CN210592721U - Packaging machine based on manipulator - Google Patents
Packaging machine based on manipulator Download PDFInfo
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- CN210592721U CN210592721U CN201921171897.9U CN201921171897U CN210592721U CN 210592721 U CN210592721 U CN 210592721U CN 201921171897 U CN201921171897 U CN 201921171897U CN 210592721 U CN210592721 U CN 210592721U
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Abstract
The utility model discloses a packaging machine based on a manipulator, which belongs to the field of automatic packaging equipment and comprises an upper layer conveying belt, a lower layer conveying belt, a packaging position conveying belt, a manipulator for providing products on the packaging position conveying belt, and a tray bearing blanking mechanism; the tray supporting and blanking mechanism comprises a bracket, a supporting mechanism and a bracket driving piece, wherein the bracket is provided with a tray supporting piece extending into the conveying area of the upper layer conveying belt; the bearing mechanism comprises a sliding plate, a fixed seat, a bracket and a sliding plate driving piece; the fixed seat is provided with a vertical sliding chute matched with the sliding plate, and one side of the sliding plate, facing the notch of the vertical sliding chute, is provided with a wedge-shaped surface; the driving end of the support is provided with a roller part which is in contact with the wedge-shaped surface, the material supporting end penetrates through the other side surface of the fixing seat and is provided with a spring between the material supporting end and the fixing seat, and the material supporting end is fixedly connected with a supporting arm which extends into the conveying area of the upper layer conveying belt. The tray is prevented from being taken and sent one by one, the tray is frequently replaced, and products are placed, so that the labor intensity is reduced, and the working efficiency is greatly improved.
Description
Technical Field
The utility model belongs to the automatic equipment for packing field, concretely relates to packagine machine based on manipulator.
Background
At present, most of products after production and assembly are manually placed into trays to complete packaging. The plastic trays are placed in a packaging mode, and after a tray is filled manually each time, the tray is taken away and then emptied, so that the tray is frequently replaced, the operation is inflexible, the labor intensity is high, and the working efficiency is low.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a packagine machine based on manipulator to solve the above-mentioned problem that manual packaging exists.
For realizing the purpose of the utility model, the technical proposal adopted is that: a packaging machine based on a manipulator comprises an upper layer conveying belt, a lower layer conveying belt, a packaging position conveying belt, a manipulator for providing products on the packaging position conveying belt, and tray bearing and blanking mechanisms arranged on two sides of the upper layer conveying belt; the packaging position conveying belt is arranged between the discharge end of the upper-layer conveying belt and the feed end of the lower-layer conveying belt in a lifting mode; the tray supporting and blanking mechanism comprises a bracket, a supporting mechanism and a bracket driving piece for driving the bracket to lift, and the bracket is provided with a tray supporting piece extending into the conveying area of the upper layer conveying belt; the bearing mechanism comprises a sliding plate, a fixed seat, a bracket and a sliding plate driving piece for driving the sliding plate to lift, and the sliding plate driving piece is fixed on the bracket; the fixing seat is positioned above the bracket and fixed on the side surface of the upper-layer conveying belt, a vertical sliding groove matched with the sliding plate is formed in one side surface of the fixing seat, which is far away from the upper-layer conveying belt, a wedge-shaped surface is formed on one side, facing a notch of the vertical sliding groove, of the sliding plate, and the wedge-shaped surface is gradually inclined towards the direction far away from the upper-layer conveying belt from top to bottom; one end of the support is a driving end, the other end of the support is a material supporting end, the driving end is provided with a roller part in contact with the wedge-shaped surface, the material supporting end penetrates through the other side face of the fixing seat, a spring is arranged between the material supporting end and the fixing seat, the material supporting end is fixedly connected with a supporting arm extending into the conveying area of the upper layer conveying belt, and the supporting arm is higher than the tray supporting piece.
As a further alternative, the tray supports on the bracket are two, one on each side of the bracket arm.
As a further alternative, a tray blanking limiting structure is arranged on the upper-layer conveying belt and is correspondingly arranged between the tray bearing and blanking mechanisms on the two sides.
As a further alternative, a jacking mechanism is arranged below the lower layer conveying belt and close to the discharge end; the supporting parts are arranged on two sides of the lower-layer conveying belt above the corresponding jacking mechanism and comprise hinges, the mandrels of the hinges are arranged along the conveying direction of the lower-layer conveying belt, one leaf in each hinge is fixed on the lower-layer conveying belt, and the other leaf extends to the conveying area of the lower-layer conveying belt.
