CN209275011U - A kind of double-track cam, charge bar tying head and charge bar tying robot - Google Patents

Abstract

The utility model relates to a kind of double-track cam, charge bar tying head and charge bar tying robots, it is characterised in that: including rack 1, head 2, embrace clamp device 3, pallet apparatus 4, bag delivering device 5, opening tying device 6.The head 2 is located at the top in rack 1；It include: machine head base 21, movable motor 22, transmission mechanism 23, head leading mechanism 24, preceding stopping level sensor 225, rear stopping level sensor 226.Transmission mechanism 23 includes: double-track cam 231.The double-track cam 231 includes right rail 232, left rail 235, cam shaft 240；A cam rail is respectively arranged in the two sides of double-track cam 231, and right side is right rail 232, and left side is left rail 235；Two orthogonal settings of cam rail.The inconsistent phenomenon of charge bar weight is not present with compacting functions in it；There is no the inconsistent phenomenons of length；Artificial 4-5 people is saved, tying quality can achieve charge bar mouth and expect without void, and weight length is consistent；It can be used in the tying of various charge bars.

Description

A kind of double-track cam, charge bar tying head and charge bar tying robot

Technical field

The utility model relates to machinery field more particularly to a kind of charge bar tying robots.

Background technique

Existing charge bar (such as mushroom charge bar) opening tying device, the degree of automation is low, and adaptability is poor.Higher cost, movement Harmony is poor.

Summary of the invention

Technical problem:

In view of the defects existing in the prior art, the utility model proposes a kind of double-track cam, a kind of charge bar tying robot, A kind of charge bar tying method.The work of charge bar tying can intelligent, be automatically completed, the needs of a variety of charge bar tyings are adapted to, And it is low in cost, coordination is good.

Technical solution:

One of to achieve the above object, the utility model proposes a kind of double-track cam, including it is right rail 232, left rail 235, convex Take turns shaft 240；A cam rail is respectively arranged in the two sides of double-track cam 231, and right side is right rail 232, and left side is left rail 235；Two A orthogonal setting of cam rail.

Further, cam rail is movement at the uniform velocity track.

Further, double-track cam 231 further includes subsidiary body, and the subsidiary body includes: right side follower 233, a left side Side follower 236；The follower is roller type driven member；Right side follower 233 is run in right rail 232；Left side follower 236 run in left rail 235.

Further, the subsidiary body further include: fixed plate 234, connecting rod 237；Right side follower 233 be equipped in The top of fixed plate 234；Left side follower 236 is equipped in one end of connecting rod 237.

One of to achieve the above object, the utility model proposes a kind of heads, comprising: machine head base 21, movable motor 22, Transmission mechanism 23, head leading mechanism 24, preceding stopping level sensor 225, rear stopping level sensor 226.

Machine head base 21 includes 211, machine head base side 212, movable motor fixed mechanism 213 above machine head base；Machine Head submounts 211 are horizontally disposed, groove are arranged thereon, groove is arranged along the longitudinal direction, and to after-opening, double-track cam 231 exists Movement in groove, recess width meet the movement needs (movement of double-track cam 231 and transmission mechanism used in conjunction with 23 When, groove edge is not contacted)；Machine head base side 212 is fixed on perpendicular to 211 setting above machine head base, the upper end cooperation On 211 above machine head base, to machine head base above stretch under 211；Movable motor is set on 211 above machine head base Fixed mechanism 213；Above machine head base 211 right side is fixed in the cooperation of movable motor fixed mechanism 213, for cooperating fixed row Walk motor 22；Movable motor 22 is fixed on 211 above machine head base by movable motor fixed mechanism 213, cooperation.

Head leading mechanism 24 includes head upper rail 241, top shoe 242, head side rails 243, side slide 244, side Guide rail forward mount 245, side rails rear end support 246；Machine head base 21 is cooperatively connected by head leading mechanism 24 in rack 1 On；211 lower surface cooperates fixed top shoe 242 above machine head base；Top shoe 242 is set with the cooperation of head upper rail 241 It sets；The cooperation of head upper rail 241 is fixed on rack 1；Head side rails 243 are equipped with side slide 244；Side slide 244 cooperations are fixed on rack 1；After the both ends of head side rails 243 pass through side rails forward mount 245, side rails respectively The cooperation of support 246 is held to fix；The cooperation of side rails rear end support 246 is fixed on machine head base side 212；Side rails front end branch 245 cooperation of seat, which is fixed on, to be sent on bag motor base 501.

The preceding cooperation of stopping level sensor 225 is fixed on rack 1, runs to preceding stop position for detecting head 2；After stop The cooperation of stop bit sensor 226 is fixed on rack 1, runs to rear stop position for detecting head 2；By detecting double-side convex The movement position of wheel 231 or machine head base 21, to detect the movement position of head 2.

Transmission mechanism 23 includes: double-track cam 231；The double-track cam 231 is the double-track cam 231.

Double-track cam 231 is fixedly connected with the cooperation of movable motor 22；Double-track cam 231 is rotated around cam shaft 240；It is convex The axle center at the center and movable motor 22 of taking turns shaft 240 is located on the same line.

The cooperation of fixed plate 234 is fixed in rack 1.

The shaft of connecting rod 237 is set on connecting rod rack 215, and connecting rod 237 is rotated around the shaft；Connecting rod 237 other end mating connection joint ball link 238；The other end of joint ball link 238, which is cooperatively connected, embraces folder motor base 239。

Further, machine head base 21 further includes embracing clamp device shaft fixed mechanism 214, connecting rod rack 215；Embrace clamp device Above machine head base 211 left front portion is fixed in the cooperation of shaft fixed mechanism 214, for cooperating fixed embrace to press from both sides a shaft 311；Connecting rod Above machine head base 211 front is fixed in the cooperation of bracket 215, positioned at the right side for embracing clamp device shaft fixed mechanism 214, vertically 211 above machine head base；Head side rails 243 are round linear guide.

One of to achieve the above object, the utility model proposes a kind of charge bar tying robot, including rack 1, head 2, Embrace clamp device 3, pallet apparatus 4, bag delivering device 5, opening tying device 6.

The basic system of rack 1 is type solid frame structure, internal that multiple support members are fixedly installed, for fixing it His component.The head 2 is a kind of head proposed above；The head 2 is located at the top in rack 1.

Described armful of clamp device 3 includes: rotating mechanism 31, vertical movement mechanism 32, clamping mechanism 33, folded arm mechanism 34, embraces Press from both sides leading mechanism 35.

It embraces clamp device 3 and is located at the centre inside rack 1.

Rotating mechanism 31 includes embracing folder shaft 311, sliding rail fixed plate 312；It embraces folder shaft 311 and is fixed with clamp device shaft is embraced Mechanism 214 is equipped with；It embraces the folder cooperation of shaft 311 and is fixedly connected with sliding rail fixed plate 312, the two is rigidly fixed together；Sliding rail Fixed plate 312 can be around the axis rotation for embracing folder shaft 311.

Vertical movement mechanism 32 includes: sliding rail 321, sliding block 322, embraces folder motor base 239.

The cooperation of sliding rail 321 is fixed on sliding rail fixed plate 312；Sliding block 322 is equipped with sliding rail 321, in sliding rail 321 On move；It embraces folder motor base 239 and the cooperation of sliding block 322 is fixed；Joint ball link 238, which is cooperatively connected, embraces folder motor base 239 upper right corner.

Clamping mechanism 33 include: embrace a folder motor 331, embrace folder eccentric ratio 332, oscillating bearing 333, embrace folder connecting rod 334, Connecting shaft 335, loose sensors in place 337, clips to level sensor 338 at gear connecting plate 336.

The cooperation of folder motor 331 is embraced to be fixed on armful folder motor base 239；The one end fits for embracing folder eccentric ratio 332 are solid On the output shaft for embracing folder motor 331, folder eccentric ratio 332 is embraced perpendicular to the axle center for embracing folder motor 331, by embracing folder electricity Machine 331 drives rotation；Embrace folder eccentric ratio 332 the other end cooperation fixed setting shaft, the axle center of shaft with embrace a folder motor 331 Axis parallel；Shaft is equipped with oscillating bearing 333, enables oscillating bearing 333 around pivot；Oscillating bearing 333 other end, which is cooperatively connected, embraces one end of folder connecting rod 334；The other end for embracing folder connecting rod 334, is matched by connecting shaft 335 Close connection gear connecting plate 336；Folder motor 331 is embraced to one-directionally rotate.

