CN113184302B - Automatic vacuum packaging bag boxing method - Google Patents
Automatic vacuum packaging bag boxing method Download PDFInfo
- Publication number
- CN113184302B CN113184302B CN202110582327.4A CN202110582327A CN113184302B CN 113184302 B CN113184302 B CN 113184302B CN 202110582327 A CN202110582327 A CN 202110582327A CN 113184302 B CN113184302 B CN 113184302B
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- grabbing
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- lifting
- horizontal
- guide rails
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000009461 vacuum packaging Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000005484 gravity Effects 0.000 claims abstract description 7
- 238000012856 packing Methods 0.000 claims description 58
- 238000004806 packaging method and process Methods 0.000 claims description 50
- 230000033001 locomotion Effects 0.000 claims description 5
- 241000252254 Catostomidae Species 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims 1
- 239000000463 material Substances 0.000 description 6
- 238000003825 pressing Methods 0.000 description 6
- 210000003437 trachea Anatomy 0.000 description 5
- 230000006698 induction Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
- B65B35/58—Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
-
- 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
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/20—Applications of counting devices for controlling the feed of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
- B65B59/001—Arrangements to enable adjustments related to the product to be packaged
Abstract
The invention discloses an automatic vacuum packaging bag boxing method, which comprises a plurality of boxing stations arranged on a frame of a boxing machine, wherein the boxing stations are provided with lifting column frames and vacuum packaging bag grabbing mechanisms, the lower ends of grabbing arms of the vacuum packaging bag grabbing mechanisms are provided with vacuum chucks, the vacuum chucks are used for grabbing vacuum packaging bags, two horizontal guide rails are fixed on the frame of the boxing machine at intervals, the vacuum packaging bag grabbing mechanisms are fixed on the lifting column frames through a lifting mechanism, the lifting column frames are slidably supported on the two horizontal guide rails through bearing sliding blocks, the lifting column frames bear the gravity force points for grabbing the vacuum packaging bags and fall on the contact surfaces of the bearing sliding blocks and the horizontal guide rails, and a horizontal driving mechanism drives the lifting column frames to reciprocate along the horizontal guide rails.
Description
Technical Field
The invention relates to an automatic boxing method for vacuum packaging bags.
Background
The method for loading the independent material packaging finished products into the cartons for convenient carrying and stacking is a common method for packaging enterprises at present. Thus, an automatic box opening machine, an automatic box filling machine and an automatic packaging machine are generated on an automatic production line. The speed of the automatic boxing machine is core equipment in the whole link, and the boxing efficiency directly influences the yield of the whole production line.
Because manual intervention is needed to bend the lifting edge of the packaging bag, full automation in the true sense cannot be realized. At present, the transmission mechanism of the boxing machine in the market mostly adopts two structures of a rectangular coordinate system or a cylindrical coordinate system and a control method for boxing. In particular in the form of rectangular frames, which are relatively simple to control by mass-packing machine manufacturers. However, because the structure adopts the overhead power mode, the whole box feeding mechanism is fixed at the lower end to form a longer cantilever structure. The disadvantage of this structure is that the point of stress (i.e. the active point of force) is at the highest position of the whole device, whereas the object to be moved comprises the centre of gravity of the structure but at the lowest end of the structure. This results in a longer cantilever and thus instability due to shaking during high speed movement. In order to ensure the stability of the equipment operation, a speed-reducing mode is mostly adopted, and therefore, the boxing efficiency of the boxing machine with the structure is low. In addition, the packing grabbing mechanism is a core component of the box filling machine, and the stability and the automation degree of the packing grabbing mechanism determine the advanced degree of the box filling machine. The boxing machine provided in the current market has single boxing specification, namely can not adapt to boxing of material bags with different specifications, and can be realized only by disassembling and assembling the parts when the specification variety is replaced, so that the problems of low production efficiency and poor applicability are caused.
Disclosure of Invention
The invention aims to provide an automatic vacuum packaging bag boxing method which improves the moving stability of a packaging bag grabbing mechanism by reducing stress points, further improves the moving speed, and realizes full-automatic boxing by arranging a packaging bag lifting handle pressing ramming plate and a spacing adjusting mechanism between the pressing ramming plate and a vacuum chuck so as to adapt to packaging bags with different specifications.
