CN115196132A - Full-automatic bale breaker - Google Patents
Full-automatic bale breaker Download PDFInfo
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- CN115196132A CN115196132A CN202210931427.8A CN202210931427A CN115196132A CN 115196132 A CN115196132 A CN 115196132A CN 202210931427 A CN202210931427 A CN 202210931427A CN 115196132 A CN115196132 A CN 115196132A
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- fixing
- vacuum
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- 230000007246 mechanism Effects 0.000 claims abstract description 158
- 238000012546 transfer Methods 0.000 claims abstract description 47
- 239000000463 material Substances 0.000 claims abstract description 16
- 229930182555 Penicillin Natural products 0.000 claims description 35
- JGSARLDLIJGVTE-MBNYWOFBSA-N Penicillin G Chemical compound N([C@H]1[C@H]2SC([C@@H](N2C1=O)C(O)=O)(C)C)C(=O)CC1=CC=CC=C1 JGSARLDLIJGVTE-MBNYWOFBSA-N 0.000 claims description 35
- 229940049954 penicillin Drugs 0.000 claims description 35
- 230000007306 turnover Effects 0.000 claims description 34
- 238000005520 cutting process Methods 0.000 claims description 29
- 239000000758 substrate Substances 0.000 claims description 24
- 239000002699 waste material Substances 0.000 claims description 17
- 238000012856 packing Methods 0.000 claims description 16
- 230000000007 visual effect Effects 0.000 claims description 15
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 239000000126 substance Substances 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 239000012528 membrane Substances 0.000 description 18
- 230000032258 transport Effects 0.000 description 11
- 239000005022 packaging material Substances 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 241000526146 Psylla buxi Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000011049 filling Methods 0.000 description 2
- 239000002985 plastic film Substances 0.000 description 2
- 229920006255 plastic film Polymers 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004108 freeze drying Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0033—Unpacking of articles or materials, not otherwise provided for by cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0244—Bottles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention relates to a full-automatic bale breaker, which comprises a safety fence, wherein two groups of trolley clamping and positioning mechanisms are arranged on the right side of the inner wall of the safety fence; the middle part of the safety fence is provided with a platform mechanism, two groups of alternate transfer platforms are arranged on the platform mechanism, the right side of the platform mechanism is connected with a first mechanical arm, and the left side of the platform mechanism is connected with a second mechanical arm; the full-automatic bale breaker that first arm work end connection bale breaking machinery hand dress mechanism that lies in overcoming current defect and provide possesses simple compactness of overall structure, and area is little, and the equipment is convenient, the processing ease, practical safe and reliable to realized xiLin bottle package material automatic transportation and bale breaking, improved operation precision and efficiency, reduced artifical physical power amount of labour and safety control risk. Most importantly, the addition of the full-automatic bale breaker makes the pharmaceutical enterprises step forward to unmanned black light factories.
Description
Technical Field
The invention relates to a full-automatic bale breaker.
Background
With the continuous development of the pharmaceutical industry, the requirements of pharmaceutical enterprises on the automatic production of products are higher and higher, the requirements on full-automatic unmanned operation are not only limited to the core sterile area of filling and freeze-drying, the requirements on the automatic unpacking of the penicillin bottles in the front of the bottle washing machine are gradually revealed, but the unpacking process of the penicillin bottles in the front of the bottle washing machine is manually completed for a long time, due to the participation of people, a plurality of uncertain factors are brought to the whole production line, and the efficiency of the whole production line is influenced by too high unpacking speed, too low unpacking speed or errors. At present, the penicillin bottle packing material comprises a box cover, penicillin bottles arranged in a matrix manner and a box bottom which are packaged into a whole by a heat shrinkage film. The penicillin bottle membrane cutting and the waste membrane are that the heat shrinkage membrane of the penicillin bottle and the box bottom which are packaged into a whole is cut. The membrane is cut to xiLin bottle and the plastic film is rejected and generally adopts three station, and the plastic film both sides minor face cutting device second station of the long limit cutting device station of the plastic envelope membrane of package material and package material is rejected the third station next, and long limit cutting knife and minor face cutting adopt several groups to drive actuating cylinder direct drive. Due to the fact that a plurality of stations are adopted, the film between the long edge and the short edge can not be cut off easily or can be folded into a group although the film is cut off, the clamping jaw device for removing the waste film can not grab and remove the waste film, grabbing and placing of penicillin bottles are affected, and therefore operation of a whole washing, filling, drying, feeding and discharging and rolling linkage line is affected. Moreover, the number of parts is large, and the disassembly, assembly, maintenance and cleaning are inconvenient. Therefore, a fully automatic bale breaker is provided for the above problems.
Disclosure of Invention
The invention aims to overcome the existing defects, and provides a full-automatic bale breaker which has the advantages of simple and compact integral structure, small occupied area, convenience in assembly, easiness in operation, practicability, safety, reliability and the like, and reduces the labor amount of manual labor and the safety management risk.
The technical scheme for realizing the purpose is as follows: a full-automatic bale breaker comprises a safety fence, wherein two groups of trolley clamping and positioning mechanisms are arranged on the right side of the inner wall of the safety fence; the middle part of the safety fence is provided with a platform mechanism, two groups of alternate transfer platforms are arranged on the platform mechanism, the right side of the platform mechanism is connected with a first mechanical arm, and the left side of the platform mechanism is connected with a second mechanical arm; the working end of the first mechanical arm is connected with a manual unpacking mechanical assembly mechanism, and the working end of the second mechanical arm is connected with a mechanical arm vacuum chuck tooling mechanism; a first vacuum pump and a second vacuum pump are arranged in the platform mechanism; a waste box conveying belt is arranged on the front side wall of the safety fence, a penicillin bottle conveying belt is arranged on the left inner wall of the safety fence, and a vacuum suction bottle turnover mechanism is arranged at the right end of the penicillin bottle conveying belt; the first vacuum pump is connected with a manual unpacking machine mechanism; and the second vacuum pump is connected with the manipulator vacuum chuck tool mechanism and the vacuum suction bottle overturning mechanism.
Preferably, the two groups of trolley clamping and positioning mechanisms are respectively arranged on the front side and the rear side of the first mechanical arm; the trolley clamping and positioning mechanism comprises a flat trolley, penicillin bottle packing materials are placed on the upper end face of the flat trolley, and a plurality of elastic rubber rods are arranged on the periphery of the upper end face of the flat trolley; two sides of the flat trolley are respectively provided with a group of clamping mechanisms;
the clamping mechanism comprises a mounting substrate, the lower end of the mounting substrate is connected with a plurality of chemical bolts, the left end of the upper end surface of the mounting substrate is provided with a photoelectric switch, a left clamping cylinder and a right clamping cylinder are arranged beside the photoelectric switch, and the output ends of the left clamping cylinder and the right clamping cylinder are connected with a left clamping plate and a right clamping plate; the right end of the upper end face of the mounting substrate is connected with a front clamping cylinder and a rear clamping cylinder, the telescopic ends of the front clamping cylinder and the rear clamping cylinder are movably connected with the lower end of a rotating pin, the upper end of the rotating pin is movably connected with a connecting rod, the other end of the connecting rod is connected with the back of the front clamping connecting rod and the rear clamping connecting rod, the fixed ends of the front clamping connecting rod and the rear clamping connecting rod are movably connected with a Y-shaped joint pin, and the lower end of the Y-shaped joint pin is connected to the mounting substrate; and a guide pipe is connected above the mounting substrate.