Clamping mechanism 33 further include: loose sensors in place 337 clips to level sensor 338；Loose sensors in place 337 clips to The cooperation of level sensor 338, which is fixedly installed on, embraces on folder motor base；Loose sensors in place 337 clips to level sensor 338 and matches Conjunction, which is fixed on, embraces on folder motor base 239, is respectively used to detection armful folder eccentric ratio 332 and moves to top, bottom.

Folded arm mechanism 34 includes: left gear 341, right gear 342, embraces folder left arm 343, embraces folder right arm 344, left folder bag plate 345, right folder bag plate 346, left pressure plate 347, right pressure plate 348.

Left gear 341, right gear 342 are used cooperatively in pairs；The shaft cooperation of left gear 341, right gear 342 is fixedly connected On armful folder motor base 239；Folder left arm 343 is embraced, folder right arm 344 is embraced and is respectively cooperating with and be fixed on left gear 341, right gear On 342.Folder bag plate includes left folder bag plate 345, right folder bag plate 346；Left folder bag plate 345, right folder bag plate 346, which are located at, embraces folder Left arm 343 is embraced and presss from both sides 344 leading inside face of right arm, when an armful folder left arm, an armful folder right arm turn to together, left folder bag plate 345, the right side Folder bag plate 346 is adjacent to, and lower edge is vertical with folder left arm 343, armful folder right arm 344 is embraced respectively；Pressure plate includes left pressure plate 347, right pressure plate 348；Left pressure plate 347, right pressure plate 348, which are located at, embraces folder left arm 343, embraces under folder 344 front end of right arm Portion, surface are respectively perpendicular to embrace folder left arm 343, embrace folder right arm 344；Right pressure plate 348 is semicircle.

Bao Jia leading mechanism 35 includes: leading plate 351, leading bearing 35；Right pressure plate is fixed in the cooperation of leading plate 351 On 348, positioned at the right lateral side of right pressure plate 348, left side be aligned on the left of right pressure plate 348；Leading plate 351 is circular arc Shape, arc chord angle is less than 90 degree.

The cooperation of leading bearing 352 is fixed on rack 1, is equipped with leading plate 351, cooperating, and leading is located at The right side of plate 351；When an armful clamp device 3 moves backward, it is clamped together due to embracing a folder left arm, embracing a folder right arm, leading plate 351 is not It is contacted with leading bearing 352；When an armful clamp device 3 travels forward, due to embracing a folder left arm, embracing folder right arm opening, leading bearing 352 contact with leading plate 351, support of 351 side of leading plate by leading bearing 352；It travels forward with clamp device 3 is embraced, Leading plate 351 gradually moves right and (embraces clamp device 3 and rotate around folder shaft 311 is embraced).

Pallet apparatus 4 includes: tray motor 401, pallet eccentric ratio 402, joint ball connecting rod 403, pallet connecting rod 400, basetray 404, tray support 405, tray rotating shaft 406, pallet arm 407, vertical sensors in place 408, tiltedly pass in place Sensor 409.

Pallet apparatus 4 is located at the lower left side inside rack 1.

The cooperation of tray motor 401 is fixed on rack 1；The one end fits of pallet eccentric ratio 402 are fixedly connected with pallet Motor 401；403 both ends of joint ball connecting rod cooperate fixed setting oscillating bearing；The one end fits of joint ball connecting rod 403 connect Connect pallet eccentric ratio 402；The other end mating connection pallet connecting rod 400 of joint ball connecting rod 403.

The cooperation of pallet connecting rod 400 is fixedly connected with basetray 404；The cooperation of basetray 404 is fixedly connected with tray rotating shaft 406, it can be rotated around tray rotating shaft 406.

Tray support 405 is fixedly installed perpendicular to basetray 404, and height, height 60mm to 180mm is adjusted；Pallet Pallet 410 is set on pillar 405, and pallet 410 is perpendicular to tray support 405；Center cooperation below pallet 410 is fixed on On tray support 405；Pallet 410 is 60mm-100mm for carrying charge bar, 410 diameter of pallet；The cooperation of pallet arm 407 is solid Front end above basetray 404 is used cooperatively with pallet 410, plays the role of support, fixed charge bar, and height is 300mm-400mm, shape are arcwall face, and the diameter of arc is 120mm, and arc chord angle is 70 degree of -120 degree；Pallet arm 407 is fixed On basetray 404；Distance of the pallet arm 407 apart from 410 center of pallet is adjustable；Pallet arm 407 is apart from pallet 410 The distance at center is 45-70mm.

Tray motor 401 one-directionally rotates；Vertical sensors in place 408, the cooperation of oblique sensors in place 409 be fixed on rack 1 it On；It is respectively used to detection pallet eccentric ratio 402 and moves to top, bottom；When pallet eccentric ratio 402 moves to top, Vertical sensors in place 408 has signal；At this point, pallet arm 407 is in upright state；When pallet eccentric ratio 402 moves to bottom When portion, oblique sensors in place 409 has signal, at this point, pallet arm 407 is in maximum inclining position.

Bag delivering device 5 includes: to send bag motor base 501, send bag motor 502, send bag eccentric ratio 503, send a bag connecting rod 504, bag arm 505 is sent, bag sensor 506 is sent, send bag shaft 507.

Bag delivering device 5 is located among the lower part inside rack 1.

It send the cooperation of bag motor 502 to be fixed on to send on bag motor base 501；Send the one end fits of bag eccentric ratio 503 solid On the shaft for sending bag motor 502；504 one end of bag connecting rod is sent to cooperate company with the other end of bag eccentric ratio 503 is sent It connects, rotates with it.The cooperation of bag arm 505 is sent to be fixed on the other end for sending bag connecting rod 504；The cooperation of bag shaft 507 is sent to be fixed on It send on bag motor base 501；Bag arm 505 is sent by being fixed thereon the axle sleeve in portion, is cooperatively connected in sending bag shaft 507； The one end sent bag connecting rod 504 and bag eccentric ratio 503 is sent to connect, is connected by oscillating bearing；Send the Vertical Square of bag arm 505 To the cooperation of middle part position on the lower side be fixed on and send the other end of bag connecting rod 504；Sending bag shaft 507 to be fixedly welded on send bag electric On machine base 501；Axle sleeve is fixed in a welding manner to be sent on bag arm 505.

It send the cooperation of bag sensor 506 to be fixed on to send on bag motor base 501, send bag eccentric ratio 503 for detecting Position；When bag arm 505 being sent to be located at initial position, bag sensor 506 is sent to detect signal；It send bag motor 502 to one-directionally rotate, send After bag motor 502 starts turning, bag sensor 506 is sent gradually to can't detect signal；Send the rotation of bag sensor 506 close to a circle When, the rising edge for sending bag sensor 506 to detect signal, control send bag motor 502 to stop operating.

Opening tying device 6 is located at the middle part of the inside of rack 1；The cooperation of opening tying device 6 is fixed on rack 1；For existing skill The bundling machine of art.

Further, in addition to the part for sending bag arm 505, tying to order bracket 605, other mechanisms are respectively positioned on the encirclement of rack 1 Within the scope of, it is fixed on 1 inside of rack and/or the structure being fixed together with rack 1.

One of to achieve the above object, the utility model proposes a kind of charge bar tying robots, including following processing steps:

1) charge bar detection sensor, when detecting that charge bar arrives, tray motor is started turning；

2) founds sensors in place and detects (charge bar, which reaches, compresses working position) when signal, and tray motor stops, and embraces folder motor It starts turning；

3) clips to (non-material area at the top of clamping charge bar) when level sensor detects signal, embraces folder motor and stops, walking electricity Machine rotation；

4) stop (charge bar reaches tying working position) when level sensor detects signal after, movable motor stops, and pricks bag electricity Machine rotation；

5) pricks bag sensor and detects (bundle bag is completed, and is pricked bag motor and is returned to original position) when rising edge signal, pricks bag motor and stops Only, tray motor rotates；

6) when the oblique sensors in place of detects signal, tray motor stops；

7) pricks bag motor and stops, after tray motor stopping, embracing folder motor, send a bag motor rotation, and loose sensors in place has letter Number when (unclamp charge bar), embrace folder motor and stop；It send bag sensor rising edge signal (a bag motor to be sent to return to original position) when arriving, send bag Motor stops；

8) after embraces the stopping of folder motor, bag motor is sent to stop, movable motor rotation, (row when preceding stopping level sensor having signal Walk motor and reach original position), movable motor stops.

