CN207089760U - The vertical recrater of soft bag - Google Patents

Abstract

The utility model discloses a kind of vertical recrater of soft bag to include soft bag transmission line, carton transmission line, dividing plate feeding mechanism and boxing manipulator；Transported soft bag arranges in the soft bag transmission line linear array, and all soft bags are in upright state；The boxing manipulator includes vanning cleft hand and the multi-axis robot for driving the vanning cleft hand to be moved between the carton that soft bag transmission line and fixed point are set；The vanning cleft hand includes the soft bag cleft hand of multiple rectangular arrays arrangement, and the horizontal density degree and longitudinal density degree of all soft bag cleft hands are variable so that all soft bag cleft hands can switch gathering between state and dispersity.The vertical recrater of soft bag of the present utility model can realize that soft bag conveying, soft bag crawl, carton positioning, the state of gathering that is changed into casing from dispersity by the soft bag of crawl are cased, and dividing plate can be put between two row's soft bags simultaneously, realize the automatic boxing process of whole unmanned interference, stability is good, and production efficiency is high.

Description

The vertical recrater of soft bag

Technical field

The utility model sets automatic packaging machinery field, particularly a kind of vertical recrater of soft bag.

Background technology

The packing technique developed recently of infusion products quickly, from traditional glass bottle, plastic bottle to plastic soft bag packaging material, Transfusion flexible bag includes PVC (Polyvinyl chloride polymer, polyvinyl chloride) soft bags and non-PVC-soft-bag, non-pvc soft bags With very low water penetration, gas permeability and migration, suitable for the packaging of most medicines.

Soft bag has the characteristics of quality is soft, is not easy to orient, therefore its production packaging realizes that the difficulty of automation is larger, currently Soft bag is packed mostly by the way of semi-automatic or pure man power encasement, low production efficiency, and labor intensity is big.

The content of the invention

Goal of the invention：In order to overcome the deficiencies in the prior art, the utility model provides a kind of achievable soft bag certainly The vertical recrater of soft bag of dynamic vanning.

Technical scheme：To achieve the above object, the vertical recrater of soft bag of the present utility model includes soft bag transmission line and dress Case manipulator；Transported soft bag linear array on the soft bag transmission line arranges, and all soft bags are in upright state；Institute Stating boxing manipulator includes vanning cleft hand and the carton for driving the vanning cleft hand to be set in soft bag transmission line with fixed point Between the multi-axis robot that moves；The vanning cleft hand includes the soft bag cleft hand of multiple rectangular arrays arrangement, and all is described soft The horizontal density degree and longitudinal density degree of bag cleft hand are variable so that all soft bag cleft hands can gather state and dispersed Switch between state.

Further, the soft bag cleft hand packet is included in multiple soft bag grabbing assemblies, in each soft bag grabbing assembly The soft bag cleft hand that row's linear systematic array arranges and density is variable is included, all soft bag grabbing assemblies are installed in cleft hand On pedestal and density is variable.

Further, one and half frames are separately installed with the grabbing assembly pedestal of two groups of soft bag grabbing assemblies in both sides Component, the half frame component include frame side plate and are hinged on the frame end plate at frame side plate both ends, and half frame component can be in deployed condition And be folded between the turnover state of U-shaped and switch, when two and half frame components are in turnover state, both be encircled into one it is square Whole frame.

Further, the soft bag transmission line includes one or more groups of circulating transmissions, in every group of circulating transmission Circulation transmission direction on be equidistantly provided with multiple separating elements, soft bag can be kept in and make soft by being surrounded between adjacent separating element Bag keeps the memory space of upright state.

Further, in addition to carton transmission line, the carton transmission line include Roller conveyor, and the Roller conveyor is provided with extremely Few one is used to pinpoint the vanning station for setting carton, be provided with the vanning station blocking mechanism that is used for stopping carton and For the case erector structure for allowing carton to position.