Preferably, the platform mechanism includes the platform main frame, the lower terminal of platform main frame is to setting up first alternately transporting platform rodless cylinder and the second alternately transports platform rodless cylinder, first alternately transport platform rodless cylinder with the second alternately transports platform rodless cylinder and respectively connects a shrink cable, first alternately transport platform rodless cylinder with the second alternately transports platform rodless cylinder and respectively connects the second alternately and transports the linear guide rail of platform and the first alternately and transport the linear guide rail of platform respectively, the second alternately transports the linear guide rail of platform and the first alternately and respectively connects a set of alternately and transports the platform.
Preferably, the alternate transfer platform comprises an alternate transfer platform substrate, the two edges of the upper end face of the alternate transfer platform substrate are respectively connected with a long-side direction surrounding plate and a short-side direction surrounding plate, the upper end face of the alternate transfer platform substrate is also respectively connected with a long-side direction clamping cylinder seat and a short-side direction clamping cylinder seat, the long-side direction clamping cylinder seat is connected with a long-side direction clamping cylinder, the telescopic end of the long-side direction clamping cylinder is connected with a long-side direction clamping block, and the long-side direction clamping block is opposite to the long-side direction surrounding plate; the short-side direction clamping cylinder seat is connected with a short-side direction clamping cylinder, the telescopic end of the short-side direction clamping cylinder is connected with a short-side direction clamping block, and the short-side direction clamping block is opposite to the short-side direction enclosing plate;
the long-side direction enclosing plate is provided with a long-side direction pin inserting seat which is connected with a long-side direction pin inserting device; the short-edge-direction enclosing plate is provided with a short-edge-direction pin inserting seat, the short-edge-direction pin inserting seat is connected with a short-edge-direction pin inserting device, and the short-edge-direction pin inserting device is respectively connected with a left pin and a right pin; the bottom box is positioned among the long side direction surrounding plate, the short side direction clamping block and the long side direction clamping block, and a penicillin bottle is arranged on the bottom box.
Preferably, the bale breaking manipulator tooling mechanism comprises a first fixed main flange, one end of the first fixed main flange is connected with the first mechanical arm, the other end of the first fixed main flange is connected with a first fixed upper plate, and the lower end face of the first fixed upper plate is connected with a buffer mechanism; the lower end of the buffer mechanism is connected with a first upper chamber plate, the lower end of the first upper chamber plate is connected with a first lower chamber plate, and the lower end of the first lower chamber plate is connected with an adsorption mechanism; the side wall of the first fixed upper plate is connected with a rotary air cylinder mechanism, the other side wall of the first fixed upper plate is connected with a vision mechanism, the end part of the rotary air cylinder mechanism is connected with a cutter fixing flange, the cutter fixing flange is connected with an upper fixing seat, the end surface of the upper fixing seat is connected with a lower fixing seat, and four groups of film cutting knife mechanisms are arranged on the lower fixing seat;
four corners of the first fixed upper plate are respectively provided with a through hole, a first connecting rod is inserted into each through hole, the lower ends of the four connecting rods are respectively connected to the four corners of the upper end surface of the first fixed lower plate, the outer side wall of each first connecting rod is sleeved with a first buffer spring, and the lower end surface of the first fixed lower plate is connected to the upper end surface of the first upper chamber plate;
the adsorption mechanism comprises a first sponge sucker, the first sponge sucker is connected to the lower end face of the first lower cavity chamber plate, the first lower cavity chamber plate and the first upper cavity chamber plate are connected to form a vacuum cavity, the upper end face of the first upper cavity chamber plate is connected with a precision pressure reducing valve, the precision pressure reducing valve is connected with a first vacuum pipe connector, the first vacuum pipe connector is connected into the vacuum cavity, and the precision pressure reducing valve is connected with a first vacuum pump; the upper end surface of the upper chamber plate is also connected with a first compressed air joint; the lower chamber plate and the first sponge sucker are provided with a plurality of holes which are in one-to-one correspondence; two groups of buffer shaft mechanisms are arranged on the first sponge sucker;
the buffer shaft mechanism comprises a buffer fixing seat, the buffer fixing seat is connected to the upper end face of the first upper chamber plate, a buffer shaft is connected onto the buffer fixing seat, the upper end face of a buffer block penetrates through the first sponge sucker, the first lower chamber plate and the first upper chamber plate to be connected into the buffer shaft in a sliding mode, a spring is arranged in the buffer shaft, the upper end of the buffer block is connected with a first fixing screw, and the first fixing screw is in contact with the spring;
the visual mechanism comprises a visual system fixing frame, the visual system fixing frame is connected to the side wall of the fixed upper plate, the outer end of the visual system fixing frame is connected with a camera fixing plate, and the camera fixing plate is connected with a visual system;
the rotary cylinder mechanism comprises a first rotary cylinder fixing plate, the first rotary cylinder fixing plate is connected to the lower end face of the fixing upper plate, the outer end of the first rotary cylinder fixing plate is connected with a first rotary cylinder, and the first rotary cylinder is connected with the cutter fixing flange;
film cutter mechanism includes the bearing frame, the bearing frame is connected in the lower fixing base, the inside upper end connection bearing of fixing base down, peg graft in the bearing and cut the membrane arbor, cup joint torsional spring sword packing ring on the membrane arbor, torsional spring sword packing ring below cup joints the torsional spring, the torsional spring lower extreme cup joints the membrane blade holder, and membrane cutter lock nut connects the lower extreme of membrane cutter arbor is located film cutter holder below, the membrane blade holder passes through second set screw and connects the membrane cutter, an arm of torsional spring with the side contact of bearing frame, another arm with the side contact of membrane cutter holder, four groups film cutter mechanism is located respectively four edges of terminal surface under the lower fixing base, the outer end of membrane cutter extends to the outside of lower fixing base.
Preferably, the manipulator vacuum chuck tooling mechanism comprises a second fixed main flange, one end of the second fixed main flange is connected with the second manipulator, the other end of the second fixed main flange is connected with a second fixed upper plate, four second connecting rods penetrate through the second fixed upper plate, each second connecting rod is sleeved with a second buffer spring, the lower ends of the four second connecting rods are connected to a second upper chamber plate, the second upper chamber plate is connected with a second lower chamber plate, the second lower chamber plate is connected with a second sponge chuck, and the upper end surface of the second upper chamber plate is connected with a second compressed air connector and a vacuum suction pipe;
the fixed upper plate of second is connected with vacuum chuck frock fixed plate, vacuum chuck frock fixed plate is connected and is inhaled useless box fixed plate, inhale useless box sucking disc of respectively connecting one in four edges on the useless box fixed plate terminal surface, four useless box sucking disc respectively connects one and inhales useless box vacuum joint.