As a further alternative, the lower layer conveying belt is provided with an extension section which exceeds the feeding end of the upper layer conveying belt, and the jacking mechanism is arranged on the extension section.
As a further alternative, a tray blanking limiting structure corresponding to the outside of the supporting part is arranged on the lower layer conveying belt.
As a further alternative, the tray blanking limiting structure comprises limiting guide strips correspondingly matched with four corners of the tray, and the limiting guide strips are L-shaped.
As a further alternative, the packaging position conveying belt is provided with a tray positioning mechanism, the tray positioning mechanism comprises a bottom plate, a tail end limiting strip, an X-direction positioning component and a Y-direction positioning component, the bottom plate is fixed on the packaging position conveying belt, and the X direction is consistent with the conveying direction of the packaging position conveying belt; the tail end limiting strip and the X-direction positioning component are respectively arranged at two opposite ends of the bottom plate in the X direction, and the tail end limiting strip is fixed at one end, far away from the upper-layer conveying belt, of the bottom plate; the X-direction positioning component comprises a fixed block, a shifting block and a driving block positioned below the bottom plate, the fixed block is fixed on the bottom plate, the shifting block is L-shaped, an L-shaped corner of the shifting block is hinged to the fixed block, one end of the shifting block extends out of the upper surface of the bottom plate, the other end of the shifting block is provided with a strip-shaped hole, and the rotation center line of the shifting block is consistent with the Y direction; one end of the driving block is connected with an air cylinder arranged along the X direction, and the other end of the driving block is provided with a bolt penetrating through the strip-shaped hole; the Y-direction positioning part comprises a positioning frame and a cylinder for driving the positioning frame to move along the Y direction, and a positioning arm extending from the outer side of the packaging position conveying belt to the upper side of the bottom plate is fixed on the positioning frame.
As a further alternative, the packing position conveying belt is connected with a lifting device for driving the packing position conveying belt to lift, and the lifting device is connected to the lower end of the bottom plate; and the cylinders in the X-direction positioning part and the Y-direction positioning part are fixed at the lower end of the bottom plate.
As a further alternative, the roller component comprises a fixed shaft and a plurality of rollers rotatably arranged on the fixed shaft, the fixed shaft is fixed at the driving end of the bracket, and the plurality of rollers are axially distributed along the fixed shaft and are in contact with the wedge-shaped surface of the sliding plate.
The utility model has the advantages that: the upper conveyer belt is placed to the tray that will stack, and support by the tray support piece of tray bearing blanking mechanism, along with the decline of bracket and the decline of slide plate, the trailing arm stretches into between two trays of bottom, make the tray of bottommost drop onto upper conveyer belt, and all trays of the penultimate tray of bottom and top support on the trailing arm promptly, the tray of bottommost is carried to packing position conveyer belt, the manipulator is placed the product centre gripping on the tray of packing position conveyer belt, the tray is carried to lower floor's conveyer belt outflow promptly after being filled with. The tray is prevented from being taken and sent one by one, the tray is frequently replaced, and products are placed, so that the labor intensity is reduced, and the working efficiency is greatly improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required for the description of the embodiments will be briefly introduced below, it should be understood that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a packaging machine based on a manipulator according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a tray supporting and blanking mechanism on two sides of the upper layer conveying belt in FIG. 1;
FIG. 3 is a schematic view of the conveyor belt of the packaging station of FIG. 1;
FIG. 4 is a schematic structural view of the tray positioning mechanism of FIG. 3;
FIG. 5 is a schematic view of the structure of the X-direction positioning member;
FIG. 6 is a schematic view of the jacking mechanism and two side support members of FIG. 1;
