first manipulator 121 is used for gripping the material bar 2 from the loading device and conveying the material bar to the feeding station 111; the first driving assembly 13 is arranged on the rack 11 and used for driving the first manipulator 121 to reciprocate between the feeding device and the feeding station 111; the second grabbing mechanism 14 is movably connected to the bottom side of the first grabbing mechanism 12, wherein the second grabbing mechanism 14 comprises a second manipulator 141, and the second manipulator 141 is used for grabbing the material rods 2 from the first manipulator 121; the second driving assembly 15 is disposed on the frame 11, and is used for driving the second robot 151 to ascend or descend at the feeding station 111; the third grabbing mechanism 16 is movably connected to the bottom side of the second grabbing mechanism 14, wherein the third grabbing mechanism 16 comprises a third manipulator 161, and the third manipulator 161 is used for grabbing the material bar 2 from the second manipulator 141; a third drive assembly 17 is provided on the frame 11 for driving the third robot 161 to reciprocate between the infeed station 111 and the outfeed station 112. It is understood that the first 121, second 141 and third 161 robots may perform gripping or releasing of the material bar 2; the first robot 121, the first driving assembly 13, the second robot 141, the second driving assembly 15, the third robot 161 and the third driving assembly 17 are all controlled by a control assembly, which may be disposed on the rack 11 or other devices of the fungus bag automatic production line, and is not limited herein.
When the feeding device arranges the disordered material rods 2 into a vertical state with thick ends at the upper thin ends and outputs the vertical state, the first driving assembly 13 drives the first manipulator 121 to move forwards and extend into the feeding device to grasp the material rods 2, then the first driving assembly 13 drives the first manipulator 121 to move backwards until the first manipulator 121 returns to the feeding station 111, then the second manipulator 141 is half-opened, the second driving assembly 15 drives the second manipulator 141 to ascend until the second manipulator 141 sleeves the outer side of the outermost material rod 2, then the first manipulator 121 is opened to release the material rods 2, the material rods 2 all fall on the second manipulator 141 under the action of self weight, then the second manipulator 141 is closed to grasp the outermost material rod 2, then the second driving assembly 15 drives the second manipulator 141 to descend, at this moment, the third driving assembly 17 drives the half-opened third manipulator 161 to move to the feeding station 111, until the second manipulator 141 returns to the original height, the material stick 2 at the outermost layer is inserted into the third manipulator 161, then the first manipulator 121 is opened to release the material stick 2, the material stick 2 falls on the third manipulator 161 completely under the action of the self-weight, then the third manipulator 161 is closed to grasp the material stick 2 at the outermost layer, then the second driving assembly 15 drives the second manipulator 141 to ascend by a unit height (the unit height refers to the distance between the thick end faces of two material sticks 2 nested in each other), then the second manipulator 141 is closed to grasp the material stick 2 at the inner layer, then the second driving assembly 15 drives the second manipulator 141 to ascend continuously until the material stick 2 at the outermost layer is separated from other material sticks 2, then the third driving assembly 17 drives the third manipulator 161 to move from the feeding station 111 to the discharging station 112, then the stick inserting device waits for the material stick 2 to be inserted into the material bag, the third drive assembly 17 drives the semi-open third robot 161 back to the feed station 111, waiting for the second slug 2 to be separated in cooperation with the second robot 141 and the second drive assembly 15. It can be understood that if the material bar 2 output by the feeding device is not nested, the material bar 2 is delivered to the third manipulator 161 by the second manipulator 141, and then the second manipulator is driven by the second driving assembly 15 to ascend and grab the material bar 2 on the first manipulator 121 for the next period of material bar arrangement.
According to the material stick arranging device 1, the second grabbing mechanism 14, the second driving assembly 15 and the third grabbing mechanism 16 are matched, at least two material sticks 2 which are nested together in the feeding process are separated one by one, so that the technical problem that the material sticks are nested with each other in the feeding process of the material sticks is effectively solved, manual stick pulling and obstacle removing are avoided, the continuity of fungus bag production is ensured, and the production efficiency of fungus bags is improved.