Technical effect:

The machine is a kind of machine that manual tying is replaced in edible mushroom charge bar manufacturing process, and be can be used in various The tying of charge bar.The production of traditional mushroom charge bar be with machine sticking plaster it is canned after, manually with manual sealing device specially With aluminium button shift onto a forming module plastics bacterium bag sack tie up come.The function replaces manual tying completely, and saving of labor saves When, improve tying quality.

Plastics bacterium bag is to tying requirement:

Sack sack cannot be empty, and length, weight should be consistent.If manual tying does not want that bacterium bag is allowed to have deadhead, first is The sack void material installed is outwelled, if can not guarantee every in this way it is difficult to ensure that the weight that each sack is poured out is consistent The weight of a sack.Second is compacted with hand handle sack void material, and the strength during binder is different, it is difficult to ensure that each bag Whether the height of son is consistent.Both the above scheme is either any, all it is difficult to ensure that the charge bar worked it out can reach requirement, together Shi Shougong tying wants time-consuming and laborious.

The characteristics of Mechatronic intelligent electronic-controlled opening tying device:

1. there are compacting functions, without the empty material of plastics bacterium bag mouth is poured out, the inconsistent phenomenon of bacterium bag weight is not present.

2. bacterium bag mouth void material is pressed in not employment, the inconsistent phenomenon of length is not present.

3. Mechatronic intelligent electronic-controlled opening tying device and traditional manual opening tying device compare, people can be saved under identical operating condition Work 4-5 people, tying quality can achieve bacterium bag mouth and expect without void, and weight length is consistent.

4. can be used in the tying of various charge bars.

Double-track cam described in the utility model, had not only reduced the cost of system, but also made the coordination of complete machine good.

A kind of charge bar tying method can control charge bar tying robot, realize that the automation to charge bar, intelligence are pricked Mouthful.

Working principle:

It is accurately controlled using PLC, including 5 motors, the movement of every motor is controlled by PLC, realize charge bar (such as mushroom Charge bar) auto-welting.The sack filling machine that the machine can be produced with any one producer matches.

1. charged charge bar is voluntarily slid by corollary equipment, or is manually placed into the pallet of feed position；Sensor After detecting charge bar, tray motor controls eccentric ratio, and charge bar is sent to an armful cramping bag area, and (vertical sensors in place detects letter Number, stop operating).

2. movable motor rotation is forwarded to pressure by cam driven head after detecting that charge bar enters armful cramping bag area Bag area (preceding stopping level sensor detecting signal, stops operating)；

The rotation of folder motor is embraced, clamping arm is driven, clamps sack (clip to level sensor and detect signal, stop operating)；

While embracing the rotation of folder motor, movable motor rotation is embraced clamp device by cam driven and is moved downward, lower binder Stick is compacted sack void material；

Movable motor rotation is embraced clamp device by cam driven and is moved upwards, promotes charge bar, embraces clamp device and retreats charge bar It is sent to tying area (the rear level sensor that stops detects signal, stops operating).

3. opening tying device under the action of electromagnetic clutch, brake deceleration unit, pushes opening tying device push rod special fastening It is pushed into fastening forming module, is held in buckle on charge bar in a ring, to complete tying process.

4. tying process is completed, folder electric motor starting is embraced, opening an armful folder, (loose sensors in place detects signal, stops turning It is dynamic), charge bar free-falling under gravity；While embracing folder electric motor starting, a bag electric motor starting is sent, is driven by connecting rod A bag arm is sent, the charge bar tied is sent to machine exterior；After sending a bag sensor to detect rising edge signal, a bag motor is sent to stop Only.

5. tray motor starting, oblique sensors in place detects signal, stops operating while sending bag electric motor starting.

Detailed description of the invention

Fig. 1 is a kind of a kind of structural schematic diagram (left side of implementation use-case of charge bar tying robot described herein Visual angle).

Fig. 2 is the structural schematic diagram (front side visual angle) shown in FIG. 1 for implementing use-case.

Fig. 3 is the structural schematic diagram (vertical view) shown in FIG. 1 for implementing use-case.

Fig. 4 is the structural schematic diagram of the rack 1 shown in FIG. 1 for implementing use-case.

Fig. 5 is the forward sight structural schematic diagram (including portion chassis 1) of the head 2 shown in FIG. 1 for implementing use-case.

Fig. 6 is the right side structural representation (including portion chassis 1) of the head 2 shown in FIG. 1 for implementing use-case.

Fig. 7 is the overlooking structure diagram (including portion chassis 1) of the head 2 shown in FIG. 1 for implementing use-case.

Fig. 8 is (left back for the structural schematic diagram that 2 part-structure of head and rack 1 of implementation use-case shown in FIG. 1 are used cooperatively Side is overlooked).

Fig. 9 is head 2 part-structure shown in FIG. 1 for implementing use-case and the structural schematic diagram (upper left that rack 1 is used cooperatively Side is overlooked).

Figure 10 is the overlooking structure diagram of the machine head base 21 shown in FIG. 1 for implementing use-case.

Figure 11 is the positive structure diagram of the machine head base 21 shown in FIG. 1 for implementing use-case.

Figure 12 is the structure that 211 and movable motor 22 etc. are used cooperatively above the machine head base shown in FIG. 1 for implementing use-case Schematic diagram (is overlooked) above left rear side.

Figure 13 is the deployed configuration schematic diagram of the double-track cam 231 shown in FIG. 1 for implementing use-case.

Figure 14 is the top view of the double-track cam 231 shown in FIG. 1 for implementing use-case.

Figure 15 is the left view of the double-track cam 231 shown in FIG. 1 for implementing use-case.

Figure 16 is the structural schematic diagram of the right side follower 236 shown in FIG. 1 for implementing use-case.

Figure 17 is the structural schematic diagram (left rear side shown in FIG. 1 that embrace clamp device 3 and head 1 and be used cooperatively for implementing use-case Top visual angle).

Figure 18 is that the structural schematic diagram two that armful clamp device 3 for implementing use-case and head 1 shown in FIG. 1 are used cooperatively is (preceding inclined Upper right side visual angle).

Figure 19 is 211 structures being used cooperatively above the sliding rail fixed plate 312 shown in FIG. 1 for implementing use-case and machine head base Schematic diagram.

Figure 20 is the knot shown in FIG. 1 that embrace folder motor base 239 and sliding rail fixed plate 312 etc. and be used cooperatively for implementing use-case Structure schematic diagram.

Figure 21 is the structural schematic diagram of clamping mechanism 33 front end portion shown in FIG. 1 for implementing use-case.

Figure 22 is that the vertical movement mechanism 32 of the clamping mechanism 33 shown in FIG. 1 for implementing use-case and head 2 are used cooperatively Structural schematic diagram (right side view).

Figure 23 is that the vertical movement mechanism 32 of the clamping mechanism 33 shown in FIG. 1 for implementing use-case and head 2 are used cooperatively Structural schematic diagram (top view).

Figure 24 is the clamping mechanism 33 shown in FIG. 1 for implementing use-case and structural schematic diagram (the right side view that head 2 is used cooperatively Figure).

Figure 25 is structural schematic diagram (the front side view that clamping mechanism 33 head 2 shown in FIG. 1 for implementing use-case is used cooperatively Figure).

Figure 26 is the structural schematic diagram (lateral side view) of the front end portion of the clamping mechanism 33 shown in FIG. 1 for implementing use-case.

Figure 27 is the structural schematic diagram of the right gear 341 shown in FIG. 1 for implementing use-case and associated transmission mechanism.

Figure 28 is the structural schematic diagram of the folded arm mechanism 34 shown in FIG. 1 for implementing use-case.

Structural schematic diagram when Figure 29 is the front end clamped condition of the folded arm mechanism 34 shown in FIG. 1 for implementing use-case.

Figure 30 is the structural schematic diagram of the right pressure plate 348 of the clamping mechanism 33 shown in FIG. 1 for implementing use-case.

Figure 31 is the structural schematic diagram of the left pressure plate 347 of the clamping mechanism 33 shown in FIG. 1 for implementing use-case.