reference numerals: 1. an upper layer conveyor belt; 2. a lower layer conveyor belt; 3. a packaging position conveyor belt; 4. a manipulator; 5. the tray supports the blanking mechanism; 6. a bracket; 7. a support mechanism; 8. a carriage drive member; 9. a tray support; 10. a slide plate; 11. a fixed seat; 12. a support; 121. a material supporting end; 13. a glide plate drive; 14. a vertical chute; 15. a wedge-shaped surface; 16. a tray; 17. a bracket arm; 18. a frame body; 19. a conveyor belt; 20. a fixed shaft; 21. a roller; 22. a tray blanking limiting structure; 23. a jacking mechanism; 24. a support member; 25. a hinge; 26. mounting blocks; 27. a leaf limit; 28. an extension section; 29. a jacking plate; 30. a tray positioning mechanism; 31. a base plate; 32. a tail end limiting strip; 33. a fixed block; 34. shifting blocks; 35. a drive block; 36. a strip-shaped hole; 37. a bolt; 38. a positioning frame; 39. a positioning arm; 40. avoiding the mouth; 41. a lifting device.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention. It is to be understood that the drawings are designed solely for the purposes of illustration and description and not as a definition of the limits of the invention. The connection relationships shown in the drawings are for clarity of description only and do not limit the manner of connection.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
Fig. 1 to 6 show a manipulator-based packaging machine provided by the present invention, which includes an upper layer conveying belt 1, a lower layer conveying belt 2, a packaging position conveying belt 3, a manipulator 4 for providing products onto the packaging position conveying belt 3, and tray supporting and blanking mechanisms 5 disposed on both sides of the upper layer conveying belt 1; the packing position conveyer belt 3 is arranged between the discharge end of the upper layer conveyer belt 1 and the feed end of the lower layer conveyer belt 2 in a lifting way; the tray supporting and blanking mechanism 5 comprises a bracket 6, a supporting mechanism 7 and a bracket driving piece 8 for driving the bracket 6 to lift, and a tray supporting piece 9 extending into the conveying area of the upper layer conveying belt 1 is arranged on the bracket 6; the supporting mechanism 7 comprises a sliding plate 10, a fixed seat 11, a bracket 12 and a sliding plate driving part 13 for driving the sliding plate 10 to lift, and the sliding plate driving part 13 is fixed on the bracket 6; the fixed seat 11 is positioned above the bracket 6 and fixed on the side surface of the upper layer conveying belt 1, a vertical sliding chute 14 matched with the sliding plate 10 is formed in one side surface, away from the upper layer conveying belt 1, of the fixed seat 11, a wedge surface 15 is formed on one side, facing a notch of the vertical sliding chute 14, of the sliding plate 10, and the wedge surface 15 is gradually inclined towards the direction away from the upper layer conveying belt 1 from top to bottom; one end of the support 12 is a driving end, the other end is a material supporting end 121, the driving end is provided with a roller part contacting with the wedge-shaped surface 15, the material supporting end 121 penetrates out of the other side surface of the fixing seat 11, a spring is arranged between the material supporting end 121 and the fixing seat 11, the spring is not shown in the figure, namely, the spring is connected between the material supporting end 121 and the fixing seat 11, the material supporting end 121 is fixedly connected with a supporting arm 17 extending into a conveying area of the upper layer conveying belt 1, and the supporting arm 17 is higher than the tray supporting part 9.
The bracket arm 17 is positioned between the two trays 16 at the bottom in height. The conveying areas of the upper layer conveyor belt 1, the lower layer conveyor belt 2 and the packing position conveyor belt 3 are areas for conveying the tray 16, and all the areas include a frame 18 and a conveyor belt 19 mounted on the frame 18.
The bracket driving member 8 is installed at the side of the upper layer conveyer belt 1, and the bracket 6 can be configured with a slide rail slider structure and installed at the side of the upper layer conveyer belt 1 to guide the lifting of the bracket 6. The lifting of the bracket 6 drives the lifting of the sliding plate driving part 13, namely the lifting of the sliding plate 10 is driven, the sliding plate driving part 13 can continue to independently drive the lifting of the sliding plate 10, so that when the sliding plate 10 is lifted to a high position, the wedge-shaped surface 15 is contacted with the roller part to compress the spring, the material supporting end 121 and the supporting arm 17 of the bracket 12 are withdrawn from the tray conveying area, namely the tray 16 can not be supported, and when the sliding plate 10 is lowered to a low position, the spring returns, and the material supporting end 121 and the supporting arm 17 of the bracket 12 extend into the tray conveying area to support the tray 16.
The bracket arm 17 can be in a strip shape, and the support stability is high. Two tray supporting pieces 9 on the bracket 6 are respectively positioned at two sides of the bracket arm 17. The tray support 9 may be L-shaped with one end fixed to the bracket 6 and the other end extending into the conveying area of the upper conveyor 1, the opening of the L facing the upper conveyor 1.