Further, the case erector structure includes quadra, and corner location is respectively provided with one at the top of the quadra Individual support case element, the support case element can be rotated relative to quadra and the axial translation in its rotary shaft, supports case element Toggled between first position state and second place state, under the state of first position, support case element is in higher than on carton The location status at end；Under the state of the second place, support case element is stretched into carton, and props up an angle of carton.

Further, in addition to dividing plate feeding mechanism, set on the vanning cleft hand between two adjacent groups soft bag grabbing assembly It is equipped with dividing plate cleft hand.

Further, the dividing plate feeding mechanism includes dividing plate memory cell, push pedal unit and dividing plate separative element；Institute State push pedal unit include can relative to the dividing plate memory cell translate and can be stored in the dividing plate memory cell every Plate is oriented the push pedal of push, and its translation is driven by drive device；The dividing plate separative element is arranged on the push pedal push Outside the front in direction, dividing plate memory cell, it is parallel with the translation direction of the push pedal unit that it separates the direction of dividing plate.

Further, the memory cell includes memory cell base and is arranged on both sides above memory cell base Laterally limiting unit, the push pedal translate between the laterally limiting unit of both sides；Leaning on two laterally limiting units The side of nearly dividing plate separative element is mounted on the catch for blocking separator edge；The dividing plate separative element includes sucker group Part.

Further, the first folder that the soft bag cleft hand includes cleft hand pedestal and is rotatably installed on the cleft hand pedestal Cleft hand refer to the second clamping jaw finger, be additionally provided with flexible executive component, the first clamping jaw finger and the second clamping jaw on cleft hand pedestal Finger is connected the expansion link of the flexible executive component by first connecting rod with second connecting rod respectively.

Further, the multi-axis robot includes main beam, and the both ends of the main beam pass through the element phase that is connected respectively Fixed for ground；One group of vertical movement arm is at least installed, the vertical movement arm can be relative to main beam in X on main beam Direction of principal axis and Z-direction self-movement, the vanning cleft hand are arranged on the lower end of the vertical movement arm.

Beneficial effect：The vertical recrater of soft bag of the present utility model can realize that soft bag conveying, soft bag crawl, carton are fixed Position, the state of gathering that is changed into casing from dispersity by the soft bag of crawl are cased, and can simultaneously two row's soft bags it Between be put into dividing plate, realize the automatic boxing process of whole unmanned interference, stability is good, and production efficiency is high.

Brief description of the drawings

Accompanying drawing 1 is the general structure top view of the vertical recrater of soft bag；

Accompanying drawing 2 is the general structure front view of the vertical recrater of soft bag；

Accompanying drawing 3 is the stereogram of soft bag transmission line；

Accompanying drawing 4 is the top view of soft bag transmission line；

Accompanying drawing 5 is the structure chart of separating element；

Accompanying drawing 6 is the stereogram of carton transmission line；

Accompanying drawing 7 is the front view of carton transmission line；

Accompanying drawing 8 is the front view of dividing plate feeding mechanism；

Accompanying drawing 9 is the stereogram of dividing plate feeding mechanism；

Accompanying drawing 10 is the top view of dividing plate feeding mechanism；

Accompanying drawing 11 is the front view of vanning cleft hand；

Accompanying drawing 12 is the stereogram of vanning cleft hand；

Accompanying drawing 13 is the structure chart of soft bag cleft hand；

Accompanying drawing 14 is the structure chart of multi-axis robot；

Accompanying drawing 15 is the structure chart of XZ transitioning components.

Embodiment

The utility model is further described below in conjunction with the accompanying drawings.