In order to achieve the above object, the technical scheme of the present invention is as follows:
the automatic vacuum package bag boxing method comprises a plurality of boxing stations arranged on a boxing machine frame, wherein the boxing stations are provided with lifting column frames and vacuum package bag grabbing mechanisms, the lower ends of grabbing arms of the vacuum package bag grabbing mechanisms are provided with vacuum suckers, the vacuum suckers are used for grabbing vacuum package bags, the vacuum package bag grabbing mechanisms are fixed on the lifting column frames through one lifting mechanism, the lifting column frames are slidably supported on two horizontal guide rails through bearing sliding blocks, the lifting column frames drop the gravity force points bearing the grabbing vacuum package bags onto the contact surfaces of the bearing sliding blocks and the horizontal guide rails, one horizontal driving mechanism drives the lifting column frames to reciprocate along the horizontal guide rails, one vacuum package bag conveying belt conveys the vacuumized vacuum package bags to the lower ends of the grabbing arms, and one packing box conveying belt passes through the frame beside the vacuum package bag conveying belt, wherein the automatic boxing method comprises the following steps of:
the first step: determining the packing quantity of the packing bags according to the depth of the packing box and the thickness of the packing bags, and placing the packing bags into the descending distance of the packing box by each time of the vacuum chuck of the grabbing arm;
and a second step of: the grabbing arm is lifted and moved to the upper end of the vacuum packaging bag conveying belt, the grabbing arm is lifted again after the vacuum chuck is lowered to grab the packaging bag, the grabbing arm stretches out of a tamping plate to press and bend the lifting edge of the packaging bag on the side edge of the packaging bag, then the grabbing arm is horizontally moved to the vertical upper end of the packaging box, the grabbing arm descends the vacuum chuck to put the grabbed packaging bag into the packaging box, and then the packaging box returns to the first step until the packaging box is full;
and a third step of: removing the full packaging box to the next process;
wherein: in the second step, the upper and lower packaging bags placed in the packaging box are horizontally rotated by 180 degrees by the grabbing arm.
The scheme is further as follows: the installation position of the horizontal guide rail is that after the lifting mechanism lifts the vacuum packaging bag grabbing mechanism into position, the contact surface of the bearing slide block and the horizontal guide rail is not higher than the middle point of the grabbing arm length, the horizontal guide rail is provided with inward concave notch along the middle of the two longitudinal sides, the bearing slide block is fixed with the lifting column frame, the lower end surface of the bearing slide block is provided with an upward groove, the two sides of the notch of the groove are inwards retracted, after the bearing slide block groove is buckled into the horizontal guide rail, the two sides of the notch of the bearing slide block groove are inwards retracted to be matched with the inward concave notch in the middle of the two sides of the horizontal guide rail, the matched engagement enables the bearing slide block to grab the guide rail, and the lifting column frame supported by the bearing slide block is born and restrained when the bearing slide block slides along the horizontal guide rail because of movement to generate forced shaking, and on the basis, the method further comprises: the reciprocating speed of the gripper arm horizontally moving to the vertical upper end of the packing box was determined to be 0.55 m/s to 0.6 m/s.
The scheme is further as follows: the horizontal driving mechanism comprises horizontal rotating belts driven by motors and arranged beside the two horizontal guide rails, the lifting column frame is connected with the horizontal rotating belts through transmission connecting blocks, and then the lifting column frame is driven by the horizontal rotating belts to reciprocate along the horizontal guide rails, and limit sensors are respectively arranged in front of and behind the horizontal guide rails.
The scheme is further as follows: the utility model discloses a lifting device for a luggage, including a rack, a servo motor, a lifting column frame, a lifting mechanism, a lifting slide block, a lifting guide, a plurality of vanning stations, a clamping plate, a lifting belt, a clamping plate and a plurality of grabbing arms.
The scheme is further as follows: the utility model discloses a packing bag, including the packing bag, snatch arm, vacuum chuck fixed plate, the arm lower extreme is provided with the vacuum chuck fixed plate, and the interval is provided with two at least exhaust pipe covers on the vacuum chuck fixed plate, and the trachea that breathes in that penetrates the trachea cover stretches out from the trachea cover lower extreme, and the trachea front end that stretches out sets up vacuum chuck, be provided with the tamper at snatch arm lower extreme vacuum chuck fixed plate side, the tamper is realized carrying the hand limit with the packing bag by a tamper cylinder control and is pressed bending, the tamper is fixed on the flexible arm of tamper cylinder and is driven the oscilaltion by flexible arm, the tamper cylinder is connected to be fixed on a horizontal telescopic machanism, and horizontal telescopic machanism drives the regulation the interval of tamper and vacuum chuck fixed plate is in order to suit different specifications packing bags.