Figure 32 is the structural schematic diagram of the leading plate 351 of the clamping mechanism 33 shown in FIG. 1 for implementing use-case.

Figure 33 is the structural schematic diagram of the left folder bag plate 345 of the clamping mechanism 33 shown in FIG. 1 for implementing use-case.

Structural schematic diagram two when Figure 34 is the front end clamped condition of the folded arm mechanism 34 shown in FIG. 1 for implementing use-case (is bowed Depending on).

Figure 35 is the structural schematic diagram of the front end shown in FIG. 1 that embrace folder left arm 343 for implementing use-case.

Figure 36 is the structural schematic diagram of the pallet apparatus 4 shown in FIG. 1 for implementing use-case.

Figure 37 is the structural schematic diagram (left side perspective) of the pallet apparatus 4 shown in FIG. 1 for implementing use-case.

Figure 38 is the structural schematic diagram (front side visual angle) of the bag delivering device 5 shown in FIG. 1 for implementing use-case.

Figure 39 is the structural schematic diagram (vertical view) of the bag delivering device 5 shown in FIG. 1 for implementing use-case.

Figure 40 is the structural schematic diagram (vertical view) of the opening tying device 6 shown in FIG. 1 for implementing use-case.

Figure 41 is the structural schematic diagram (right side view) of the opening tying device 6 shown in FIG. 1 for implementing use-case.

Wherein, unit number is as follows:

1. rack (complete machine pedestal).

2. head (movable motor drive), 21. machine head bases, 22. movable motors, 23. transmission mechanisms, 24. head leadings Mechanism.

Above 211. machine head bases, 212. machine head base sides, 213. movable motor fixed mechanisms, 214. armfuls of clamp devices turn Axis fixed mechanism, 215. connecting rod racks.

231. double-track cams, 232. right rails, 233. right side followers, 234. fixed plates, 235. left rails, 236. left sides are driven Son, 237. connecting rods, 238. joint ball links, 239. armfuls of folder motor bases, 240. cam shafts.

241. head upper rails, 242. top shoes, 243. head side rails, 244. side slides, 245. side rails front end branch Seat, 246. side rails rear end supports.

Stop level sensor before 225., stops level sensor after 226..

3. armful clamp device, 31. rotating mechanisms, 32. vertical movement mechanisms, 33. clamping mechanisms, 34. folded arm mechanisms, 35. armfuls Press from both sides leading mechanism.

311. armfuls of folder shafts, 312. sliding rail fixed plates.

321. sliding rail, 322. sliding blocks.

331. armfuls of folder motors, 332. armfuls of folder eccentric ratios, 333. oscillating bearings, 334. armfuls of folder connecting rods, 335. connecting shafts, 336. gear connecting plates；337. loose sensors in place, 338. clip to level sensor.

341. left gears, 342. right gears, 343. armfuls of folder left arms, 344. armfuls of folder right arms, 345. left folder bag plates, 346 right folders Bag plate, 347. left pressure plates, 348. right pressure plates.

351. leading plates, 352. leading bearings.

4. pallet apparatus, 401. tray motors, 402. pallet eccentric ratios, 403. joint ball connecting rods, 400. pallets connect Extension bar.

404. basetrays, 405. tray supports, 406. tray rotating shafts, 407. pallet arms, 408. vertical sensors in place, 409. oblique sensors in place, 410. pallets.

5. bag delivering device, 501. send a bag motor base, and 502. send a bag motor, and 503. send a bag eccentric ratio, and 504. send bag to connect Extension bar, 505. send a bag arm, and 506. send a bag sensor, and 507 send a bag shaft.

6. opening tying device, 601. opening tying device hosts, 602. opening tying device working faces, 603. left side slideways, 604. right sides Slideway, 605. tyings order bracket, and 606. prick bag sensor.

Specific embodiment

In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation Example, is described in further detail the utility model.It should be appreciated that specific embodiment described herein is only used to solve The utility model is released, is not used to limit the utility model.

Picture 1-4 shown in 1, the utility model proposes a kind of bar tying robots.

As shown in Figure 1-3, a kind of bar tying robot, including rack 1, head 2, armful clamp device 3, pallet dress Set 4, bag delivering device 5, opening tying device 6.

In addition to the part for sending bag arm 505, tying to order bracket 605, other mechanisms be respectively positioned on rack 1 encirclement range it It is interior, it is fixed on 1 inside of rack and/or the structure being fixed together with rack 1.

The basic system of rack 1 is type solid frame structure, internal that multiple support members are fixedly installed, for fixing it His component.Preferably, the fixed form of support member is welding.

As shown in Fig. 5-Figure 16, head 2 includes: machine head base 21, movable motor 22, transmission mechanism 23, head leading machine Structure 24.

Head 2 is located at the top in rack 1.

Machine head base 21 includes 211, machine head base side 212, movable motor fixed mechanism 213 above machine head base；Machine Head pedestal 21 further includes embracing clamp device shaft fixed mechanism 214, connecting rod rack 215.211 is horizontally disposed above machine head base, Upper setting groove, groove are arranged along the longitudinal direction, and to after-opening, double-track cam 231 moves in groove, and recess width meets double The movement of face cam 231 and transmission mechanism used in conjunction with 23 needs (when movement, not contacting groove edge).Machine head base Side 212 is perpendicular to 211 setting above machine head base, and the upper end cooperation is fixed on 211 above machine head base, to head It is stretched under submounts 211.Preferably, 211 length is 240mm, width 240mm, thickness 8mm above machine head base； The length of machine head base side 212 is 410mm, width 30Mm, thickness 8mm；Recess width 60mm, length 200mm.Head Movable motor fixed mechanism 213 is set on submounts 211, embraces clamp device shaft fixed mechanism 214.Movable motor fixes machine Above machine head base 211 right side is fixed in the cooperation of structure 213, for cooperating fixed movable motor 22；Preferably motor is fixed Bracket, screw are fixed.Movable motor 22 by movable motor fixed mechanism 213, cooperation be fixed on above machine head base 211 it On.Preferably, the ac motor that movable motor 22 is 120 watts, model 5RK120GU-S3MFT.It is solid to embrace clamp device shaft The left front portion that the cooperation of mechanism 214 is fixed on above machine head base 211 is determined, for cooperating fixed embrace to press from both sides a shaft 311.Connecting rod rack 215 cooperation be fixed on above machine head base 211 front, positioned at embrace clamp device shaft fixed mechanism 214 right side, perpendicular to 211 above machine head base；Preferably, to be welded and fixed.

Head leading mechanism 24 includes head upper rail 241, top shoe 242, head side rails 243, side slide 244, side Guide rail forward mount 245, side rails rear end support 246.Machine head base 21 is cooperatively connected by head leading mechanism 24 in rack 1 On.211 lower surface cooperates fixed top shoe 242 above machine head base.Top shoe 242 is set with the cooperation of head upper rail 241 It sets.The cooperation of head upper rail 241 is fixed on rack 1.Head side rails 243 are equipped with side slide 244.Side slide 244 cooperations are fixed on rack 1；After the both ends of head side rails 243 pass through side rails forward mount 245, side rails respectively The cooperation of support 246 is held to fix.The cooperation of side rails rear end support 246 is fixed on machine head base side 212；Side rails front end branch 245 cooperation of seat, which is fixed on, to be sent on bag motor base 501.Preferably, head upper rail 241 is heavily loaded linear guide (such as Fig. 9 institute Show, use 2 guide rails, a circular guideway, a square rail).Head side rails 243 are round linear guide；Preferably, Two head side rails 243 are arranged in parallel.

The preceding cooperation of stopping level sensor 225 is fixed on rack 1, runs to preceding stop position for detecting head 2.After stop The cooperation of stop bit sensor 226 is fixed on rack 1, runs to rear stop position for detecting head 2.By detecting double-side convex The movement position of wheel 231 or machine head base 21, to detect the movement position of head 2.Preferably, preceding stopping level sensor 225 is used Preceding stop position is run in detection double-track cam 231；Stop level sensor 226 afterwards for detecting after double-track cam 231 runs to Stop position.

Transmission mechanism 23 includes: double-track cam 231；Double-track cam 231 be translating cam, including right rail 232, left rail 235, Cam shaft 240；It further include subsidiary body, the subsidiary body includes: that right side follower 233, fixed plate 234, left side are driven Son 236, joint ball link 238, embraces folder motor base 239 at connecting rod 237；The subsidiary body further include:

Double-track cam 231 is moved with respect to rack 1；It is that roller type is driven with the follower that double-track cam 231 is used cooperatively Part.