Preferably, vacuum suction bottle tilting mechanism includes tilting mechanism head post, no pole cylinder is connected to tilting mechanism head post lateral wall upper end, connect no pole cylinder fixed plate on the no pole cylinder, connect second revolving cylinder fixed plate on the no pole cylinder fixed plate lateral wall, connect second revolving cylinder on the second revolving cylinder fixed plate lateral wall, the installation link is connected to the second revolving cylinder, the vacuum cavity bearing frame is connected to the installation link, the vacuum cavity bearing frame is close to revolving cylinder flange is connected to the one end lateral wall of second revolving cylinder, vacuum cavity bearing frame internal connection deep groove ball bearing, the vacuum cavity bearing frame is kept away from the upper cover plate is connected to the one end lateral wall of second revolving cylinder, the vacuum cavity bearing frame is connected second vacuum pipe joint, second revolving cylinder connects the quill shaft, the quill shaft ball bearing passes deep groove ball bearing connects the connecting block, the lower terminal surface of upset upper chamber board is connected to the up end of upset upper chamber board, upset lower chamber board up end connection turning device sucking disc is connected to upset lower chamber board up end.
The beneficial effects of the invention are: two groups of trolley clamping and positioning mechanisms are arranged on the right side of the inner wall of the safety fence; the middle part of the safety fence is provided with a platform mechanism, the platform mechanism is provided with two groups of alternate transfer platforms, the working end of a first mechanical arm is connected with a manual unpacking mechanical assembly mechanism, and the working end of a second mechanical arm is connected with a mechanical arm vacuum chuck tooling mechanism; a waste box conveying belt is arranged on the front side wall of the safety fence, a penicillin bottle conveying belt is arranged on the left inner wall of the safety fence, and a vacuum suction bottle turnover mechanism is arranged at the right end of the penicillin bottle conveying belt; the novel penicillin bottle film cutting and waste film removing device has the advantages of simple and compact integral structure, small occupied area, convenience in assembly, easiness in operation, practicability, safety and reliability, and fewer parts, and is favorable for popularization. Thereby realized xiLin bottle package material automated transportation and bale breaking, improved operation precision and efficiency, reduced artifical physical labor volume and safety control risk. Most importantly, the full-automatic bale breaker disclosed by the invention completely replaces manpower, can meet the requirements of pharmaceutical factories, and pharmaceutical enterprises can step forward to unmanned black light factories due to the addition of the full-automatic bale breaker.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a bottom view of the present invention;
FIG. 4 is a detail view of the alternate transport platform of the present invention;
FIG. 5 is a detailed view of the interior of the platform mechanism of the present invention;
FIG. 6 is an external detail view of the platform mechanism of the present invention;
FIG. 7 is a detailed view of the position of the first vacuum pump and the second vacuum pump of the present invention;
FIG. 8 is a detail view of a second robotic arm of the invention;
FIG. 9 is a front view of the robot vacuum chuck tooling mechanism of the present invention;
FIG. 10 is a side view of the robotic vacuum chuck tooling mechanism of the present invention;
FIG. 11 is a cross-sectional view of the robotic vacuum chuck tooling mechanism of the present invention;
FIG. 12 is a front view of the vacuum flask inverting mechanism of the present invention;
FIG. 13 is a cross-sectional view of a vacuum flask turnover mechanism of the present invention;
FIG. 14 is a detailed view of the vacuum flask inverting mechanism of the present invention;
FIG. 15 is a front view of the cart clamping and positioning mechanism of the present invention;
FIG. 16 is a detail view of the cart clamping and positioning mechanism of the present invention;
FIG. 17 is a detailed view of a first robot of the present invention;
FIG. 18 is a detail view of the damping mechanism of the present invention;
FIG. 19 is a detail view of the rotary cylinder mechanism of the present invention;
FIG. 20 is a cross-sectional view of the rotary cylinder mechanism of the present invention;
FIG. 21 is a detail view of the suction mechanism of the present invention;
FIG. 22 is a bottom view of the suction mechanism of the present invention;
FIG. 23 is a top view of the suction mechanism of the present invention;
FIG. 24 is a detail view of the cutter mounting flange connection of the present invention;
FIG. 25 is a detail view of the position of the slit film knife mechanism of the present invention;
FIG. 26 is a cross-sectional view of a cutter mounting flange of the present invention;
FIG. 27 is a detail view of the slit film knife mechanism of the present invention;
FIG. 28 is a top view of the slit film knife mechanism of the present invention;
FIG. 29 is a cross-sectional view of the slit film knife mechanism of the present invention.
In the figure: 1. a first robot arm; 2. a second mechanical arm; 3. a trolley clamping and positioning mechanism; 4. the vacuum suction bottle turnover mechanism; 5. a platform mechanism; 6. an alternate transport platform; 7. a safety fence; 8. a penicillin bottle conveying belt; 9. a waste box conveyor belt; 11. a first vacuum pump; 12. a second vacuum pump; 13. manual mechanism of unpacking machine; 14. a manipulator vacuum chuck tool; 101. a first fixed main flange; 102. a cutter fixing flange; 103. a first sponge chuck; 104. a first lower chamber plate; 105. a first upper chamber plate; 106. a first rotary cylinder; 107. a vision system; 108. a vision system mount; 109. a first fixed upper plate; 110. a first buffer spring; 111. a first fixed lower plate; 112. a precision pressure reducing valve; 113. a first connecting rod; 114. a film cutter; 115. a lower fixed seat; 116. an upper fixed seat; 117. a first rotating cylinder fixing plate; 118. a torsion spring; 119. a film cutting cutter shaft; 120. locking the nut by the film cutting knife; 121. a film cutting knife holder; 122. a camera fixing plate; 123. a buffer fixing seat; 124. a first set screw; 125. a spring; 126. a buffer shaft; 127. a buffer block; 128. a first vacuum pipe joint; 129. a first compressed air connection; 130. a bearing seat; 131. a second set screw; 132. a bearing; 133. a torsion spring knife washer; 201. a second sponge suction cup; 202. a second lower chamber plate; 203. a second upper chamber plate; 204. a waste suction box fixing plate; 205. a waste box suction cup; 206. a second stationary main flange; 207. a second buffer spring; 208. a second connecting rod; 209. a vacuum chuck tool fixing plate; 210. a vacuum joint of the waste suction box; 211. a second compressed air connection; 212. a vacuum suction pipe; 213. a second fixed upper plate; 301. a guide tube; 302. a mounting substrate; 303. a chemical bolt; 304. a left clamping cylinder and a right clamping cylinder; 305. front and rear clamping cylinders; 306. a connecting rod; 307. front and rear clamping links; 308. rotating the pin; 309. a Y-shaped joint pin; 310. a left and a right clamping plate; 311. a photoelectric switch; 312. a flat car; 313. an elastic rubber rod; 314. packaging materials of penicillin bottles; 401. a main upright post of the turnover mechanism; 402. a rodless cylinder; 403. a second rotary cylinder; 404. a bearing seat of a vacuum cavity; 405. turning over the upper chamber plate; 406. overturning the lower chamber plate; 407. a turnover device sponge sucker; 408. an upper cover plate; 409. connecting blocks; 410. a rotary cylinder connecting flange; 411. a deep groove ball bearing; 412. mounting a connecting frame; 413. a second vacuum pipe joint; 414. a rodless cylinder fixing plate; 415. a second rotating cylinder fixing plate; 416. a hollow shaft; 501. a platform main frame; 502. a first alternate transfer platform rodless cylinder; 503. a rodless cylinder of a second alternate transfer platform; 504. shrinking the cable; 505. a second alternating translation stage linear guide; 506. a first alternating translation stage linear guide; 601. alternately transferring the platform substrates; 602. a clamping cylinder in the long side direction; 603. a clamping cylinder in the short edge direction; 604. clamping the cylinder block in the short edge direction; 605. clamping the cylinder block in the long side direction; 606. a short-side direction clamping block; 607. penicillin bottles; 608. a long-side direction clamping block; 609. a long-side direction needle inserting seat; 610. a pin inserting device in the long side direction; 611. a short side direction pin inserting device; 612. a left pin is inserted; 613. a right pin; 614. a short-edge direction needle inserting seat; 615. a bottom case; 616. enclosing plates in the long side direction; 617. short-side direction coaming.
