CN210102157U - Bagging manipulator - Google Patents
Bagging manipulator Download PDFInfo
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- CN210102157U CN210102157U CN201920530236.4U CN201920530236U CN210102157U CN 210102157 U CN210102157 U CN 210102157U CN 201920530236 U CN201920530236 U CN 201920530236U CN 210102157 U CN210102157 U CN 210102157U
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- bag
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- seat
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- 230000009347 mechanical transmission Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
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- 239000000463 material Substances 0.000 description 2
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Abstract
The bagging manipulator comprises a lifting device, a mounting seat, a steering gear mechanism, a bag supporting cam mechanism and an adjusting device, wherein the rear side part of the mounting seat slides and is connected to the lifting device, the steering gear mechanism is arranged on the front side of the mounting seat, the bag supporting cam mechanism is provided with two groups about the mounting seat in a bilateral symmetry mode, the two groups of bag supporting cam mechanisms slide along the left side and the right side of the steering gear mechanism respectively, the adjusting device is arranged above the mounting seat, and the left end and the right end of the adjusting device are connected with the two groups of bag supporting cam mechanisms respectively. The utility model discloses principle science, reasonable in design adopt motor drive's mode, and pure mechanical transmission's mechanism realizes the operation of cover bag, simple structure, and is small, and the good reliability, the practicality is strong, has good market prospect.
Description
Technical Field
The utility model belongs to the technical field of packaging machinery, concretely relates to bagging manipulator.
Background
In recent years, with the increasing increase of labor cost, devices for automatically bagging instead of manual work have appeared in the market of packaging industry, but the devices for automatically bagging generally have the defects of large volume, complex structure, high selling price, poor reliability (adopting an air cylinder) and the like.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve the weak point among the prior art, provide a cover bag manipulator small, simple structure, with low costs, the good reliability.
In order to solve the technical problem, the utility model adopts the following technical scheme: the bagging manipulator comprises a lifting device, a mounting seat, a steering gear mechanism, a bag supporting cam mechanism and an adjusting device, wherein the rear side part of the mounting seat slides and is connected to the lifting device, the steering gear mechanism is arranged on the front side of the mounting seat, the bag supporting cam mechanism is provided with two groups about the mounting seat in a bilateral symmetry mode, the two groups of bag supporting cam mechanisms slide along the left side and the right side of the steering gear mechanism respectively, the adjusting device is arranged above the mounting seat, and the left end and the right end of the adjusting device are connected with the two groups of bag supporting cam mechanisms respectively.
The lifting device comprises a first servo motor and a vertical sliding rail, a first synchronizing wheel and a second synchronizing wheel are arranged at the upper end and the lower end of the vertical sliding rail respectively, the first synchronizing wheel and the second synchronizing wheel are connected through synchronous belt transmission, a sliding block is fixedly arranged at the rear end of the mounting seat, the sliding block and the vertical sliding rail are connected through a dovetail structure in a sliding mode, and the front half width of the synchronous belt is connected with the sliding block.
The steering gear mechanism comprises a second servo motor, a steering shaft, a steering gear and a sector gear, the steering shaft is arranged along the left-right horizontal direction, the middle part of the steering shaft is rotatably connected to the front side of the mounting seat through a bearing seat, the second servo motor is fixedly arranged below the bottom of the mounting seat, the steering gear is coaxially arranged on a main shaft of the second servo motor, a central hole of the sector gear is coaxially and fixedly arranged on the steering shaft, and the sector gear is positioned above the steering gear and is meshed with the steering gear; the upper part of the steering shaft is coaxially and fixedly provided with horizontal sliding rails which are respectively positioned on the left side and the right side of the mounting seat.
The left bag supporting cam mechanism comprises a bag supporting motor, a cam, a Z-shaped mounting plate, a sliding seat and a bag supporting rod, wherein the bag supporting motor is arranged on the upper surface of a lower flat plate of the Z-shaped mounting plate, a main shaft of the bag supporting motor is connected with the center of the cam, the cam is positioned below the lower flat plate of the Z-shaped mounting plate, the sliding seat is connected on a horizontal sliding rail on the left side in a sliding way, the lower surface of an upper flat plate of the Z-shaped mounting plate is fixedly arranged on the sliding seat through bolts, a fixed shaft is vertically arranged on the front side of the upper flat plate of the Z-shaped mounting plate, a torsion spring and a sleeve positioned below the torsion spring are sleeved on the fixed shaft, two spring legs of the torsion spring are respectively in jacking fit with the Z-shaped mounting plate and the sleeve, a pressure rod is connected on the side part of the sleeve, a roller is arranged on the, the bag supporting plate is positioned below the bag supporting rod and is vertically arranged.