The scheme is further as follows: the horizontal telescopic mechanism comprises a guide rail horizontally arranged at the lower end side of the grabbing arm, a sliding block is arranged on the guide rail and fixedly connected with the tamping plate cylinder through a connecting plate, and a driving device drives the sliding block to horizontally reciprocate along the guide rail through the connecting plate so as to drive and adjust the distance between the tamping plate and the vacuum chuck fixing plate.
The scheme is further as follows: the driving device comprises a screw rod driven by a servo motor, a nut is screwed on the screw rod, the nut is fixedly connected with the connecting plate, the servo motor drives the screw rod to rotate, the connecting plate is driven by the nut to move back and forth along the screw rod, and then the sliding block is driven to horizontally reciprocate along the guide rail; the servo motor drives the screw rod to rotate through a counting wheel, a photoelectric sensor is arranged on the grabbing arm to sense a photosite arranged on the counting wheel, limit sensors are arranged at two end sides of the screw rod, the limit sensor at one end side is used as an initial position sensor for determining the initial position of the rammer, and the grabbing mechanism controller determines the distance between the rammer and the vacuum chuck fixing plate through the initial position sensor, the photoelectric sensor, the counting wheel and the screw thread distance.
The scheme is further as follows: the vacuum chuck is sleeved on the air pipe outlet, and a buffer spring is sleeved on the air pipe between the vacuum chuck and the bottom end of the air pipe sleeve.
The scheme is further as follows: the grabbing arm is rotatably arranged on the hanging frame through a bearing, and the horizontal rotation of the grabbing arm for 180 degrees is achieved by driving the grabbing arm to do reciprocating rotation of 0 to 180 degrees through a rotation driving device.
The scheme is further as follows: the rotary driving device comprises a driven steering gear sleeved on the upper end side of the grabbing arm and a sliding block fixedly arranged on the hanging frame, a long sliding rail is sleeved with the sliding block, a rack is arranged on the long sliding rail, the driven steering gear is meshed with the rack, a motor drives the rack to slide back and forth on the sliding block through the meshing of a driving steering gear on the motor and the rack, and the reciprocating rack drives the grabbing arm to do 0-180-degree angle reciprocating rotation through the driven steering gear.
The beneficial effects of the invention are as follows: compact structure has realized full-automatic vanning, through reducing the stress point with the stability that improves wrapping bag snatch mechanism and remove, and then improved the travel speed more than one time, through setting up the wrapping bag handle and pressing the tamper and pressing the interval adjustment mechanism between tamper and the vacuum chuck in order to adapt to the wrapping bag of different specifications to through setting up the arrangement vanning that 180 degrees steering mechanism can be automatic.
Drawings
FIG. 1 is a schematic view of the front view of the structure of the case packer of the present invention;
FIG. 2 is a schematic side view of the structure of the case packer of the invention, and the left schematic view of FIG. 1;
FIG. 3 is a schematic view showing the state that the grabbing arm grabs the material bag;
FIG. 4 is a schematic illustration of the material bag after boxing;
FIG. 5 is a schematic side view of the structure of the flat drive mechanism and the lifting mechanism;
FIG. 6 is a schematic elevational view of the horizontal drive mechanism and lift mechanism, shown in the orientation A-A of FIG. 5;
FIG. 7 is a schematic cross-sectional view of the horizontal rail and load-bearing slide, enlarged view of section A of FIG. 6;
FIG. 8 is a schematic view of a gripper arm configuration;
FIG. 9 is a schematic cross-sectional view of a tamper horizontal telescoping mechanism;
FIG. 10 is a schematic view of an assembled array of a plurality of gripper arms;
FIG. 11 is a schematic side view of the structure of the present invention, the left side view of FIG. 8;
fig. 12 is a schematic view of a 180 degree steering drive configuration for the gripper arm of the present invention.
Detailed Description
The invention is described in detail below with reference to the drawings and examples. The described embodiments are only some, but not all, embodiments of the invention. In the description of the present embodiment, it should be noted that the terms "connected" and "disposed" should be interpreted broadly, for example, "connected" may be a wire connection or a mechanical connection; the 'placement' can be fixed connection placement or integrated placement. The specific meaning of the above terms in the present embodiment can be understood by those of ordinary skill in the art according to the specific circumstances. It should be noted that various aspects will be described, each of which may be used alone or in combination. That is, any given aspect may be used with different embodiments unless explicitly indicated as a mere alternative. Furthermore, in the following, for simplicity, always one item is mentioned. However, unless explicitly mentioned, the present embodiment may also include many specific items. Thus, the use of the words "a" and "an" should be taken to mean that at least one of the items is used in a single embodiment.