The vertical recrater of soft bag such as accompanying drawing 1 and shown in accompanying drawing 2, including frame 1, soft bag transmission line 2, carton transmission line 3, Dividing plate feeding mechanism 4 and boxing manipulator 5.Soft bag transmission line 2 is used to transmit soft bag, soft bag straight line on soft bag transmission line 2 Array arrangement, and soft bag is in upright state, soft bag transmission line 2 can the multiple rows of soft bag of simultaneous transmission；Carton transmission line 3 includes roller Line 31, Roller conveyor 31 are provided with least one vanning station, are provided with station of casing for allowing carton to keep softened state Case erector structure 32；The transmission direction of the soft bag transmission line 2 is parallel with the transmission direction of the Roller conveyor 31.Boxing manipulator 5 It is used to capture the soft bag on soft bag transmission line 2 in batch and be sent into the vanning station positioned at Roller conveyor 31 in frame 1 Carton in carry out incasement operation, boxing manipulator 5 includes multigroup clip claw assembly 51, and group number and the soft bag of clip claw assembly 51 pass Defeated line 2 can simultaneous transmission soft bag row it is corresponding, the dividing plate for being used for capturing dividing plate is provided between two adjacent groups clip claw assembly 51 Cleft hand 52, dividing plate feeding mechanism 4 are used to store dividing plate and capture the single separation of dividing plate for dividing plate cleft hand 52.

The detailed composition of each component is as follows：

As shown in accompanying drawing 3-4, soft bag transmission line 2 includes frame 24 and one or more groups of circulations in frame 24 Transmission device 21, can be timing belt, flat belt or conveyer chain specifically, in the present embodiment, using synchronism preferably, noise Timing belt relatively low, stationarity is good；Multiple separating elements are equidistantly provided with the circulation transmission direction of circulating transmission 21 22, the memory space that can be kept in soft bag and make soft bag keep upright state, above-mentioned storage are surrounded between adjacent separating element 22 Space is in the narrowed shape in middle wide both ends, and separating element 22 is low compared with the height of soft bag so that soft bag upper end is exposed to storage So that boxing manipulator 5 captures beyond space.The both sides of the direction of transfer of every group of circulating transmission 21, which are provided with, keeps side Plate 23, separating element 22 move between the holding side plate 23 of the both sides of circulating transmission 21, keep side plate 23 effectively to prevent Soft bag is crooked excessive or even deviates from memory space.

As shown in Figure 5, separating element 22 include being fixed on bottom plate 221 on circulating transmission 21 (i.e. timing belt) with And the separator 222 being connected on bottom plate 221 is erect, the both sides of the bottom plate 221 are provided with roller 223, separating element 22 With in the motion process of circulating transmission 21, the roller 223 of its both sides can roll along the pressure-bearing track being arranged in frame 24, It circulating transmission 21 is not subject to the deadweight of separating element 22, reduce the load of circulating transmission 21；Separate Part 222 is the wider horse-saddle in middle narrowed both ends, and certain shape is the preferable shape of separator 222, separator 222 Shape be not limited to the shape or common flat board and coordinate the holding side plate 23 of both sides to form square memory space, or Person can also be other shapes.

As shown in accompanying drawing 6 and accompanying drawing 7, carton transmission line 3 includes Roller conveyor 31, and the top both sides of Roller conveyor 31 are provided with least two The guide bar 34 that root is parallel to each other, carton move between the guide bar 34 of both sides, and guide bar 34 can not only prevent carton from walking Partially, screening effect is also acted as, prevents the length and width of carton from misplacing, influences automatic boxing, if misplacing, carton can be directed to bar 34 and keep off Firmly, enter for convenience of carton between the guide bar 34 of both sides, the end set of the same side of the guide bar 34 of both sides has oblique angle slope Mouthful so that enter in carton on the direction between guide bar 34, the distance between guide bar 34 is become narrow gradually by width.Roller conveyor 31 At least one vanning station is provided with, the case erector structure 32 for allowing carton to position is provided with each station of casing and is used for Stop the blocking mechanism 33 of carton.

