CN113911461A - Manipulator packaging device and packaging method - Google Patents

Manipulator packaging device and packaging method Download PDF

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Publication number
CN113911461A
CN113911461A CN202111197374.3A CN202111197374A CN113911461A CN 113911461 A CN113911461 A CN 113911461A CN 202111197374 A CN202111197374 A CN 202111197374A CN 113911461 A CN113911461 A CN 113911461A
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CN
China
Prior art keywords
pipe
fixedly connected
discharging
controller
packaging
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111197374.3A
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Chinese (zh)
Inventor
任志红
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Yuanjie Electronic Technology Co ltd
Original Assignee
Shandong Yuanjie Electronic Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shandong Yuanjie Electronic Technology Co ltd filed Critical Shandong Yuanjie Electronic Technology Co ltd
Priority to CN202111197374.3A priority Critical patent/CN113911461A/en
Publication of CN113911461A publication Critical patent/CN113911461A/en
Pending legal-status Critical Current

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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
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
    • 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
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/04—Methods of, or means for, filling the material into the containers or receptacles
    • B65B1/06—Methods of, or means for, filling the material into the containers or receptacles by gravity flow
    • 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
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/30—Devices or methods for controlling or determining the quantity or quality or the material fed or filled
    • B65B1/32—Devices or methods for controlling or determining the quantity or quality or the material fed or filled by weighing
    • 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
    • B65B3/00—Packaging plastic material, semiliquids, liquids or mixed solids and liquids, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B3/04—Methods of, or means for, filling the material into the containers or receptacles
    • B65B3/06—Methods of, or means for, filling the material into the containers or receptacles by gravity flow
    • 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
    • B65B3/00—Packaging plastic material, semiliquids, liquids or mixed solids and liquids, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B3/26—Methods or devices for controlling the quantity of the material fed or filled
    • B65B3/28—Methods or devices for controlling the quantity of the material fed or filled by weighing
    • 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
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • B65B43/465—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers for bags
    • 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
    • B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Quality & Reliability (AREA)
  • Basic Packing Technique (AREA)

Abstract

The invention belongs to the technical field of packaging equipment, and discloses manipulator packaging equipment which is technically characterized by comprising a support, wherein a conveyor belt is arranged on the support, a material box is arranged above the conveyor belt, L-shaped rods are fixedly connected to the left side and the right side of the material box, the bottom ends of the two L-shaped rods are respectively and fixedly connected with the two sides of the top of the support, the bottom of the material box is communicated with a connecting pipe, and an electromagnetic valve is arranged in the connecting pipe. This scheme is through the conveyer belt, the material case, the solenoid valve, flexible subassembly, mutually supporting of ration ejection of compact subassembly and controller, can realize the automatic accurate filling of material, can effectively prevent unrestrained and the waste of material simultaneously to control cost, less error, through the cooperation control steering wheel of rotating electrical machines, arm and scanning locator, and then control machinery tong grasps the encapsulation bag, realizes automatic operation of sealing through the sealer at last, improves work efficiency.