The utility model provides an automatic vanning method of vacuum packaging bag, including the case packer, as shown in fig. 1 and 2, a plurality of vanning stations that set up on the case packer frame 30, the vanning station is provided with lift post frame and vacuum packaging bag grabbing mechanism, the grabbing arm 1 lower extreme of vacuum packaging bag grabbing mechanism is provided with vacuum chuck 6, vacuum chuck 6 is used for grabbing vacuum packaging bag 7, vacuum packaging bag grabbing mechanism is fixed on lift post frame through a elevating mechanism, lift post frame is through bearing slider slidable support on two horizontal guide rail 31, lift post frame will bear the gravity force point that snatchs vacuum packaging bag and fall on bearing slider and horizontal guide rail's contact surface, a horizontal drive mechanism drives lift post frame along horizontal guide rail reciprocating motion, a vacuum packaging bag conveyer belt 32 carries the vacuum packaging bag who takes vacuum packaging bag to grabbing arm 1 lower extreme, a packing box conveyer belt 33 is by vacuum packaging bag conveyer belt 32 side frame 30, packing box 8 that packing box conveyer belt 33 carried is at grabbing arm 1 lower extreme wait to wait for grab arm 1 to pack into vacuum 7 the handle that snatchs, handle after filling, wherein, packing bag 7 has been had and if the packing bag is in the packing bag is reduced in the map, and the packing bag quality is reduced in the map of packing bag is in the map, and the packing bag is required to the packing in the map, if the packing bag is reduced in the map, and the packing bag quality is reduced in the map, and the packing map is required to be packed in the map, and the packing bag is reduced in the packing map, and the packing bag quality is reduced.
The automatic boxing method comprises the following steps:
the first step: the distance between the upward moving position of the grabbing arm and the surface of the vacuum package conveying belt is known, and the distance between the surface of the vacuum package conveying belt and the surface of the package conveying belt is known, so that the packing quantity of the packages and the descending distance of each time the grabbing arm vacuum chuck places the packages into the package are determined according to the depth of the package and the thickness of the package;
and a second step of: the grabbing arm is lifted and moved to the upper end of the vacuum packaging bag conveying belt, the grabbing arm is lifted again after the vacuum chuck is lowered to grab the packaging bag, the grabbing arm stretches out of a tamping plate to press and bend the lifting edge of the packaging bag on the side edge of the packaging bag, then the grabbing arm is horizontally moved to the vertical upper end of the packaging box, the grabbing arm descends the vacuum chuck to put the grabbed packaging bag into the packaging box, and then the packaging box returns to the first step until the packaging box is full;
and a third step of: removing the full packaging box to the next process;
wherein: in the second step, the upper and lower packaging bags placed in the packaging box are horizontally rotated by 180 degrees by the grabbing arm.
The first step of determining the packing bag loading quantity and the descending distance of the packing bag placed into the packing box by the vacuum chuck of each grabbing arm is determined by adjusting the moving distance of the grabbing arm after the initial position is determined by a sensor or is determined by a manual step-by-step operation mode.