Optionally, referring to fig. 4 and fig. 5, as an embodiment of the material stick arranging device provided by the present invention, the first manipulator 121 includes at least two pairs of first material claws 1211 and a fourth driving member 1212, wherein the fourth driving member 1212 is driven by the first driving assembly 13, and the fourth driving member 1212 is configured to drive the at least two pairs of first material claws 1211 to open or close simultaneously; the second robot 141 includes a pair of second jaws 1411 and a fifth driving element 1412, wherein the fifth driving element 1412 is driven by the second driving assembly 15, and the fifth driving element 1412 is used for driving the pair of second jaws 1411 to open or close; the third manipulator 161 includes a pair of third jaws 1611 and a sixth driving element 1612, wherein the sixth driving element 1612 is driven by the third driving assembly 17, and the sixth driving element 1612 is used for driving the pair of third jaws 1611 to open or close. Specifically, the fourth driving component 1212 is preferably an air cylinder, at least two pairs of first claws 1211 are respectively connected with two piston rods of the fourth driving component 1212 through two oppositely arranged connecting pieces 1213, the first driving component 13 is preferably an electric cylinder, and a cylinder body of the fourth driving component 1212 is fixedly connected with an output shaft of the first driving component 13; the fifth driving element 1412 is preferably an air cylinder, the pair of second material claws 1411 are respectively connected with two piston rods of the fifth driving element 1412, the second driving assembly 15 includes a second driving element 151, at least two synchronizing wheels and at least one synchronous belt 153, wherein the second driving element 151 is preferably a motor, one of the synchronizing wheels is fixedly connected to an output shaft of the second driving element 151, the other synchronizing wheel is rotatably connected to the frame 11, the two synchronizing wheels are in transmission connection through the synchronous belt 153, and the fifth driving element 1412 is indirectly or directly fixedly connected to the synchronous belt 153; the sixth driving element 1612 is preferably an air cylinder, the pair of third material claws 1611 are respectively connected with two piston rods of the sixth driving element 1612, the third driving assembly 17 is preferably an electric cylinder, and the cylinder body of the sixth driving element 1612 is tightly connected with the slide block of the third driving assembly 17. So that the grabbing and conveying of the material rod 2 can be automatically realized. It can be understood that the pair of first claws 1211 respectively grasp one material rod 2, and the more the number of the material rods 2 which are nested with each other is, the more the claws 1211 need to be arranged on the connecting member 1213, and the number of the claws 1211 is determined by the structure of the feeding device.
Alternatively, referring to fig. 1, fig. 2 and fig. 5, as an embodiment of the material stick arranging device provided by the present invention, the material stick arranging device 1 includes at least two first driving assemblies 13, and at the same time, the first grabbing mechanism 12 includes at least two first manipulators 121, the second grabbing mechanism 14 includes a first movable platform 142 and at least two second manipulators 141, and the third grabbing mechanism 16 includes a second movable platform 162 and at least two third manipulators 161, wherein the first manipulators 121 correspond to the first driving assemblies 13 one to one, the first movable platform 142 is movably connected to the rack 11 and driven by the second driving assembly 15, that is, the first movable platform 142 is connected to the second driving member 151 through a timing belt 153, the at least two second manipulators 141 are disposed on the first movable platform 142, and the second movable platform 162 is movably connected to the rack 11, and is driven by the third driving assembly 17, i.e. the second movable platform 162 is tightly connected to the slide block of the third driving assembly 17, and at least two third manipulators 161 are arranged on the second movable platform 162; here, the first robot 121, the second robot 141, and the third robot 161 correspond one-to-one. Like this charge bar finishing device 1 can arrange in order at least two sets of charge bars 2 simultaneously, has promoted charge bar finishing device 1's arrangement efficiency and fungus package's production efficiency effectively.
