CN2764719Y - Double arm clamping type bag feeding manipulator - Google Patents
Double arm clamping type bag feeding manipulator Download PDFInfo
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- CN2764719Y CN2764719Y CN 200420080355 CN200420080355U CN2764719Y CN 2764719 Y CN2764719 Y CN 2764719Y CN 200420080355 CN200420080355 CN 200420080355 CN 200420080355 U CN200420080355 U CN 200420080355U CN 2764719 Y CN2764719 Y CN 2764719Y
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Abstract
The utility model relates to a double-arm clamping type bag feeding manipulator, particularly full-automatic package for solid particulate material products in chemical industry and food service industry, which belongs to the technical field of a packaging machinery device. One end of a connecting rod is connected with the left of a basic frame, and the other end is connected with the right of the basic frame; the right of the basic frame and the right of the basic frame are respectively fixed to a framework of a bag feeding machine; an executive device is fixed to a transmission device; one end of a driving device is connected with the framework of the bag feeding machine, and the other end is connected with the transmission device; the driving device is provided with a detection device. The utility model has the advantage of simple, reasonable and compact structure; when the bag feeding manipulator is used, a bag does not need to sheath with a bag clamping device after opened, the bag is closed to sheath on the bag clamping device; a bag opening is finished by a sucking disk mechanism of the bag clamping device on a bag clamp; the applicability is wide, the utility model is suitable for all packaging bags except valve port packaging bags, and the bag feeding reliability is high; the problems of quick bag feeding and impact vibration are solved, and accordingly, the switching time of a full bag and an empty bag is decreased in order to increase the packaging speed.
Description
Technical field
The utility model relates to bag manipulator on a kind of double-arm clamping formula, specifically, is the fully-automatic packaging that is used for chemical industry, food service industry solid particle material product, belongs to the packing mechanical equipment technical field.
Background technology
Before the utility model was made, in prior art, the bag mode can be divided into two kinds according to an empty bag direction of feed on the full automaticity: a kind ofly be cross-feed, promptly empty bag is to the direction of feed of the sackholder device outbound course unanimity with purseful, and sack feeding track is a straight line.Another kind is a length travel, and promptly empty bag becomes 90 degree to the direction of feed of sackholder device with the outbound course of purseful, and sack feeding track is a circular arc.Vertically the upward bag manipulator of mode can be divided into both arms sucker opening type, both arms insertion expansion open type and double-arm clamping band slotting tool bracing type according to version.Above-mentioned three kinds all is that sack is opened the back cover to the sackholder device.The bag manipulator has weak point separately on original vertical mode, can not go up the packaging bag of M formula as both arms sucker opening type and both arms insertion expansion open type, though and double-arm clamping band slotting tool bracing type can be gone up pillow formula and the packaging bag of M formula simultaneously, thereby owing to bag poor reliability on the geometric configuration instability of sack in the bagging process.
Technology contents
The purpose of this utility model is to overcome above-mentioned weak point, thereby provides a kind of simple, compact and reasonable for structure; Last bag manipulator does not put the sackholder device after not needing sack opened, but sack is being closed cover to the sackholder device, and the dehiscing of sack finished by the sucking disc mechanism of sackholder device at the sackholder place; Applicability is wide, and the packaging bag except that the valve port formula all is suitable for, and goes up a bag reliability height, solved and gone up the problem of bag and impact endurance test shock fast, thereby the switching time that shortens purseful and empty bag is with on the double-arm clamping formula that improves package speed bag of manipulator.
Main solution of the present utility model is achieved in that
The utility model mainly adopts connecting rod 18 1 ends to connect a pedestal left side 15, the other end connects the pedestal right side 20, a pedestal left side 15 and the pedestal right side 20 are separately fixed on the bag machine frame, executive device is fixed on the driving device, actuating device one end connects goes up the bag machine frame, the other end connects driving device, installation and measuring device on actuating device.
Compared with the prior art the utility model has the following advantages:
1, the bag manipulator adopts vertical formula sack closing bag on the double-arm clamping formula.
