CN211253211U - High-speed rectangular coordinate box filler - Google Patents

Abstract

The utility model discloses a high-speed rectangular coordinate case packer, which comprises an alignment part, a carton conveying and arranging part and a manipulator, wherein the alignment part and the carton conveying and arranging part are arranged side by side, the manipulator is arranged above the alignment part and the carton conveying and arranging part, and the manipulator is used for grabbing materials on the alignment part into a carton on the carton conveying and arranging part; a plurality of carton packing positions are sequentially arranged on the carton conveying arrangement component along the conveying direction at equal intervals; the lower extreme of manipulator is connected with the rotation tongs, and the rotation tongs includes the tongs crossbeam, has arranged a plurality of tongs subassemblies along length direction equidistant in proper order on the tongs crossbeam, and the spacing distance between two adjacent tongs subassemblies equals with the spacing distance between two adjacent carton vanning positions. Realize the range location and the automatic quick vanning of material and carton, can realize snatching of a plurality of materials to can accomplish the horizontal rotation of a plurality of materials simultaneously, improved and snatched efficiency and production efficiency.

Description

High-speed rectangular coordinate box filler

Technical Field

The utility model relates to a packing vanning technical field, concretely relates to high-speed rectangular coordinate case packer.

Background

The vacuum-packed rice produced by a rice manufacturer needs to be boxed and packed, and the last packet of vacuum-packed rice needs to be horizontally turned for 180 degrees during boxing, and a handle needs to be turned downwards for boxing; the existing boxing mode adopts an industrial 4-axis robot or a rectangular coordinate manipulator mode, but because the packaged rice is heavy, the horizontal rotation action of vacuum-packaged rice cannot be carried out, and the whole set of box filler is high in price; the rectangular coordinate manipulator packing mode is slow, and the rice production capacity cannot be released.

Disclosure of Invention

The to-be-solved technical problem of the utility model is, to the above-mentioned defect that prior art exists, provide a high-speed rectangular coordinate case packer, realize the range location and the automatic quick vanning of material and carton, can realize snatching of a plurality of materials to can accomplish the horizontal rotation of a plurality of materials simultaneously, case with the direction of adjustment material, the vanning that is particularly useful for medium and large-scale wrapping bag has improved and has snatched efficiency and production efficiency.

The utility model discloses a solve the technical scheme that above-mentioned technical problem adopted and be:

a high-speed rectangular coordinate box filler comprises an alignment part, a carton conveying and arranging part and a manipulator, wherein the alignment part and the carton conveying and arranging part are arranged side by side, the manipulator is arranged above the alignment part and the carton conveying and arranging part, and the manipulator is used for grabbing materials on the alignment part into a carton on the carton conveying and arranging part;

a plurality of carton packing positions are sequentially arranged on the carton conveying arrangement component along the conveying direction at equal intervals; the lower extreme of manipulator is connected with the rotation tongs, and the rotation tongs includes the tongs crossbeam, has arranged a plurality of tongs subassemblies along length direction equidistant in proper order on the tongs crossbeam, and the number of tongs subassembly is unanimous with the number of carton vanning position to the spacing distance between two adjacent tongs subassemblies equals with the spacing distance between two adjacent carton vanning positions.

According to the technical scheme, the arraying part comprises an arraying frame and a plurality of belt conveyors arranged on the arraying frame, the heads and the tails of the belt conveyors are sequentially connected, the output end of each belt conveyor is provided with a blocking device, one side of the arraying frame is provided with an adjusting guardrail, the other side of the arraying frame is provided with a fixed guardrail, the adjusting guardrail and the fixed guardrail are respectively arranged on two sides of the belt conveyors, one side of each belt conveyor is provided with an in-place detection sensor, and the top of each blocking device is provided with a bag stacking detection sensor.

According to the technical scheme, the carton conveying and arranging component comprises a carton conveying belt machine and a carton conveyor, the output end of the carton conveying belt machine is in butt joint with the input end of the carton conveyor, a plurality of carton packing positions are sequentially arranged on the carton conveyor along the conveying direction, and two sides of each carton packing position are respectively provided with a carton clamping device.

According to the technical scheme, the carton conveyor comprises a carton frame, a driving chain wheel, a driven chain wheel, a carton pushing chain and a first servo drive, the driving chain wheel and the driven chain wheel are arranged at two ends of the carton frame, the driving chain wheel is connected with the driven chain wheel through the carton pushing chain, a plurality of pushing heads are uniformly distributed on the carton pushing chain, and the distance between every two adjacent pushing heads is equal to the length of a carton packing position.

According to the technical scheme, the number of the box pushing chains is 2, the box pushing chains are arranged on two sides of the carton rack side by side, a plurality of carton carrier rollers are arranged between the two box pushing chains along the conveying direction in sequence in a transverse arrangement mode, and the upper roller surfaces of the carton carrier rollers are consistent with the height of the carton conveying surface.

According to the technical scheme, the carton clamping device comprises two clamping cylinders, and the two clamping cylinders are oppositely arranged on two sides of the carton packing position; when the two clamping cylinders extend out, the carton is clamped.