Detailed Description
The technical scheme of the invention is clearly and completely described in the following with reference to the attached drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance.
The invention will be further explained with reference to the drawings.
As shown in fig. 1-29, a full-automatic bale breaker comprises a safety fence 7, wherein two groups of trolley clamping and positioning mechanisms 3 are arranged on the right side of the inner wall of the safety fence 7; the middle part of the safety fence 7 is provided with a platform mechanism 5, two groups of alternate transfer platforms 6 are arranged on the platform mechanism 5, the right side of the platform mechanism 5 is connected with a first mechanical arm 1, and the left side of the platform mechanism 5 is connected with a second mechanical arm 2; the working end of the first mechanical arm 1 is connected with a manual unpacking mechanical assembly mechanism 13, and the working end of the second mechanical arm 2 is connected with a mechanical arm vacuum chuck assembly mechanism 14; a first vacuum pump 11 and a second vacuum pump 12 are arranged in the platform mechanism 5; a waste box conveying belt 9 is arranged on the front side wall of the safety fence 7, a penicillin bottle conveying belt 8 is arranged on the left inner wall of the safety fence 7, and a vacuum suction bottle overturning mechanism 4 is arranged at the right end of the penicillin bottle conveying belt 8; the first vacuum pump 11 is connected with a unpacking mechanical arm tooling mechanism 13; the second vacuum pump 12 is connected with the manipulator vacuum chuck tooling mechanism 14 and the vacuum suction bottle turnover mechanism 4.
Specifically, two groups of trolley clamping and positioning mechanisms 3 are respectively arranged on the front side and the rear side of the first mechanical arm 1; the trolley clamping and positioning mechanism 3 comprises a flat trolley 312, penicillin bottle packing materials 314 are placed on the upper end face of the flat trolley 312, and a plurality of elastic rubber rods 313 are respectively arranged on the peripheral edge of the upper end face of the flat trolley 312; two sides of the flat car 312 are respectively provided with a group of clamping mechanisms; the clamping mechanism comprises a mounting substrate 302, the lower end of the mounting substrate 302 is connected with a plurality of chemical bolts 303, the left end of the upper end surface of the mounting substrate 302 is provided with a photoelectric switch 311, a left clamping cylinder 304 and a right clamping cylinder 304 are arranged beside the photoelectric switch 311, and the output ends of the left clamping cylinder 304 and the right clamping cylinder 304 are connected with a left clamping plate 310 and a right clamping plate 310; the right end of the upper end face of the mounting base plate 302 is connected with a front and rear clamping cylinder 305, the telescopic ends of the front and rear clamping cylinder 305 are movably connected with the lower end of a rotating pin 308, the upper end of the rotating pin 308 is movably connected with a connecting rod 306, the other end of the connecting rod 306 is connected with the back part of the front and rear clamping connecting rod 307, the fixed end of the front and rear clamping connecting rod 307 is movably connected with a Y-shaped joint pin 309, and the lower end of the Y-shaped joint pin 309 is connected on the mounting base plate 302; a guide pipe 301 is connected to the upper side of the mounting substrate 302. The flat plate trolley 312 filled with the penicillin bottle packing material 314 is manually pushed to the correct position of the trolley clamping and positioning mechanism 3 along the guide pipe 301. At this time, the photoelectric switch 311 senses that the flat car 312 has reached the correct position, then the left and right clamping cylinders 304 clamp the cylinders in the left and right directions through the left and right clamping plates 310, and simultaneously the front and rear clamping cylinders 305 push the connecting rod 306 through the Y-shaped joint pin 309, and make the front and rear clamping connecting rods 307 rotate inwards around the rotating pin 308 to hook the rear part of the flat car 312, so that the car is accurately and firmly positioned. Otherwise, the platform trolley 312 is loosened, and the penicillin bottle packaging materials are completely discharged. The chemical bolts 303 are fixed to the ground. The elastic rubber rod 313 prevents the penicillin bottle packing material 314 from shifting, and even if the manual packing mechanism 13 of the unpacking machine touches the elastic rubber rod 313, the normal work cannot be influenced.
Specifically, the unpacking manipulator tooling mechanism 13 comprises a first fixed main flange 101, one end of the first fixed main flange 101 is connected with the first mechanical arm 1, the other end of the first fixed main flange 101 is connected with a first fixed upper plate 109, and the lower end surface of the first fixed upper plate 109 is connected with a buffer mechanism; the lower end of the buffer mechanism is connected with a first upper chamber plate 105, the lower end of the first upper chamber plate 105 is connected with a first lower chamber plate 104, and the lower end of the first lower chamber plate 104 is connected with the adsorption mechanism; a rotary cylinder mechanism is connected to the side wall of the first fixed upper plate 109, a vision mechanism is connected to the other side wall of the first fixed upper plate 109, the end of the rotary cylinder mechanism is connected with a cutter fixing flange 102, the cutter fixing flange 102 is connected with an upper fixing seat 116, the end face of the upper fixing seat 116 is connected with a lower fixing seat 115, and four sets of film cutting knife mechanisms are arranged on the lower fixing seat 115;
the box cover on the packing material can be adsorbed through the motion of adsorption mechanism and transferred to xiLin bottle conveyer belt 8 through first arm 1 on, 1 operation of first arm makes film cutter mechanism aim at the packing material, then make film cutter mechanism cut the membrane to the packing material through 1 operation of first arm, every one side of having cut, revolving cylinder mechanism just rotates 90 degrees, switch another group and cut the membrane, the membrane is cut with four groups of film cutter mechanisms respectively on the different limit, thereby the efficiency and the quality of cutting the membrane have been improved.