By figure one as can be seen when the last bag arm folder bag position sack itself closing, thereby go up bag manipulator miniature gears folder 11, big gear wheel folder 12 is easy to packaging bag is clamped.Multi-form packaging bag such as pillow formula or M formula, when both shapes when closing are the same, the packaging bag of unlike material such as individual layer coated plastics woven bag or kraft compounded bag or double layer innerliner plastic film woven bag, when three's shape when closing also is the same, thereby go up after a bag manipulator is easy to the packaging bag of various forms, unlike material clamped on the utility model bag.The bag manipulator is also lower for the requirement of packaging bag quality on the utility model in addition.Here the packaging bag quality of saying refers to packaging bag length and width scale error, packaging bag planeness and packaging bag hardness.The utility model is by gear folder folder bag, and gear folder length is long, thereby the gear folder also can be clamped sack when the packaging bag width error is very big, can also moving on turning cylinder 17 obtain suitable folder bag state by a last bag arm left side 13 and the last bag arm right side 22 when the packaging bag change width is big especially; Because sack is accumbency when last bag arm folder bag position and closing state, even thereby packaging bag injustice or sack very soft, for last bag of manipulator clamp, do not influence yet.
2, the bag manipulator adopts bag on the pendulum clock principle on the double-arm clamping formula.
Go up the bag manipulator as can be seen by figure one and go up act and recovery around turning cylinder 17, the track that gear presss from both sides away is the same with pendulum clock.Be that gravity plays accelerating action to manipulator in the beginning and the centre of motion, and play buffering kinetic energy endways; The run-on point that be it can also be seen that the bag manipulator by figure one is higher much than sack, and the motion camber line walked of manipulator clamp is just than higher like this.When bag delivering trolley clamp purseful descend a bit of distance back go up the bag manipulator just can above bag, thereby shortened switching time of purseful and sky bag.
3, the bag manipulator adopts Composite cylinder to drive and goes up bag on the double-arm clamping formula.
Go up the bag manipulator as can be seen by figure one and drive upward bag and recovery by Composite cylinder.Be that cylinder 6 and cylinder 9 move simultaneously, the speed of having accelerated last bag like this and having reclaimed.
Description of drawings
Fig. 1 is the utility model structural front view.
Fig. 2 is the utility model structure birds-eye view.
Fig. 3 is the utility model structure A-A cutaway view.
The specific embodiment
Embodiment during following the utility model is incited somebody to action in conjunction with the accompanying drawings is further described:
The solid particle material of the utility model fully-automatic packaging can be that diameter is the pellet (as polypropylene granules) of 1mm～10mm or less than the powder (as the soda ash powder) of 1mm.
The bag manipulator is a key mechanism of bag machine on the full automaticity on the utility model double-arm clamping formula.Be on the full automaticity bag machine finally by bag manipulator on the double-arm clamping formula the sack cover to full automaticity sackholder device.And bag machine and full automaticity sackholder device is key equipment in the fully-automatic packaging production line system on the full automaticity.Thereby promptly packaging bag is put the sackholder device and finish can material by last bag machine.
The bag manipulator is made up of executive device, actuating device, driving device, detecting device, pedestal etc. on the utility model double-arm clamping formula.
Executive device by miniature gears folder 11, big gear wheel folder 12, plain radial bearing 26, bolt shaft 27, go up a bag arm left side 13, go up a bag arm right side 22, screw mandrel 21 etc. and form.Miniature gears folder 11 and big gear wheel folder 12 are fixed on a bag arm left side 13 and the last bag arm right side 22 by plain radial bearing 26 and bolt shaft 27 etc.Miniature gears folder 11 and big gear wheel folder 12 can close folder and open around bolt shaft 27.Screw mandrel 21 is a last bag arm left side 13 and go up a bag arm right side 22 and couple together, thus the distance between the bag arm and strengthen the rigidity of bag arm on two on two definitely.A last bag arm left side 13 and an end of going up the bag arm right side 22 are fixed in the driving device on the turning cylinder 17.