According to the technical scheme, the high-speed rectangular coordinate box filler further comprises a full box quick separation component, the input end of the full box quick separation component is in butt joint with the output end of the carton conveying and arranging component, the full box quick separation component is a full box conveyor, and the conveying speed of the full box conveyor is higher than that of the carton conveying and arranging component.

According to the technical scheme, the lower end of the manipulator is connected with the rotary gripper, the rotary gripper comprises a gripper cross beam, a rotary driving assembly and a plurality of gripper assemblies, the plurality of gripper assemblies are sequentially and uniformly arranged on the gripper cross beam along the length direction of the gripper cross beam, a rotating shaft is connected between each gripper assembly and the gripper cross beam, the rotary driving assembly is arranged on the gripper cross beam and is respectively connected with the plurality of rotating shafts, and the rotary driving assembly drives each gripper assembly to rotate around the corresponding rotating shaft through the rotating shafts.

According to the technical scheme, the rotating shafts are connected with the gripper cross beam through bearings, the rotary driving assembly comprises driving racks and driving mechanisms, the driving mechanisms are arranged on the gripper cross beam and connected with the driving racks, driven gears are sleeved on each rotating shaft, and the driving racks are meshed with the driven gears simultaneously; the driving mechanism drives the driving rack to move back and forth, the driving rack drives the driven gears to rotate, and the gripper assembly is driven to rotate horizontally through the rotating shaft.

According to the technical scheme, the manipulator is a rectangular coordinate boxing component which comprises a cross beam, a horizontal guide rail, 2 driving belt wheels, 2 second servo drives, a translation bracket, a vertical guide rail, driving synchronous belts, a gripper adjusting mechanism, 2 synchronous belt fixing plates and a vertical shaft, wherein the horizontal guide rail is arranged on the cross beam, the 2 driving belt wheels are arranged at two ends of the cross beam, the 2 second servo drives are respectively connected with the 2 driving belt wheels, the translation bracket is arranged on the horizontal guide rail and can translate on the cross beam along the horizontal guide rail, the 2 vertical guide rails are fixedly arranged at two sides of the vertical shaft, the vertical guide rail is in sliding connection with the translation bracket, the 2 synchronous belt fixing plates are respectively arranged at the upper end and the lower end of the vertical shaft, the gripper adjusting mechanism is arranged at the lower end of the vertical shaft, driven belt wheels are respectively arranged on the 2 synchronous belt, one end of the driving synchronous belt is connected to a driven belt wheel of one synchronous belt fixing plate, and the other end of the driving synchronous belt is sequentially wound on the driven wheel and the driving belt wheel and is connected with a driven belt wheel of the other synchronous belt fixing plate.

The utility model discloses following beneficial effect has:

the full-box quick separation component is used for quickly separating the carton filled with materials from the carton on the carton conveying arrangement component, so that the arrangement and the positioning of the materials and the carton and the automatic quick boxing are realized, and the full-box quick separation component is particularly suitable for boxing of medium and large-sized packaging bags, such as vacuum rice packaging bags, the production efficiency is improved, and the equipment cost is reduced; a plurality of carton packing positions are arranged on the carton conveying and arranging component, the rotary type gripper is correspondingly provided with a plurality of gripper assemblies, a plurality of materials are grabbed, horizontal rotation of the materials can be completed simultaneously, the materials are adjusted in the direction, and grabbing efficiency and packing efficiency are improved.

Drawings

FIG. 1 is a front elevation view of a high speed rectangular coordinate container loader according to an embodiment of the present invention;

FIG. 2 is a rear elevation view of a high speed rectangular coordinate container loader according to an embodiment of the present invention;

FIG. 3 is a front view of the high speed rectangular coordinate container loader according to the embodiment of the present invention;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a right side view of FIG. 3;

FIG. 6 is a rear view of FIG. 3;

fig. 7 is an elevation view of a frame member in an embodiment of the invention;

FIG. 8 is an elevation view of an alignment member in an embodiment of the invention;

fig. 9 is an elevation view of a carton conveying array element in an embodiment of the invention;

fig. 10 is a front view of a carton conveying array component in an embodiment of the invention;

FIG. 11 is a top view of FIG. 10;

FIG. 12 is a rear view of FIG. 10;

FIG. 13 is an elevation view of a Cartesian coordinate encasement member in an embodiment of the present invention;

FIG. 14 is a front view of a Cartesian coordinate encasement assembly in an embodiment of the present invention;

FIG. 15 is a left side view of FIG. 14;

FIG. 16 is an elevation view of an embodiment of the full cassette quick disconnect assembly of the present invention;

fig. 17 is an elevation view of a swing type gripper in an embodiment of the present invention;

FIG. 18 is a front view of a swing type gripper according to an embodiment of the present invention;

FIG. 19 is a top view of FIG. 18;

fig. 20 is an elevational view of a gripper assembly in an embodiment of the invention;

in the figure, 1-a frame part, 1-1-a frame, 1-2-a decorative cover plate, 1-3-a safety door, 1-4-a control cabinet and 1-5-a protective side plate;