The roller part comprises a fixed shaft 20 and a plurality of rollers 21 rotatably arranged on the fixed shaft 20, the fixed shaft 20 is fixed at the driving end of the bracket 12, and the plurality of rollers 21 are axially distributed along the fixed shaft 20 and are in contact with the wedge-shaped surface 15 of the sliding plate 10. The driving end of the bracket 12 is U-shaped and can be spanned on the notch of the vertical sliding chute 14, namely corresponding to the wedge-shaped surface 15 of the sliding plate 10, and the fixed shaft 20 is arranged in the opening of the U-shaped driving end.
The upper layer conveying belt is provided with a tray blanking limiting structure 22 and is correspondingly arranged between the tray bearing and blanking mechanisms 5 on the two sides. May be provided on the upper conveyor belt near the feed end. The tray supporting and blanking mechanism can be specifically arranged on a frame body 18 of an upper layer conveying belt and used for guiding and limiting stacked trays 16 on the upper layer conveying belt and guiding and limiting the trays 16 in the lifting working process of the tray supporting and blanking mechanism 5.
A jacking mechanism 23 is arranged below the lower layer conveying belt 2 and close to the discharging end; above the corresponding jacking mechanism 23, two sides on the lower layer conveying belt 2 are provided with supporting parts 24, each supporting part 24 comprises a hinge 25, a mandrel of each hinge 25 is arranged along the conveying direction of the lower layer conveying belt 2, one leaf of each hinge 25 is fixed on the lower layer conveying belt, and the other leaf extends to the conveying area of the lower layer conveying belt 2. I.e. one fixed leaf and one movable leaf, for supporting the tray 16. The hinge 25 may be a conventional existing hinge, i.e. two leaves hinged to a spindle. When the tray 16 is conveyed to the position above the jacking mechanism 23, the jacking mechanism 23 drives the tray 16 to ascend, in the ascending process, the tray 16 touches the leaf of the hinge 25 and enables the leaf to overturn upwards, the leaf is separated from the leaf along with the continuous ascending of the tray 16, the leaf falls back under the action of gravity, and the jacking mechanism 23 drives the tray 16 to descend, namely, the tray 16 is supported on the leaf. See fig. 6, which illustrates the flip-up and drop-back support of the hinge 25. The support member 24 may also include a mounting block 26 fixed to the lower conveyor belt 2, one leaf of the hinge 25 being fixed to the mounting block 26 and the other leaf resting on the mounting block 26 and extending towards the conveying area of the lower conveyor belt 2. The mounting block 26 can be fixedly provided with a leaf limiting piece 27, and the leaf limiting piece 27 is positioned above the hinge mandrel and used for limiting the turning position of the movable leaf and avoiding turning over.
The lower layer conveyer belt 2 is provided with an extension section 28 which exceeds the feeding end of the upper layer conveyer belt 1, and the jacking mechanism 23 is arranged on the extension section 28. The trays 16 filled with the products are stacked on the extension section 28 of the lower layer conveying belt 2, the distance between the upper layer conveying belt 2 and the lower layer conveying belt 2 is greatly reduced, the structure is compact, particularly, the trays 16 which are packaged are conveniently taken out from the structure, and the operation is convenient without any shielding. The end of the extension section 28 in the conveying direction may be provided with a hard limit for limiting the position of the tray 16, so as to prevent the tray 16 from exceeding a predetermined position and affecting the jacking mechanism 23 to jack the tray 16. The jacking mechanism 23 may comprise a cylinder and a jacking plate 29 fixed to the top of the cylinder piston rod. The carriage drive member 8 and the slide plate drive member 13 may be implemented by conventional linear drive elements such as air cylinders.
The lower layer conveying belt 2 is provided with a tray blanking limiting structure 22 corresponding to the outside of the supporting part 24, which can be used for limiting and guiding the tray 16 in the working process of the jacking mechanism 23 and is also convenient for stable stacking of the tray 16. The tray blanking limiting structures 22 on the upper and lower layers of the conveying belts can respectively comprise limiting guide strips correspondingly matched with four corners of the tray 16, and the limiting guide strips are L-shaped.