Description

Manipulator packaging device and packaging method
Technical Field
The invention relates to the technical field of packaging equipment, in particular to mechanical arm packaging equipment and a packaging method.
Background
The packaging machine is a machine for sealing and packaging the outer package of a product, plays a role in protection and beauty, and comprises two steps of material filling and sealing and packaging.
However, when the existing packaging equipment is used for filling materials, the materials are easy to spill, the filling amount of the materials cannot be accurately controlled, and the packaging equipment can only be suitable for packaging external packages of specific products during sealing, so that the limitation is large.
Disclosure of Invention
The invention aims to provide a manipulator packaging device and a packaging method, aiming at solving the problems in the prior art.
In order to solve the above problems, the present invention adopts the following technical solutions.
A manipulator packaging device comprises a support, wherein a conveyor belt is arranged on the support, a material box is arranged above the conveyor belt, L-shaped rods are fixedly connected to the left side and the right side of the material box, the bottom ends of the two L-shaped rods are fixedly connected with the two sides of the top of the support respectively, a connecting pipe is communicated with the bottom of the material box, an electromagnetic valve is arranged in the connecting pipe, a telescopic assembly is arranged at the bottom of the connecting pipe, a quantitative discharging assembly is communicated with the bottom of the telescopic assembly, and a controller is fixedly arranged on the right side of the support;
the right side of support just is located the rear fixedly connected with supporting shoe of material case, there is the rotating electrical machines at the top of supporting shoe through screw fixed mounting, the output shaft fixed mounting of rotating electrical machines has the arm, the one end fixedly connected with steering wheel of rotating electrical machines is kept away from to the arm, the output shaft fixedly connected with machinery tong of steering wheel, the inboard fixedly connected with sealer of machinery tong, the equal fixed mounting in both sides of machinery tong has the scanning locator, solenoid valve, rotating electrical machines, steering wheel, sealer and scanning locator pass through wire and controller electric connection respectively.
As a further description of the above scheme, the telescopic assembly comprises a telescopic pipe, the telescopic pipe is communicated with the connecting pipe, electric push rods are arranged on the front side and the back side of the telescopic pipe, two fixing blocks are fixedly connected to the top end and the bottom end of each electric push rod, two fixing blocks are fixedly connected to the powder fish connecting pipe at the top end, and two fixing blocks at the bottom end are fixedly connected with the quantitative discharging assembly respectively.
As further description of the scheme, the quantitative discharging component comprises a discharging pipe, the top of the discharging pipe is communicated with a material filling pipe, the material filling pipe is communicated with the telescopic pipe, the two fixing blocks at the bottom end are respectively and fixedly connected with the front side and the back side of the material discharging pipe, a receiving disc is arranged in the discharging pipe and is matched with the discharging pipe, the top of the receiving disc corresponds to the material filling pipe, the bottom of the bearing disc is fixedly connected with a mounting block, a weighing sensor is arranged on the mounting block, the left side and the right side of the mounting block are both fixedly connected with a rotating shaft, the rotating shaft on the left side is fixedly connected with the discharging pipe through a bearing, the right end of the rotating shaft on the right side penetrates through and extends to the right side of the discharging pipe, the right side fixed mounting of discharging pipe has driving motor, driving motor's output shaft and the pivot fixed connection on right side.
As a further description of the above solution, the conveyor belt is fixedly connected with positioning bars arranged at equal distances.
As further description of the scheme, the left side and the right side of the bottom wall in the material box are fixedly connected with guide triangular blocks.
As a further description of the above scheme, the bottoms of the material filling pipe and the material discharging pipe are both in a funnel shape, the driving motor is provided with a protective cover, and the left side of the protective cover is fixedly connected with the right side of the material discharging pipe.
As a further description of the above solution, a distance sensor is fixedly connected to both sides below the tapping pipe.
A packaging method of a manipulator packaging device comprises the following steps:
firstly, setting the blanking amount of a material to be packaged on the controller, then opening and placing a packaging bag on the conveyor belt, and conveying the packaging bag to the lower part of the material box through the conveyor belt;
secondly, the distance sensor monitors the distance between the packaging bag and the discharge pipe in real time and sends data to the controller, and the controller moves and stretches the electric push rod in the telescopic assembly according to the data to drive the telescopic pipe and the discharge pipe of the quantitative discharge assembly to lift, so that the materials are effectively prevented from being scattered during discharging;
after the position of the positive discharging pipe is adjusted, the controller opens the electromagnetic valve to discharge materials in the material box and enable the materials to fall on the receiving disc through the connecting pipe, the telescopic pipe and the material filling pipe, meanwhile, a weighing sensor at the bottom of the receiving disc monitors the weight data in the receiving disc in real time and sends the data to the controller, when the set data are achieved, the controller controls the electromagnetic valve to be closed, discharging is stopped, meanwhile, the driving motor is electrified to be round to drive the rotating shaft to rotate and drive the receiving disc to turn downwards and discharge, and the materials fall into the packaging bag through the discharging pipe;