2-alignment part, 2-1-alignment rack, 2-2-anti-skid belt, 2-3-alignment speed reducing motor, 2-4-blocking device, 2-5-adjusting guardrail, 2-6-segmented guardrail, 2-7-in-place detection sensor and 2-8-lap detection sensor;

3-carton conveying and arranging parts, 3-1-carton frame, 3-2-carton clamping device, 3-3-first servo drive, 3-4-carton conveying belt conveyor, 3-5-carton conveying speed reducing motor, 3-6-carton pushing chain, 3-7-carton conveying guardrail and 3-8-carton carrier roller;

4-rectangular coordinate packing component, 4-1-beam, 4-2-horizontal guide rail, 4-3-driving pulley, 4-4-second servo drive, 4-5-translation bracket, 4-6-vertical guide rail, 4-7-driving synchronous belt, 4-8-vacuum control valve, 4-9-driven pulley, 4-10-driven wheel, 4-11-gripper adjusting mechanism, 4-12-synchronous belt fixing plate and 4-13-vertical shaft;

5-full-box quick separation part, 5-1-full-box rack, 5-2-full-box speed reduction motor, 5-3-full-box conveying belt and 5-4-guardrail;

6-rotary type gripper, 6-1-gripper beam, 6-2-rotating shaft, 6-3-sliding block fixing plate, 6-4-third servo drive, 6-5-package falling detection device, 6-6-handle pressing device, 6-7-vacuum chuck, 6-8-gas distribution pipe, 6-9-driving rack, 6-10-linear guide rail and 6-11-driven gear;

001-vacuum packing rice and 002-paper box.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and examples.

Referring to fig. 1 to 20, the present invention provides an embodiment of a high-speed rectangular coordinate container loader, which includes an alignment component 2, a carton conveying and arranging component 3, a manipulator, and a full-carton fast separating component 5, wherein the alignment component 2 and the carton conveying and arranging component 3 are arranged side by side, the manipulator is disposed above the alignment component 2 and the carton conveying and arranging component 3, an input end of the full-carton fast separating component 5 is butted with an output end of the carton conveying and arranging component 3, and the manipulator is used for grabbing materials on the alignment component 2 into a carton on the carton conveying and arranging component 3; the aligning component 2 is used for conveying, arranging and positioning materials, the carton conveying and arranging component 3 is used for conveying, arranging and positioning cartons, and the full carton quick separating component 5 is used for quickly separating the cartons filled with the materials from the cartons on the carton conveying and arranging component 3, so that the arrangement, the positioning and the automatic boxing of the materials and the cartons are realized;

a plurality of carton packing positions are sequentially arranged on the carton conveying arrangement component 3 at equal intervals along the conveying direction; the lower end of the manipulator is connected with a rotary gripper 6, the rotary gripper 6 comprises a gripper cross beam 6-1, a plurality of gripper assemblies are sequentially arranged on the gripper cross beam 6-1 at equal intervals along the length direction, the number of the gripper assemblies is consistent with that of carton packing positions, and the spacing distance between every two adjacent gripper assemblies is equal to that between every two adjacent carton packing positions.

Further, the arraying part 2 comprises an arraying rack 2-1 and a plurality of belt conveyors arranged on the arraying rack, the belt conveyors are sequentially connected end to end, the output end of each belt conveyor is provided with a blocking device 2-4, one side of the arraying rack 2-1 is provided with an adjusting guardrail 2-5, the other side of the arraying rack is provided with a fixed guardrail, the adjusting guardrail and the fixed guardrail are respectively arranged on two sides of the belt conveyors, one side of each belt conveyor is provided with an in-place detection sensor 2-7, and a lap-pack detection sensor 2-8 is arranged above each blocking device 2-4.

Further, adjust the guardrail and include 2 cylinder fixing support, 2 cylinder connecting plate, 2 individual one-level cylinder, 2 individual second grade cylinder, 2 individual guide holder, 2 individual linear bearing, 2 individual guide bar and guardrail, cylinder fixing support is connected with the permutation frame, the one-level cylinder is connected with cylinder fixing support, the cylinder connecting plate is fixed at one-level cylinder extension bar front end, the second grade cylinder is fixed on the cylinder connecting plate, the second grade cylinder extension bar is connected with the guardrail, the guide holder is fixed in the permutation frame, linear bearing links firmly with the guide holder, the guide bar cooperates with linear bearing, and the front end is connected with the guardrail, cylinder fixing support and guide holder are arranged in proper order on the arrangement frame along direction of delivery.

Furthermore, the belt conveyors are provided with anti-skid belts 2-2, each belt conveyor is connected with an entire row of speed reducing motors 2-3, and the power of each belt conveyor is independent.

Furthermore, the fixed guardrails comprise a plurality of sectional guardrails 2-6 which are sequentially distributed along the conveying direction, the number of the sectional guardrails 2-6 is consistent with that of the belt conveyors, and the sectional guardrails are arranged on one side of the corresponding belt conveyors.