The packaging position conveying belt 3 is provided with a tray positioning mechanism 30, the tray positioning mechanism 30 comprises a bottom plate 31, a tail end limiting strip 32, an X-direction positioning part and a Y-direction positioning part, the bottom plate 31 is fixed on the packaging position conveying belt 3, and the X direction is consistent with the conveying direction of the packaging position conveying belt 3; the tail end limiting strip 32 and the X-direction positioning component are respectively arranged at two opposite ends of the bottom plate 31 in the X direction, and the tail end limiting strip 32 is fixed at one end, far away from the upper-layer conveying belt 1, of the bottom plate 31; the X-direction positioning component comprises a fixed block 33, a shifting block 34 and a driving block 35 positioned below the bottom plate 31, the fixed block 33 is fixed on the bottom plate 31, the shifting block 34 is L-shaped, the L-shaped corner of the shifting block 34 is hinged to the fixed block 33, one end of the shifting block 34 extends out of the upper surface of the bottom plate 31, the other end of the shifting block is provided with a strip-shaped hole 36, and the rotation center line of the shifting block 34 is consistent with the Y direction; one end of the driving block 35 is connected with a cylinder arranged along the X direction, and the other end is provided with a bolt 37 penetrating through the strip-shaped hole 36; the Y-direction positioning component comprises a positioning frame 38 and an air cylinder for driving the positioning frame 38 to move along the Y direction, and a positioning arm 39 extending from the outer side of the packing position conveying belt 3 to the upper side of the bottom plate 31 is fixed on the positioning frame 38.
The base plate 31 is fixed to the frame 18 of the packing site conveyor 3. The conveying surface of the conveyor belt 19 is higher than the bottom plate 31. The two X-direction positioning components are uniformly distributed at one end of the bottom plate 31 close to the upper layer conveying belt 1, and stably and uniformly apply force to the tray 16. The L-shaped opening of the paddle 34 faces outwardly of the base plate 31. The positioning arms 39 are two, which are evenly distributed on the positioning frame 38. The positioning arm 39 is C-shaped, the opening of the C-shape faces the bottom plate 31, one end of the C-shape of the positioning arm 39 is fixed to the positioning frame 38, and the other end extends above the bottom plate 31.
During the movement of the driving block 35, the latch 37 moves relatively in the bar-shaped hole 36 and drives the shifting block 34 to rotate. The positioning in the X direction is realized through the rotation of the shifting block 34, the tray 16 is prevented from entering the packaging position conveying belt 3 or leaving the packaging position conveying belt 3, the tray 16 can be abutted to the tail end limiting strip 32 to complete the X-direction positioning of the tray 16, and the tray 16 cannot be jacked up. The lower surface of the base plate 31 may be provided with a slide rail slider structure associated with the positioning frame 38 to guide the movement of the positioning frame 38.
An avoiding opening 40 correspondingly matched with the positioning arm 39 is formed in one side, corresponding to the positioning arm 39, of the frame body 18 of the packing position conveyor belt 3, and the positioning arm 39 extends to the upper side of the bottom plate 31 from the outer portion of the frame body 18 through the avoiding opening 40 to push the tray 16 to the other side of the frame body 18. The packing position conveying belt 3 is connected with a lifting device 41 for driving the packing position conveying belt to lift, and the lifting device 41 is connected to the lower end of the bottom plate 31; the cylinders in the X-direction positioning part and the Y-direction positioning part are fixed at the lower end of the bottom plate 31. The lifting device 41 may be a conventional linear driving device such as a cylinder or a motor screw. The lower part of the frame body 18 can be provided with a slide rail and slide block structure for lifting and guiding the bottom plate 31.