Actuating device is made up of two parts.A part is cylinder 14 and cylinder 23 and the associated fitting that the driven wheel folder carries out folder bag; Another part is to drive to go up Composite cylinder and the associated fitting that the bag arm is done to go up bag and reclaimed motion, and this Composite cylinder is in series by cylinder 6 and cylinder 9, thereby forms a double stroke cylinder.Cylinder 6 and cylinder 9 move simultaneously in last bag and removal process, thereby accelerate the speed of motion.A part adopts an end of cylinder 14 and cylinder 23 to be connected on the big gear wheel folder 12, and the other end is connected in a bag arm left side 13 and goes up on the bag arm right side 22, when the cylinder action is closed folder or opening movement with regard to the driven wheel folder; Composite cylinder one end that another part adopts cylinder 6 and cylinder 9 to be in series is connected on the turning block 19, and the other end is connected on the bag machine frame, goes up when cylinder 6 and cylinder 9 moves just to drive simultaneously that the bag arm does to go up bag and recovery is moved.
Driving device is made up of turning block 19, turning cylinder 17 and rolling bearing units 16 etc.Turning block 19 1 ends are connected in Composite cylinder, and the other end is fixed on the turning cylinder 17, and turning cylinder 17 is fixed on a pedestal left side 15 and the pedestal right side 20 by rolling bearing units 16.
Detecting device is made up of two parts.A part is the state of detection of gear folder, adopts magnetic switch 24 and magnetic switch 25 are installed on cylinder 23, is used to judge that the gear folder is in closes folder or deployed position.When gear folder is in magnetic switch 25 conductings when closing the folder position, magnetic switch 24 conductings when the gear folder is in deployed position.Another part is to detect the state of going up the bag arm, adopts magnetic switch 5,7,8,10 is installed on Composite cylinder, is used to judge that the bag arm is in folder bag position (vertical position) or sackholder position (level position).When last bag arm is magnetic switch 7,8 conductings when being in folder bag position (vertical position), when last bag arm is magnetic switch 5,10 conductings when being in sackholder position (level position).The operating principle of magnetic switch is that the variation that generates an electromagnetic field when the magnetic switch when the magnet ring on the piston ring is so that the connecting and disconnecting of the circuit of magnetic switch.
Pedestal is made up of a pedestal left side 15, the pedestal right side 20, connecting rod 18 and associated fitting.Connecting rod 18 links to each other a pedestal left side 15 with pedestal right 20.A pedestal left side 15 and the pedestal right side 20 are fixed on the bag machine frame.
Principle of work of the present utility model and working process:
By figure one as can be known, send bag to be with 3 drive packaging bags 4 moving on the bag machine bearing body panel 2 on the full automaticity synchronously.When correlation photoelectricity 1 detects sack, send bag to be with 3 just to stop to send bag synchronously, at this moment if the bag manipulator is in folder bag position (vertical position) on the double-arm clamping formula, be magnetic switch 7,8 conductings, cylinder 14 and cylinder 23 are with regard to the action of driven gear folder so, thereby packaging bag is clamped magnetic switch 25 conductings at this moment.If bag is gone up in start just for the first time, so as long as all initial condition (IC) of full automaticity sackholder device all satisfy, Composite cylinder 6,9 is gone up bag with regard to action simultaneously; If bag on the second time is so as long as by the time bag delivering trolley is clamped purseful and descended to putting in place and just can go up bag.When packaging bag is lifted sackholder position (level position) by last bag manipulator, after the caliper unit of full automaticity sackholder device and sucking disc mechanism are clamped packaging bag and share respectively, cylinder 14 and cylinder 23 open with regard to the driven gear folder, explanation gear folder opens and puts in place when magnetic switch 24 conductings, and at this moment the bag manipulator just moves simultaneously by Composite cylinder 6,9 and gets back to folder bag position (vertical position) on the double-arm clamping formula.When correlation photoelectricity 1 detected packaging bag again, the gear folder was just clamped packaging bag once more.Clamp the purseful bag manipulator that descends when putting in place on the double-arm clamping formula when bag delivering trolley and just can carry out going up once more bag, so just finished last bag cyclic process.