Four corners of the first fixed upper plate 109 are respectively provided with a through hole, a first connecting rod 113 is inserted into each through hole, the lower ends of the four first connecting rods 113 are respectively connected to the four corners of the upper end surface of the first fixed lower plate 111, the outer side wall of each first connecting rod 113 is sleeved with a first buffer spring 110, and the lower end surface of the first fixed lower plate 111 is connected to the upper end surface of the first upper chamber plate 105;
the adsorption mechanism comprises a first sponge sucker 103, the first sponge sucker 103 is connected to the lower end face of a first lower cavity chamber plate 104, the first lower cavity chamber plate 104 and a first upper cavity chamber plate 105 are connected to form a vacuum cavity, the upper end face of the first upper cavity chamber plate 105 is connected with a precision pressure reducing valve 112, the precision pressure reducing valve 112 is connected with a first vacuum pipe connector 128, the first vacuum pipe connector 128 is connected into the vacuum cavity, and the precision pressure reducing valve 112 is connected with a first vacuum pump 11; the upper end surface of the first upper chamber plate 105 is also connected with a first compressed air joint 129; the first lower cavity plate 104 and the first sponge sucker 103 are provided with a plurality of holes which are in one-to-one correspondence; two groups of buffer shaft mechanisms are arranged on the first sponge sucker 103; the buffer shaft mechanism comprises a buffer fixing seat 123, the buffer fixing seat 123 is connected to the upper end surface of the first upper chamber plate 105, a buffer shaft 126 is connected to the buffer fixing seat 123, the upper end surface of the buffer block 127 passes through the first sponge sucker 103, the first lower chamber plate 104 and the first upper chamber plate 105 and is connected in the buffer shaft 126 in a sliding mode, a spring 125 is arranged in the buffer shaft 126, the upper end of the buffer block 127 is connected with a first fixing screw 124, and the first fixing screw 124 is in contact with the spring 125;
when the box cover is sucked, the first mechanical arm 1 moves to enable the first sponge sucker 103 to be located on the box cover above the packing material, the first vacuum pump 11 is started to pump vacuum through the precision pressure reducing valve 112 and the first vacuum pipe connector 128, and a cavity formed by the first lower cavity plate 104 and the first upper cavity plate 105 is in a vacuum state. The first sponge suction cup 103 is tightly attached to the upper surface of the box cover, and the box cover is tightly sucked by vacuum. Meanwhile, the buffer block 127 pushes up the spring 125 through the buffer shaft 126, and the first fixing screw 124 presses the spring 125 to deform the spring 125, so as to ensure that the buffer block 127 is tightly pressed against the upper surface of the box cover. After the first mechanical arm 1 is transferred to the position above the penicillin bottle conveying belt 8, vacuum is cut off, vacuum suction force disappears, the spring 125 reset buffer block 127 pops outwards, the first compressed air connector 129 is connected, the first compressed air rushes out through holes in the buffer block 127, and the spring force and the impulsive force of the compressed air ensure that the box cover cannot be continuously adhered to the surface of the first sponge sucker 103.
The visual mechanism comprises a visual system fixing frame 108, the visual system fixing frame 108 is connected to the side wall of the first fixing upper plate 109, the outer end of the visual system fixing frame 108 is connected with a camera fixing plate 122, and the camera fixing plate 122 is connected with a visual system 107;
the rotary cylinder mechanism comprises a first rotary cylinder fixing plate 117, the first rotary cylinder fixing plate 117 is connected to the lower end face of the first fixing upper plate 109, the outer end of the first rotary cylinder fixing plate 117 is connected with a first rotary cylinder 106, and the first rotary cylinder 106 is connected with the cutter fixing flange 102; the film cutting knife mechanism comprises a bearing seat 130, the bearing seat 130 is connected in a lower fixing seat 115, the upper end inside the lower fixing seat 115 is connected with a bearing 132, a film cutting knife shaft 119 is inserted in the bearing 132, a torsion spring knife washer 133 is sleeved on the film cutting knife shaft 119, a torsion spring 118 is sleeved below the torsion spring knife washer 133, the lower end of the torsion spring 118 is sleeved with a film cutting knife seat 121, a film cutting knife locking nut 120 is connected at the lower end of the film cutting knife shaft 119 and located below the film cutting knife seat 121, the film cutting knife seat 121 is connected with a film cutting knife 114 through a second fixing screw 131, one arm of the torsion spring 118 is in contact with the side edge of the bearing seat 130, the other arm is in contact with the side edge of the film cutting knife seat 121, and the torsion spring 118 plays a fixing role. The packaging material can be well cut when the packaging material is seriously deformed, the film cutter 114 is always attached to the film due to the pretightening force of the torsion spring 118, the film cannot be cut due to serious deformation or the film cutter 114 cannot cut a penicillin bottle in the packaging material to cause the film cutter 114 to be broken, the four groups of film cutter mechanisms are respectively positioned at four corners of the lower end face of the lower fixing seat 115, and the outer end of the film cutter 114 extends to the outer side of the lower fixing seat 115. The film cutting knife 114 is used for cutting the film of the packing material, when one edge is cut, the first rotary air cylinder 106 rotates for 90 degrees, the other group of film cutting knife 114 is switched to cut the film, and the four groups of film cutting knives 114 are used for cutting the film on different edges, so that the film cutting efficiency and quality are improved.
Specifically, the platform mechanism 5 includes a platform main frame 501, a lower end surface of the platform main frame 501 is provided with a first alternate transfer platform rodless cylinder 502 and a second alternate transfer platform rodless cylinder 503 in an opposite direction, the first alternate transfer platform rodless cylinder 502 and the second alternate transfer platform rodless cylinder 503 are respectively connected with a contraction cable 504, the first alternate transfer platform rodless cylinder 502 and the second alternate transfer platform rodless cylinder 503 are respectively connected with a second alternate transfer platform linear guide rail 505 and a first alternate transfer platform linear guide rail 506, and the second alternate transfer platform linear guide rail 505 and the first alternate transfer platform linear guide rail 506 are respectively connected with a group of alternate transfer platforms 6. The 1 first alternating transfer platform rodless cylinder 502 or the second alternating transfer platform rodless cylinder 503 fixed on the inner upper surface of the platform main frame 501 respectively drives the two alternating transfer platforms 6 to reciprocate along the matched first alternating transfer platform linear guide rail 506 or the second alternating transfer platform linear guide rail 505, and the corresponding contraction cables 504 contract correspondingly during reciprocating movement. When the two groups of alternate transfer platforms 6 carry the wrapping materials which are cut into the films to move to the position of the second mechanical arm 2, the second mechanical arm 2 starts to work.