Double-track cam 231 is fixedly connected with the cooperation of movable motor 22；Double-track cam 231 is rotated around cam shaft 240.It is convex The axle center at the center and movable motor 22 of taking turns shaft 240 is located on the same line.Preferably, double-track cam 231 and walking electricity Machine 22 is fixedly connected by shaft coupling cooperation.

A cam rail is respectively arranged in the two sides of double-track cam 231, and right side is right rail 232, and left side is left rail 235；Two The orthogonal setting of cam rail.Preferably, cam rail is movement at the uniform velocity track.

Right side follower 233 is run in right rail 232.Right side follower 233 is equipped in the top of fixed plate 234. The cooperation of fixed plate 234 is fixed in rack 1.Preferably, the shaft of right side follower 233 is located at the top of fixed plate 234.

Left side follower 236 is run in left rail 235.Left side follower 236 is equipped in one end of connecting rod 237.Even The shaft of bar 237 is set on connecting rod rack 215, and connecting rod 237 is rotated around the shaft.Connecting rod 237 it is another Hold mating connection joint ball link 238.The other end of joint ball link 238, which is cooperatively connected, embraces folder motor base 239.Preferably, The other end of joint ball link 238, which is cooperatively connected, embraces the upper right corner of folder motor base 239；Connecting rod rack 215 is 130mm high；Connecting rod 237 long 300mm.

It should be noted that the both ends of joint ball link 238 are provided with oscillating bearing, oscillating bearing makes its both ends all Three-dimensional motion can be done around shaft.

Preferably, left side follower 236, right side follower 233 diameter be 26mm, be camshaft bearing structure；Left rail 235, the width 26.5mm of right rail 232, depth 12mm.

When initialization, double-track cam 231 is located at rear end, and the rear level sensor 226 that stops has signal.Movable motor 22 is unidirectional Movement, movable motor 22 rotate, and double-track cam 231 is driven to rotate；Movable motor 22 is in right side follower 233 and right rail 232 Under collective effect, machine head base 21 is driven to travel forward；When current stopping level sensor 225 detects signal, stop motion.With This simultaneously, double-track cam 231 drive left side follower 236 rotate, left side follower 236 is from the lower motion of left rail 235 to a left side The top of rail 235.

When current stopping level sensor 225 has signal, movable motor 22 is rotated, and double-track cam 231 is driven to rotate；Walking electricity Machine 22 drives machine head base 21 to move backward under right side follower 233 and the collective effect of right rail 232；When after stop position pass When sensor 226 detects signal, movable motor 22 stops operating.At the same time, double-track cam 231 drives left side follower 236 Rotation, left side follower 236 is from the ionized motion of left rail 235 to the lower part of left rail 235.

When machine head base 21 moves forward and backward, drive connection fixed thereto send bag motor base 501 to move forward and backward.

It needs, double-track cam 231 can also accordingly be replaced with two single side cams being accordingly arranged；At this point, Two single side cams respectively correspond the one side of double-track cam 231, and track is arranged accordingly thereon；Two single side cam engagements are fixed On the same axis；Preferably, original fixing axle lengthens.

As shown in Figure 17-Figure 35, embraces clamp device 3 and include: rotating mechanism 31, vertical movement mechanism 32, clamping mechanism 33, embrace Arm mechanism 34, Bao Jia leading mechanism 35.

It embraces clamp device 3 and is located at the centre inside rack 1.

Rotating mechanism 31 includes embracing folder shaft 311, sliding rail fixed plate 312.It embraces folder shaft 311 and is fixed with clamp device shaft is embraced Mechanism 214 is equipped with；It embraces the folder cooperation of shaft 311 and is fixedly connected with sliding rail fixed plate 312, the two is rigidly fixed together.Sliding rail Fixed plate 312 can be around the axis rotation for embracing folder shaft 311.Preferably, embracing clamp device shaft fixed mechanism 214 is axle sleeve, It is welded on 211 above machine head base；Embracing folder shaft 311 can rotate in axle sleeve.

Vertical movement mechanism 32 includes: sliding rail 321, sliding block 322, embraces folder motor base 239.

The cooperation of sliding rail 321 is fixed on sliding rail fixed plate 312.Sliding block 322 is equipped with sliding rail 321, in sliding rail 321 On move.It embraces folder motor base 239 and the cooperation of sliding block 322 is fixed.Joint ball link 238, which is cooperatively connected, embraces folder motor base 239 upper right corner.

When double-track cam 231 rotates, connecting rod 237 is driven to move, connecting rod 237 drives joint ball link 238 to move up and down, Joint ball link 238, which drives, embraces the up and down motion of folder motor base 239.

It should be noted that joint ball link 238 can be in connecting rod 237, joint ball link 238, armful folder motor base 239 Between due to relative motion generate by a small margin angle when, can work normally.

Clamping mechanism 33 include: embrace a folder motor 331, embrace folder eccentric ratio 332, oscillating bearing 333, embrace folder connecting rod 334, Connecting shaft 335, loose sensors in place 337, clips to level sensor 338 at gear connecting plate 336.

It embraces the cooperation of folder motor 331 to be fixed on armful folder motor base 239, it is preferred that be 40 watts of ac motor, type Number be 5RK40GN-S3MFT.The one end fits for embracing folder eccentric ratio 332 are fixed on the output shaft for embracing folder motor 331, are embraced Eccentric ratio 332 is pressed from both sides perpendicular to the axle center for embracing folder motor 331, drives rotation by embracing folder motor 331.Embrace folder eccentric ratio 332 Other end cooperation fixed setting shaft, the axle center of shaft and the axis parallel for embracing folder motor 331；Shaft is matched with oscillating bearing 333 Setting is closed, enables oscillating bearing 333 around pivot.The other end of oscillating bearing 333, which is cooperatively connected, embraces folder connecting rod 334 One end, it is preferred that be fixedly connected with (as weld).The other end for embracing folder connecting rod 334, is cooperatively connected by connecting shaft 335 Gear connecting plate 336；Preferably, connecting shaft 335 is located at the upper left corner of gear connecting plate 336.Folder motor 331 is embraced to one-directionally rotate. Preferably, folder 332 both ends center of eccentric ratio is embraced away from for 25mm；Folder 334 both ends center of connecting rod is embraced away from for 210mm.

Clamping mechanism 33 further include: loose sensors in place 337 clips to level sensor 338；Loose sensors in place 337 clips to The cooperation of level sensor 338, which is fixedly installed on, embraces on folder motor base.Loose sensors in place 337 clips to level sensor 338 and matches Conjunction, which is fixed on, embraces on folder motor base 239, is respectively used to detection armful folder eccentric ratio 332 and moves to top, bottom.It is preferred that , when an armful folder eccentric ratio 332 turns to top, clipping to level sensor 338 has signal, embraces folder left arm, an armful folder right arm turns to Together；Folder eccentric ratio 332 is embraced when turning to bottom, loose sensors in place 337 has signal, embraces folder left arm, embraces a folder right arm and open.

Folded arm mechanism 34 includes: left gear 341, right gear 342, embraces folder left arm 343, embraces folder right arm 344, left folder bag plate 345, right folder bag plate 346, left pressure plate 347, right pressure plate 348.

Left gear 341, right gear 342 are used cooperatively in pairs；The shaft cooperation of left gear 341, right gear 342 is fixedly connected On armful folder motor base 239.Folder left arm 343 is embraced, folder right arm 344 is embraced and is respectively cooperating with and be fixed on left gear 341, right gear On 342.Folder bag plate includes left folder bag plate 345, right folder bag plate 346；Left folder bag plate 345, right folder bag plate 346, which are located at, embraces folder Left arm 343 is embraced and presss from both sides 344 leading inside face of right arm, when an armful folder left arm, an armful folder right arm turn to together, left folder bag plate 345, the right side Folder bag plate 346 is adjacent to, and lower edge is vertical with folder left arm 343, armful folder right arm 344 is embraced respectively；Preferably, the length and width of folder bag plate, Thickness is followed successively by 50mm, 30mm, 5mm.Pressure plate includes left pressure plate 347, right pressure plate 348；Left pressure plate 347, right binder Plate 348 is located at and embraces folder left arm 343, embraces folder 344 front lower portion of right arm, and surface is respectively perpendicular to embrace folder left arm 343, embraces folder Right arm 344；Right pressure plate 348 is semicircle；Preferably, pressure plate with a thickness of 3mm, a diameter of 100mm；Left pressure plate 347 extend 50mm compared to right 348 forward end of pressure plate.