In order to realize the above functional actions, as shown in fig. 1, 5, 6 and 7, the two horizontal guide rails 31 are fixed on the frame 30 of the box loader at intervals, the vacuum package grabbing mechanism is fixed on the lifting column frame 34 through a lifting mechanism, the lifting column frame 34 is slidably supported on the two horizontal guide rails 31 through a bearing slide block 35, the gravity force point of the lifting column frame for grabbing the vacuum package falls on the contact surface of the bearing slide block and the horizontal guide rails, and a horizontal driving mechanism 36 drives the lifting column frame to reciprocate along the horizontal guide rails 31, wherein, in order to reduce the gravity force point, the installation position of the horizontal guide rails is that after the lifting mechanism lifts the vacuum package grabbing mechanism into place, the contact surface D of the bearing slide block and the horizontal guide rails is not higher than the midpoint C of the arm length of the grabbing arm 1, and the structure reduces the stress point so as to improve the moving stability of the package grabbing mechanism and further improve the moving speed. In addition to reducing stress points, the present structure has the following characteristics that, as shown in fig. 7, the horizontal guide rail has an inward concave notch 3101 along the middle of two longitudinal sides, the bearing slide block 35 is fixed with the lifting column frame 34, the lower end surface of the bearing slide block 35 has an upward groove 3501, two sides of the notch of the groove are retracted inwards into 3502, after the groove of the bearing slide block 35 is buckled into the horizontal guide rail 31, two sides of the notch of the groove of the bearing slide block are retracted inwards to be engaged with the inward concave notch in the middle of two sides of the horizontal guide rail, the engaged parts enable the bearing slide block to grasp the guide rail, and the lifting column frame supported by the bearing slide block can bear and restrain the bearing slide block from shaking due to the stress caused by the movement when the bearing slide block slides along the horizontal guide rail, on the basis, the method further comprises: determining the reciprocating speed of horizontally moving the grabbing arm to the vertical upper end of the packing box, determining the reciprocating speed to be 0.55 m/s to 0.6 m/s, and improving the original manual bagging speed to 680-720 bags/1 hour at 400-500 bags/1 hour.
Wherein: the horizontal driving mechanism 36 for driving the lifting column frame 34 comprises a driving gear 3601 driven by a motor, the driving gear drives a horizontal rotating belt 3602 arranged beside the two horizontal guide rails through a chain and a driven wheel, the lifting column frame 34 is connected with the horizontal rotating belt through a transmission connecting block 3603, and further the lifting column frame is driven by the horizontal rotating belt to reciprocate along the horizontal guide rails, and limit sensors 37 are respectively arranged in front of and behind the horizontal guide rails.
Wherein: as shown in fig. 1 and 10, the number of the plurality of boxing stations is 4, 4 grabbing arms are arranged on one hanging frame 2 at intervals in a row, as shown in fig. 5 and 6, the hanging frame 2 is connected with the lifting mechanism through a backup plate 38, the lifting mechanism comprises two vertical lifting guide rails 39 which are arranged on a lifting column frame in parallel, the backup plate 38 holds the vertical lifting guide rails 39 through lifting sliding blocks 40, vertical lifting belts 42 driven by a servo motor 41 are arranged beside the two vertical lifting guide rails, the vertical lifting belts are fixedly connected with the backup plate 38 through clamping plates 43, and then the hanging frame and the plurality of grabbing arms are driven by the vertical lifting belts to synchronously lift along the vertical lifting guide rails, in order to control the descending distance of the packing bag placed in the packing box by the vacuum chuck of each grabbing arm in the first step of the method, limit sensors are respectively arranged on the upper end side and the lower end side of the vertical lifting guide rail 39, wherein the limit sensor on the upper end side is used as an upward-moving in-place sensor of the grabbing arm, and meanwhile, the sensor is also used for determining the original position of the grabbing arm, and the descending distance of the packing bag placed in the packing box by the vacuum chuck of each grabbing arm is calculated and determined at the position by controlling the rotating angle of the servo motor 41 or by arranging a photoelectric sensor or a magnetic induction sensor on a rack, and a belt pulley is used as a counting wheel, and the photoelectric sensor or the magnetic induction sensor senses the sensing point of the counting wheel.
The utility model provides a vacuum packaging bag snatchs mechanism is as shown in fig. 8 and 11, including snatch arm 1, snatch arm upper end is connected on a stores pylon 2, stores pylon 2 is connected with the case packer frame, snatch arm lower extreme vacuum chuck fixed plate 3 is gone up the interval and is provided with two at least exhaust pipe cover 4, each row has three at least gas pipe cover, it is fixed with the gas pipe cover 4 and stretches out from the gas pipe cover 4 lower extreme to penetrate the gas pipe cover 4's gas pipe 5, the trachea front end that stretches out sets up vacuum chuck 6, as shown in fig. 6 and 7, two rows of vacuum chuck draw the packing bag from the planar centre of packing bag 7 and pack case 8, the packing bag is vacuum packaging bag, there is the packing bag handle 701 on one side of the packing bag, in the in-process of packing case packing bag handle 701 if to handle 701 is not handled and can influence the vanning quality, for this reason, as shown in fig. 1, fig. 4 and 6, at snatch arm lower extreme vacuum chuck fixed plate side is provided with the tamping plate 9, the tamping plate is realized by a plate cylinder control and is bent the packing bag lifting handle side in order to reduce the packing bag in the case, standardize and pack bag space in the case, packing bag is fixed with flexible mechanism is fixed with flexible and flexible mechanism is fixed with flexible and flexible mechanism in the level.