Adjusting device is including being on a parallel with the steering spindle and being located the adjusting screw of steering spindle top, both ends are fixed respectively and are equipped with the bracing piece about the steering spindle, adjusting screw passes through the bearing rotation at both ends about and connects on the bracing piece, adjusting screw's left side portion and right side portion's screw thread revolve to opposite, adjusting screw's the equal threaded connection in left side portion and right side portion has a nut seat, left nut seat lower extreme fixed connection is on the last flat board of left Z type mounting panel, the nut seat lower extreme fixed connection on right side is on the last flat board of the Z type mounting panel on right side, adjusting screw's one end is provided with the.
Adopt above-mentioned technical scheme, the utility model discloses a function is to strut the sack, the utility model provides a vertical guide rail is fixed to be set up at the rear of bag storehouse and get the bag device and open the top of bag sucking disc, the utility model discloses a whole working process does: the bag taking device takes the prefabricated bag made of PP/PE materials out of the bag warehouse through the sucking disc, conveys the prefabricated bag to a bag opening station, and opens the bag opening of the prefabricated bag through the bag opening sucking disc. The utility model discloses opening the bag station (prop bag pole perpendicularly down) with the prefabricated bag and strut, later, take the prefabricated bag to make the prefabricated bag sack up (prop bag pole level towards the back) along pitch arc orbit (fourth circular arc) to continue the upward movement until with the prefabricated bag cover to bagging apparatus on. Treat that the preformed bag is locked to sack filling device after, the utility model discloses a prop bag pole and withdraw from in the bag, return according to former way, accomplish the work of cover bag so far.
The utility model discloses a concrete cover bag operation process does:
1) bag opening: the second servo motor drives the sector gear to rotate through the steering gear, the sector gear drives the steering shaft to rotate, the planes of the two bag opening cam mechanisms rotate forwards and downwards by 10 degrees and are parallel to the vertical direction, at the moment, the bag opening support plates on the bag opening rods can stretch into the prefabricated bags with openings, then the two bag opening motors are started simultaneously, the bag opening motors drive the cams to rotate, the cams drive the rollers in rolling fit with the cams in a compression joint mode, the rollers drive the sleeves to rotate on the fixed shafts through the compression rods, the bag opening rods fixedly connected with the sleeves also rotate along with the sleeves, the bag opening rods on the left side rotate leftwards, the bag opening rods on the right side rotate rightwards, the two bag opening support plates stretching into the bag openings of the prefabricated bags tightly support the prefabricated bags in the bag openings, and the prefabricated bags and the bag opening rods move upwards and backwards together;
2) bagging: after the bag opening action is finished, the second servo motor is started again, and the steering gear mechanism drives the bag opening cam mechanism to rotate 90 degrees, so that the bag opening which is horizontally oriented originally is vertically upward. When the bag opening of the prefabricated bag is upward, a first servo motor is started, and the first servo motor drives the mounting seat, the steering gear mechanism, the bag opening cam mechanism and the adjusting device to move upwards together through a synchronous belt until the prefabricated bag is sleeved on a bag opening plate of the bagging device;
3) bag withdrawing: then starting a bag opening motor, reversely driving a cam to rotate, slightly closing the two bag opening rods, simultaneously starting a second servo motor, and enabling the two bag opening rods to rotate upwards through a steering gear mechanism until a bag opening support plate on the bag opening rods retreats from the mouth of the prefabricated bag;
4) returning to the initial position: the bag supporting rod is opened again, the bag supporting cam mechanism moves downwards under the driving of the lifting device, and the bag sleeving mechanical arm is restored to the initial position to complete one-time bag sleeving operation.
When the specification of the prefabricated bag changes, the adjusting hand wheel of the adjusting device is rotated, the adjusting screw rod rotates, and the two nut seats can move oppositely or back to back simultaneously due to the fact that the thread turning directions of the left side portion and the right side portion of the adjusting screw rod are opposite, so that the distance between the two bag supporting rods can be adjusted, and the prefabricated bag opening device is suitable for the prefabricated bag opening functions of different specifications.
