EP3418206A1

EP3418206A1 - Bidirectional manipulator device for material conveyance and feeding and method thereofdevice

Info

Publication number: EP3418206A1
Application number: EP17885842.9A
Authority: EP
Inventors: Xinyun Wang; Xianzhi LIU; Shuo ZHANG
Original assignee: Qingdao Hkj Packaging Machinery Co Ltd
Current assignee: Qingdao Haikejia Intelligent Equipment Technology Co Ltd
Priority date: 2016-12-30
Filing date: 2017-10-24
Publication date: 2018-12-26
Anticipated expiration: 2037-10-24
Also published as: EP3418206B1; EP3418206A4; CN108216723A; WO2018121017A1; CN108216723B

Abstract

The present disclosure provides an opposite conveying manipulator feeding method which is characterized in that two conveying devices are provided; a plurality of material troughs are formed in the conveying devices; the two conveying devices receive weighed noodles from the two ends of an opposite conveying manipulator feeding device correspondingly; the noodles enter into the material troughs; noodle alignment and arrangement devices are arranged on the two sides of the material troughs; noodle alignment and arrangement is carried out on the end faces of the noodles through the swinging of baffles; vibration and material arrangement devices are arranged at the lower parts of the material troughs; gaps among the noodles or inclination of the noodles is eliminated through vibration; and the noodles are correspondingly and oppositely conveyed to the middle of the opposite conveying manipulator feeding device through the material troughs. The opposite conveying manipulator feeding method has the advantages that the structure is compact and simple; the input cost is low; the occupied space is small; two manipulators work alternately, so that the working efficiency is improved substantially; working is reliable; and the probability of causing noodle disorder in the conveying process is low.

Description

TECHNICAL FIELD

The disclosure relates to an opposite conveying manipulator feeding device and an opposite conveying manipulator feeding method, and belongs to the technical field of conveying machineries.

BACKGROUND

At present, before strip-type articles such as fine dried noodles enter a bag making device of a packing machine, the strip-type articles are usually conveyed by a scraping plate conveying line or a material box conveying line. The length of an existing fine dried noodle conveying line in the market is around 4 m generally. The probability of causing noodle disorder in the conveying process is high, and the occupied factory building space is large and the input cost is high.

SUMMARY

The present disclosure provides an opposite conveying manipulator feeding device and an opposite conveying manipulator feeding method for solving the problems that when a conveying belt is used before the fine dried noodles enter the bag making device of the packing machine, the probability of causing the noodle disorder is high, the factory building space occupied by the conveying belt is large and the input cost is high.
According to the technical scheme, the present disclosure discloses an opposite conveying manipulator feeding method, characterized by comprising the following steps:

(1) using two conveying devices to receive weighed noodles from the two ends of an opposite conveying manipulator feeding device correspondingly, and carrying out noodle alignment and arrangement on the end faces of the noodles through swinging of baffles after the noodles enter into material troughs, wherein noodle alignment and arrangement devices are arranged on the two sides of the material troughs; eliminating gaps among the noodles and inclination of the noodles through vibration by vibration and material arrangement devices arranged at the lower parts of the material troughs; and respectively and oppositely conveying the noodles to the middle of the opposite conveying manipulator feeding device through the material troughs;
(2) using two manipulator material grabbing mechanisms located between the two conveying devices to respectively grab noodles in the material troughs of the two conveying devices, directly putting the noodles into a lengthened bag making device of a packing machine, and allowing the two manipulators to act alternately, wherein when the left manipulator grabs the noodles, the right manipulator releases the noodles, when the right manipulator grabs the noodles, the left manipulator releases the noodles, and the two manipulators act alternately, thereby achieving alternate feeding of the noodles; and
(3) using noodle pushing devices located below the manipulators to carry out the noodle alignment and arrangement on the end faces of the noodles, and pushing the noodles to the appropriate positions in the bag making device, thereby achieving accurate and orderly packing.

The present disclosure provides an opposite conveying manipulator feeding device employing the opposite conveying manipulator feeding method. The opposite conveying manipulator feeding device is characterized by comprising a rack, manipulator material grabbing mechanisms arranged at the middle part of the rack, and noodle conveying and alignment mechanisms symmetrically arranged on the two sides of the rack.
The opposite conveying manipulator feeding method and the opposite conveying manipulator feeding device have the advantages that the structure is compact and simple; the input cost is low; the occupied space is small; two manipulators work alternately, so that the working efficiency is improved substantially; the working is reliable; and the probability of causing noodle disorder is low in the conveying process.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig.1 is an overall structural schematic diagram of an opposite conveying manipulator feeding device of an embodiment of the present disclosure; and
Fig.2 is a right view of the Fig.1.

DETAILED DESCRIPTION

See Fig.1 and Fig.2, which show an overall structural schematic diagram and a side view of an opposite conveying manipulator feeding device of an embodiment of the present disclosure. The opposite conveying manipulator feeding device is characterized by comprising a rack 11, manipulator material grabbing mechanisms arranged at the middle part of the rack 11, and noodle conveying and alignment mechanisms symmetrically arranged on the two sides of the rack 11.
The manipulator material grabbing mechanisms comprise manipulators 1, mechanical arms 2, driven gears 3, sector gears 4, eccentric wheels 5 and a parallel link rod 16; the manipulators 1 are arranged at one ends of the mechanical arms 2; the mechanical arms 2 are arranged on the rack 11; the driven gears 3 are arranged at the other ends of the mechanical arms 2 and are mutually engaged with the sector gears 4 arranged on the side surface of the rack 11; the eccentric wheels 5 are arranged on the side surface of the rack 11; the two ends of the parallel link rod 16 are respectively arranged on the two manipulators 1 and the parallel link rod 16 is used for keeping the opening directions of the manipulators 1 facing downwards vertically all the time; and when motors drives the eccentric wheels 5 to rotate, the eccentric wheels 5 transmit power to the sector gears 4 through link rods, the sector gears 4 drive the driven gears 3 to rotate, the driven gears 3 transmit rotating force to the mechanical arms 2, and then the manipulators 1 connected with the mechanical arms 2 are driven to make noodle grabbing reciprocating motion in noodle conveying grooves 6.
The noodle conveying and alignment mechanisms comprise the noodle conveying grooves 6, noodle alignment plates 7, vibration plates 8, five-groove wheels 9, rotating arm wheels 10, the rack 11, noodle pushing plates 12, electromagnetic clutches 13, swinging arms 14, a bag making device 15 and noodle alignment cross arms 17; two noodle conveying groove transmission mechanisms are respectively and symmetrically arranged on the two sides of the middle part of the rack 11; each noodle conveying groove transmission mechanism consists of a plurality of noodle conveying grooves 6 arranged on a transmission chain in a spaced manner; the noodle alignment plates 7 are fixed to the noodle alignment cross arms 17; the two ends of one noodle alignment cross arm 17 are arranged on one side of the rack 11 and the two ends of the other noodle alignment cross arm 17 are arranged on the other side of the rack 11; the vibration plates 8 are arranged on guide rails; the two sides of the guide rails are arranged on the rack 11; the noodle alignment plates 7 and the vibration plates 8 jointly finish arranging noodles falling into the noodle conveying grooves 6 from weighing machines; the five-groove wheels 9 and the rotating arm wheels 10 are arranged on the rack 11 in a mutually fitting manner; the motors drive the rotating arm wheels 10 to rotate to shift the five-groove wheels 9 to make intermittent rotation motion, so that regular advancing of the noodle conveying grooves 6 is realized; when each manipulator 1 grabs the noodles from the noodle conveying groove 6 and rotates to a space above the bag making device 15 of the packing machine, the manipulator 1 is opened, a large part of the noodles fall into the bag making device 15, and the part of noodles not falling into the bag making device 15 are pushed into the bag making device 15 in a manner that the corresponding electromagnetic clutch 13 arranged on the packing machine drives the corresponding swinging arm 14 to rotate and the swinging arm 14 controls the corresponding noodle pushing plate 12 to push the noodles through the corresponding link rod; and the noodle conveying and alignment mechanisms have the functions of carrying out noodle alignment and arrangement on the end faces of the noodles, and achieve the purpose of pushing the noodles to the appropriate positions in the bag making device 15, to be matched with bag film color code positions in the bag making device 15, thereby achieving accurate and orderly packing.
When the opposite conveying manipulator feeding device is in use, the motors drive the rotating arm wheels 10 to rotate to shift the five-groove wheels 9 to make intermittent rotation motion, so that regular advancing of the noodle conveying grooves 6 is realized; and when the noodle conveying grooves 6 advance, the noodle alignment plates 7 and the vibration plates 8 jointly finish arranging the noodles in the noodle conveying grooves 6. The motors drive the eccentric wheels 5 to rotate at the same time, the eccentric wheels 5 transmit power to the sector gears 4 through the link rods, the sector gears 4 drive the driven gears to rotate, the driven gears 3 transmit rotating force to the mechanical arms 2, and then the manipulators 1 connected with the mechanical arms 2 are driven to make noodle grabbing reciprocating motion in the noodle conveying grooves 6; when one of the manipulators 1 grabs the noodles from the noodle conveying groove 6 and rotates to the space above the bag making device 15 of the packing machine, the manipulator 1 is opened, around two thirds of the noodles fall into the bag making device 15, and the part of noodles not falling into the bag making device 15 are pushed into the bag making device 15 in a manner that the corresponding electromagnetic clutch 13 arranged on the packing machine drives the corresponding swinging arm 14 to rotate and the swinging arm 14 drives the corresponding noodle pushing plate 12 to push the noodles through the corresponding link rod. In the meanwhile, the other manipulator 1 transmits the power to the corresponding sector gear 4 through the corresponding eccentric wheel 5, the sector gear 4 drives the corresponding driven gear 3 to rotate, the driven gear 3 transmits rotating force to the corresponding mechanical arm 2, and then the manipulator 1 connected with the mechanical arm 2 is driven to move to the space above the noodle conveying groove 6 to grab the noodles; and the two manipulators 1 make reciprocating motion alternately.