Specifically, the alternate transfer platform 6 includes an alternate transfer platform substrate 601, two edges of the upper end surface of the alternate transfer platform substrate 601 are respectively connected with a long-side direction surrounding plate 616 and a short-side direction surrounding plate 617, the upper end surface of the alternate transfer platform substrate 601 is also respectively connected with a long-side direction clamping cylinder seat 605 and a short-side direction clamping cylinder seat 604, the long-side direction clamping cylinder seat 605 is connected with a long-side direction clamping cylinder 602, the telescopic end of the long-side direction clamping cylinder 602 is connected with a long-side direction clamping block 608, and the long-side direction clamping block 608 is opposite to the long-side direction surrounding plate 616; a short-side direction clamping cylinder 603 is connected to the short-side direction clamping cylinder base 604, the telescopic end of the short-side direction clamping cylinder 603 is connected to a short-side direction clamping block 606, and the short-side direction clamping block 606 is opposite to a short-side direction surrounding plate 617; a long-side direction pin inserting seat 609 is arranged on the long-side direction enclosing plate 616, and the long-side direction pin inserting seat 609 is connected with a long-side direction pin inserting device 610; a short-side direction pin inserting seat 614 is arranged on the short-side direction surrounding plate 617, a short-side direction pin inserting device 611 is connected on the short-side direction pin inserting seat 614, and the short-side direction pin inserting device 611 is respectively connected with a left pin 612 and a right pin 613; the bottom box 615 is positioned among the long side direction enclosing plate 616, the short side direction enclosing plate 617, the short side direction clamping block 606 and the long side direction clamping block 608, a penicillin bottle 607 is arranged on the bottom box 615, and a left pin 612 and a right pin 613 are respectively arranged on the long side direction pin device 610 and the short side direction pin device 611; from a relaxed retracted state to an extended state, respectively, and is tightly inserted into the bottom case 615. Thus, the vial 607 and the bottom case 615 are tightly fixed and do not shift positions. The manipulator vacuum chuck tooling mechanism 14 comprises a second fixed main flange 206, one end of the second fixed main flange 206 is connected with the second mechanical arm 2, the other end of the second fixed main flange is connected with a second fixed upper plate 213, four second connecting rods 208 penetrate through the second fixed upper plate 213, each second connecting rod 208 is sleeved with a second buffer spring 207, the lower ends of the four second connecting rods 208 are connected with a second upper chamber plate 203, the second upper chamber plate 203 is connected with a second lower chamber plate 202, the second lower chamber plate 202 is connected with a second sponge chuck 201, and the upper end surface of the second upper chamber plate 203 is connected with a second compressed air joint 211 and a vacuum suction pipe 212; the second fixed upper plate 213 is connected with a vacuum chuck tool fixing plate 209, the vacuum chuck tool fixing plate 209 is connected with a waste suction box fixing plate 204, four corners of the end surface of the waste suction box fixing plate 204 are respectively connected with a waste suction box sucker 205, and the four waste suction box suckers 205 are respectively connected with a waste suction box vacuum connector 210.
When sucking the vial 607 (the upper film is sucked away first), the second mechanical arm 2 drives the manipulator vacuum chuck tooling mechanism 14 to reach the correct position and make the second sponge chuck 201 chuck cling to the upper surface of the vial 607, then the second vacuum pump 12 is started to start the blind sucking mode, and the vacuum suction pipe 212 is started to vacuumize, so that the chamber composed of the second lower chamber plate 202 and the second upper chamber plate 203 is in a vacuum state. The second sponge suction cups 201 are adhered to the lower surface of the second lower chamber plate 202, and when the bottom of the penicillin bottle 607 is sucked, the second sponge suction cups 201 cling to the bottom of the penicillin bottle 607, the penicillin bottle is tightly sucked through vacuum. At the same time, the second buffer spring 207 is compressed, deforming the spring. After the second mechanical arm 2 drives the mechanical arm vacuum chuck tooling mechanism 14 to reach the correct position of the vacuum suction bottle turnover mechanism 4 (at this time, the chuck of the vacuum suction bottle turnover mechanism 4 is also in a vacuum suction bottle bottom state), the vacuum of the vacuum chuck of the mechanical arm vacuum chuck tooling mechanism 14 is controlled to be cut off, the vacuum suction force disappears, meanwhile, the second compressed air connector 211 is also switched on, the compressed air rushes out through the holes of the sponge, and the spring force of the second buffer spring 207 and the impulsive force of the compressed air ensure that the penicillin bottle 607 cannot continue to be adhered to the surface of the second sponge chuck 201 (otherwise, the expansion of the next action can be influenced). The mouth of the vial 607 is tightly sucked by the sponge suction cup 407 of the turnover device of the vacuum vial turnover mechanism 4.
Specifically, the vacuum suction bottle turnover mechanism 4 includes a turnover mechanism main column 401, the upper end of the side wall of the turnover mechanism main column 401 is connected with a rodless cylinder 402, the rodless cylinder 402 is connected with a rodless cylinder fixing plate 414, the side wall of the rodless cylinder fixing plate 414 is connected with a second rotary cylinder fixing plate 415, the side wall of the second rotary cylinder fixing plate 415 is connected with a second rotary cylinder 403, the second rotary cylinder 403 is connected with an installation connecting frame 412, the installation connecting frame 412 is connected with a vacuum chamber bearing block 404, the side wall of one end, close to the second rotary cylinder 403, of the vacuum chamber bearing block 404 is connected with a rotary cylinder connecting flange 410, the interior of the vacuum chamber bearing block 404 is connected with a deep groove ball bearing 411, the side wall of one end, far away from the second rotary cylinder, of the vacuum chamber bearing block 404 is connected with an upper cover plate 408, the vacuum chamber bearing block 404 is connected with a second vacuum pipe joint 413, the second rotary cylinder 403 is connected with a hollow shaft 416, the hollow shaft 416 penetrates through the deep groove ball bearing block 403 to be connected with a connecting block 409, the connecting block ball bearing to be connected with the upper end surface of the turnover chamber plate 405, the upper end surface of the turnover upper chamber plate 405 is connected with a turnover device 406, and the sponge suction cup 407 connected with the upper end surface of the turnover chamber plate 407 of the turnover chamber plate 406.