To sum up, the utility model discloses principle science, reasonable in design adopt motor drive's mode, and pure mechanical transmission's mechanism realizes the operation of cover bag, simple structure, and is small, and the good reliability, the practicality is strong, has good market prospect.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic view of the present invention in an operating state.
Detailed Description
As shown in fig. 1, the utility model discloses a bagging manipulator, including hoisting device, mount pad 1, steering gear mechanism, prop a bag cam mechanism and adjusting device, the lateral part slides and is connected on hoisting device behind the mount pad 1, steering gear mechanism sets up in mount pad 1 front side, it is provided with two sets ofly about 1 bilateral symmetry of mount pad to prop a bag cam mechanism, two sets ofly prop a bag cam mechanism and slide the setting in steering gear mechanism's left side and right side along left right direction respectively, adjusting device sets up in mount pad 1 top, adjusting device's left end and right-hand member are connected with two sets ofly prop a bag cam mechanism respectively.
The lifting device comprises a first servo motor 2 and a vertical sliding rail 3, a first synchronizing wheel 4 and a second synchronizing wheel 5 are arranged at the upper end and the lower end of the vertical sliding rail 3 respectively, the first synchronizing wheel 4 and the second synchronizing wheel 5 are connected through a synchronous belt 6 in a transmission mode, a sliding block is fixedly arranged at the rear end of the mounting seat 1, the sliding block is connected with the vertical sliding rail 3 through a dovetail structure in a sliding mode, and the front half width of the synchronous belt 6 is connected with the sliding block.
The steering gear mechanism comprises a second servo motor 8, a steering shaft 9, a steering gear 10 and a sector gear 11, the steering shaft 9 is arranged along the left-right horizontal direction, the middle part of the steering shaft 9 is rotatably connected to the front side of the mounting seat 1 through a bearing seat 12, the second servo motor 8 is fixedly arranged below the bottom of the mounting seat 1, the steering gear 10 is coaxially arranged on a main shaft of the second servo motor 8, a central hole of the sector gear 11 is coaxially and fixedly arranged on the steering shaft 9, and the sector gear 11 is positioned above the steering gear 10 and meshed with the steering gear 10; the upper part of the steering shaft 9 is coaxially and fixedly provided with horizontal sliding rails 13 which are respectively positioned on the left side and the right side of the mounting seat 1.
The left bag supporting cam mechanism comprises a bag supporting motor 14, a cam 15, a Z-shaped mounting plate 16, a sliding seat 17 and a bag supporting rod 18, the bag supporting motor 14 is mounted on the upper surface of a lower flat plate of the Z-shaped mounting plate 16, a spindle of the bag supporting motor 14 is connected with the center of the cam 15, the cam 15 is positioned below the lower flat plate of the Z-shaped mounting plate 16, the sliding seat 17 is connected on a horizontal sliding rail 13 on the left side in a sliding manner, the lower surface of an upper flat plate of the Z-shaped mounting plate 16 is fixedly arranged on the sliding seat 17 through a bolt, a fixed shaft is vertically arranged on the front side of the upper flat plate of the Z-shaped mounting plate 16, a torsion spring 19 and a sleeve 20 positioned below the torsion spring 19 are sleeved on the fixed shaft, two spring legs of the torsion spring 19 are respectively in abutting fit with the Z-shaped mounting plate 16 and the sleeve 20, a pressing rod 21 is connected to, the rear end of the bag supporting rod 18 is fixedly connected to the front side of the sleeve 20, the front end of the bag supporting rod 18 is provided with a bag supporting plate 23, and the bag supporting plate 23 is positioned below the bag supporting rod 18 and is vertically arranged.
Adjusting device is including being on a parallel with steering spindle 9 and being located the adjusting screw 24 of steering spindle 9 top, both ends are fixed respectively and are equipped with bracing piece 25 about steering spindle 9, both ends are rotated through the bearing and are connected on bracing piece 25 about adjusting screw 24, the screw thread of the left part of adjusting screw 24 and right part is turned to opposite, the equal threaded connection of left part and right part of adjusting screw 24 has a nut seat 26, left nut seat 26 lower extreme fixed connection is on the last flat board of left Z type mounting panel 16, the nut seat 26 lower extreme fixed connection on right side is on the last flat board of the Z type mounting panel 16 on right side, the one end of adjusting screw 24 is provided with hand wheel 27.