and fourthly, packaging the packaging bags with the materials, continuously conveying the packaging bags to the mechanical arm through the conveying belt, controlling the steering engine through the cooperation of the rotary motor, the mechanical arm and the scanning positioner, further controlling the mechanical gripper to clamp the packaging bags, and finally realizing sealing operation through the sealing machine.
Compared with the prior art, the invention has the advantages that:
(1) this scheme is through the conveyer belt, the material case, the solenoid valve, flexible subassembly, mutually supporting of ration ejection of compact subassembly and controller, can realize the automatic accurate filling of material, can effectively prevent unrestrained and the waste of material simultaneously to control cost, less error, through the cooperation control steering wheel of rotating electrical machines, arm and scanning locator, and then control machinery tong grasps the encapsulation bag, realizes automatic operation of sealing through the sealer at last, improves work efficiency.
(2) The scanning positioner of machinery tong both sides can the accurate position of location encapsulation mouth, realizes sealing of super high accuracy, and because the flexibility and the accurate nature of steering wheel and machinery tong, can be in other directions, other planes, other high encapsulate the product, lets the device can adapt to other work types, has strengthened the practicality of device.
(3) The telescopic pipe can be driven to extend or shorten through the extension of the electric push rod, so that the quantitative discharging assembly is driven to lift, and then the quantitative discharging assembly is enabled to extend into the packaging bag to prevent the materials from being scattered.
(4) The material falls into in accepting the disc through flexible pipe and material filling pipe, and weighing sensor carries out real-time supervision to the weight of accepting the material in the disc simultaneously, and when material weight reached the settlement scope, the controller was closed the solenoid valve to it is rotatory to drive the pivot with driving motor circular telegram operation drive, and then drives and accepts the disc upset and unload, thereby realizes accurate unloading, reduces the error.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an enlarged view of the robot of FIG. 1 in accordance with the present invention;
FIG. 3 is a partial enlarged view of the material box of the present invention;
FIG. 4 is an elevational, cross-sectional view of the invention as shown in FIG. 3.
The reference numbers in the figures illustrate:
1. a support; 2. a conveyor belt; 3. a material box; 4. a connecting pipe; 5. an electromagnetic valve; 6. a telescoping assembly; 61. a telescopic pipe; 62. an electric push rod; 63. a fixed block; 7. a discharge assembly; 71. a discharge pipe; 72. a material filling pipe; 73. carrying the disc; 74. mounting blocks; 75. a weighing sensor; 76. a rotating shaft; 77. A drive motor; 78. a protective cover; 79. a distance sensor; 8. a controller; 9. a support block; 10. a rotating electric machine; 11. a mechanical arm; 12. a steering engine; 13. a mechanical gripper; 14. a sealer; 15. scanning the locator; 16. a positioning bar; 17. guiding a triangular block; 18. an L-shaped rod.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
Referring to fig. 1-4, a manipulator packaging device comprises a support 1, a conveyor belt 2 is arranged on the support 1, positioning strips 16 which are arranged equidistantly are fixedly connected to the conveyor belt 2, a material tank 3 is arranged above the conveyor belt 2, L-shaped rods 18 are fixedly connected to the left side and the right side of the material tank 3, the bottom ends of the two L-shaped rods 18 are respectively fixedly connected to the two sides of the top of the support 1, a connecting pipe 4 is communicated with the bottom of the material tank 3, an electromagnetic valve 5 is arranged in the connecting pipe 4, a telescopic assembly 6 is arranged at the bottom of the connecting pipe 4, a quantitative discharging assembly 7 is communicated with the bottom of the telescopic assembly 6, a controller 8 is fixedly arranged on the right side of the support 1, and the conveyor belt 2, the material tank 3, the electromagnetic valve 5, the telescopic assembly 6, the quantitative discharging assembly 7 and the controller 8 are matched with each other, so that automatic and accurate filling of materials can be realized, and simultaneously the materials can be effectively prevented from being spilled and wasted, so as to control cost and reduce error.
A supporting block 9 is fixedly connected to the right side of the support 1 and behind the material box 3, a rotating motor 10 is fixedly mounted at the top of the supporting block 9 through screws, a mechanical arm 11 is fixedly mounted on an output shaft of the rotating motor 10, a steering engine 12 is fixedly connected to one end, away from the rotating motor 10, of the mechanical arm 11, a mechanical gripper 13 is fixedly connected to an output shaft of the steering engine 12, a sealer 14 is fixedly connected to the inner side of the mechanical gripper 13, scanning positioners 15 are fixedly mounted on both sides of the mechanical gripper 13, the electromagnetic valve 5, the rotating motor 10, the steering engine 12, the sealer 14 and the scanning positioners 15 are respectively electrically connected with the controller 8 through wires, the steering engine 12 is controlled through the cooperation of the rotating motor 10, the mechanical arm 11 and the scanning positioners 15, the mechanical gripper 13 is further controlled to clamp a sealing bag, and finally, automatic sealing operation is realized through the sealer 14, improve work efficiency, and the scanning locator 15 of mechanical tong 13 both sides can the accurate position of location encapsulation mouth, realize the sealing of super high accuracy, and because steering wheel 12 and mechanical tong 13's flexibility and accurate nature, can be in other directions, other planes, other high encapsulate the product, let the device can adapt to other types of industry, strengthened the practicality of device.