Further, the blocking devices 2-4 except the blocking device 2-4 at the rearmost end are all arranged between the connecting gaps of the adjacent belt conveyors.

Further, the carton conveying and arranging component 3 comprises a carton conveying belt machine 3-4 and a carton conveyor, wherein the output end of the carton conveying belt machine 3-4 is butted with the input end of the carton conveyor, a plurality of carton loading positions are sequentially arranged on the carton conveyor along the conveying direction, and two sides of each carton loading position are respectively provided with a carton clamping device 3-2; each carton packing position can only contain one carton, and before the manipulator grabs the packing, the carton clamping device 3-2 clamps the cartons on the corresponding carton packing positions to position the cartons, so that the manipulator grabs the materials into the cartons.

Further, the carton conveyor comprises a carton frame 3-1, a driving chain wheel, a driven chain wheel, a carton pushing chain 3-6 and a first servo drive 3-3, wherein the driving chain wheel and the driven chain wheel are arranged at two ends of the carton frame 3-1, the driving chain wheel is connected with the driven chain wheel through the carton pushing chain 3-6, a plurality of pushing heads are uniformly distributed on the carton pushing chain 3-6, and the distance between every two adjacent pushing heads is equal to the length of a carton loading position; when the pushing heads move to the plane of the carton conveying along with the carton pushing chains 3-6, a carton packing position is formed between every two adjacent pushing heads.

Further, the first servo drive 3-3 is a servo drive motor.

Furthermore, the number of the box pushing chains 3-6 is 2, the box pushing chains are arranged on the carton rack 3-1 side by side, a plurality of carton carrier rollers 3-8 are sequentially and transversely arranged between the two box pushing chains 3-6 along the conveying direction, and the upper roller surfaces of the carton carrier rollers 3-8 are consistent with the height of the conveying surface of the carton.

Further, a chain guide rail is arranged on the carton frame 3-1, the carton pushing chain 3-6 is arranged on the guide rail, and the driving chain wheel drives the carton pushing chain 3-6 to move along the chain guide rail.

Further, the carton conveying arrangement component 3 further comprises carton conveying guardrails 3-7, and the carton conveying guardrails 3-7 are arranged on two sides of the carton conveying belt machine 3-4 and the carton conveyor along the conveying direction and fixedly arranged on the carton rack 3-1.

Further, the carton clamping device 3-2 comprises two clamping cylinders, and the two clamping cylinders are oppositely arranged on two sides of the carton packing position; namely, the paper box conveying device is arranged on two sides of the paper box conveying channel; when the two clamping cylinders extend out, the carton is clamped.

Further, the full-carton quick-separating part 5 is a full-carton conveyor, and the conveying speed of the full-carton conveyor is faster than that of the carton conveying and arranging part 3.

Further, the full-box conveyor comprises a full-box rack 5-1, a full-box speed reduction motor 5-2 and a full-box conveying belt 5-3, wherein the full-box conveying belt 5-3 is arranged on the full-box rack 5-1 through a driving roller and a driven roller, the full-box speed reduction motor 5-2 is connected with the driving roller, and guardrails 5-4 are arranged on two sides of the full-box conveying belt 5-3.

Furthermore, the lower end of the manipulator is connected with a rotary gripper 6, the rotary gripper 6 comprises a gripper cross beam 6-1, a rotary driving assembly and a plurality of gripper assemblies, the plurality of gripper assemblies are sequentially and uniformly arranged on the gripper cross beam 6-1 along the length direction of the gripper cross beam 6-1, a rotating shaft 6-2 is connected between each gripper assembly and the gripper cross beam 6-1, the rotary driving assembly is arranged on the gripper cross beam 6-1 and is respectively connected with the plurality of rotating shafts 6-2, and the rotary driving assembly drives each gripper assembly to rotate around the corresponding rotating shaft 6-2 through the rotating shaft 6-2.

Furthermore, the rotating shaft 6-2 is connected with the gripper beam 6-1 through a bearing, the rotary driving assembly comprises a driving rack 6-9 and a driving mechanism, the driving mechanism is arranged on the gripper beam 6-1 and is connected with the driving rack 6-9, each rotating shaft 6-2 is sleeved with a driven gear 6-11, and the driving rack 6-9 is meshed with a plurality of driven gears 6-11 at the same time; the driving mechanism drives the driving racks 6-9 to move back and forth, the driving racks 6-9 drive the driven gears 6-11 to rotate, and the gripper assembly is driven to rotate horizontally through the rotating shaft 6-2.

Furthermore, the rotary driving assembly also comprises a linear guide rail 6-10, a plurality of sliding block fixing plates 6-3 are distributed on the linear guide rail 6-10, the sliding block fixing plates 6-3 are fixedly arranged on the gripper beam 6-1, the driving rack 6-9 is fixedly arranged on the linear guide rail 6-10, and the linear guide rail 6-10 moves back and forth along the length direction of the gripper beam 6-1 through the sliding block fixing plates 6-3; the driving mechanism drives the driving racks 6-9 to move back and forth along with the linear guide rails 6-10 through the driving gear, and the driving racks 6-9 move to drive the gripper assemblies to rotate along with the corresponding rotating shafts 6-2 through the driven gears 6-11.