The utility model discloses a main function is to strut the sack, and bagging manipulator 31's vertical guide rail 3 is fixed to be set up at the rear of bag storehouse 28 and get bagging apparatus 29 and open the top of bag sucking disc 30, and bagging manipulator 31's whole working process is: as shown in fig. 2, the bag taking device 29 takes the preformed bag 32 made of PP/PE out of the bag warehouse 28 through the suction cup, and conveys the preformed bag 32 to the bag opening station, and the bag opening suction cup 30 opens the bag opening of the preformed bag 32. The bagging robot 31 opens the preformed bag 32 at the bag opening station (bag opening bar 18 facing vertically downwards), then takes the preformed bag 32 along an arc trajectory (quarter arc) with the mouth of the preformed bag 32 facing upwards (bag opening bar 18 facing horizontally backwards), and continues to move upwards until the preformed bag 32 is bagged onto the bagging device 33. After the prefabricated bag 32 is locked to the bagging device 33, the utility model discloses a prop bag pole 18 and withdraw from in the bag, return according to former way, accomplish the bagging work so far.
The utility model discloses in bag storehouse 28 that involves, get bagging apparatus 29, open bag sucking disc 30 and sack filling device 33 and be current conventional technology, its specific structure is no longer repeated.
The utility model discloses a concrete cover bag operation process does: as shown in figure 1 of the drawings, in which,
1) bag opening: the second servo motor 8 drives the sector gear 11 to rotate through the steering gear 10, the sector gear 11 drives the steering shaft 9 to rotate, the plane where the two bag opening cam 15 mechanisms are located rotates forwards and downwards by 10 degrees and is parallel to the vertical direction, at the moment, the bag supporting plate 23 on the bag supporting rod 18 can be inserted into the prefabricated bag 32 which is already opened, then the two bag supporting motors 14 are started simultaneously, the bag supporting motors 14 drive the cam 15 to rotate, the cam 15 drives the roller 22 which is in press fit with the cam 15, the roller 22 drives the sleeve 20 to rotate on the fixed shaft through the pressing rod 21, the bag opening rod 18 fixedly connected with the sleeve 20 rotates along with the sleeve, the bag opening rod 18 on the left side rotates leftwards, the bag opening rod 18 on the right side rotates rightwards, and the two bag opening support plates 23 extending into the bag opening of the prefabricated bag 32 tightly support the prefabricated bag 32 in the bag opening, so that the prefabricated bag 32 and the bag opening rod 18 move upwards and backwards together;
2) bagging: after the bag opening action is finished, the second servo motor 8 is started again, and the steering gear 10 mechanism drives the bag opening cam 15 mechanism to rotate 90 degrees, so that the bag opening which is horizontally oriented originally is vertically upward. When the bag opening of the prefabricated bag 32 faces upwards, the first servo motor 2 is started, and the first servo motor 2 drives the mounting seat 1, the steering gear 10 mechanism, the bag opening cam 15 mechanism and the adjusting device to move upwards together through the synchronous belt 6 until the prefabricated bag 32 is sleeved on the bag opening plate of the bag filling device 33;
3) bag withdrawing: then the bag opening motor 14 is started, the cam 15 is driven to rotate reversely, the two bag opening rods 18 are slightly folded, meanwhile, the second servo motor 8 is also started, and the two bag opening rods 18 are enabled to rotate upwards through the steering gear 10 mechanism until the bag opening support plates 23 on the bag opening rods 18 are withdrawn from the openings of the prefabricated bags 32;
4) returning to the initial position: the bag opening rod 18 is opened again, the bag opening cam 15 mechanism moves downwards under the driving of the lifting device, and the bag sleeving manipulator 31 returns to the initial position to complete one bag sleeving operation.
When the specification of the prefabricated bag 32 changes, the adjusting hand wheel 27 of the adjusting device is rotated, the adjusting screw 24 is rotated, and the two nut seats 26 can simultaneously move oppositely or oppositely due to opposite thread turning directions of the left side part and the right side part of the adjusting screw 24, so that the distance between the two bag supporting rods 18 can be adjusted to be suitable for the opening function of the prefabricated bags 32 with different specifications.
The present embodiment is not intended to limit the shape, material, structure, etc. of the present invention in any form, and all of the technical matters of the present invention belong to the protection scope of the present invention to any simple modification, equivalent change and modification made by the above embodiments.