Preferably, left gear 341, right gear 342 diameter be 41mm；It embraces folder left arm 343, embrace folder 344 length of right arm and be 130mm；Left pressure plate 347,348 diameter 100mm of right pressure plate；Left folder bag plate 345, right folder bag plate 346 face be 30*50mm, Rubber material, surface are reticulate pattern.

Bao Jia leading mechanism 35 includes: leading plate 351, leading bearing 352.Right pressure plate is fixed in the cooperation of leading plate 351 On 348, positioned at the right lateral side of right pressure plate 348, left side be aligned on the left of right pressure plate 348.Leading plate 351 is circular arc Shape, arc chord angle is less than 90 degree.Preferably, leading plate 351 is welded on right pressure plate 348, and diameter 100mm is highly 60mm, arc chord angle are 80 degree.As shown in figure 32, leading plate 351 is arc-shaped.It should be noted that leading plate 351 is for guiding The motion profile for embracing clamp device 3 mechanism and its has more under the premise of meeting this function with the matching relationship of other component Kind implementation.

The cooperation of leading bearing 352 is fixed on rack 1, is equipped with leading plate 351, cooperating, and leading is located at The right side of plate 351.When an armful clamp device 3 moves backward, it is clamped together due to embracing a folder left arm, embracing a folder right arm, leading plate 351 is not It is contacted with leading bearing 352.When an armful clamp device 3 travels forward, due to embracing a folder left arm, embracing folder right arm opening, leading bearing 352 contact with leading plate 351, support of 351 side of leading plate by leading bearing 352；It travels forward with clamp device 3 is embraced, Leading plate 351 gradually moves right and (embraces clamp device 3 and rotate around folder shaft 311 is embraced).Preferably, leading bearing 352 perpendicular to The contact surface of leading plate 351.

As shown in Figure 36-Figure 37, pallet apparatus 4 includes: tray motor 401, pallet eccentric ratio 402, joint ball connection Bar 403, basetray 404, tray support 405, tray rotating shaft 406, pallet arm 407, vertical passes pallet connecting rod 400 in place Sensor 408, oblique sensors in place 409.

Pallet apparatus 4 is located at the lower left side inside rack 1.

The cooperation of tray motor 401 is fixed on rack 1.The one end fits of pallet eccentric ratio 402 are fixedly connected with pallet Motor 401；Preferably, the center at 402 both ends of pallet eccentric ratio cooperates away from the other end for 75mm, pallet eccentric ratio 402 Shaft is fixedly installed.403 both ends of joint ball connecting rod cooperate fixed setting oscillating bearing；One end of joint ball connecting rod 403 Mating connection pallet eccentric ratio 402；The other end mating connection pallet connecting rod 400 of joint ball connecting rod 403.

The cooperation of pallet connecting rod 400 is fixedly connected with basetray 404；It preferably, is welding, 400 both ends of pallet connecting rod Center away from for 270mm.The cooperation of basetray 404 is fixedly connected with tray rotating shaft 406, can rotate around tray rotating shaft 406； Preferably, the length of basetray 404, width, thickness are followed successively by 130mm, 80mm, 8mm；Basetray 404 and tray rotating shaft 406 weld together.

Tray support 405 is fixedly installed perpendicular to basetray 404, and height, height 60mm to 180mm is adjusted.Pallet Pallet 410 is set on pillar 405, and pallet 410 is perpendicular to tray support 405；Center cooperation below pallet 410 is fixed on On tray support 405；Pallet 410 is 60mm-100mm for carrying charge bar, 410 diameter of pallet.The cooperation of pallet arm 407 is solid Front end above basetray 404 is used cooperatively with pallet 410, plays the role of support, fixed charge bar, and height is 300mm-400mm, shape are arcwall face, and the diameter of arc is 120mm, and arc chord angle is 70 degree of -120 degree.Pallet arm 407 is fixed On basetray 404；Distance of the pallet arm 407 apart from 410 center of pallet is adjustable；Pallet arm 407 is apart from pallet 410 The distance at center is 45-70mm.

Preferably, 405 diameter 10mm of tray support, height 130mm；410 diameter of pallet is 90mm；Pallet arm 407 Height is 320mm, and arc chord angle is 95 degree, with a thickness of 3mm；Distance of the pallet arm 407 apart from 410 center of pallet is that 50mm (makes When with 102 type bacterium bag)；Away from 404 upper surface 100mm of basetray, pallet arm 407 is 320mm high for the lower end of pallet arm 407.

It needs, the height of pallet arm 407 and the charge bar length of processing are related, slightly below charge bar length；Such as, expect When stick diameter 102mm, long 600mm, expect long 430mm (after compacting)；Then 407 height is lower than from tray top to pallet arm 430mm, preferably 390mm.

Tray motor 401 one-directionally rotates.Vertical sensors in place 408, the cooperation of oblique sensors in place 409 be fixed on rack 1 it On；It is respectively used to detection pallet eccentric ratio 402 and moves to top, bottom.When pallet eccentric ratio 402 moves to top, Vertical sensors in place 408 has signal, at this point, pallet arm 407 is in upright state；When pallet eccentric ratio 402 moves to bottom When portion, oblique sensors in place 409 has signal, at this point, pallet arm 407 is in maximum inclining position.Preferably, tray motor 401 be 40 watts of ac motor, model 5RK40GN-S3MFT.

As shown in Figure 38-39, bag delivering device 5 includes: to send bag motor base 501, send bag motor 502, send a bag eccentric ratio 503, bag connecting rod 504 is sent, bag arm 505 is sent, send bag sensor 506, send bag shaft 507.

Bag delivering device 5 is located among the lower part inside rack 1.

It send the cooperation of bag motor 502 to be fixed on to send on bag motor base 501.Send the one end fits of bag eccentric ratio 503 solid On the shaft for sending bag motor 502.504 one end of bag connecting rod is sent to cooperate company with the other end of bag eccentric ratio 503 is sent It connects, rotates with it.The cooperation of bag arm 505 is sent to be fixed on the other end for sending bag connecting rod 504.The cooperation of bag shaft 507 is sent to be fixed on It send on bag motor base 501.Bag arm 505 is sent by being fixed thereon the axle sleeve in portion, is cooperatively connected in sending bag shaft 507. It preferably, is 40 watts of ac motor, model 5RK40GN-S3MFT；It send bag connecting rod 504 and send bag eccentric ratio 503 One end of connection, is connected by oscillating bearing；It send the position cooperation on the lower side of the middle part of the vertical direction of bag arm 505 to be fixed on to send The other end of bag connecting rod 504；It send bag shaft 507 to be fixedly welded on to send on bag motor base 501；Axle sleeve is in a welding manner It is fixed on and send on bag arm 505；Send the center at 503 both ends of bag eccentric ratio away from for 60mm；It send in 504 both ends of bag connecting rod The heart is away from for 100mm；Send bag arm 505 400mm high, thick 2mm, cross section is L-type, L-type 100mm*100mm.

It send the cooperation of bag sensor 506 to be fixed on to send on bag motor base 501, send bag eccentric ratio 503 for detecting Position；When bag arm 505 being sent to be located at initial position, bag sensor 506 is sent to detect signal；It send bag motor 502 to one-directionally rotate, send After bag motor 502 starts turning, bag sensor 506 is sent gradually to can't detect signal；Send the rotation of bag sensor 506 close to a circle When, the rising edge for sending bag sensor 506 to detect signal, control send bag motor 502 to stop operating.

As shown in Figure 40-41, opening tying device 6 includes: opening tying device host 601, opening tying device working face 602, left side cunning Road 603, right side slideway 604, tying order bracket 605, prick bag sensor 606.

Opening tying device 6 is located at the middle part of the inside of rack 1.