Wherein, flexible subassembly 6 includes flexible pipe 61, flexible pipe 61 and connecting pipe 4 intercommunication, the front and the back of flexible pipe 61 all are provided with electric putter 62, two electric putter 62's the equal fixedly connected with fixed block 63 in top and bottom, two fixed block 63 whitewashed fish connecting pipe 4 fixed connection on top, two fixed blocks 63 of bottom respectively with quantitative ejection of compact subassembly 7 fixed connection, can drive flexible pipe 61 extension or shorten through electric putter 62's flexible, and then drive quantitative ejection of compact subassembly 7 and go up and down, make quantitative ejection of compact subassembly 7 stretch into in the encapsulation bag then, in order to prevent that the material from spilling.
Referring to fig. 3 and 4, the quantitative discharging assembly 7 includes a discharging pipe 71, a material filling pipe 72 is communicated with the top of the discharging pipe 71, the material filling pipe 72 is communicated with the telescopic pipe 61, two fixing blocks 63 at the bottom end are fixedly connected with the front and the back of the discharging pipe 71 respectively, a receiving disc 73 is arranged inside the discharging pipe 71, the receiving disc 73 is adapted to the discharging pipe 71, the top of the receiving disc 73 corresponds to the material filling pipe 72, a mounting block 74 is fixedly connected with the bottom of the receiving disc 73, a weighing sensor 75 is arranged on the mounting block 74, rotating shafts 76 are fixedly connected with the left and right sides of the mounting block 74, the rotating shaft 76 at the left side is fixedly connected with the discharging pipe 71 through a bearing, the right end of the rotating shaft 76 at the right side penetrates through and extends to the right side of the discharging pipe 71, a driving motor 77 is fixedly mounted at the right side of the discharging pipe 71, and an output shaft of the driving motor 77 is fixedly connected with the rotating shaft 76 at the right side, the material falls into accepting the disc 73 through telescopic pipe 61 and material filling pipe 72, and weighing sensor 75 carries out real-time supervision to accepting the weight of the material in the disc 73 simultaneously, and when material weight reached the settlement scope, controller 8 closed solenoid valve 5 to drive driving motor 77 circular telegram operation and drive pivot 76 rotatory, and then drive and accept disc 73 upset and unload, thereby realize accurate unloading, reduce the error.
In the invention, the left side and the right side of the bottom wall in the material box 3 are both fixedly connected with the guide triangular blocks 17, so that the auxiliary guide can be carried out on the material blanking in the material box 3.
In the invention, the bottoms of the material filling pipe 72 and the material discharging pipe 71 are in a funnel shape, so that the material discharging pipe 71 can conveniently extend into the interior of the packaging bag, the materials are prevented from being scattered, and waste is caused, the driving motor 77 is provided with the protective cover 78, the left side of the protective cover 78 is fixedly connected with the right side of the material discharging pipe 71, and the driving motor 77 can be protected by the protective cover 78.
In the invention, the distance sensors 79 are fixedly connected to both sides below the discharge pipe 71, and the electric push rod 62 can be assisted to stretch and retract through the distance sensors 79, so that the discharge pipe 71 is lifted.
A packaging method of a manipulator packaging device comprises the following steps:
firstly, setting the blanking amount of a material to be packaged on a controller 8, then opening a packaging bag and placing the packaging bag on a conveyor belt 2, and conveying the packaging bag to the lower part of a material box 3 through the conveyor belt 2;
secondly, the distance sensor 79 monitors the distance between the packaging bag and the discharge pipe 71 in real time and sends data to the controller 8, the controller 8 operates and stretches the electric push rod 62 in the stretching assembly 6 according to the data to drive the stretching pipe 61 and the discharge pipe 71 of the quantitative discharge assembly 7 to lift, and therefore material is effectively prevented from being scattered during discharging;
after the position of the positive discharging pipe 71 is adjusted, the controller 8 opens the electromagnetic valve 5 to realize discharging of materials in the material box 3, the materials fall on the receiving disc 73 through the connecting pipe 4, the telescopic pipe 61 and the material filling pipe 72, meanwhile, the weighing sensor 75 at the bottom of the receiving disc 73 monitors the weight data in the receiving disc 73 in real time and sends the data to the controller 8, when the set data is reached, the controller 8 controls the electromagnetic valve 5 to be closed to stop discharging, meanwhile, the driving motor 77 is electrified to be round to drive the rotating shaft 76 to rotate and drive the receiving disc 73 to turn downwards and discharge, and the materials fall into an encapsulation bag through the discharging pipe 71;
and fourthly, continuously conveying the packaged bags filled with the materials to a mechanical arm 11 through a conveying belt 2, controlling a steering engine 12 through the cooperation of a rotating motor 10, the mechanical arm 11 and a scanning positioner 15, further controlling a mechanical gripper 13 to clamp the packaged bags, and finally realizing sealing operation through a sealer 14.
It should be noted that each device in the present application is a common device in the market, and can be selected according to the requirement when in specific use, and the circuit connection relationship of each device all belongs to a simple series and parallel connection circuit, and there is no innovation point in the circuit connection, and those skilled in the art can easily implement the circuit connection, and belong to the prior art, and are not described again.
The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims (8)