Claims (5)
1. Bagging-off manipulator, its characterized in that: including hoisting device, the mount pad, the steering gear mechanism, prop a bag cam mechanism and adjusting device, the lateral part slides and is connected on hoisting device behind the mount pad, the steering gear mechanism sets up in the mount pad front side, prop a bag cam mechanism and be provided with two sets ofly about the mount pad bilateral symmetry, it sets up on the left side and the right side of steering gear mechanism to prop a bag cam mechanism to slide along left right direction respectively for two sets of, adjusting device sets up in the mount pad top, adjusting device's left end and right-hand member are connected with two sets of bag cam mechanisms that prop respectively.
2. A bagging manipulator according to claim 1, wherein: the lifting device comprises a first servo motor and a vertical sliding rail, a first synchronizing wheel and a second synchronizing wheel are arranged at the upper end and the lower end of the vertical sliding rail respectively, the first synchronizing wheel and the second synchronizing wheel are connected through synchronous belt transmission, a sliding block is fixedly arranged at the rear end of the mounting seat, the sliding block and the vertical sliding rail are connected through a dovetail structure in a sliding mode, and the front half width of the synchronous belt is connected with the sliding block.
3. A bagging manipulator according to claim 1, wherein: the steering gear mechanism comprises a second servo motor, a steering shaft, a steering gear and a sector gear, the steering shaft is arranged along the left-right horizontal direction, the middle part of the steering shaft is rotatably connected to the front side of the mounting seat through a bearing seat, the second servo motor is fixedly arranged below the bottom of the mounting seat, the steering gear is coaxially arranged on a main shaft of the second servo motor, a central hole of the sector gear is coaxially and fixedly arranged on the steering shaft, and the sector gear is positioned above the steering gear and is meshed with the steering gear; the upper part of the steering shaft is coaxially and fixedly provided with horizontal sliding rails which are respectively positioned on the left side and the right side of the mounting seat.
4. The bagging robot of claim 3, wherein: the left bag supporting cam mechanism comprises a bag supporting motor, a cam, a Z-shaped mounting plate, a sliding seat and a bag supporting rod, wherein the bag supporting motor is arranged on the upper surface of a lower flat plate of the Z-shaped mounting plate, a main shaft of the bag supporting motor is connected with the center of the cam, the cam is positioned below the lower flat plate of the Z-shaped mounting plate, the sliding seat is connected on a horizontal sliding rail on the left side in a sliding way, the lower surface of an upper flat plate of the Z-shaped mounting plate is fixedly arranged on the sliding seat through bolts, a fixed shaft is vertically arranged on the front side of the upper flat plate of the Z-shaped mounting plate, a torsion spring and a sleeve positioned below the torsion spring are sleeved on the fixed shaft, two spring legs of the torsion spring are respectively in jacking fit with the Z-shaped mounting plate and the sleeve, a pressure rod is connected on the side part of the sleeve, a roller is arranged on the, the bag supporting plate is positioned below the bag supporting rod and is vertically arranged.
5. The bagging robot of claim 3, wherein: adjusting device is including being on a parallel with the steering spindle and being located the adjusting screw of steering spindle top, both ends are fixed respectively and are equipped with the bracing piece about the steering spindle, adjusting screw passes through the bearing rotation at both ends about and connects on the bracing piece, adjusting screw's left side portion and right side portion's screw thread revolve to opposite, adjusting screw's the equal threaded connection in left side portion and right side portion has a nut seat, left nut seat lower extreme fixed connection is on the last flat board of left Z type mounting panel, the nut seat lower extreme fixed connection on right side is on the last flat board of the Z type mounting panel on right side, adjusting screw's one end is provided with the.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920530236.4U CN210102157U (en) | 2019-04-18 | 2019-04-18 | Bagging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920530236.4U CN210102157U (en) | 2019-04-18 | 2019-04-18 | Bagging manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210102157U true CN210102157U (en) | 2020-02-21 |
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ID=69537822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920530236.4U Withdrawn - After Issue CN210102157U (en) | 2019-04-18 | 2019-04-18 | Bagging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210102157U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040296A (en) * | 2019-04-18 | 2019-07-23 | 河南工业大学 | Manipulator for sheathing bags |
-
2019
- 2019-04-18 CN CN201920530236.4U patent/CN210102157U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040296A (en) * | 2019-04-18 | 2019-07-23 | 河南工业大学 | Manipulator for sheathing bags |
| CN110040296B (en) * | 2019-04-18 | 2024-01-26 | 河南工业大学 | Bagging manipulator |
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| GR01 | Patent grant | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20200221 Effective date of abandoning: 20240126 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20200221 Effective date of abandoning: 20240126 |