The cooperation of opening tying device 6 is fixed on rack 1；It preferably, is the bundling machine of the prior art.Opening tying device host 601 include motor, drives speed reducer work by belt by motor.Opening tying device working face 602 is parallel to ground setting, fixed On rack 1.Tying is ordered the cooperation of bracket 605 and is perpendicularly fixed on opening tying device working face 602.Left side slideway 603, right side Slideway 604 is respectively cooperating with the setting of opening tying device working face 602, and tying working position is located at left side, is equipped with clamp device 3 is embraced, It embraces after charge bar is moved to tying working position by clamp device 3, the position at the top of charge bar to tying is located at tying working position, opening tying device 6 work are primary, at the top of one piece of tying buckle clamping charge bar charge bar.

The cooperation of bag sensor 606 is pricked to be fixed on rack 1；When it has signal, opening tying device host 601 stops work Make.The height of opening tying device working face 602 cooperates charge bar, slightly above material top (after compression)；When tying, left folder bag plate 345 Bottom is higher than opening tying device working face 10-50mm.Preferably, the ac motor that the motor that opening tying device 6 uses is 750 watts, Model YE2-80M2-4；When tying, the bottom of left folder bag plate 345 is higher than opening tying device working face 20mm；Use U-shaped machine card Button, BU503 type.

It should be noted that prioritization scheme described in this implementation use-case is illustrated by taking lentinus edodes strain stick as an example, other types Charge bar, the corresponding size for adjusting associated components.

The utility model proposes a kind of charge bar tying methods, including following processing steps:

1) charge bar detection sensor, when detecting that charge bar arrives, tray motor is started turning；

2) founds sensors in place and detects (charge bar, which reaches, compresses working position) when signal, and tray motor stops, and embraces folder motor It starts turning；

3) clips to (non-material area at the top of clamping charge bar) when level sensor detects signal, embraces folder motor and stops, walking electricity Machine rotation；

4) stop (charge bar reaches tying working position) when level sensor detects signal after, movable motor stops, and pricks bag electricity Machine rotation；

5) pricks bag sensor and detects (bundle bag is completed, and is pricked bag motor and is returned to original position) when rising edge signal, pricks bag motor and stops Only, tray motor rotates；

6) when the oblique sensors in place of detects signal, tray motor stops；

7) pricks bag motor and stops, after tray motor stopping, embracing folder motor, send a bag motor rotation, and loose sensors in place has letter Number when (unclamp charge bar), embrace folder motor and stop；It send bag sensor rising edge signal (a bag motor to be sent to return to original position) when arriving, send bag Motor stops；

8) after embraces the stopping of folder motor, bag motor is sent to stop, movable motor rotation, (row when preceding stopping level sensor having signal Walk motor and reach original position), movable motor stops.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model Protection scope within.

Claims (8)

1. a kind of double-track cam, it is characterised in that: including right rail (232), left rail (235), cam shaft (240)；Double-track cam (231) cam rail is respectively arranged in two sides, and right side is right rail (232), and left side is left rail (235)；Two cam rails are mutual Perpendicular setting.

2. double-track cam according to claim 1, it is characterised in that: cam rail is movement at the uniform velocity track.

3. double-track cam according to claim 1 or 2, it is characterised in that: it further include subsidiary body, subsidiary body's packet It includes: right side follower (233), left side follower (236)；The follower is roller type driven member；Right side follower (233) exists Operation in right rail (232)；Left side follower (236) operation in left rail (235).

4. double-track cam according to claim 3, it is characterised in that: the subsidiary body further include: fixed plate (234), Connecting rod (237)；Right side follower (233) is equipped in the top of fixed plate (234)；Left side follower (236) is equipped with In one end of connecting rod (237).

5. a kind of charge bar tying head, it is characterised in that: include: machine head base (21), movable motor (22), transmission mechanism (23), head leading mechanism (24), preceding stopping level sensor (225), afterwards stopping level sensor (226)；

Machine head base (21) includes (211) above machine head base, machine head base side (212), movable motor fixed mechanism (213)；(211) are horizontally disposed above machine head base, groove are arranged thereon, groove is arranged along the longitudinal direction, two-sided to after-opening Cam (231) moves in groove, and recess width meets double-track cam (231) and transmission mechanism used in conjunction with (23) When movement, groove edge is not contacted；Machine head base side (212) is arranged perpendicular to (211) above machine head base, the upper end cooperation Be fixed on above machine head base on (211), to machine head base above stretch under (211)；Above machine head base on (211) It is arranged movable motor fixed mechanism (213)；(211) are fixed on above machine head base in movable motor fixed mechanism (213) cooperation Right side, for cooperating fixed movable motor (22)；Movable motor (22) is fixed by movable motor fixed mechanism (213), cooperation Above machine head base on (211)；

Head leading mechanism (24) includes head upper rail (241), top shoe (242), head side rails (243), side slide (244), side rails forward mount (245), side rails rear end support (246)；Machine head base (21) passes through head leading mechanism (24) it is cooperatively connected on rack (1)；The lower surface of (211) cooperates fixed top shoe (242) above machine head base；Top shoe (242) it is equipped with head upper rail (241)；Head upper rail (241) cooperation is fixed on rack (1)；It leads head side Rail (243) is equipped with side slide (244)；Side slide (244) cooperation is fixed on rack (1)；Head side rails (243) Both ends pass through respectively side rails forward mount (245), side rails rear end support (246) cooperation fix；Side rails rear end support (246) cooperation is fixed on machine head base side (212)；Side rails forward mount (245) cooperation, which is fixed on, send a bag motor bottom On seat (501)；

Preceding stopping level sensor (225) cooperation is fixed on rack (1), runs to preceding stop position for detecting head (2)；Afterwards Stop level sensor (226) cooperation to be fixed on rack (1), runs to rear stop position for detecting head (2)；Pass through detection The movement position of double-track cam (231) or machine head base (21), to detect the movement position of head (2)；

Transmission mechanism (23) includes: double-track cam (231)；The double-track cam (231) is double-track cam as claimed in claim 4 (231)；

Double-track cam (231) is fixedly connected with movable motor (22) cooperation；Double-track cam (231) turns around cam shaft (240) It is dynamic；The center of cam shaft (240) and the axle center of movable motor (22) are located on the same line；

Fixed plate (234) cooperation is fixed on rack (1)；

The shaft of connecting rod (237) is set on connecting rod rack (215), so that connecting rod (237) can be rotated around the shaft；Even The other end mating connection joint ball link (238) of bar (237)；The other end of joint ball link (238), which is cooperatively connected, embraces folder electricity Machine base (239).

6. charge bar tying head according to claim 5, it is characterised in that: machine head base (21) further includes embracing clamp device to turn Axis fixed mechanism (214), connecting rod rack (215)；Clamp device shaft fixed mechanism (214) cooperation is embraced to be fixed on above machine head base (211) left front portion, for cooperating fixed embrace to press from both sides shaft (311)；Connecting rod rack (215) cooperation is fixed on above machine head base (211) front is located at the right side for embracing clamp device shaft fixed mechanism (214), perpendicular to (211) above machine head base；Head Side rails (243) are round linear guide.

7. a kind of charge bar tying robot, it is characterised in that: including rack (1), head (2), embrace clamp device (3), pallet apparatus (4), bag delivering device (5), opening tying device (6)；

The basic system of rack (1) is type solid frame structure, internal that multiple support members are fixedly installed, for fixing other Component；

The head (2) is charge bar tying head described in claim 5 or 6；The head (2) is located at upper in rack (1) Portion；

Described armful of clamp device (3) includes: rotating mechanism (31), vertical movement mechanism (32), clamping mechanism (33), folded arm mechanism (34), Bao Jia leading mechanism (35)；

It embraces clamp device (3) and is located at the internal centre of rack (1)；

Rotating mechanism (31) includes embracing folder shaft (311), sliding rail fixed plate (312)；It embraces folder shaft (311) and embraces clamp device shaft Fixed mechanism (214) is equipped with；It embraces folder shaft (311) cooperation and is fixedly connected with sliding rail fixed plate (312), the two is rigidly fixed in Together；Sliding rail fixed plate (312) can be around the axis rotation for embracing folder shaft (311)；

Vertical movement mechanism (32) includes: sliding rail (321), sliding block (322), embraces folder motor base (239)；

Sliding rail (321) cooperation is fixed on sliding rail fixed plate (312)；Sliding block (322) is equipped with sliding rail (321), in cunning Rail moves on (321)；Folder motor base (239) and sliding block (322) cooperation is embraced to fix；Joint ball link (238) is cooperatively connected Embrace the upper right corner of folder motor base (239)；