The working process principle is as follows: the stacked trays 16 are placed into the upper layer conveyer belt 1, the tray 16 at the bottommost is supported on a tray supporting piece 9 of the tray supporting and blanking mechanism 5, the bracket 6 and the sliding plate 10 descend, the support arm 17 extends between the bottommost tray 16 and the tray 16 with the penultimate bottom, along with the continuous descending of the bracket 6 and the sliding plate 10, the tray 16 at the bottommost falls onto the upper layer conveyer belt 1 and is sent to the packing position conveyer belt 3, and the tray 16 with the penultimate bottom and all trays 16 stacked above the tray 16 fall onto the support arm 17; the bracket 6 and the sliding plate 10 ascend, the bracket arm 17 exits from the tray 16, the stacked trays 16 fall to the tray supporting piece 9, the bracket 6 and the sliding plate 10 descend again, the actions are circulated, and the trays 16 are conveyed to the packing position conveyor belt 3 one by one; after the tray positioning mechanism 30 positions the tray 16, the manipulator 4 places the product on the tray 16, the packing position conveyor belt 3 descends, the tray 16 is sent to the lower layer conveyor belt 2, or the packing position conveyor belt 3 descends first, then the tray positioning mechanism 30 positions the tray 16, the manipulator 4 places the product on the tray 16, and then the tray 16 is sent to the lower layer conveyor belt 2; being close to discharge end department at lower floor's conveyer belt 2, climbing mechanism 23 is with the jacking of tray 16, then descends to make tray 16 fall to hinge 25's page or leaf on, so with the tray 16 of lower floor's conveyer belt 2 jacking one by one again fall back to hinge 25, accomplish piling up of packing back tray 16. The tray supporting and blanking mechanism 5 completes blanking and material supporting at the same time, namely completes the supporting of the bottommost tray 16 falling to the upper layer conveying belt 1, the penultimate tray 16 and all trays 16 stacked above the penultimate tray 16, and has high automation efficiency and simple structural layout.
The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.
Claims (10)
1. A packaging machine based on a manipulator is characterized by comprising an upper layer conveying belt, a lower layer conveying belt, a packaging position conveying belt, a manipulator for providing products on the packaging position conveying belt, and tray bearing and blanking mechanisms arranged on two sides of the upper layer conveying belt; the packaging position conveying belt is arranged between the discharge end of the upper-layer conveying belt and the feed end of the lower-layer conveying belt in a lifting mode; the tray supporting and blanking mechanism comprises a bracket, a supporting mechanism and a bracket driving piece for driving the bracket to lift, and the bracket is provided with a tray supporting piece extending into the conveying area of the upper layer conveying belt; the bearing mechanism comprises a sliding plate, a fixed seat, a bracket and a sliding plate driving piece for driving the sliding plate to lift, and the sliding plate driving piece is fixed on the bracket; the fixing seat is positioned above the bracket and fixed on the side surface of the upper-layer conveying belt, a vertical sliding groove matched with the sliding plate is formed in one side surface of the fixing seat, which is far away from the upper-layer conveying belt, a wedge-shaped surface is formed on one side, facing a notch of the vertical sliding groove, of the sliding plate, and the wedge-shaped surface is gradually inclined towards the direction far away from the upper-layer conveying belt from top to bottom; one end of the support is a driving end, the other end of the support is a material supporting end, the driving end is provided with a roller part in contact with the wedge-shaped surface, the material supporting end penetrates through the other side face of the fixing seat, a spring is arranged between the material supporting end and the fixing seat, the material supporting end is fixedly connected with a supporting arm extending into the conveying area of the upper layer conveying belt, and the supporting arm is higher than the tray supporting piece.
2. The robot-based packaging machine of claim 1, wherein the tray supports on the carriage are two, one on each side of the carrier arm.
3. The manipulator-based packaging machine according to claim 1, wherein the upper layer conveyor belt is provided with a tray blanking limiting structure and is correspondingly arranged between the tray bearing and blanking mechanisms on the two sides.
4. The robot-based packaging machine of claim 1, wherein a jacking mechanism is provided below the lower conveyor belt near the discharge end; the supporting parts are arranged on two sides of the lower-layer conveying belt above the corresponding jacking mechanism and comprise hinges, the mandrels of the hinges are arranged along the conveying direction of the lower-layer conveying belt, one leaf in each hinge is fixed on the lower-layer conveying belt, and the other leaf extends to the conveying area of the lower-layer conveying belt.
5. The robot-based packaging machine of claim 4 wherein the lower conveyor has an extension beyond the feed end of the upper conveyor, the jacking mechanism being located in the extension.
6. The robot-based packaging machine of claim 4, wherein the lower conveyor belt is provided with a tray blanking limiting structure corresponding to the outside of the support member.
7. The robot-based packing machine as claimed in claim 3 or 6, wherein the tray blanking limiting structure includes limiting guide bars correspondingly fitted to four corners of the tray, the limiting guide bars being L-shaped.