Case erector structure 32 includes quadra 321, and the top corner location of quadra 321 is respectively provided with a support case Element 322, the support case element 322 can be rotated relative to quadra 321 and the axial translation in its rotary shaft, support case member Part 322 toggles between first position state and second place state, and under the state of first position, support case element 322 is in height Location status in carton upper end, and support medium position of the case element 322 close to quadra 321；Under the state of the second place, support Case element 322 is stretched into carton, props up an angle of carton, it is relative to quadra 321 close to the edge of quadra 321 Place.Specific implementation is：Support case element 322 is divided to two groups to be separately mounted in two rotating shafts 323, support case element 322 relative to Rotating shaft 323 is circumferentially fixed and can be slid axially relative to it, and its slip is driven by the first cylinder 324, specifically, the first cylinder 324 cylinder seat is fixed in rotating shaft 323, the expansion link support case element 322 of the first cylinder 324；Rotating shaft 323 can be relative to square box Frame 321 is rotated, and its rotation is driven by the second cylinder 325, specifically, first connecting rod 326, the second cylinder is fixed with rotating shaft 323 325 cylinder seat is rotatablely connected relative to quadra 321, and the expansion link of the second cylinder 325 is cut with scissors with one end of first connecting rod 326 Connect.

Blocking mechanism 33 includes the 3rd cylinder 331 and makees the baffle plate 332 of translational motion by the driving of the 3rd cylinder 331, the The cylinder seat of three cylinders 331 is fixed on the support of Roller conveyor 31.

In the present embodiment, Roller conveyor 31 is provided with two vanning stations, and a stop is respectively arranged with each station of casing Mechanism 33, in addition, a blocking mechanism 33 is additionally provided with before first vanning station on the direction of transfer of Roller conveyor 31 Vanning station is gone successively to for suspending carton and to carton clearance.

As shown in accompanying drawing 8-10, dividing plate feeding mechanism 4 includes dividing plate memory cell 41, will deposited in dividing plate memory cell 41 Dividing plate the push pedal unit 42 and dividing plate separative element 43 that are pushed away to fixed-direction, the push pedal unit 42 includes can be relative to institute State the push pedal 421 of the translation of memory cell 41, the translation direction of push pedal 421 perpendicular to septum plane, the translational motion of push pedal 421 by Drive device drives, and specifically, drive device includes flexible member 422, and flexible member 422 can be spring, in the present embodiment Flexible member 422 is elastic string, and one end of elastic string is tied up in the push pedal 421, bypasses among elastic string and is deposited relative to dividing plate The other end is fixed relative to unitized substructure 41 after the pulley 423 that storage unit 41 is rotatablely connected.

Aforementioned barriers memory cell 41 includes memory cell base 411 and is erected at the lateral of the top both sides of base 411 Limiting unit 412, laterally limiting unit 412 are located at the both sides of the direction of motion of push pedal 421, laterally limiting unit 412 and base The catch 413 for blocking separator edge is mounted on the side of 411 43 yuan of close dividing plate separation list, in push pedal 421 In the direction of motion, projected area of the catch 413 on the dividing plate of the memory storage of dividing plate memory cell 41 is much smaller than the area of dividing plate.Gear The effect of piece 413 is to limit the motion of the dividing plate of storage in dividing plate memory cell 41, when dividing plate separative element 43 will be with catch When the dividing plate of 413 contacts isolates dividing plate memory cell 41, dividing plate breaks away from the limitation of catch 413 by deformation.

Dividing plate separative element 43 includes the Suction cup assembly 431 that can be translated relative to dividing plate memory cell 41, in the present embodiment In, the translation direction of Suction cup assembly 431 is parallel with the translation direction of push pedal 421, and it is translated by Suction cup assembly 431 Sliding block 433 and the slide rail 434 fixed relative to dividing plate memory cell 41, which coordinate, to be oriented to, and is driven by separation cylinder 435. In another embodiment, the translation direction of Suction cup assembly 431 can also be vertically oriented, and divider upright is separated into dividing plate deposits Outside storage unit 41.

The translation implementation of push pedal 421 is：Push pedal unit 42 also includes at least two relative to by dividing plate memory cell 41 guide rods 427 fixed, are fixed with linear bearing 424 corresponding with the number of guide rod 427, linear axis in the push pedal 421 Hold between 424 and guide rod 427 is to be slidably connected.