Claims (5)
1, bag manipulator on a kind of double-arm clamping formula, comprise the bag machine frame, it is characterized in that adopting connecting rod (18) one ends to connect a pedestal left side (15), the other end connects the pedestal right side (20), a pedestal left side (15) and the pedestal right side (20) are separately fixed on the bag machine frame, and executive device is fixed on the driving device, and actuating device one end connects goes up the bag machine frame, the other end connects driving device, installation and measuring device on actuating device.
2, bag manipulator on the double-arm clamping formula according to claim 1, it is characterized in that described executive device is by miniature gears folder (11), big gear wheel folder (12), plain radial bearing (26), bolt shaft (27), a last bag arm left side (13), the last bag arm right side (22), screw mandrel (21) is formed, miniature gears folder (11) and big gear wheel folder (12) are fixed on a bag arm left side (13) and the last bag arm right side (22) by bearing (26) and bolt shaft (27), miniature gears folder (11) and big gear wheel folder (12) close folder around bolt shaft (27) and open, and a bag arm left side (13) reaches and goes up the bag arm right side (22) in screw mandrel (21) connection.
3, bag manipulator on the double-arm clamping formula according to claim 1, it is characterized in that described actuating device is made up of two parts, a part adopts an end of cylinder (14) and cylinder (23) to be connected on the big gear wheel folder (12), and the other end is connected in a bag arm left side (13) and goes up on the bag arm right side (22); Composite cylinder one end that another part adopts cylinder (6) and cylinder (9) to be in series is connected on the turning block (19), and the other end is connected on the bag machine frame.
4, bag manipulator on the double-arm clamping formula according to claim 1, it is characterized in that described driving device is made up of turning block (19), turning cylinder (17) and rolling bearing units (16), turning block (19) one ends are connected in Composite cylinder, the other end is fixed on the turning cylinder (17), and turning cylinder (17) is fixed on a pedestal left side (15) and the pedestal right side (20) by rolling bearing units (16).
5, bag manipulator on the double-arm clamping formula according to claim 1, it is characterized in that described detecting device is made up of two parts, a part adopts at cylinder (23) and goes up installation magnetic switch (24,25), and another part is to adopt magnetic switch (5,7,8,10) is installed on Composite cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420080355 CN2764719Y (en) | 2004-10-16 | 2004-10-16 | Double arm clamping type bag feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420080355 CN2764719Y (en) | 2004-10-16 | 2004-10-16 | Double arm clamping type bag feeding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2764719Y true CN2764719Y (en) | 2006-03-15 |
Family
ID=36167638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420080355 Expired - Fee Related CN2764719Y (en) | 2004-10-16 | 2004-10-16 | Double arm clamping type bag feeding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2764719Y (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100400377C (en) * | 2006-06-08 | 2008-07-09 | 无锡力马化工机械有限公司 | Pliers clamping plate sharp-nose full automatic bag clamping apparatus |
| CN101362327B (en) * | 2008-09-19 | 2010-06-23 | 哈尔滨工程大学 | Fixed axis dual-arm transportation manipulator |
| CN101817411A (en) * | 2010-04-16 | 2010-09-01 | 无锡力马化工机械有限公司 | Servo double-arm clamping type bag feeding manipulator with slotting tools |
| CN102224797A (en) * | 2011-06-15 | 2011-10-26 | 中国农业大学 | Manipulator for covering bags for grapes |