As shown in fig. 8, fig. 9 and fig. 11, the horizontal telescopic mechanism comprises a guide rail 11 horizontally arranged at the lower end side of the grabbing arm, a slide block 12 is arranged on the guide rail 11, the slide block is fixedly connected with a tamping plate cylinder through a connecting plate 13, a driving device drives the slide block to horizontally reciprocate along the guide rail through the connecting plate 13, and further drives and adjusts the distance between the tamping plate and a vacuum chuck fixing plate, two sets of guide rails 11, slide blocks 12 and connecting plates 13 are shown in fig. 2, and the two sets of guide rails 11, slide blocks 12 and connecting plates 13 are oppositely arranged.
There are various driving devices for driving the connection plate 13 to move, for example, the connection plate 13 is driven to move by a telescopic arm of an air cylinder. As a preferable scheme of this embodiment, it is: the driving device comprises a screw rod 15 driven by a servo motor 14 arranged on the grabbing arm, a nut 16 is screwed on the screw rod 15, the nut 16 is fixedly connected with the connecting plate 13, the servo motor drives the screw rod to rotate, the connecting plate is driven by the nut to move back and forth along the screw rod, and then the sliding block is driven to horizontally reciprocate along the guide rail. Wherein: the screw 15 is arranged between the two exhaust pipe sleeves.
In order to accurately adjust the distance between the tamping plate and the vacuum chuck fixing plate: the servo motor drives the screw rod 15 to rotate through a counting wheel 17, the counting wheel 17 is taken as a driving wheel to rotate a driven wheel 18 in fig. 1, the diameter of the driving wheel is the same as that of the driven wheel, the driving wheel drives the driven wheel to rotate through a toothed belt, a photoelectric sensor or a magnetic induction sensor 19 is arranged on a grabbing arm to sense a photosensor or a magnetic induction point arranged on the counting wheel, limit sensors a and b are arranged at two end sides of the screw rod, wherein the limit sensor at one end side is taken as an initial position sensor to determine the initial position of the ramming plate, and a grabbing mechanism controller calculates and determines the distance between the ramming plate and a vacuum chuck fixing plate through the initial position sensor, the photoelectric sensor, the counting wheel and the tooth distance of the screw rod.
As shown in fig. 8 and 11: the vacuum chuck is sleeved on the air pipe outlet, and a buffer spring 20 is sleeved on the air pipe between the vacuum chuck and the bottom end of the air pipe sleeve, and the buffer spring is arranged between the vacuum chuck and the lower plane of the guide sleeve for fixing the hollow guide rod, so that the initial state of the vacuum chuck is always at the bottommost end of the grabbing arm. When the grabbing arm descends to take the material package, the buffer spring plays a role in buffering so as to prevent the vacuum chuck from being in hard contact with the packaging bag and reduce damage of the vacuum chuck to the material package.
In order to be able to carry out boxing simultaneously with a plurality of stations, therefore: as shown in fig. 10, 4 grabbing arms 1 are arranged on the hanger 2 at intervals, as shown in fig. 8, the grabbing arms 1 are rotatably arranged on the hanger 2 through bearing seats 21 and bearings 22 on the bearing seats, as can be seen from fig. 4, in order to be able to balance boxing, handles 701 of upper and lower packaging bags are not on one side, and the upper and lower packaging bags are put into the hanger by horizontally rotating the grabbing arms by 180 degrees, and a rotation driving device drives the grabbing arms 1 to do reciprocating rotation at an angle of 0 to 180 degrees, so that balanced boxing is achieved.