Push pedal 421 is retracted into progress feed supplement in situ after having been supplied in order to facilitate the dividing plate in dividing plate memory cell 41, it is described Handle 425 and hook 426 are provided with push pedal 421, push pedal 421 is retracted original position, hung by 425 persons of being easy to use of handle Hook 426, which can make push pedal 421 catch on some position on device temporarily, makes push pedal 421 be fixed relative to dividing plate memory cell 41, this Sample need not manually help push pedal 421 when supplementing dividing plate.In the present embodiment, hook 426 is made up of shell fragment and block two parts, when Need discharge push pedal 421 allow its along guide rod 427 translate when, manually lifting block deforms shell fragment so that keep off Locking relation on block and device between some position releases.

Boxing manipulator 5 includes multi-axis robot 51 and the vanning pawl installed in the execution end of multi-axis robot 51 Hand.In the present embodiment, multi-axis robot 51 is twin shaft Cartesian robot.As shown in accompanying drawing 11 and accompanying drawing 12, cleft hand of casing Multiple soft bag cleft hands 532 are installed indirectly including cleft hand pedestal 52, on cleft hand pedestal 52, the array that is square of soft bag cleft hand 532 is equal Even distribution, variable, all soft bag cleft hand 532 of horizontal spacing and longitudinal pitch between adjacent soft bag cleft hand 532 It can switch gathering between state and dispersity；Gather under state, the horizontal spacing and longitudinal pitch are all smaller, dispersity Under, the horizontal spacing and longitudinal pitch are all larger.The packet of soft bag cleft hand 532 is included in multiple soft bag grabbing assemblies 53 In, the soft bag cleft hand 532 that row's linear systematic array arranges and density is variable is included in each soft bag grabbing assembly 53, is owned Soft bag grabbing assembly 53 be installed on cleft hand pedestal 52 and density is variable.

Specifically, the displacement mode between two groups of soft bag grabbing assemblies 53 can be：(1) one of soft bag grabbing assembly 53 is motionless, and another changes two soft bag crawls under the driving of first straight line driving element 57 relative to the translation of cleft hand pedestal 52 The distance between component 53；(2) two soft bag grabbing assemblies 53 are respectively under the driving of a first straight line driving element 57 Translated relative to cleft hand pedestal 52, both translation directions are opposite.The present embodiment plants mode using (2), and in the present embodiment First straight line driving element 57 be cylinder.

Soft bag grabbing assembly 53 includes grabbing assembly pedestal 531 and linear array is arranged on grabbing assembly pedestal 531 Multiple soft bag cleft hands 532, gap variable and all soft bag cleft hands 532 between adjacent soft bag cleft hand 532 keep uniformly arranging Column-shaped state.

As shown in Figure 13, soft bag cleft hand 532 includes cleft hand pedestal 5323, the first clamping jaw finger 5321 and the second clamping jaw Finger 5322, the first clamping jaw finger 5321 are rotatably installed on cleft hand pedestal 5323 with the second clamping jaw finger 5322 and can be relative Make open and close movement.Flexible executive component 5324 is additionally provided with cleft hand pedestal 5323, the first clamping jaw finger 5321 and second presss from both sides Cleft hand refers to 5322 expansion links for being connected the flexible executive component 5324 with second connecting rod 5326 by first connecting rod 5325 respectively； It is hinged relationship between the clamping jaw finger 5321 of first connecting rod 5325 and first and the expansion link of flexible executive component 5324；The It is hinged relationship between two connecting rods 5326 and the second clamping jaw finger 5322 and the expansion link of flexible executive component 5324.In order to Reliable retention is realized, the end of the first clamping jaw finger 5321 has fin, and the end of the second clamping jaw finger 5322 has recessed Groove, when the soft bag cleft hand 532 performs crawl task, the fin of the first clamping jaw finger 5321 can be embedded in the second cleft hand 5322 Groove.The execution unit 5324 that stretches herein is cylinder.