| CN102756827A (en) * | 2012-07-15 | 2012-10-31 | 郜法军 | Automatic bag sleeving device |
| CN103332333A (en) * | 2013-07-27 | 2013-10-02 | 枣庄市三维技术有限公司 | Automatic bagging machine |
| CN103722549A (en) * | 2013-12-31 | 2014-04-16 | 重庆交通大学 | Heavy-load precise double-arm manipulator with arms cooperating with each other in space |
| CN105881515A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Light six-shaft universal robot provided with double arms |
| CN105936043A (en) * | 2016-05-28 | 2016-09-14 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot used for grasping materials |
| CN106144058A (en) * | 2015-04-02 | 2016-11-23 | 青岛软控机电工程有限公司 | Material bag sealing device |
| CN104859191B (en) * | 2015-06-10 | 2017-07-18 | 江苏万乐自动化装备有限公司 | A kind of anti-bag bottom dog-ear device for double-ply bag packing machine |
| CN109279088A (en) * | 2018-11-12 | 2019-01-29 | 唐山市翔云自动化机械厂 | A kind of automatic slash pocket machine bag delivering device and send a bag method |
| CN111470124A (en) * | 2018-05-02 | 2020-07-31 | 阜阳盛东智能制造技术研发有限公司 | Control method for manipulator for automatically feeding packaging tape |
| CN111806784A (en) * | 2020-07-29 | 2020-10-23 | 广西博控机器人工程有限公司 | Full-automatic flexible robot bag conveying device for packaging |
-
2004
- 2004-10-16 CN CN 200420080355 patent/CN2764719Y/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100400377C (en) * | 2006-06-08 | 2008-07-09 | 无锡力马化工机械有限公司 | Pliers clamping plate sharp-nose full automatic bag clamping apparatus |
| CN101362327B (en) * | 2008-09-19 | 2010-06-23 | 哈尔滨工程大学 | Fixed axis dual-arm transportation manipulator |
| CN101817411A (en) * | 2010-04-16 | 2010-09-01 | 无锡力马化工机械有限公司 | Servo double-arm clamping type bag feeding manipulator with slotting tools |
| CN102224797A (en) * | 2011-06-15 | 2011-10-26 | 中国农业大学 | Manipulator for covering bags for grapes |
| CN102756827A (en) * | 2012-07-15 | 2012-10-31 | 郜法军 | Automatic bag sleeving device |
| CN102756827B (en) * | 2012-07-15 | 2014-04-16 | 郜法军 | Automatic bag sleeving device |
| CN103332333A (en) * | 2013-07-27 | 2013-10-02 | 枣庄市三维技术有限公司 | Automatic bagging machine |
| CN103722549A (en) * | 2013-12-31 | 2014-04-16 | 重庆交通大学 | Heavy-load precise double-arm manipulator with arms cooperating with each other in space |
| CN106144058B (en) * | 2015-04-02 | 2019-03-19 | 青岛软控机电工程有限公司 | Material bag sealing device |
| CN106144058A (en) * | 2015-04-02 | 2016-11-23 | 青岛软控机电工程有限公司 | Material bag sealing device |
| CN104859191B (en) * | 2015-06-10 | 2017-07-18 | 江苏万乐自动化装备有限公司 | A kind of anti-bag bottom dog-ear device for double-ply bag packing machine |
| CN105881515A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Light six-shaft universal robot provided with double arms |
| CN105881515B (en) * | 2016-05-28 | 2017-09-08 | 东莞市联洲知识产权运营管理有限公司 | A kind of light-duty six axles all-purpose robot provided with both arms |
| CN105936043A (en) * | 2016-05-28 | 2016-09-14 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot used for grasping materials |
| CN111470124A (en) * | 2018-05-02 | 2020-07-31 | 阜阳盛东智能制造技术研发有限公司 | Control method for manipulator for automatically feeding packaging tape |
| CN111470124B (en) * | 2018-05-02 | 2021-11-23 | 新沂市中振电器科技有限公司 | Control method for manipulator for automatically feeding packaging tape |
| CN109279088A (en) * | 2018-11-12 | 2019-01-29 | 唐山市翔云自动化机械厂 | A kind of automatic slash pocket machine bag delivering device and send a bag method |
| CN109279088B (en) * | 2018-11-12 | 2023-09-26 | 唐山市翔云自动化机械厂 | Bag feeding device and bag feeding method for automatic bag inserting machine |
| CN111806784A (en) * | 2020-07-29 | 2020-10-23 | 广西博控机器人工程有限公司 | Full-automatic flexible robot bag conveying device for packaging |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |