CN2861018Y

CN2861018Y - Manipulator apparatus for packaging machine

Info

Publication number: CN2861018Y
Application number: CN 200520145366
Authority: CN
Inventors: 殷秋强
Original assignee: Individual
Current assignee: Individual
Priority date: 2005-12-23
Filing date: 2005-12-23
Publication date: 2007-01-24
Anticipated expiration: 2015-12-23

Abstract

This utility model relates to a manipulator device for a packaging machine. An electromagnet and a stretching rod that is matched with the electromagnet are provided in the shell of the manipulator. A magnet conductivity core is set in the manipulator device and a gag bit is set at the relative location of the magnet conductivity core. An excitation loop is set between the magnet conductivity core and the gag bit. Two stretching rods that are fixed with the gag bit are parallel to the two sides of electromagnet and gag bit. The outer layer of the stretching rod is further nested with a back spring. The stretching rod that can perform front and rear shrinking motion extrudes from one side of manipulator, and the end part of the stretching rod is connected with a stretching board. A plurality of notches are set on the stretching board, on which a plurality of sucking disks are set to thread through the notch. This manipulator rationally makes use of the electromagnetic parts of appliance and air-driven parts of appliance and can replace the process of manually completing bag taking-bag transferring-bag stretching-bag unloosening so as to greatly improve work efficiency.

Description

The robot device of wrapping machine

Technical field

The utility model belongs to and relates to a kind of mechanical drive, relate in particular to a kind of be used for pocket or in adorn the robot device that the pocket of light-duty material transmits.

Background technology

At present, to the quantitative package of material, majority is to carry out weighing with platform balance/pharmacist balance/scale bodies such as electronic scales by hand on the market, and craft is packed load weighted material in the packaging bag into then, carries out that vacuum seal or inflation are sealed at last etc.Like this, manually material is carried out weighing/fill out bag, be sent to capper or vacuum packing machine carries out vacuum seal by hand again, waste time and energy, and package speed is slow.Totally unfavorable for batch manufacturing.

The utility model content

The purpose of this utility model is, by a kind of robot device of wrapping machine is provided, finishes bag taking with manipulator--passes the process that bag--stretching-bag--is decontroled bag, to improve the packing effect for packaging bag.

The utility model is to adopt following technological means to realize:

A kind of robot device of wrapping machine, the expansion link that in the manipulator shell, is provided with electromagnet and is mated; In described robot device, be provided with conducting magnet core, be provided with armature, between conducting magnet core and armature, be provided with excitation coil at the relative position of conducting magnet core; Be provided with two expansion links that are fixed together with armature being parallel to described electromagnet and armature both sides; Skin at described expansion link further is arranged with retracing spring; The described expansion link that can do elastic motion leans out from a side of manipulator, is connected with an expansion plate in the end of the expansion link that leans out; On expansion plate, be provided with several perforation, in perforation, be equipped with several suckers;

Both sides on a side central axis of described manipulator are respectively connecting a dwang, and this dwang is connected on the runner that makes the manipulator rotation by connecting device, and this runner is connected with the turning cylinder of motor.

Aforesaid conducting magnet core and armature are E type or C type or I type.

The utility model compared with prior art has remarkable advantages and beneficial effect:

The robot device of the utility model wrapping machine, since reasonable use electromagnetic device and pneumatic device, the step that can set according to program, replace and manually finish bag taking and--pass the process of bag--stretching-bag--relieving bag, improved work efficiency greatly, have novelty and creativeness, have very high practicality aborning.

Description of drawings

Fig. 1 is the connection diagram of the utility model robot device and wrapping machine;

Fig. 2 is the operating state scheme drawing of utility model robot device;

Fig. 3 is the structural representation of utility model robot device.

The specific embodiment

Below in conjunction with accompanying drawing specific embodiment of the utility model is illustrated:

The utility model basic structure principle such as Fig. 1, Fig. 2, shown in Figure 3, the function that realizes by each several part mainly is divided into inhales blowing bag, elastic, rotation etc.Inhale the front end of blowing bag part at manipulator, mainly form by sucker 213, several electromagnetic valves, evacuator and aspirating air pipe (not shown) etc., the sucker that absorption paper in sucker structure and the existing printing machinery is used in like manner, coniform, top and the straight-through hollow in the awl end, the top is connecting aspirating air pipe, the vertex of a cone is tightly overlapping the very thin rubber coating of one deck outward, around the rubber upper shield has been crossed at the bottom of the awl, and it is slightly longer than awl at the end, utilize the elasticity of rubber like this, when strengthening sack and being inhaled and the tight ness rating at the bottom of the sucker, thereby more strengthen the suction of sucker.Awl end center hollow core portion also communicates with outer groove by breach, has increased the absorption area.Several suckers can be connected by aspirating air pipe, and then are connected to the exit of electromagnetic valve.Electromagnetic valve can be selected tripartite electromagnetic valve for use, and three outlets are arranged, and when its in-to-in coil electricity, outlet 1 and outlet 2 communicate; When its in-to-in coil losing electricity, outlet 1 and outlet 3 communicate.The outlet 3 of electromagnetic valve is vacant, and outlet 2 air suctiton inlets by aspirating air pipe and evacuator are connected.When machine was started shooting, the evacuator (not shown) was just started working, and is air-breathing from each aspirating air pipe.When electromagnetic valve gets electricly, the outlet 1 of electromagnetic valve and outlet 2 are communicated, evacuator is air-breathing from the sucker outlet, when sucker when the pocket 30, pocket 30 has been blocked the sucker mouth, sucker 213 and endotracheal air are evacuated machine and siphon away, produced draught head, pocket will be by absorption on the sucker mouth; When the electromagnetic valve dead electricity, the outlet 1 of electromagnetic valve and outlet 3 are communicated, the air flue of sucker and the external world are communicated and lose draught head, sucker is decontroled pocket with regard to losing suction.

Main aspect of the present utility model is: in the bag taking to above-mentioned pocket 30--pass bag--stretching-bag--decontrol the manipulator in the process of bag structure and with the running that is connected of other parts.

Described manipulator is divided into left and

right sides manipulator

10 and 20, and its

manipulator

10 and 20 inner structure basically identical just are controlled and the rotation direction difference.

The elastic structure of manipulator is to make according to the principle of electromagnet, be a kind of electric elements that electromagnetic energy are converted to mechanical energy, its structural principle signal mainly is made up of casing 202, magnetizer 207, armature 204, excitation coil 205, spring 203, expansion link 201, expansion plate 206 etc. as shown in Figure 3.Casing 202 is used for packing or supporting whole device, and the iron core 207 of magnetizer can adopt " U " type or " E " type, and armature 204 can adopt " U " type/" E " type or " I " type, selects various.Magnetizer shown in Figure 3 and armature adopt " E " sections core all the time, symmetrical mutually, excitation wire Figure 20 5 is enclosed within on the iron core 207 of magnetizer, and and the iron core 207 of magnetizer be fixed on the lid of casing 202, the two ends of armature 204 are connecting expansion link 201, the lid that expansion link 201 passes spring 203 and casing is connected on the expansion plate 206, spring 203 is compressed between armature 204 and the casing lid, expansion link 201 can be free to slide on the hole of passing casing, and expansion plate 206 is used for fixing and installs sucker and aspirating air pipe 210 etc.Like this, after excitation coil 205 energized excitations, in the magnetic circuit of magnetizer 207 and air gap formation, just pass through the work magnetic flux.Under flux interaction, produce suction, so armature 204 is attracted to iron core 207.Along with the motion of armature 204, promote expansion link 201 and move forward, thereby promote expansion plate 206 and sucker 213 moves forward, spring 203 is pushed by iron core simultaneously.When excitation coil 205 dead electricity, under the effect of spring 203 bounces, make iron core return to original position, thereby make expansion link 201 be withdrawn into original position to expansion plate 206 and sucker 213.Like this, coil 205 energisings, sucker 213 just is pushed to and protracts; Coil losing electricity, sucker are drawn toward retraction, make the arm of manipulator can do elastic motion.On the lid of casing inner wall and casing, be provided with some guide grooves and guide plate (not shown), be used for limiting and guiding the motion of armature 204 and expansion link 201, they are moved stably by fixing track.