Further, the linear guide rail 6-10 is arranged along the length direction of the gripper beam 6-1, and the driving rack 6-9 is arranged on the linear guide rail 6-10 along the length direction of the gripper beam 6-1.

Furthermore, the driving mechanism is a third servo drive 6-4, an output shaft of the third servo drive 6-4 is sleeved with a driving gear, and the driving gear is meshed with the driving rack 6-9.

Further, the third servo drive 6-4 is a servo drive motor.

Further, the gripper assembly comprises a gripper mounting plate, the lower end of which is arranged with a plurality of vacuum chucks 6-7.

Furthermore, a handle pressing device 6-6 is arranged on the gripper mounting plate, the handle pressing device 6-6 comprises an adjusting seat 6-6-1, a tightening handle 6-6-2, 2 adjusting rods 6-6-3, a cylinder connecting seat 6-6-4, a pressing cylinder 6-6-5 and a pressing plate 6-6-6, the adjusting seat is fixedly arranged on the gripper mounting plate, the cylinder connecting seat 6-6-4 is connected with the adjusting rods 6-6-3, the adjusting rod 6-6-3 is horizontally sleeved with the adjusting seat 6-6-1, the tightening handle 6-6-2 is arranged on the adjusting seat 6-6-1 and used for locking the tightening adjusting rod 6-6-3, the pressing cylinder 6-6-5 is vertically and fixedly arranged on the cylinder connecting seat 6-6-4, the pressing plate is suspended outside one side of the gripper mounting plate, the pressing plate 6-6-6 is connected to the front end of an extension rod of the pressing-down cylinder 6-6-5, the cylinder connecting seat is arranged on one side of the gripper mounting plate, and the pressing plate is driven to press down after the pressing-down cylinder 5 extends out; the pushing cylinder drives the pressing plate to push downwards, and the lifting handle on the grabbed material bag is pushed downwards, so that the material bag is arranged downwards under the condition of material bag packing.

Furthermore, a bale-dropping detection device 6-5 is arranged on the gripper mounting plate, the bale-dropping detection device 6-5 comprises a detection seat 6-5-1, a linear bearing 6-5-2, a detection head 6-5-3, a detection block 6-5-4, a sensor support 6-5-5 and a sensor 6-5-6, the linear bearing 6-5-2 is arranged on the detection seat 6-5-1, the detection head 6-5-3 is matched with the linear bearing 6-5-2, the detection block 6-5-4 is arranged at the upper end of the detection head 6-5-3, the sensor support 6-5-5 is arranged on the detection seat 6-5-1, the sensor 6-5-6 is arranged on the sensor support 6-5-5, the sensors are arranged downwards and arranged on one side of the grabbing mounting plate, and after the grabbing hand assembly grabs the materials, the sensors can detect the materials and judge that the packages do not fall.

Furthermore, the gripper beam 6-1 is also provided with a gas distribution pipe 6-8, and the gas distribution pipe 6-8 is respectively connected with the vacuum suction cups 6-7 on each gripper assembly.

Furthermore, the number of the gripper assemblies is consistent with that of the carton packing positions, the spacing distance between the gripper assemblies is the same as that between the carton packing positions, and the number of the gripper assemblies is 3-5.

Furthermore, the manipulator is a rectangular coordinate boxing part 4, the rectangular coordinate boxing part 4 comprises a cross beam 4-1, 2 horizontal guide rails 4-2, 2 driving belt wheels 4-3, 2 second servo drives 4-4, a translation bracket 4-5, a vertical guide rail 4-6, a driving synchronous belt 4-7, a gripper adjusting mechanism 4-11, 2 synchronous belt fixing plates 4-12 and a vertical shaft 4-13, the 2 horizontal guide rails 4-2 are arranged on the cross beam 4-1 in parallel, the 2 driving belt wheels 4-3 are arranged at two ends of the cross beam 4-1, the 2 second servo drives are respectively connected with the 2 driving belt wheels, the translation bracket 4-5 is arranged on the horizontal guide rail 4-2 and can translate on the cross beam 4-1 along the horizontal guide rail, the 2 vertical guide rails 4-6 are fixedly arranged at two sides of the vertical shaft 4-13, a vertical guide rail 4-6 is connected with a translation bracket 4-5 in a sliding way, 2 synchronous belt fixing plates 4-12 are respectively arranged at the upper end and the lower end of a vertical shaft 4-13, a gripper adjusting mechanism 4-11 is arranged at the lower end of the vertical shaft 4-13, driven pulleys are arranged on 2 synchronous belt fixing plates, driven wheels are arranged at four corners of the translation bracket 4-5, one end of a driving synchronous belt 4-7 is connected with the driven pulley of one synchronous belt fixing plate 4-12, and the other end of the driving synchronous belt 4-7 sequentially winds around the driven pulley 4-10 and the driving pulley 4-3 and is connected with the driven pulley 4-9 of the other synchronous belt fixing plate; through forward rotation and reverse rotation of the 2 second servo drives 4-4, two ends of the synchronous belt 4-7 are driven to move in a vertical plane, the lower end of the vertical shaft is driven to move in the vertical plane, meanwhile, the gripper adjusting mechanism 4-11 can be adjusted in the direction perpendicular to the vertical plane, and the vacuum control valve 4-8 is fixed on the vertical shaft 4-13 and used for controlling the on-off of a vacuum air path.