In the first embodiment, all soft bag cleft hands 532 can be in polymerization state and two kinds of location status of extended position Between switch, under polymerization state, all soft bag cleft hands 532 are abutted against each other together, under extended position, all soft bag cleft hands 532 keep mutually equidistant between any two；Specifically, all soft bag cleft hands 532 can be most on side soft bag cleft hand 532 be reference It is unidirectional make displacement motion or with certain middle soft bag cleft hand 532 to make displacement motion with reference to two-way.The present embodiment employs the latter, i.e., Two soft bag cleft hands 532 at both ends are by a single powered motion of linear driving element 533, the driving of this embodiment cathetus Element 533 is cylinder.When two soft bag cleft hands 532 in both ends are closest, all soft bag cleft hands 532 generally in Polymerization state, when two soft bag cleft hands 532 in both ends are apart from maximum, all soft bag cleft hands 532 are generally in unfolding State, under extended position, first finger 5321 of one of soft bag cleft hand 532 is pressed against between two neighboring soft bag cleft hand 532 The second finger 5322 of another soft bag cleft hand 532, it can so realize the spacing phase between arbitrary neighborhood soft bag cleft hand 532 Deng.

In second of embodiment, all soft bag cleft hands 532 can be in polymerization state and two kinds of location status of extended position Between switch, be provided with spring between adjacent soft bag cleft hand 532, can so ensure displacement anyway, made by the regulation of spring With the spacing between adjacent soft bag cleft hand 532 is equal.Specifically, all soft bag cleft hands 532 can be most on side soft bag cleft hand 532 be that displacement moves or certain soft bag cleft hand 532 is to make displacement motion with reference to two-way with centre with reference to unidirectionally making.Concrete implementation side Formula is identical with the first embodiment.

Because the whole height of soft bag is higher, when soft bag cleft hand 532 catches its upper end to move, because vanning cleft hand is whole Speed of moving body is very fast, and soft bag is easily produced and rocked, and What is more, and soft bag can wriggle relative to soft bag cleft hand 532 even to drop. In order to which soft bag is rocked in the cleft hand motion process that prevents from casing, the also included two and half frames component 54 of cleft hand of casing, in the present embodiment, Two and half frame components 54 are separately mounted on two grabbing assembly pedestals 531, each half frame component 54 comprising frame side plate 541 with And two frame end plates 542 of the both sides of frame side plate 541 are hinged on, half frame component 54 can be cut between deployed condition and turnover state Change, under deployed condition, frame end plate 542 is parallel with frame side plate 541 or is turned up relative to frame side plate 541；Under turnover state, frame end plate 542 form half frame of U-shaped relative to the fold inward of frame side plate 541, and two and half frame components 54 can be encircled into a square whole frame.

Specifically, frame end plate 542 is relative to the rotation implementation of frame side plate 541：Rotate and connect relative to frame side plate 541 Connecing (can be connected directly or indirectly) has rocking bar 543, and center of rotation is arranged on the middle part of rocking bar 543.Relative to frame side plate 541 It is rotatablely equipped with second straight line driving element 544, in the present embodiment, second straight line driving element 544 is cylinder, and second straight line is driven The cylinder seat of dynamic element 544 is rotatablely connected relative to frame side plate 541, expansion link and the rocking bar 543 of second straight line driving element 544 One end is hinged；Drive rod 545 is rotatablely equipped with the frame end plate 542, the other end and drive rod 545 of rocking bar 543 are be hinged.

Further, half frame component 54 is overall to be translated up close to the side at the center away from cleft hand pedestal 52, this Sample can prevent half frame component 54 from being interfered with soft bag transmission line 2 when cleft hand of casing integrally captures soft bag, it is possible to reduce set Space limitation during standby design, after cleft hand of casing grabs soft bag and lifts certain altitude, the anaplasia of soft bag cleft hand 532 first To gather state, while the distance between two groups of soft bag grabbing assemblies 53 are close, and the soft bag that can so make to grab is in X/Y axle sides Come closer upwards, then half frame component 54 is drawn close to the direction close to soft bag, and the fold inward of frame end plate 542, two groups Half frame component 54 surrounds a soft bag holding frame and keeps soft bag not rock.

The specific translation mode of half frame component 54 is：Flat-removing air cyclinder 56 is installed with grabbing assembly pedestal 531, it is described Half frame component 54 is arranged on flat-removing air cyclinder 56.