8. The manipulator-based packaging machine according to claim 1, wherein the packaging position conveyor belt is provided with a tray positioning mechanism, the tray positioning mechanism comprises a bottom plate, a tail end limiting strip, an X-direction positioning part and a Y-direction positioning part, the bottom plate is fixed on the packaging position conveyor belt, and the X direction is consistent with the conveying direction of the packaging position conveyor belt; the tail end limiting strip and the X-direction positioning component are respectively arranged at two opposite ends of the bottom plate in the X direction, and the tail end limiting strip is fixed at one end, far away from the upper-layer conveying belt, of the bottom plate; the X-direction positioning component comprises a fixed block, a shifting block and a driving block positioned below the bottom plate, the fixed block is fixed on the bottom plate, the shifting block is L-shaped, an L-shaped corner of the shifting block is hinged to the fixed block, one end of the shifting block extends out of the upper surface of the bottom plate, the other end of the shifting block is provided with a strip-shaped hole, and the rotation center line of the shifting block is consistent with the Y direction; one end of the driving block is connected with an air cylinder arranged along the X direction, and the other end of the driving block is provided with a bolt penetrating through the strip-shaped hole; the Y-direction positioning part comprises a positioning frame and a cylinder for driving the positioning frame to move along the Y direction, and a positioning arm extending from the outer side of the packaging position conveying belt to the upper side of the bottom plate is fixed on the positioning frame.
9. The robot-based packaging machine of claim 8, wherein the packaging position conveyor belt is connected with a lifting device for driving the packaging position conveyor belt to lift, and the lifting device is connected to the lower end of the bottom plate; and the cylinders in the X-direction positioning part and the Y-direction positioning part are fixed at the lower end of the bottom plate.
10. The robot-based packaging machine of claim 1, wherein the roller member includes a fixed shaft fixed to the driving end of the support frame and a plurality of rollers rotatably disposed on the fixed shaft, the plurality of rollers being axially distributed along the fixed shaft and contacting the wedge surface of the slide plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921171897.9U CN210592721U (en) | 2019-07-24 | 2019-07-24 | Packaging machine based on manipulator |
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| CN201921171897.9U CN210592721U (en) | 2019-07-24 | 2019-07-24 | Packaging machine based on manipulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239784A (en) * | 2019-07-24 | 2019-09-17 | 成都联升自动化设备有限公司 | A kind of packing machine based on manipulator |
| CN112125205A (en) * | 2020-09-16 | 2020-12-25 | 荣智工企智能技术(昆山)有限公司 | Folding disc disassembling device and folding disc disassembling equipment |
| CN114229506A (en) * | 2021-12-27 | 2022-03-25 | 珠海加特精密工业有限公司 | Rotary feeding assembly and automatic workpiece boxing equipment with same |
| CN114435969A (en) * | 2020-10-30 | 2022-05-06 | 上海聚唯机械设备有限公司 | Automatic disc stacking machine |
| CN114986047A (en) * | 2022-08-04 | 2022-09-02 | 苏州米洛微纳电子科技有限公司 | Continuous welding of electronic components for forming and processing of automobile inertial sensor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239784A (en) * | 2019-07-24 | 2019-09-17 | 成都联升自动化设备有限公司 | A kind of packing machine based on manipulator |
| CN112125205A (en) * | 2020-09-16 | 2020-12-25 | 荣智工企智能技术(昆山)有限公司 | Folding disc disassembling device and folding disc disassembling equipment |
| CN112125205B (en) * | 2020-09-16 | 2022-07-15 | 荣智工企智能技术(昆山)有限公司 | Folding disc disassembling device and folding disc disassembling equipment |
| CN114435969A (en) * | 2020-10-30 | 2022-05-06 | 上海聚唯机械设备有限公司 | Automatic disc stacking machine |
| CN114229506A (en) * | 2021-12-27 | 2022-03-25 | 珠海加特精密工业有限公司 | Rotary feeding assembly and automatic workpiece boxing equipment with same |
| CN114229506B (en) * | 2021-12-27 | 2022-06-10 | 珠海加特精密工业有限公司 | Rotary feeding assembly and automatic workpiece boxing equipment with same |
| CN114986047A (en) * | 2022-08-04 | 2022-09-02 | 苏州米洛微纳电子科技有限公司 | Continuous welding of electronic components for forming and processing of automobile inertial sensor |
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