The utility model discloses a theory of operation:

referring to fig. 1 to 20, the utility model provides an embodiment of high-speed rectangular coordinate case packer of vacuum packaging rice, including frame part 1, permutation part 2, carton transport range part 3, rectangular coordinate vanning part 4, full case quick separation part 5, vacuum rice package rotation tongs 6. The arraying component 2 and the carton conveying and arranging component 3 are arranged in parallel in the rack component 1, the rectangular coordinate boxing component 4 is arranged above the rack component 1, the motion plane is perpendicular to the arraying component 2 and the carton conveying and arranging component 3, the full-carton quick separating component 5 is arranged at the rear end of the carton conveying and arranging component 3, and the vacuum rice-packing rotary gripper 6 is arranged at the lower end of the rectangular coordinate boxing component 4. The vacuum rice 001 is conveyed and positioned on the alignment part 2, the paper box 002 is arranged and positioned on the paper box conveying and arranging part 3, after the vacuum rice 001 and the paper box 002 are positioned, the rectangular coordinate boxing part 4 drives the vacuum rice bag rotary gripper 6 to grab the vacuum rice 001 and move into the paper box 002 for placement, and then the rectangular coordinate boxing part 4 drives the vacuum rice bag rotary gripper 6 to return to the position above the alignment part 2 to wait for next grabbing.

Further, the rack component 1 comprises a rack 1-1, decorative cover plates 1-2, safety doors 1-3, a control cabinet 1-4 and protective side plates 1-5, wherein 4 decorative cover plates 1-2 are installed on four sides of the top of the rack 1-1, 8 safety doors 1-3 are installed on the front side and the rear side of the rack 1-1, the control cabinet 1-4 is installed in the rack 1-1, the protective side plates 1-5 are installed on the left side and the right side of the rack 1-1, and observation windows are reserved on the safety doors 1-3 and the protective side plates 1-5.

Further, the arraying part 2 comprises an arraying rack 2-1, an anti-skid belt 2-2, an arraying speed reducing motor 2-3, a blocking device 2-4, an adjusting guardrail 2-5, a segmented guardrail 2-6, an in-place detecting sensor 2-7 and a lap detecting sensor 2-8, wherein the anti-skid belt 2-2 is driven by the arraying speed reducing motor 2-3 to form a 1-section belt conveyor, 4 sections of belt conveyors are arranged on the arraying rack 2-1, 5 sets of blocking devices 2-4 are respectively arranged at the head and the tail of the 4 sections of belt conveyors, the blocking devices 2-4 can be lifted and lowered to block and position vacuum rice bags, the adjusting guardrail 2-5 and the segmented guardrail 2-6 are arranged at two sides of the arraying rack 2-1, the distance between the guardrails at the two sides is controlled by adjusting the automatic extension and retraction of the, the rice bag in-place detection sensors 2-7 are mounted on two sides of each belt conveyor and used for detecting the in-place state of rice bags on 4 sections of belt conveyors, the bag overlapping detection sensors 2-8 are mounted on two sides of the blocking device 2-4, when rice bags exist above the blocking device 2-4 after the blocking device 2-4 rises, the rice bags are in the bag overlapping state, the bag overlapping detection sensors 2-8 output signals, and a system alarms.

Further, the carton conveying arrangement component 3 comprises a carton frame 3-1, a carton clamping device 3-2, a first servo drive 3-3, a carton conveying belt machine 3-4, a carton conveying speed reducing motor 3-5, a carton pushing chain 3-6, a guardrail 3-7 and a carton carrier roller 3-8, the carton clamping device 3-2 is installed on two sides of the carton frame 3-1, the carton pushing chain 3-6 is installed on the carton frame 3-1, the distance between pushing heads on the carton pushing chain 3-6 is 609.6mm, the pushing heads push the carton 002 to run, the first servo drive 3-3 drives the carton pushing chain 3-6, the carton conveying belt machine 3-4 is installed on the carton frame 3-1, the carton conveying speed reducing motor 3-5 drives the carton conveying belt machine 3-4, the carton 002 is conveyed to the carton pushing chain 3-6 through the carton conveying belt machine 3-4, the guardrails 3-7 are installed on two sides of the carton frame 3-1, and the carton carrier rollers 3-8 are installed in the middle of the carton frame 3-1 and located on the lower portion of the carton 002.