During actual vanning, dividing plate is provided between two row's soft bags, preferable packing method is that dividing plate enters simultaneously with soft bag Carton, is so not easy at random, therefore, dividing plate cleft hand 55 is also equipped with cleft hand pedestal 52, dividing plate cleft hand 55 includes vertical cylinder 551, with including the pneumatic cleft hands 552 of two clamping jaw fingers, are mounted on a folder on each clamping jaw finger of pneumatic cleft hand 552 Block 553.So, before vanning cleft hand grabs soft bag encasement, it is moved at dividing plate feeding mechanism 4, the band of vertical cylinder 551 Pawl of taking offence hand 552 declines, and pneumatic cleft hand 552, which rises, after the pneumatic gripping of cleft hand 552 dividing plate brings dividing plate to adjacent two rows soft bag Between and case together.

As shown in Figure 14, multi-axis robot 51 includes main beam 511, and the both ends of main beam 511 pass through column 512 respectively Fixed relative to ground；Due to including two vanning stations, therefore the both sides of main beam 511 in the present embodiment on Roller conveyor 31 Be mounted on one group of vertical movement arm 513, vertical movement arm 513 can relative to main beam 511 in X-axis and Z axis self-movement or Dual-spindle linked moves, and the lower end of vertical movement arm 513 is used to install vanning cleft hand.

The arm 513 that moves vertically is arranged on main beam 511 by XZ transitioning components 514；Main beam 511 is provided with first and slided Rail 5111, vertical movement arm 513 are provided with the second slide rail 5131, and as shown in Figure 15, XZ transitioning components 514 include transition frame 41 And by the first sliding block for being respectively used to be used cooperatively with the first slide rail 5111 and the second slide rail 5131 in transition frame 41 5142 and second sliding block 5143.For the stability of holding structure, the both sides of main beam 511 are mounted on two and are parallel to each other The first slide rail 5111.Two the second slide rails 5131 being parallel to each other are installed on vertical movement arm 513.

Horizontally disposed first rack 5112 is installed, XZ transitioning components 514 include coordinating the first rack on main beam 511 5112 first reducing motors 5144 used and the first gear on the output unit of first reducing motors 5144 5145；The second rack 5122 being vertically arranged is installed, XZ transitioning components 514 include coordinating the second tooth on vertical movement arm 513 The second reducing motors 5146 and the second gear on the output unit of second reducing motors 5146 that bar 5122 uses 5147。

In order to ensure the tight fit between wheel and rack, backhaul gap is eliminated as far as possible, and first reducing motors 5144 are logical The first connecting plate 5148 is arranged in transition frame 5141 among crossing, and the first connecting plate 5148 can be perpendicular to the first rack 5112 Side is adjusted up position.Second reducing motors 5144 are arranged in transition frame 5141 by middle second connecting plate 5149, and second Connecting plate 5149 can be adjusted up position perpendicular to the side of the second rack 5122.

In order to which the liquid such as the lubricating oil on anti-anti-slip track are dropped onto in other equipment, the lower end of main beam 511 is provided with oil Groove 515 is used to collect the lubricating oil dripped on slide rail.

The vertical recrater of soft bag of the present utility model can realize soft bag conveying, soft bag crawl, carton positioning, by crawl The state of gathering that soft bag is changed into casing from dispersity is cased, and can be put into dividing plate between two row's soft bags simultaneously, The automatic boxing process of whole unmanned interference is realized, stability is good, and production efficiency is high.

Described above is only preferred embodiment of the present utility model, it should be pointed out that：For the common skill of the art For art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and Retouching also should be regarded as the scope of protection of the utility model.

Claims (11)

1. the vertical recrater of soft bag, it is characterised in that：Including soft bag transmission line and boxing manipulator；Transported soft bag is described Linear array arranges on soft bag transmission line, and all soft bags are in upright state；The boxing manipulator include vanning cleft hand, with And the multi-axis robot for driving the vanning cleft hand to be moved between the carton that soft bag transmission line and fixed point are set；The dress Case cleft hand includes the soft bag cleft hand of multiple rectangular arrays arrangement, and horizontal density degree and the longitudinal direction of all soft bag cleft hands are dredged Close variable degrees so that all soft bag cleft hands can switch gathering between state and dispersity.