Optionally, referring to fig. 2 to 4, as an embodiment of the material rod collating device provided by the present invention, the second driving assembly 15 further includes a transmission shaft 152, the transmission shaft 152 is rotatably connected to the frame 11, and the transmission shaft 152 is in transmission connection with the second driving member 151. Specifically, the second driving element 151 is disposed on the frame 11, the transmission shaft 152 is connected to the frame 11 through at least two bearings and at least two bearing brackets, the two bearings and the two bearing brackets are respectively connected to two opposite ends of the transmission shaft 152, and the transmission shaft 152 may be in transmission connection with the second driving element 151 through a synchronous wheel set and a synchronous belt 153, or may be in transmission connection with the second driving element 151 through a gear set, which is not limited herein, and the first movable platform 142 is in transmission connection with the transmission shaft 152 through a synchronous wheel set and at least one synchronous belt 153. Adopt a second driving piece 151 can drive about two at least second manipulators 141 simultaneously and rise or descend like this for the structure of charge bar finishing device 1 is compacter, is favorable to reducing charge bar finishing device 1's occupation space.
Optionally, referring to fig. 2 and fig. 3, as a specific embodiment of the material rod arranging device provided by the present invention, at least two guide rods 113 are disposed on the rack 11, and each guide rod 113 is vertically fixed on the rack 11 and penetrates through the first movable platform 142; meanwhile, at least two sliding sleeves 1420 are disposed on the first movable platform 142, and each sliding sleeve 1420 is sleeved on one guide rod 113. Specifically, at least two guide rods 113 are respectively distributed on the left and right sides of the frame 11, at least two sliding sleeves 1420 are respectively inserted into the edges of the two opposite sides of the first movable platform 142, and the sliding sleeves 1420 correspond to the guide rods 113 one by one, that is, one guide rod 113 is inserted into one sliding sleeve 1420, and the sliding sleeve 1420 can slide along the guide rod 113, so that the first movable platform 142 can be more stably lifted or lowered under the guidance of the guide rod 113.
Optionally, referring to fig. 4, as an embodiment of the material stick arranging device provided by the present invention, the first grabbing mechanism 12 further includes a seventh driving assembly 122, and the seventh driving assembly 122 is movably connected to the rack 11 and driven by the first driving assembly 13 to drive the first manipulator 121 to rotate around the horizontal axis. Specifically, the seventh driving assembly 122 is preferably a motor, the housing of the seventh driving assembly 122 is tightly connected to the output shaft of the first driving assembly 13, and the cylinder of the fourth driving member 1212 is tightly connected to the output shaft of the seventh driving assembly 122. When the material rod 2 output from the feeding device is in a horizontally placed state, the seventh driving assembly 122 can drive the material rod 2 to rotate around the output shaft thereof according to the information fed back by the position sensor of the feeding device, until the material rod 2 is adjusted to be in a vertical state with the thick end thereof at the upper thin end, which is beneficial to the smooth proceeding of the subsequent arranging process, and can ensure that the material rod 2 is conveyed to the rod inserting station with a proper posture.
Optionally, referring to fig. 4, as an embodiment of the material stick arranging device provided by the present invention, a guide rail 114 is disposed on the machine frame 11, and a seventh driving assembly 122 is slidably connected to the guide rail 114. Specifically, the guide rail 114 is fixed on the inner wall of the top of the frame 11, and the seventh driving assembly 122 is slidably connected with the guide rail 114 through a sliding block, where the housing of the seventh driving assembly 122 is tightly connected with the output shaft of the first driving assembly 13. When the first drive assembly 13 is activated, the seventh drive assembly 122 may be moved forward or backward along the guide rail 114 under the urging of the first drive assembly 13. This allows seventh drive assembly 122 to move more smoothly as guided by rails 114.
Referring to fig. 6, the invention further provides a material rod finishing method, which includes the following steps:
s01, the material bar 2 is grabbed from the feeding device through the first mechanical arm 121 and conveyed to the feeding station 111;
s02, grabbing the material bar 2 on the first manipulator 121 through the second manipulator 141;
s03, grabbing the material rod 2 on the second manipulator 141 through the third manipulator 161;
s04, separating the material rod 2 positioned at the inner layer from the material rod 2 positioned at the outermost layer by the second manipulator 141;
and S05, conveying the material bar 2 positioned at the outermost layer to the discharging station 112 through the third mechanical arm 161.