The rotation driving device may have various structural manners, for example, each grabbing arm 1 is provided with a motor drive or driven by a link mechanism, and in this embodiment, in order to be able to simultaneously control synchronous rotation of the grabbing arms 1 of a plurality of stations in a centralized manner: as shown in fig. 8, 10 and 12, the rotation driving device includes a driven steering gear 23 sleeved on a rotating shaft 101 at the upper end of the grabbing arm and a sliding block 24 fixedly arranged on the hanging frame, a long sliding rail 25 is supported and arranged in a sleeved mode with the sliding block 24, the sliding block does not move and slides along the long sliding rail, a rack 26 is arranged on the sliding rail, the driven steering gear 23 is meshed with the rack 26, a motor 27 is meshed with the rack 26 through a driving steering gear 28 arranged on the rotating shaft on the motor to drive the rack 26 to slide back and forth on the sliding block 24, and the rack 26 which slides back and forth drives the grabbing arm 1 to do back and forth rotation at an angle of 0-180 degrees through the driven steering gear. The rack is provided with 4 grabbing arms 1 at intervals, the long sliding rail is divided into two sections, the two sections of long sliding rails are arranged in a staggered mode relatively, the driving steering gear 28 is arranged between the two sections of long sliding rails 25 which are staggered relatively, racks of the two sections of long sliding rails drive the 2 grabbing arms to do 0-180-degree angle reciprocating rotation respectively, and the sliding blocks 24 and the racks 26 are arranged in a segmented mode.
The automatic vacuum packaging bag boxing method realizes full-automatic boxing, reduces stress points to improve the moving stability of the packaging bag grabbing mechanism, further improves the moving speed by more than one time, adapts to packaging bags of different specifications by arranging a packaging bag lifting handle pressing ramming plate and a spacing adjusting mechanism between the pressing ramming plate and a vacuum chuck, and can automatically tidy and boxing by arranging a 180-degree steering mechanism.
Claims (10)
1. The automatic vacuum package bag boxing method comprises a plurality of boxing stations arranged on a boxing machine frame, wherein the boxing stations are provided with lifting column frames and vacuum package bag grabbing mechanisms, the lower ends of grabbing arms of the vacuum package bag grabbing mechanisms are provided with vacuum suckers, the vacuum suckers are used for grabbing vacuum package bags, the vacuum package bag grabbing mechanisms are fixed on the lifting column frames through one lifting mechanism, the lifting column frames are slidably supported on two horizontal guide rails through bearing sliding blocks, the lifting column frames drop the gravity force points bearing the grabbing vacuum package bags onto the contact surfaces of the bearing sliding blocks and the horizontal guide rails, one horizontal driving mechanism drives the lifting column frames to reciprocate along the horizontal guide rails, one vacuum package bag conveying belt conveys the vacuumized vacuum package bags to the lower ends of the grabbing arms, and one packing box conveying belt passes through the frame beside the vacuum package bag conveying belt.
The first step: determining the packing quantity of the packing bags according to the depth of the packing box and the thickness of the packing bags, and placing the packing bags into the descending distance of the packing box by each time of the vacuum chuck of the grabbing arm;
and a second step of: the grabbing arm is lifted and moved to the upper end of the vacuum packaging bag conveying belt, the grabbing arm is lifted again after the vacuum chuck is lowered to grab the packaging bag, the grabbing arm stretches out of a tamping plate to press and bend the lifting edge of the packaging bag on the side edge of the packaging bag, then the grabbing arm is horizontally moved to the vertical upper end of the packaging box, the grabbing arm descends the vacuum chuck to put the grabbed packaging bag into the packaging box, and then the packaging box returns to the first step until the packaging box is full;
and a third step of: removing the full packaging box to the next process;
wherein: in the second step, the upper and lower packaging bags put into the packaging box are horizontally rotated by 180 degrees by a grabbing arm and put into the packaging box;
the installation position of the horizontal guide rail is that after the vacuum packaging bag grabbing mechanism is lifted to the right position by the lifting mechanism, the contact surface of the bearing slide block and the horizontal guide rail is not higher than the middle point of the grabbing arm length, the middle of the two longitudinal sides of the horizontal guide rail is provided with inward concave notch, the bearing slide block is fixed with the lifting column frame, the lower end surface of the bearing slide block is provided with an upward groove, the two sides of the notch of the groove are inwards retracted, after the bearing slide block groove is buckled into the horizontal guide rail, the two sides of the notch of the bearing slide block groove are inwards retracted to be matched with the inward concave notch in the middle of the two sides of the horizontal guide rail, the matched engagement enables the bearing slide block to grab the guide rail, and the lifting column frame supported by the bearing slide block is born and restrained when the bearing slide block slides along the horizontal guide rail, so that the bearing slide block is stressed to shake due to movement.
2. The method according to claim 1, wherein the method further comprises: the reciprocating speed of the gripper arm horizontally moving to the vertical upper end of the packing box was determined to be 0.55 m/s to 0.6 m/s.