2. the vertical recrater of soft bag according to claim 1, it is characterised in that：The soft bag cleft hand packet is included in multiple In soft bag grabbing assembly, the soft bag pawl that row's linear systematic array arranges and density is variable is included in each soft bag grabbing assembly Hand, all soft bag grabbing assemblies are installed on cleft hand pedestal and density is variable.

3. the vertical recrater of soft bag according to claim 2, it is characterised in that：Two groups of soft bag grabbing assemblies in both sides Grabbing assembly pedestal on be separately installed with one and half frame components, the half frame component includes frame side plate and is hinged on frame side plate The frame end plate at both ends, half frame component can switch in deployed condition and being folded between the turnover state of U-shaped, and two and half frame components are equal During in turnover state, both are encircled into a square whole frame.

4. the vertical recrater of soft bag according to claim any one of 1-3, it is characterised in that：The soft bag transmission line includes One or more groups of circulating transmissions, it is single that multiple separations are equidistantly provided with the circulation transmission direction of every group of circulating transmission Member, the memory space that can be kept in soft bag and make soft bag keep upright state is surrounded between adjacent separating element.

5. the vertical recrater of soft bag according to claim any one of 1-3, it is characterised in that：Also include carton transmission line, The carton transmission line includes Roller conveyor, and the Roller conveyor is provided with least one vanning station for being used to pinpoint setting carton, The blocking mechanism for being used for stopping carton and the case erector structure for allowing carton to position are provided with the vanning station.

6. the vertical recrater of soft bag according to claim 5, it is characterised in that：The case erector structure includes quadra, Corner location is respectively provided with a support case element at the top of the quadra, and the support case element can rotate relative to quadra And the axial translation in its rotary shaft, support case element toggle between first position state and second place state, first Under location status, support case element is in the location status higher than carton upper end；Under the state of the second place, support case element stretches into carton It is interior, and prop up an angle of carton.

7. the vertical recrater of soft bag according to claim any one of 1-3, it is characterised in that：Also include dividing plate supply dress Put, dividing plate cleft hand is provided between two adjacent groups soft bag grabbing assembly on the vanning cleft hand.

8. the vertical recrater of soft bag according to claim 7, it is characterised in that：The dividing plate feeding mechanism is deposited including dividing plate Storage unit, push pedal unit and dividing plate separative element；The push pedal unit include can relative to the dividing plate memory cell translate, And the push pedal of push can be oriented to the dividing plate being stored in the dividing plate memory cell, its translation is driven by drive device； The dividing plate separative element is arranged on outside the front in the push pedal push direction, dividing plate memory cell, and it separates the side of dividing plate To parallel with the translation direction of the push pedal unit.

9. the vertical recrater of soft bag according to claim 8, it is characterised in that：The memory cell includes memory cell bottom Seat and the laterally limiting unit for being arranged on both sides above memory cell base, the push pedal both sides laterally limiting unit it Between translate；The side of close dividing plate separative element on two laterally limiting units is mounted on being used to block separator edge Catch；The dividing plate separative element includes Suction cup assembly.

10. the vertical recrater of soft bag according to claim any one of 1-3, it is characterised in that：The soft bag cleft hand includes Cleft hand pedestal and the first clamping jaw finger and the second clamping jaw finger being rotatably installed on the cleft hand pedestal, on cleft hand pedestal also Provided with flexible executive component, the first clamping jaw finger is connected by first connecting rod with second connecting rod respectively with the second clamping jaw finger The expansion link of the flexible executive component.

11. the vertical recrater of soft bag according to any one of claim 1,2,3,8, it is characterised in that：The multiaxis machine Device people includes main beam, and the both ends of the main beam are fixed by the element that is connected relative to ground respectively；At least pacify on main beam Equipped with one group of vertical movement arm, the vertical movement arm can be relative to main beam in X-direction and Z-direction self-movement, institute State the lower end that vanning cleft hand is arranged on the vertical movement arm.