Further, the rectangular coordinate boxing part 4 comprises a cross beam 4-1, a horizontal guide rail 4-2, a driving belt wheel 4-3, a second servo drive 4-4, a translation support 4-5, a vertical guide rail 4-6, a driving synchronous belt 4-7, a vacuum control valve 4-8, a driven belt wheel 4-9, a driven wheel 4-10, a gripper adjusting mechanism 4-11, a synchronous belt fixing plate 4-12 and a vertical shaft 4-13, wherein 2 horizontal guide rails 4-2 are arranged on the cross beam 4-1, 2 driving belt wheels 4-3 are connected with 2 second servo drives 4-4 and are arranged at two ends of the cross beam 4-1, the translation support 4-5 is connected with the horizontal guide rail 4-2 and is translated on the cross beam 4-1, and 2 vertical guide rails 4-6 are fixed at two sides of the vertical shaft 4-13, a vertical guide rail 4-6 is connected with a translation bracket 4-5, a driven pulley 4-9 and a synchronous belt fixing plate 4-12 are arranged on a vertical shaft 4-13, a gripper adjusting mechanism 4-11 is arranged at the lower end of the vertical shaft 4-13, 4 driven wheels 4-10 are arranged at four corners of the translation bracket 4-5, two ends of a driving synchronous belt 4-7 are connected with the synchronous belt fixing plate 4-12 and are wound on the driven wheel 4-10, the driving pulley 4-3 and the driven pulley 4-9, two ends of the driving synchronous belt 4-7 move in a vertical plane through forward and reverse rotation of 2 second servo drives 4-4, the lower end of the vertical shaft is driven to move in the vertical plane, meanwhile, the gripper adjusting mechanism 4-11 can be adjusted in a direction vertical to the vertical plane, a vacuum control valve 4-8 is fixed on the vertical shaft 4-13, used for controlling the on-off of the vacuum gas circuit.

Further, the full-box fast separation part 5 comprises a full-box rack 5-1, a full-box speed reduction motor 5-2, a conveying belt 5-3 and a guardrail 5-4, wherein the full-box speed reduction motor 5-2 and the conveying belt 5-3 are installed on the full-box rack 5-1, the full-box speed reduction motor 5-2 drives the conveying belt 5-3 to run, the rated conveying speed of the conveying belt 5-3 is 90m/min, and the guardrail 5-4 is installed on two sides of the full-box rack 5-1.

Further, the vacuum rice bread rotary gripper 6 comprises a gripper cross beam 6-1, a rotary shaft 6-2, a sliding block fixing plate 6-3, a third servo drive 6-4, a bread falling detection device 6-5, a handle pressing device 6-6, a vacuum sucker 6-7, a gas distribution pipe 6-8, a drive rack 6-9, a rotary shaft,

6-10 parts of linear guide rails, 6-11 parts of driven gears, 6-2 parts of 4 rotating shafts are arranged below a gripper beam 6-1, 6-2 parts of 4 rotating shafts are 609.6mm apart, 4 slider fixing plates 6-3 are fixed on the side wall of the gripper beam 6-1, a driving rack 6-9 is fixed with the linear guide rails 6-10, the linear guide rails 6-10 are connected with the slider fixing plates 6-3, a third servo drive 6-4 drives the driving rack 6-9, the driving rack 6-9 drives the driven gears 6-11, the driven gears 6-11 are connected with the rotating shafts 6-2, so that the 4 rotating shafts 6-2 rotate 180 degrees at the same time, a bale dropping detection device 6-5, a handle pressing device 6-6 and a vacuum chuck 6-7 are connected with the lower ends of the rotating shafts 6-2, the vacuum sucker 6-7 grabs the vacuum-packed rice 001, the bag falling detection device 6-5 is in contact with the vacuum-packed rice 001, whether rice bags are arranged below the vacuum sucker 6-7 or not is detected, the handle pressing device 6-6 is used for pressing the handle of the vacuum-packed rice 001 downwards to pack the rice bags downwards through adjustment, and the air distribution pipe 6-8 is arranged on the side wall of the handle beam 6-1 and used for air supply of the vacuum sucker 6-7.

In conclusion, the rice high-speed rectangular coordinate box filler is provided, the vacuum-packaged rice is quickly boxed, the function of horizontally rotating the vacuum-packaged rice by 180 degrees and the function of pressing down a vacuum packaging handle are realized, and the functions of bag falling detection, bag folding detection and soft package rejection are realized, so that the box filling quality and speed are improved, the production efficiency is improved, and the equipment cost is reduced; the rated load of the box filling machine is 40kg, 4 bags are filled every time, the box filling speed can reach 48 bags/minute, the vacuum rice bags can rotate horizontally during box filling, the vacuum rice bag handles can be filled downwards, the box filling speed is high, the grabbing weight is large, the box filling function is complete, the box filling machine is suitable for various specifications, the production efficiency is obviously improved, the equipment number is reduced, and the equipment cost is reduced.

The above is only a preferred embodiment of the present invention, and the scope of the right of the present invention should not be limited by this, so that the equivalent changes made in the claims of the present invention still belong to the protection scope of the present invention.