The vacuum bottle sucking turnover mechanism 4 sucks a bottle mouth and turns over 180 degrees, the rodless cylinder 402 is placed on the penicillin bottle conveying belt 8 downwards, the rodless cylinder 402 is fixed on the turnover mechanism main upright column 401, the second rotary cylinder 403 is fixed with the rodless cylinder 402 through the rodless cylinder fixing plate 414 and the second rotary cylinder fixing plate 415, and the rodless cylinder are in combined motion to achieve the functions of up-down movement and 180-degree turnover. The connection block 409 is coupled to the lower surface of the inverted upper chamber plate 405, and the inverted lower chamber plate 406 and the inverted upper chamber plate 405 are coupled together to form one chamber body. An inverting device sponge suction cup 407 is bonded to the upper surface of the inverted lower chamber plate 406. Deep groove ball bearings 411 are arranged at two ends of the vacuum cavity bearing block 404 and are tightly pressed through upper cover plates 408 at two ends, a hollow shaft 416 penetrates through the bearings, one end of the hollow shaft 416 is inserted into and fixed on a hollow connecting block 409, an upper surface hole of the connecting block 409 is communicated with a hole of the turnover upper cavity plate 405, a second vacuum pipe joint 413 is inserted into and welded on the vacuum cavity bearing block 404, and a hole is formed in the hollow shaft 416 at a corresponding position and corresponds to the vacuum pipe joint. The other end of the hollow shaft 416 is a blind flange connector which is fixedly connected with the rotary cylinder connecting flange 410. Thus, when the second rotary cylinder 403 rotates 180 degrees, the hollow shaft 416, the lower surface of the turnover upper chamber plate 405 inserted into and fixed on the hollow connecting block 409 and connected to the hollow connecting block, the turnover lower chamber plate 406 and the turnover device sponge suckers 407 (the holes formed by the turnover lower chamber plate 406 and the turnover device sponge suckers 407 correspond one-to-one) are synchronously turned 180 degrees, and vacuum is pumped or cut off. The actions of bottle sucking, turning and placing are finished.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The full-automatic bale breaker is characterized by comprising a safety fence (7), wherein two groups of trolley clamping and positioning mechanisms (3) are arranged on the right side of the inner wall of the safety fence (7); a platform mechanism (5) is arranged in the middle of the safety fence (7), two groups of alternate transfer platforms (6) are arranged on the platform mechanism (5), the right side of the platform mechanism (5) is connected with a first mechanical arm (1), and the left side of the platform mechanism (5) is connected with a second mechanical arm (2); the working end of the first mechanical arm (1) is connected with a manual unpacking mechanical assembling mechanism (13), and the working end of the second mechanical arm (2) is connected with a mechanical arm vacuum chuck tooling mechanism (14); a first vacuum pump (11) and a second vacuum pump (12) are arranged in the platform mechanism (5); a waste box conveying belt (9) is arranged on the front side wall of the safety fence (7), a penicillin bottle conveying belt (8) is arranged on the left inner wall of the safety fence (7), and a vacuum suction bottle turnover mechanism (4) is arranged at the right end of the penicillin bottle conveying belt (8); the first vacuum pump (11) is connected with a bale breaking manipulator tool mechanism (13); and the second vacuum pump (12) is connected with a manipulator vacuum sucker tooling mechanism (14) and a vacuum suction bottle turnover mechanism (4).
2. The fully automatic bale breaker according to claim 1, wherein two sets of said trolley clamping and positioning mechanisms (3) are respectively disposed at the front and rear sides of said first mechanical arm (1); the trolley clamping and positioning mechanism (3) comprises a flat trolley (312), a penicillin bottle packing material (314) is placed on the upper end face of the flat trolley (312), and a plurality of elastic rubber rods (313) are arranged on the peripheral edge of the upper end face of the flat trolley (312); two sides of the flat trolley (312) are respectively provided with a group of clamping mechanisms;
the clamping mechanism comprises a mounting substrate (302), a plurality of chemical bolts (303) are connected to the lower end of the mounting substrate (302), a photoelectric switch (311) is arranged at the left end of the upper end face of the mounting substrate (302), a left clamping cylinder (304) and a right clamping cylinder (304) are arranged beside the photoelectric switch (311), and the output ends of the left clamping cylinder and the right clamping cylinder (304) are connected with a left clamping plate and a right clamping plate (310); the right end of the upper end face of the mounting substrate (302) is connected with a front clamping cylinder and a rear clamping cylinder (305), the telescopic ends of the front clamping cylinder and the rear clamping cylinder (305) are movably connected with the lower end of a rotating pin (308), the upper end of the rotating pin (308) is movably connected with a connecting rod (306), the other end of the connecting rod (306) is connected with the back of the front clamping connecting rod and the rear clamping connecting rod (307), the fixed ends of the front clamping connecting rod and the rear clamping connecting rod (307) are movably connected with a Y-shaped joint pin (309), and the lower end of the Y-shaped joint pin (309) is connected to the mounting substrate (302); a guide pipe (301) is connected to the upper side of the mounting substrate (302).
3. The fully automatic bale breaker according to claim 1, characterized in that the platform mechanism (5) comprises a platform main frame (501), the lower end surface of the platform main frame (501) is provided with a first alternate transfer platform rodless cylinder (502) and a second alternate transfer platform rodless cylinder (503), the first alternate transfer platform rodless cylinder (502) and the second alternate transfer platform rodless cylinder (503) are respectively connected with a contraction cable (504), the first alternate transfer platform rodless cylinder (502) and the second alternate transfer platform rodless cylinder (503) are respectively connected with a second alternate transfer platform linear guide rail (505) and a first alternate transfer platform linear guide rail (506), and the second alternate transfer platform linear guide rail (505) and the first alternate transfer platform linear guide rail (506) are respectively connected with a group of alternate transfer platforms (6).
4. The full-automatic bale breaker according to claim 1, wherein the alternate transfer platform (6) comprises an alternate transfer platform base plate (601), two edges of the upper end surface of the alternate transfer platform base plate (601) are respectively connected with a long side direction bounding plate (616) and a short side direction bounding plate (617), the upper end surface of the alternate transfer platform base plate (601) is also respectively connected with a long side direction clamping cylinder seat (605) and a short side direction clamping cylinder seat (604), the long side direction clamping cylinder seat (605) is connected with a long side direction clamping cylinder (602), the telescopic end of the long side direction clamping cylinder (602) is connected with a long side direction clamping block (608), and the long side direction clamping block (608) is opposite to the long side direction bounding plate (616); the short-side direction clamping cylinder seat (604) is connected with a short-side direction clamping cylinder (603), the telescopic end of the short-side direction clamping cylinder (603) is connected with a short-side direction clamping block (606), and the short-side direction clamping block (606) is opposite to the short-side direction enclosing plate (617);
a long-side direction pin inserting seat (609) is arranged on the long-side direction enclosing plate (616), and the long-side direction pin inserting seat (609) is connected with a long-side direction pin inserting device (610); a short-side direction pin inserting seat (614) is arranged on the short-side direction enclosing plate (617), a short-side direction pin inserting device (611) is connected to the short-side direction pin inserting seat (614), and the short-side direction pin inserting device (611) is respectively connected with a left pin (612) and a right pin (613); the bottom box (615) is located between the long side direction enclosing plate (616), the short side direction enclosing plate (617), the short side direction clamping block (606) and the long side direction clamping block (608), and a penicillin bottle (607) is arranged on the bottom box (615).