Claims

An opposite conveying manipulator feeding method, characterized in comprising:
(1) using two conveying devices to receive weighed noodles from the two ends of an opposite conveying manipulator feeding device correspondingly, and carrying out noodle alignment and arrangement on the end faces of the noodles through swinging of baffles after the noodles enter into material troughs, wherein noodle alignment and arrangement devices are arranged on the two sides of the material troughs; eliminating gaps among the noodles or inclination of the noodles through vibration by vibration and material arrangement devices arranged at the lower parts of the material troughs; and respectively and oppositely conveying the noodles to the middle of the opposite conveying manipulator feeding device through the material troughs;

(2) using two manipulator material grabbing mechanisms located between the two conveying devices to respectively grab noodles in the material troughs of the two conveying devices, directly putting the noodles into a lengthened bag making device of a packing machine, and allowing the two manipulators to act alternately, wherein when the left manipulator grabs the noodles, the right manipulator releases the noodles, when the right manipulator grabs the noodles, the left manipulator releases the noodles, and the two manipulators act alternately, thereby achieving alternate feeding of the noodles; and

(3) using noodle pushing devices located below the manipulators to carry out the noodle alignment and arrangement on the end faces of the noodles, and pushing the noodles to the appropriate positions in the bag making device, thereby achieving accurate and orderly packing.
An opposite conveying manipulator feeding device employing the opposite conveying manipulator feeding method of claim 1, characterized in comprising: a rack (11), manipulator material grabbing mechanisms arranged at the middle part of the rack (11), and noodle conveying and alignment mechanisms symmetrically arranged on the two sides of the rack (11).
The opposite conveying manipulator feeding device of claim 4, characterized in that,
the manipulator material grabbing mechanisms comprise manipulators (1), mechanical arms (2), driven gears (3), sector gears (4), eccentric wheels (5) and a parallel link rod (16); the manipulators (1) are arranged at one ends of the mechanical arms (2); the mechanical arms (2) are arranged on the rack (11); the driven gears (3) are arranged at the other ends of the mechanical arms (2) and are mutually engaged with the sector gears (4) arranged on the side surface of the rack (11); the eccentric wheels (5) are arranged on the side surface of the rack (11); the two ends of the parallel link rod (16) are respectively arranged on the two manipulators (1) and the parallel link rod (16) is used for keeping the opening directions of the manipulators (1) facing downwards vertically all the time; and when motors drives the eccentric wheels (5) to rotate, the eccentric wheels (5) transmit power to the sector gears (4) through link rods, the sector gears (4) drive the driven gears (3) to rotate, the driven gears (3) transmit rotating force to the mechanical arms (2), and then the manipulators (1) connected with the mechanical arms (2) are driven to make noodle grabbing reciprocating motion in noodle conveying grooves (6).
The opposite conveying manipulator feeding device of claim 4, characterized in that,
the noodle conveying and alignment mechanisms comprise the noodle conveying grooves (6), noodle alignment plates (7), vibration plates (8), five-groove wheels (9), rotating arm wheels (10), the rack (11), noodle pushing plates (12), electromagnetic clutches (13), swinging arms (14), the bag making device (15) and noodle alignment cross arms (17); two noodle conveying groove transmission mechanisms are respectively and symmetrically arranged on the two sides of the middle part of the rack (11); each noodle conveying groove transmission mechanism consists of a plurality of noodle conveying grooves (6) arranged on a transmission chain in a spaced manner; the noodle alignment plates (7) are fixed to the noodle alignment cross arms (17); the two ends of one noodle alignment cross arm (17) are arranged on one side of the rack (11) and the two ends of the other noodle alignment cross arm (17) are arranged on the other side of the rack (11); the vibration plates (8) are arranged on guide rails; the two sides of the guide rails are arranged on the rack (11); the noodle alignment plates (7) and the vibration plates (8) jointly finish arranging noodles falling into the noodle conveying grooves (6) from weighing machines; the five-groove wheels (9) and the rotating arm wheels (10) are arranged on the rack (11) in a mutually fitting manner; the motors drive the rotating arm wheels (10) to rotate to shift the five-groove wheels (9) to make intermittent rotation motion, so that regular advancing of the noodle conveying grooves (6) is realized; when each manipulator (1) grabs the noodles from the noodle conveying groove (6) and rotates to a space above the bag making device (15) of the packing machine, the manipulator (1) is opened, a large part of the noodles fall into the bag making device (15), and the part of noodles not falling into the bag making device (15) are pushed into the bag making device (15) in a manner that the corresponding electromagnetic clutch (13) arranged on the packing machine drives the corresponding swinging arm (14) to rotate and the swinging arm (14) controls the corresponding noodle pushing plate (12) to push the noodles through the corresponding link rod; and the noodle conveying and alignment mechanisms have the functions of carrying out noodle alignment and arrangement on the end faces of the noodles, and achieve the purpose of pushing the noodles to the appropriate positions in the bag making device (15), to be matched with bag film color code positions in the bag making device (15), thereby achieving accurate and orderly packing.