Wherein, step S04 includes:
s041, the second manipulator 141 grasps the material rods 2 except the material rod 2 at the outermost layer;
s042, the second driving component 15 drives the second manipulator 141 to ascend, and the material rod 2 located in the inner layer is driven to be separated from the material rod 2 located in the outermost layer.
Step S01 further includes: the first manipulator 121 drives the material rod 2 to rotate around the horizontal axis until the thick end of the material rod 2 is below the thin end.
Specifically, the first driving assembly 13 drives the first manipulator 121 to move forward, so that the first manipulator 121 extends into the feeding device to grasp the material bar 2, then the first driving assembly 13 drives the first manipulator 121 to move backward until the first manipulator 121 returns to the feeding station 111, at this time, if the material bar 2 is in a horizontally placed state, the seventh driving assembly 122 drives the first manipulator 121 to drive the material bar 2 to rotate around an output shaft thereof according to information fed back by a position sensor of the feeding device until the material bar 2 is adjusted from the horizontal state to a vertical state in which a thick end thereof is below an upper thin end, if the material bar 2 is already in a vertical state in which a thick end is below an upper thin end, the seventh driving assembly 122 is not needed, then the second manipulator 141 is half-opened, the second driving assembly 15 drives the second manipulator 141 to ascend until the second manipulator 141 is sleeved on the outer side of the material bar 2 positioned on the outermost layer, then the first mechanical hand 121 is opened to release the material rods 2, the material rods 2 fall on the second mechanical hand 141 under the action of self weight, then the second mechanical hand 141 is closed to grasp the material rods 2 at the outermost layer, then the second driving assembly 15 drives the second mechanical hand 141 to descend, at the moment, the third driving assembly 17 drives the third mechanical hand 161 which is half opened to move to the feeding station 111 until the second mechanical hand 141 returns to the original height, the material rods 2 at the outermost layer are inserted into the third mechanical hand 161, then the first mechanical hand 121 is opened to release the material rods 2, the material rods 2 fall on the third mechanical hand 161 under the action of self weight, then the third mechanical hand 161 is closed to grasp the material rods 2 at the outermost layer, then the second driving assembly 15 drives the second mechanical hand 141 to ascend by one unit height, then the second mechanical hand 141 is closed to grasp the material rods 2 at the inner layer, the second driving assembly 15 drives the second manipulator 141 to ascend continuously until the material rod 2 at the outermost layer is separated from other material rods 2, then the third driving assembly 17 drives the third manipulator 161 to move from the feeding station 111 to the discharging station 112, and then after waiting for the rod inserting device to insert the material rod 2 into the material bag, the third driving assembly 17 drives the half-opened third manipulator 161 to return to the feeding station 111 to wait for the separation of the second material rod 2 by matching with the second manipulator 141 and the second driving assembly 15.
According to the stick arranging method provided by the invention, the second manipulator 141, the second driving assembly 15 and the third manipulator 161 are matched, and at least two sticks 2 which are nested together in the feeding process are separated one by one, so that the technical problem that the sticks are nested with each other in the stick feeding process is effectively solved, the manual stick pulling and obstacle removing are avoided, the continuity of fungus bag production is ensured, and the production efficiency of fungus bags is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Stub bar finishing device, its characterized in that includes:
the device comprises a frame, a feeding mechanism and a discharging mechanism, wherein the frame comprises a feeding station and a discharging station;
the first grabbing mechanism is movably connected to the rack and comprises a first manipulator, and the first manipulator is used for grabbing the material rods from the feeding device and conveying the material rods to the feeding station;
the first driving assembly is arranged on the rack and used for driving the first manipulator to reciprocate between the feeding device and the feeding station;
the second grabbing mechanism is movably connected to the bottom side of the first grabbing mechanism and comprises a second manipulator, and the second manipulator is used for grabbing the material rods from the first manipulator;
the second driving assembly is arranged on the rack and used for driving the second manipulator to lift at the feeding station;
the third grabbing mechanism is movably connected to the bottom side of the second grabbing mechanism and comprises a third manipulator, and the third manipulator is used for grabbing the material rods from the second manipulator;
and the third driving assembly is arranged on the rack and used for driving the third mechanical arm to reciprocate between the feeding station and the discharging station.