5. A fully automatic bale breaker according to claim 1, characterized in that the bale breaker hand-loading mechanism (13) comprises a first fixed main flange (101), one end of the first fixed main flange (101) is connected with the first mechanical arm (1), the other end is connected with a first fixed upper plate (109), and a buffer mechanism is connected to the lower end surface of the first fixed upper plate (109); the lower end of the buffer mechanism is connected with a first upper chamber plate (105), the lower end of the first upper chamber plate (105) is connected with a first lower chamber plate (104), and the lower end of the first lower chamber plate (104) is connected with an adsorption mechanism; a rotary air cylinder mechanism is connected to the side wall of the first fixed upper plate (109), a vision mechanism is connected to the other side wall of the first fixed upper plate (109), the end of the rotary air cylinder mechanism is connected with a cutter fixing flange (102), the cutter fixing flange (102) is connected with an upper fixing seat (116), the end face of the upper fixing seat (116) is connected with a lower fixing seat (115), and four sets of film cutting knife mechanisms are arranged on the lower fixing seat (115);
four corners of the first fixed upper plate (109) are respectively provided with a through hole, a first connecting rod (113) is inserted into each through hole, the lower ends of the four first connecting rods (113) are respectively connected to the four corners of the upper end surface of the first fixed lower plate (111), the outer side wall of each first connecting rod (113) is sleeved with a first buffer spring (110), and the lower end surface of the first fixed lower plate (111) is connected to the upper end surface of the first upper chamber plate (105);
the adsorption mechanism comprises a first sponge sucker (103), the first sponge sucker (103) is connected to the lower end face of the first lower chamber plate (104), the first lower chamber plate (104) and the first upper chamber plate (105) are connected to form a vacuum cavity, the upper end face of the first upper chamber plate (105) is connected with a precision pressure reducing valve (112), the precision pressure reducing valve (112) is connected with a first vacuum pipe connector (128), the first vacuum pipe connector (128) is connected into the vacuum cavity, and the precision pressure reducing valve (112) is connected with a first vacuum pump (11); the upper end surface of the upper chamber plate (105) is also connected with a first compressed air joint (129); the lower chamber plate (104) and the first sponge sucker (103) are provided with a plurality of holes which are in one-to-one correspondence; two groups of buffer shaft mechanisms are arranged on the first sponge sucker (103);
the buffer shaft mechanism comprises a buffer fixing seat (123), the buffer fixing seat (123) is connected to the upper end face of the first upper chamber plate (105), a buffer shaft (126) is connected to the buffer fixing seat (123), the upper end face of a buffer block (127) penetrates through the first sponge sucker (103), the first lower chamber plate (104) and the first upper chamber plate (105) and is connected into the buffer shaft (126) in a sliding manner, a spring (125) is arranged in the buffer shaft (126), a first fixing screw (124) is connected to the upper end of the buffer block (127), and the spring (125) of the first fixing screw (124) is in contact with the first fixing screw;
the visual mechanism comprises a visual system fixing frame (108), the visual system fixing frame (108) is connected to the side wall of the fixing upper plate (109), the outer end of the visual system fixing frame (108) is connected with a camera fixing plate (122), and the camera fixing plate (122) is connected with a visual system (107);
the rotary cylinder mechanism comprises a first rotary cylinder fixing plate (117), the first rotary cylinder fixing plate (117) is connected to the lower end face of the fixing upper plate (109), the outer end of the first rotary cylinder fixing plate (117) is connected with a first rotary cylinder (106), and the first rotary cylinder (106) is connected with the cutter fixing flange (102);
film cutter mechanism includes bearing frame (130), bearing frame (130) are connected in lower fixing base (115), bearing (132) are connected to the inside upper end of lower fixing base (115), peg graft in bearing (132) and film cutter axle (119), cup joint torsional spring sword packing ring (133) on film cutter axle (119), torsional spring sword packing ring (133) below cup joints torsional spring (118), torsional spring (118) lower extreme cup joints film cutter seat (121), and film cutter lock nut (120) are connected the lower extreme of film cutter axle (119), are located film cutter seat (121) below, film cutter seat (121) connect film cutter (114) through second set screw (131), an arm of torsional spring (118) with the side contact of bearing frame (130), another arm with the side contact of film cutter seat (121), four groups film cutter mechanism are located respectively four edges of terminal surface under lower fixing base (115), the outer end of film cutter (114) extends to the outside of lower fixing base (115).
6. The full-automatic bale breaker according to claim 1, wherein the manipulator vacuum chuck tooling mechanism (14) comprises a second fixed main flange (206), one end of the second fixed main flange (206) is connected with the second mechanical arm (2), the other end of the second fixed main flange is connected with a second fixed upper plate (213), four second connecting rods (208) penetrate through the second fixed upper plate (213), each second connecting rod (208) is sleeved with a second buffer spring (207), the lower ends of the four second connecting rods (208) are connected with a second upper chamber plate (203), the second upper chamber plate (203) is connected with a second lower chamber plate (202), the second lower chamber plate (202) is connected with a second suction cup (201), and the upper end surface of the second upper chamber plate (203) is connected with a second compressed air joint (211) and a vacuum suction pipe (212);
fixed upper plate (213) of second are connected vacuum chuck frock fixed plate (209), vacuum chuck frock fixed plate (209) are connected and are inhaled useless box fixed plate (204), inhale useless box fixed plate (204) terminal surface on four edges respectively connect one useless box sucking disc (205), four useless box sucking disc (205) are respectively connected one and are inhaled useless box vacuum joint (210).
7. The fully automatic bale breaker according to claim 1, wherein the vacuum bottle-tilting mechanism (4) comprises a main upright post (401), a rodless cylinder (402) is connected to an upper end of a side wall of the main upright post (401), a rodless cylinder fixing plate (414) is connected to the rodless cylinder (402), a second rotating cylinder fixing plate (415) is connected to a side wall of the rodless cylinder fixing plate (414), a second rotating cylinder (403) is connected to a side wall of the second rotating cylinder fixing plate (415), a mounting connecting frame (412) is connected to the second rotating cylinder (403), a vacuum chamber bearing seat (404) is connected to the mounting connecting frame (412), a rotating cylinder connecting flange (410) is connected to a side wall of the vacuum chamber bearing seat (404) near the second rotating cylinder (403), a deep groove ball bearing (411) is connected to an inner side wall of the vacuum chamber bearing seat (404), an upper cover plate (408) is connected to an end side wall of the vacuum chamber bearing seat (404) far away from the second rotating cylinder (403), a second vacuum chamber bearing seat (413) is connected to the vacuum chamber bearing seat (404), a hollow groove ball bearing seat (416) is connected to a lower end of the hollow groove bearing seat (409), and the upper chamber connecting plate (409) passes through a hollow groove joint (416), the upper end face of the turnover upper chamber plate (405) is connected with a turnover lower chamber plate (406), and the upper end face of the turnover lower chamber plate (406) is connected with a turnover device sponge suction cup (407).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210931427.8A CN115196132A (en) | 2022-08-04 | 2022-08-04 | Full-automatic bale breaker |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210931427.8A CN115196132A (en) | 2022-08-04 | 2022-08-04 | Full-automatic bale breaker |
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| CN115196132A true CN115196132A (en) | 2022-10-18 |
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| CN202210931427.8A Pending CN115196132A (en) | 2022-08-04 | 2022-08-04 | Full-automatic bale breaker |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116313947A (en) * | 2023-05-25 | 2023-06-23 | 深圳赛仕电子科技有限公司 | micro-LED display panel packaging method and device |
| CN117602374A (en) * | 2024-01-23 | 2024-02-27 | 山东金瓢食品机械股份有限公司 | Kelp drying equipment with automatic feeding function |
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| CN116313947A (en) * | 2023-05-25 | 2023-06-23 | 深圳赛仕电子科技有限公司 | micro-LED display panel packaging method and device |
| CN116313947B (en) * | 2023-05-25 | 2023-08-08 | 深圳赛仕电子科技有限公司 | micro-LED display panel packaging method and device |
| CN117602374A (en) * | 2024-01-23 | 2024-02-27 | 山东金瓢食品机械股份有限公司 | Kelp drying equipment with automatic feeding function |
| CN117602374B (en) * | 2024-01-23 | 2024-03-26 | 山东金瓢食品机械股份有限公司 | Kelp drying equipment with automatic feeding function |
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