Clamping mechanism (33) includes: to embrace folder motor (331), embrace folder eccentric ratio (332), oscillating bearing (333), embrace folder connecting rod (334), connecting shaft (335), gear connecting plate (336), loose sensors in place (337), clip to level sensor (338)；

Folder motor (331) cooperation is embraced to be fixed on armful folder motor base (239)；Embrace the one end fits of folder eccentric ratio (332) Be fixed on embrace folder motor (331) output shaft on, embrace folder eccentric ratio (332) perpendicular to embrace folder motor (331) axle center, by It embraces folder motor (331) and drives rotation；Embrace folder eccentric ratio (332) the other end cooperation fixed setting shaft, the axle center of shaft with Embrace the axis parallel of folder motor (331)；Shaft is equipped with oscillating bearing (333), be surrounded oscillating bearing (333) can and be turned Axis movement；The other end of oscillating bearing (333), which is cooperatively connected, embraces one end of folder connecting rod (334)；Embrace the another of folder connecting rod (334) One end passes through connecting shaft (335) mating connection gear connecting plate (336)；Embrace folder motor (331) one-directional rotation；

Clamping mechanism (33) further include: loose sensors in place (337) clips to level sensor (338)；Loose sensors in place (337), Level sensor (338) cooperation is clipped to be fixedly installed on armful folder motor base；Loose sensors in place (337) clips to position sensing Device (338) cooperation, which is fixed on, embraces on folder motor base (239), is respectively used to detection armful folder eccentric ratio (332) and moves to top Portion, bottom；

Folded arm mechanism (34) includes: left gear (341), right gear (342), embraces folder left arm (343), embraces folder right arm (344), Zuo Jia Bag plate (345), right folder bag plate (346), left pressure plate (347), right pressure plate (348)；

Left gear (341), right gear (342) are used cooperatively in pairs；The shaft cooperation of left gear (341), right gear (342) is fixed It is connected to and embraces on folder motor base (239)；Folder left arm (343) is embraced, folder right arm (344) is embraced and is respectively cooperating with and be fixed on left gear (341), on right gear (342)；Folder bag plate includes left folder bag plate (345), right folder bag plate (346)；Left folder bag plate (345), the right side Folder bag plate (346), which is located at, to be embraced folder left arm (343), embraces folder right arm (344) leading inside face, when an armful folder left arm, embraces folder right arm When turning to together, left folder bag plate (345), right folder bag plate (346) are adjacent to, and lower edge presss from both sides left arm (343), armful folder with armful respectively Right arm (344) is vertical；Pressure plate includes left pressure plate (347), right pressure plate (348)；Left pressure plate (347), right pressure plate (348) it is located at and embraces folder left arm (343), embrace folder right arm (344) front lower portion, surface is respectively perpendicular to embrace folder left arm (343), folder right arm (344) is embraced；Right pressure plate (348) is semicircle；

Bao Jia leading mechanism (35) includes: leading plate (351), leading bearing (352)；Right pressure is fixed in leading plate (351) cooperation On flitch (348), it is located at the right lateral side of right pressure plate (348), is aligned on the left of left side and right pressure plate (348)；Leading plate It (351) is arc-shaped, arc chord angle is less than 90 degree；

Leading bearing (352) cooperation is fixed on rack (1), is equipped with leading plate (351), cooperating, positioned at leading The right side of andante (351)；When armful clamp device (3) move backward, it is clamped together due to embracing a folder left arm, embracing a folder right arm, leading Plate (351) is not contacted with leading bearing (352)；When armful clamp device (3) travel forward, opened due to embracing a folder left arm, embracing folder right arm It opens, leading bearing (352) is contacted with leading plate (351), support of leading plate (351) side by leading bearing (352)；With It embraces clamp device (3) to travel forward, leading plate (351) gradually moves right；It embraces clamp device (3) and is rotated around folder shaft (311) is embraced；

Pallet apparatus (4) includes: tray motor (401), pallet eccentric ratio (402), joint ball connecting rod (403), pallet company Extension bar (400), tray support (405), tray rotating shaft (406), pallet arm (407), vertical senses basetray (404) in place Device (408), oblique sensors in place (409)；

Pallet apparatus (4) is located at the internal lower left side of rack (1)；

Tray motor (401) cooperation is fixed on rack (1)；The one end fits of pallet eccentric ratio (402) are fixedly connected with support Coil motor (401)；Joint ball connecting rod (403) both ends cooperate fixed setting oscillating bearing；The one of joint ball connecting rod (403) It holds mating connection pallet eccentric ratio (402)；The other end mating connection pallet connecting rod (400) of joint ball connecting rod (403)；

Pallet connecting rod (400) cooperation is fixedly connected with basetray (404)；Basetray (404) cooperation is fixedly connected with pallet and turns Axis (406) can be rotated around tray rotating shaft (406)；

Tray support (405) is fixedly installed perpendicular to basetray (404), and height, height 60mm to 180mm is adjusted；Pallet Pallet (410) are set on pillar (405), pallet (410) is perpendicular to tray support (405)；Match at the center of pallet (410) below Conjunction is fixed on tray support (405)；Pallet (410) is 60mm-100mm for carrying charge bar, pallet (410) diameter；Support The front end of basetray (404) above is fixed in disk arm (407) cooperation, is used cooperatively with pallet (410), is played support, is consolidated Determine the effect of charge bar, shape is arcwall face, and arc chord angle is 70 degree of -120 degree；Pallet arm (407) is fixed on basetray (404) on；Distance of the pallet arm (407) apart from pallet (410) center is adjustable；Pallet arm (407) is apart from pallet (410) The distance at center is 45-70mm；

Tray motor (401) one-directional rotation；Rack is fixed in vertical sensors in place (408), oblique sensors in place (409) cooperation (1) on；It is respectively used to detection pallet eccentric ratio (402) and moves to top, bottom；When pallet eccentric ratio (402) move When to top, vertical sensors in place (408) have signal；At this point, pallet arm (407) is in upright state；When pallet bias connects When bar (402) moves to bottom, oblique sensors in place (409) has signal, at this point, pallet arm (407) is in maximum inclination position It sets；

Bag delivering device (5) includes: to send a bag motor base (501), send a bag motor (502), send a bag eccentric ratio (503), bag is sent to connect Extension bar (504) send a bag arm (505), send a bag sensor (506), send a bag shaft (507)；

Bag delivering device (5) is located among the internal lower part of rack (1)；

It send a bag motor (502) cooperation to be fixed on to send on a bag motor base (501)；Send the one end fits of a bag eccentric ratio (503) It is fixed on the shaft for sending a bag motor (502)；It send a bag connecting rod (504) one end and send the other end of a bag eccentric ratio (503) It is cooperatively connected, rotates with it；A bag arm (505) cooperation is sent to be fixed on the other end for sending a bag connecting rod (504)；Send a bag shaft (507) cooperation, which is fixed on, send on a bag motor base (501)；Send a bag arm (505) by being fixed thereon the axle sleeve in portion, cooperation It is connected to and send a bag shaft (507)；Send a bag connecting rod (504) with send bag eccentric ratio one end that (503) are connect, pass through oscillating bearing Connection；The position cooperation on the lower side of the middle part of the vertical direction of a bag arm (505) is sent to be fixed on the other end for sending a bag connecting rod (504)； It send a bag shaft (507) to be fixedly welded on to send on a bag motor base (501)；Axle sleeve is fixed in a welding manner send a bag arm (505) on；

It send a bag sensor (506) cooperation to be fixed on to send on a bag motor base (501), send a bag eccentric ratio (503) for detecting Position；When a bag arm (505) being sent to be located at initial position, a bag sensor (506) is sent to detect signal；Send a bag motor (502) single To rotation, after sending a bag motor (502) to start turning, a bag sensor (506) is sent gradually to can't detect signal；Send a bag sensor (506) rotation close to one circle when, the rising edge for sending a bag sensor (506) to detect signal, control send a bag motor (502) stop turn It is dynamic；

Opening tying device (6) is located at the middle part of the inside of rack (1)；Opening tying device (6) cooperation is fixed on rack (1)；It is existing There is the bundling machine of technology.

8. charge bar tying according to claim 7 robot, it is characterised in that:

In addition to sending a bag arm (505), tying to order the part of bracket (605), other mechanisms be respectively positioned on rack (1) encirclement range it It is interior, it is fixed on rack (1) inside and/or the structure being fixed together with rack (1).