2. The apparatus as set forth in claim 1, wherein the first robot includes:
at least two pairs of first material claws; and
the fourth driving part is driven by the first driving assembly and is used for driving at least two pairs of the first material claws to open or close simultaneously;
the second robot includes:
a pair of second claws; and
the fifth driving part is driven by the second driving assembly and is used for driving the pair of second material claws to open or close;
the third robot includes:
a pair of third material claws; and
and the sixth driving piece is driven by the third driving assembly and is used for driving the pair of third material claws to open or close.
3. The apparatus according to claim 1, wherein the apparatus comprises at least two first driving assemblies, and the first gripping mechanism comprises at least two first manipulators; the second grabbing mechanism comprises a first movable platform and at least two second mechanical arms, the first movable platform is movably connected to the rack and driven by the second driving assembly, and the at least two second mechanical arms are arranged on the first movable platform; the third grabbing mechanism comprises a second movable platform and at least two third mechanical arms, the second movable platform is movably connected to the rack and driven by the third driving assembly, and the at least two third mechanical arms are arranged on the second movable platform; the first mechanical arm, the second mechanical arm, the third mechanical arm and the first driving assembly correspond to each other one by one.
4. A rod collating apparatus according to claim 3 wherein the second drive assembly includes:
the second driving piece is arranged on the rack;
the transmission shaft is rotatably connected to the rack and is in transmission connection with the second driving piece;
the synchronous belt is in transmission connection with the transmission shaft, and the first movable platform is in fastening connection with the synchronous belt.
5. A material rod arranging device according to claim 3, wherein at least two guide rods are arranged on the rack, are vertically fixed on the rack and penetrate through the first movable platform; the first movable platform is provided with at least two sliding sleeves, and the sliding sleeves are sleeved on the guide rods.
6. A slug collating apparatus according to any one of claims 1 to 5 wherein the first gripping mechanism further includes:
and the seventh driving assembly is movably connected to the rack, is driven by the first driving assembly and is used for driving the first manipulator to rotate around the horizontal axis.
7. A rod collating device according to claim 6 wherein the frame is provided with a guide track and the first drive assembly is slidably connected to the guide track.
8. The material bar finishing method is characterized by comprising the following steps:
s01, grabbing the material rods from the feeding device through the first manipulator and conveying the material rods to a feeding station;
s02, grabbing the material rods on the first manipulator through the second manipulator;
s03, grabbing the material rods on the second manipulator through the third manipulator;
s04, separating the material rod positioned at the inner layer from the material rod positioned at the outermost layer through a second mechanical arm;
and S05, conveying the material rods positioned at the outermost layer to the discharging station through a third mechanical arm.
9. The slug finishing method according to claim 8, wherein the step S04 includes:
s041, the second mechanical hand grasps the material rods except the material rod positioned at the outermost layer;
and S042, the second driving assembly drives the second manipulator to ascend to drive the material rod positioned in the inner layer to be separated from the material rod positioned in the outermost layer.
10. The slug finishing method according to claim 8, wherein the step S01 further comprises: the first mechanical arm drives the material rod to rotate around the horizontal axis to a vertical state that the thick end of the material rod is located at the upper thin end of the material rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911096792.6A CN112775634A (en) | 2019-11-11 | 2019-11-11 | Material rod arranging device and material rod arranging method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911096792.6A CN112775634A (en) | 2019-11-11 | 2019-11-11 | Material rod arranging device and material rod arranging method |
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| CN112775634A true CN112775634A (en) | 2021-05-11 |
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| CN201911096792.6A Pending CN112775634A (en) | 2019-11-11 | 2019-11-11 | Material rod arranging device and material rod arranging method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114473495A (en) * | 2022-03-21 | 2022-05-13 | 迈得医疗工业设备股份有限公司 | Discharging device, medical instrument production line and medical instrument production method |
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