3. The method according to claim 1, wherein the horizontal driving mechanism comprises a horizontal rotating belt driven by a motor arranged beside the two horizontal guide rails, the lifting column frame is connected with the horizontal rotating belt through a transmission connecting block, and further the lifting column frame is driven by the horizontal rotating belt to reciprocate along the horizontal guide rails, and limit sensors are respectively arranged in front of and behind the horizontal guide rails.
4. The method of claim 1, wherein the gripping arms of the plurality of boxing stations are arranged on a hanger in a row at intervals, the hanger is connected with the lifting mechanism through a backup plate, the lifting mechanism comprises two vertical lifting guide rails which are arranged on the lifting column frame in parallel, the backup plate holds the vertical lifting guide rails through lifting sliding blocks, a vertical lifting belt driven by a servo motor is arranged beside the two vertical lifting guide rails, and the vertical lifting belt is fixedly connected with the backup plate through a clamping plate, so that the hanger and the plurality of gripping arms are driven by the vertical lifting belt to synchronously lift along the vertical lifting guide rails.
5. The method according to claim 1 or 4, wherein the lower end of the grabbing arm is provided with a vacuum chuck fixing plate, at least two exhaust pipe sleeves are arranged on the vacuum chuck fixing plate at intervals, an air suction pipe penetrating into the air pipe sleeves stretches out of the lower end of the air pipe sleeves, the vacuum chuck is arranged at the front end of the stretched air pipe, a tamping plate is arranged on the side edge of the vacuum chuck fixing plate at the lower end of the grabbing arm, the tamping plate is controlled by a tamping plate cylinder to press and bend the lifting edge of the packaging bag on the side edge of the packaging bag, the tamping plate is fixed on a telescoping arm of the tamping plate cylinder and driven by the telescoping arm to move up and down, the tamping plate cylinder is connected and fixed on a horizontal telescoping mechanism, and the horizontal telescoping mechanism drives and adjusts the distance between the tamping plate and the vacuum chuck fixing plate to adapt to packaging bags of different specifications.
6. The method of claim 5, wherein the horizontal telescopic mechanism comprises a guide rail horizontally arranged at the lower end side of the grabbing arm, a sliding block is arranged on the guide rail and fixedly connected with the tamping plate cylinder through a connecting plate, and a driving device drives the sliding block to horizontally reciprocate along the guide rail through the connecting plate so as to drive and adjust the distance between the tamping plate and the vacuum chuck fixing plate.
7. The method according to claim 6, wherein the driving device comprises a screw driven by a servo motor, a nut is screwed on the screw, the nut is fixedly connected with the connecting plate, the servo motor drives the screw to rotate and drives the connecting plate to move back and forth along the screw through the nut, and further drives the sliding block to horizontally reciprocate along the guide rail, the servo motor drives the screw to rotate through a counting wheel, a photoelectric sensor is arranged on the grabbing arm to sense a photosite arranged on the counting wheel, limit sensors are arranged on two end sides of the screw, one end side of the limit sensor is used as an initial position sensor for determining the initial position of the ramming plate, and the grabbing mechanism controller determines the distance between the ramming plate and the vacuum chuck fixing plate through the initial position sensor, the photoelectric sensor, the counting wheel and the screw thread distance.
8. The method of claim 5, wherein the vacuum cup is fitted over the tracheal tube outlet and a buffer spring is fitted over the tracheal tube between the vacuum cup and the bottom end of the tracheal tube.
9. The method of claim 5, wherein the gripping arms are rotatably mounted on the hanger by bearings, and the upper and lower package bags are placed by horizontally rotating the gripping arms by 180 degrees by a rotation driving device to reciprocally rotate the gripping arms by 0 to 180 degrees.
10. The method according to claim 9, wherein the rotation driving device comprises a driven steering gear sleeved on the upper end side of the grabbing arm and a sliding block fixedly arranged on the hanging frame, a long sliding rail is sleeved on the sliding block, a rack is arranged on the long sliding rail, the driven steering gear is meshed with the rack, a motor is meshed with the rack through a driving steering gear on the motor to drive the rack to slide back and forth on the sliding block, and the rack which slides back and forth drives the grabbing arm to rotate back and forth at an angle of 0 to 180 degrees through the driven steering gear.
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| CN114735279B (en) * | 2022-04-14 | 2022-11-22 | 广州鸿祥智能自动化设备有限公司 | Full-automatic rice noodle packaging machine |
| CN116573221B (en) * | 2023-07-14 | 2023-10-03 | 烟台金丝猴食品科技有限公司 | Bagged material boxing machine |
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