The rotation of manipulator is various informative, as shown in Figure 2, can adopt rubber tape type of drive or gear transmission to slow down, mainly form by motor, little runner, great wheel, rubber tape, bearing, dwang, support etc., (owing to be method relatively more commonly used in the prior art, being not described in detail) at this for above-mentioned parts; Both sides on the one side central axis of whole manipulator are respectively connecting a dwang 16, the other end of dwang 16 passes bearing (not shown) center, the bearing at two ends is fixed on the support, a dwang wherein passes a bigger runner, be connected on the little runner by slat gum band etc., little runner is enclosed within on the turning cylinder of motor more again.Motor rotates like this, drives little runner and rubber tape and rotates, and rotates thereby drive great wheel 14, drive dwang by great wheel again and on bearing, rotate, thereby drive whole robot device by vertical direction to horizontal direction rotation or opposite.Motor 18 is generally selected the energy clockwise and anticlockwise motor for use, and under the drive of motor, robot device also can rotating like this.Fig. 2 has adopted gear-driven mode, and its principle of work and rubber tape type of drive are roughly the same.Make the manipulator rotation can also adopt belt drive or chain drive or the like mode.The rotative speed of regulating robot device can be by selecting and regulate the modes such as size of motor and bull wheel and steamboat.

Use many manipulators can finish various work.As shown in Figure 2, manipulator 10 and manipulator 20 are worked in coordination under the control of Circuits System program, finish the transmission work of sack, working process is as follows: rotating machine 18 is just changeing, driving manipulator 10 upwards rotates, when casing 202 1 ends are run into limit switch 13, motor 18 stops operating, at this moment sucker 213 openings of manipulator 10 upwards face the sack that of bag dish, and then, the controlled energising of the electromagnet of manipulator 10, its sucker will be controlled the electromagnetic valve of sucker and also switch on simultaneously to protracting, and will hold the sack that bag tray bottom goes out sack; System program makes the electromagnet dead electricity then, and sucker 213 sorption on one side sack is on one side toward retraction; Then system program makes the rotating machine counter-rotating, and the sucker of manipulator 10 will change downwards by the sorption sack, when the other end of casing 202 is run into limit switch 15, and rotating machine 18 stalls, at this moment the sucker sorption sack of manipulator 10 faces the sucker of manipulator 20; Next, the controlled energising simultaneously of the electromagnet of the electromagnet of manipulator 10 and manipulator 20 and electromagnetic valve, like this, two suckers are simultaneously to protracting, and the sucker 213 of manipulator 20 has also held the sack 30 that the sucker 213 of manipulator 10 is brought; Then, the electromagnet that makes manipulator 10 and manipulator 20 again is dead electricity simultaneously all, and the sack of the sucker of such two manipulators sorption on one side on one side so just opens sack separately simultaneously toward bouncing back, and can feed.When vacuumize clamp sack 30 with the bag clamping device 4 of closure part after, the electromagnetic valve that makes two manipulator suckers of control by system program is dead electricity simultaneously, such two suckers are just decontroled sack simultaneously.Like this, described manipulator has been finished from bag taking to the process of decontroling bag.

For transport process, can adopt singlechip microprocessor of the prior art to carry out respective design according to the real work requirements of process of wrapping machine, cooperate limit switch, the action of control evacuator, electromagnetic valve and relay etc.; So that finishing bag taking, this manipulator--passes the process that bag--stretching-bag--is decontroled bag.

It should be noted that at last: above embodiment only in order to the explanation the utility model and and the described technical scheme of unrestricted the utility model; Therefore, although this specification sheets has been described in detail the utility model with reference to each above-mentioned embodiment,, those of ordinary skill in the art should be appreciated that still and can make amendment or be equal to replacement the utility model; And all do not break away from the technical scheme and the improvement thereof of the spirit and scope of utility model, and it all should be encompassed in the middle of the claim scope of the present utility model.

Claims

1, a kind of robot device of wrapping machine, the expansion link that in the manipulator shell, is provided with electromagnet and is mated; It is characterized in that: in described robot device, be provided with conducting magnet core, be provided with armature, between conducting magnet core and armature, be provided with excitation coil at the relative position of conducting magnet core; Be provided with and armature at least two expansion links that are fixed together being parallel to described electromagnet and armature both sides; Skin at described expansion link further is arranged with retracing spring; The described expansion link that can do elastic motion leans out from a side of manipulator, is connected with an expansion plate in the end of the expansion link that leans out; On expansion plate, be provided with several perforation, in perforation, be equipped with at least one sucker;

2, the robot device of wrapping machine according to claim 1 is characterized in that: described conducting magnet core and armature are the E type.

3, the robot device of wrapping machine according to claim 1 is characterized in that: described conducting magnet core and armature are the C type.

4, the robot device of wrapping machine according to claim 1 is characterized in that: described conducting magnet core and armature are the I type.