1. The utility model provides a manipulator encapsulation equipment, includes support (1), its characterized in that: the automatic quantitative discharging device is characterized in that a conveying belt (2) is arranged on the support (1), a material box (3) is arranged above the conveying belt (2), L-shaped rods (18) are fixedly connected to the left side and the right side of the material box (3), the bottom ends of the two L-shaped rods (18) are fixedly connected with the two sides of the top of the support (1) respectively, the bottom of the material box (3) is communicated with a connecting pipe (4), an electromagnetic valve (5) is arranged in the connecting pipe (4), a telescopic assembly (6) is arranged at the bottom of the connecting pipe (4), a quantitative discharging assembly (7) is communicated with the bottom of the telescopic assembly (6), and a controller (8) is fixedly mounted on the right side of the support (1);
a supporting block (9) is fixedly connected to the right side of the bracket (1) and positioned behind the material tank (3), the top of the supporting block (9) is fixedly provided with a rotating motor (10) through a screw, an output shaft of the rotating motor (10) is fixedly provided with a mechanical arm (11), one end of the mechanical arm (11) far away from the rotating motor (10) is fixedly connected with a steering engine (12), the output shaft of the steering engine (12) is fixedly connected with a mechanical clamping hand (13), the inner side of the mechanical clamping hand (13) is fixedly connected with a sealing device (14), both sides of the mechanical clamping hand (13) are fixedly provided with scanning positioners (15), the electromagnetic valve (5), the rotating motor (10), the steering engine (12), the sealing device (14) and the scanning positioner (15) are respectively electrically connected with the controller (8) through leads.
2. The robot encapsulating apparatus according to claim 1, wherein: flexible subassembly (6) are including flexible pipe (61), flexible pipe (61) and connecting pipe (4) intercommunication, the front and the back of flexible pipe (61) all are provided with electric putter (62), two the equal fixedly connected with fixed block (63) in top and bottom of electric putter (62), two on top fixed block (63) whitewashed fish connecting pipe (4) fixed connection, two of bottom fixed block (63) respectively with quantitative ejection of compact subassembly (7) fixed connection.
3. The robot encapsulating apparatus according to claim 2, wherein: the quantitative discharging assembly (7) comprises a discharging pipe (71), the top of the discharging pipe (71) is communicated with a material filling pipe (72), the material filling pipe (72) is communicated with a telescopic pipe (61), two fixing blocks (63) at the bottom end are respectively fixedly connected with the front surface and the back surface of the discharging pipe (71), a bearing disc (73) is arranged inside the discharging pipe (71), the bearing disc (73) is matched with the discharging pipe (71), the top of the bearing disc (73) corresponds to the material filling pipe (72), the bottom of the bearing disc (73) is fixedly connected with a mounting block (74), a weighing sensor (75) is arranged on the mounting block (74), rotating shafts (76) are fixedly connected to the left side and the right side of the mounting block (74), the rotating shaft (76) on the left side is fixedly connected with the discharging pipe (71) through a bearing, and the right end of the rotating shaft (76) on the right side penetrates through and extends to the right side of the discharging pipe (71), the right side fixed mounting of discharging pipe (71) has driving motor (77), the output shaft and the pivot (76) fixed connection on right side of driving motor (77).
4. The robot encapsulating apparatus according to claim 1, wherein: the conveying belt (2) is fixedly connected with positioning strips (16) which are arranged at equal intervals.
5. The robot encapsulating apparatus according to claim 1, wherein: the left side and the right side of the inner bottom wall of the material box (3) are fixedly connected with guide triangular blocks (17).
6. The robot encapsulating apparatus according to claim 3, wherein: the bottom of the material filling pipe (72) and the bottom of the material discharging pipe (71) are both funnel-shaped, a protective cover (78) is arranged on the driving motor (77), and the left side of the protective cover (78) is fixedly connected with the right side of the material discharging pipe (71).
7. The robot encapsulating apparatus according to claim 3, wherein: both sides of the lower part of the discharge pipe (71) are fixedly connected with distance sensors (79).
8. The packaging method of the robot packaging apparatus according to any one of claims 1 to 7, characterized in that: the method comprises the following steps:
firstly, setting the blanking amount of materials to be packaged on the controller (8), then opening and placing packaging bags on the conveyor belt (2) and conveying the packaging bags to the lower part of the material box (3) through the conveyor belt (2);
secondly, the distance sensor (79) monitors the distance between the packaging bag and the discharge pipe (71) in real time and sends data to the controller (8), and the controller (8) operates and stretches the electric push rod (62) in the stretching assembly (6) according to the data to drive the telescopic pipe (61) and the discharge pipe (71) of the quantitative discharge assembly (7) to lift, so that the materials are effectively prevented from being scattered during discharging;
after the position of the positive discharging pipe (71) is adjusted, the controller (8) opens the electromagnetic valve (5), so that the material in the material box (3) is discharged and falls on the bearing disc (73) through the connecting pipe (4), the telescopic pipe (61) and the material filling pipe (72), meanwhile, a weighing sensor (75) at the bottom of the bearing disc (73) monitors the weight data in the bearing disc (73) in real time and sends the data to the controller (8), when the set data are reached, the controller (8) controls the electromagnetic valve (5) to be closed, the discharging is stopped, meanwhile, the driving motor 77 is electrified to drive the rotating shaft (76) to rotate and drive the bearing disc (73) to overturn downwards and discharge, and the material falls into the packaging bag through the discharging pipe (71);
fourthly, packaging bags filled with materials are conveyed to the mechanical arm (11) continuously through the conveyor belt (2), the steering engine (12) is controlled through the cooperation of the rotary motor (10), the mechanical arm (11) and the scanning positioner (15), then the mechanical clamping hands (13) are controlled to clamp the packaging bags, and finally the sealing operation is realized through the sealing device (14).
CN202111197374.3A 2021-10-14 2021-10-14 Manipulator packaging device and packaging method Pending CN113911461A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111197374.3A CN113911461A (en) 2021-10-14 2021-10-14 Manipulator packaging device and packaging method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111197374.3A CN113911461A (en) 2021-10-14 2021-10-14 Manipulator packaging device and packaging method

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Publication Number Publication Date
CN113911461A true CN113911461A (en) 2022-01-11

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CN202111197374.3A Pending CN113911461A (en) 2021-10-14 2021-10-14 Manipulator packaging device and packaging method

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012097632A1 (en) * 2011-01-18 2012-07-26 广州市锐嘉包装设备有限公司 Irregular material quantitatively filling machine and quantitatively filling method
CN205221152U (en) * 2015-12-25 2016-05-11 石家庄展光母婴科技有限公司 High -efficient dosing filling machine of likepowder thing liquid filling machine constructs
CN107804522A (en) * 2017-11-24 2018-03-16 无锡鼎茂机械制造有限公司 A kind of self-commutation packing machine
CN212605917U (en) * 2021-01-19 2021-02-26 佛山市云森机械制造有限公司 Vertical particle packaging machine
CN212951207U (en) * 2020-07-07 2021-04-13 王凤君 Gunning refractory finished product unloading equipment for packing

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012097632A1 (en) * 2011-01-18 2012-07-26 广州市锐嘉包装设备有限公司 Irregular material quantitatively filling machine and quantitatively filling method
CN205221152U (en) * 2015-12-25 2016-05-11 石家庄展光母婴科技有限公司 High -efficient dosing filling machine of likepowder thing liquid filling machine constructs
CN107804522A (en) * 2017-11-24 2018-03-16 无锡鼎茂机械制造有限公司 A kind of self-commutation packing machine
CN212951207U (en) * 2020-07-07 2021-04-13 王凤君 Gunning refractory finished product unloading equipment for packing
CN212605917U (en) * 2021-01-19 2021-02-26 佛山市云森机械制造有限公司 Vertical particle packaging machine

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Application publication date: 20220111