Claims (10)

1. A high-speed rectangular coordinate box filler is characterized by comprising an alignment part, a carton conveying and arranging part and a manipulator, wherein the alignment part and the carton conveying and arranging part are arranged side by side;

a plurality of carton packing positions are sequentially arranged on the carton conveying arrangement component along the conveying direction at equal intervals; the rotary type gripper comprises a gripper cross beam, a plurality of gripper assemblies are sequentially arranged on the gripper cross beam at equal intervals along the length direction, the number of the gripper assemblies is consistent with that of carton packing positions, and the spacing distance between every two adjacent gripper assemblies is equal to that between every two adjacent carton packing positions.

2. The high-speed rectangular coordinate container loader of claim 1, wherein the alignment part comprises an alignment frame and a plurality of belt conveyors arranged on the alignment frame and connected end to end in sequence, the output end of each belt conveyor is provided with a blocking device, one side of the alignment frame is provided with an adjusting guardrail, the other side of the alignment frame is provided with a fixing guardrail, the adjusting guardrail and the fixing guardrail are respectively arranged on two sides of the belt conveyors, one side of each belt conveyor is provided with an in-place detection sensor, and a bag folding detection sensor is arranged above each blocking device.

3. A high speed rectangular coordinate box filler as claimed in claim 1, wherein the carton conveying arrangement member comprises a box feeding belt conveyor and a carton conveyor, an output end of the box feeding belt conveyor is butted with an input end of the carton conveyor, a plurality of carton loading positions are sequentially arranged on the carton conveyor along the conveying direction, and a box clamping device is arranged on both sides of each carton loading position.

4. The high-speed rectangular coordinate container loader of claim 3, wherein the carton conveyor comprises a carton frame, a driving sprocket, a driven sprocket, a box pushing chain and a first servo drive, the driving sprocket and the driven sprocket are arranged at two ends of the carton frame, the driving sprocket is connected with the driven sprocket through the box pushing chain, a plurality of pushing heads are uniformly distributed on the box pushing chain, and the distance between two adjacent pushing heads is equal to the length of the carton loading position.

5. A high-speed rectangular coordinate box filler according to claim 4, characterized in that the number of the box pushing chains is 2, the box pushing chains are arranged at two sides of the carton frame side by side, a plurality of carton rollers are arranged between the two box pushing chains in sequence and transversely along the conveying direction, and the upper roller surfaces of the carton rollers are consistent with the height of the carton conveying surface.

6. A high speed rectangular coordinate container loader as claimed in claim 3 wherein the container clamping means includes two clamping cylinders disposed opposite each other on opposite sides of the carton loading position.

7. A high speed rectangular coordinate container loader as claimed in claim 1 wherein said high speed rectangular coordinate container loader further comprises a full carton quick-disconnect member, an input end of said full carton quick-disconnect member abutting an output end of said carton conveying array member, said full carton quick-disconnect member being a full carton conveyor, said full carton conveyor being conveyed faster than said carton conveying array member.

8. A high speed rectangular coordinate container loader as claimed in claim 1 wherein the rotary gripper further comprises rotary drive assemblies, each rotary drive assembly is connected to a gripper beam and has a rotary shaft, the rotary drive assemblies are disposed on the gripper beams and are respectively connected to the plurality of rotary shafts, and the rotary drive assemblies drive the respective gripper assemblies to rotate about the corresponding rotary shafts through the rotary shafts.

9. The high-speed rectangular coordinate box filler as claimed in claim 8, wherein the revolving shafts are connected with the gripper beams through bearings, the rotary driving assembly comprises driving racks and driving mechanisms, the driving mechanisms are arranged on the gripper beams, the driving mechanisms are connected with the driving racks, each revolving shaft is sleeved with a driven gear, and the driving racks are simultaneously meshed with a plurality of driven gears; the driving mechanism drives the driving rack to move back and forth, the driving rack drives the driven gears to rotate, and the gripper assembly is driven to rotate horizontally through the rotating shaft.

10. The high-speed rectangular coordinate container loader of claim 1, wherein the robot is a rectangular coordinate container loader, the rectangular coordinate container loader comprises a cross beam, a horizontal guide rail, 2 driving pulleys, 2 second servo drives, a translation bracket, a vertical guide rail, a driving synchronous belt, a gripper adjusting mechanism, 2 synchronous belt fixing plates and a vertical shaft, the horizontal guide rail is mounted on the cross beam, 2 driving pulleys are mounted at two ends of the cross beam, 2 second servo drives are respectively connected with 2 driving pulleys, the translation bracket is arranged on the horizontal guide rail and can translate on the cross beam along the horizontal guide rail, 2 vertical guide rails are fixedly arranged at two sides of the vertical shaft, the vertical guide rails are slidably connected with the translation bracket, 2 synchronous belt fixing plates are respectively mounted at the upper end and the lower end of the vertical shaft, and the 2 synchronous belt fixing plates are respectively provided with a driven pulley, driven wheels are arranged at four corners of the translation support, one end of the driving synchronous belt is connected to a driven belt wheel of one synchronous belt fixing plate, and the other end of the driving synchronous belt is sequentially wound on the driven wheel and the driving belt wheel and is connected with a driven belt wheel of the other synchronous belt fixing plate.

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