EP3418206B1 - Bidirektionale manipulatorvorrichtung zur materialförderung und das verfahren - Google Patents

Bidirektionale manipulatorvorrichtung zur materialförderung und das verfahren Download PDF

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Publication number
EP3418206B1
EP3418206B1 EP17885842.9A EP17885842A EP3418206B1 EP 3418206 B1 EP3418206 B1 EP 3418206B1 EP 17885842 A EP17885842 A EP 17885842A EP 3418206 B1 EP3418206 B1 EP 3418206B1
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EP
European Patent Office
Prior art keywords
noodle
noodles
conveying
manipulator
alignment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP17885842.9A
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English (en)
French (fr)
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EP3418206A4 (de
EP3418206A1 (de
Inventor
Xinyun Wang
Xianzhi LIU
Shuo ZHANG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Haikejia Intelligent Equipment Technology Co Ltd
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Qingdao Haikejia Intelligent Equipment Technology Co Ltd
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Publication of EP3418206A1 publication Critical patent/EP3418206A1/de
Publication of EP3418206A4 publication Critical patent/EP3418206A4/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B19/00—Packaging rod-shaped or tubular articles susceptible to damage by abrasion or pressure, e.g. cigarettes, cigars, macaroni, spaghetti, drinking straws or welding electrodes
    • B65B19/34—Packaging other rod-shaped articles, e.g. sausages, macaroni, spaghetti, drinking straws, welding electrodes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/40—Arranging and feeding articles in groups by reciprocating or oscillatory pushers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/44—Arranging and feeding articles in groups by endless belts or chains

Definitions

  • 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 CN 106005565 discloses a method and a device for noodle conveying, wherein the conveying device comprises noodle conveying grooves which receive weighed noodles.
  • the present disclosure provides an opposite conveying manipulator feeding device as specified in claim 2 and an opposite conveying manipulator feeding method as specified in claim 1 or 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.
  • the present disclosure discloses an opposite conveying manipulator feeding method, characterized by comprising the following steps:
  • the present disclosure provides an opposite conveying manipulator feeding device according to claim 2 employing the opposite conveying manipulator feeding method.
  • 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.
  • 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
  • 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
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vending Machines For Individual Products (AREA)

Claims (2)

  1. Zufuhrverfahren für einen gegenüberliegenden Fördermanipulator, wobei das Verfahren umfasst:
    (1) Verwenden von zwei Fördervorrichtungen, um gewogene Nudeln von den zwei Enden einer gegenüberliegenden Fördermanipulator-Zufuhrvorrichtung entsprechend aufzunehmen, Durchführen einer Nudelausrichtung und -anordnung an den Endflächen der Nudeln durch Schwingen von Leitblechen, nachdem die Nudeln in Materialtröge eingetreten sind, wobei die Nudelausrichtung und -anordnung auf beiden Seiten der Materialtröge angeordnet ist; Beseitigen von Lücken zwischen den Nudeln oder Neigung der Nudeln mithilfe von Vibration durch Vibrations- und Materialanordnungsvorrichtungen (8), die an den unteren Teilen der Materialtröge angeordnet sind;
    jeweiliges und entgegengesetztes Fördern der Nudeln zur Mitte der gegenüberliegenden Fördermanipulator-Zuführvorrichtung durch die Materialtröge;
    (2) Verwenden von zwei zwischen den beiden Fördereinrichtungen angeordneten Manipulator-Materialgreifmechanismen (1), um jeweils Nudeln in den Materialtrögen der beiden Fördereinrichtungen zu greifen,
    direktes Einlegen der Nudeln in eine Beutelherstellungsvorrichtung einer verlängerten Verpackungsmaschine,
    Erlauben eines alternativen Betriebs der zwei Manipulatoren, wobei, wenn der linke Manipulator die Nudeln greift, der rechte Manipulator die Nudeln freigibt, wenn der rechte Manipulator die Nudeln greift, der linke Manipulator die Nudeln freigibt, wodurch eine alternative Förderung der Nudeln erreicht wird; und
    (3) Verwenden von unterhalb der Manipulatoren befindlichen Nudelschiebevorrichtungen (12), um die Nudelausrichtung und -anordnung an den Endflächen der Nudeln durchzuführen, Schieben der Nudeln in die entsprechenden Positionen in der Beutelherstellungsvorrichtung (15), wodurch eine genaue und geordnete Verpackung erreicht wird.
  2. Zuführvorrichtung für einen gegenüberliegenden Fördermanipulator, die das Zufuhrverfahren für einen gegenüberliegenden Fördermanipulator nach Anspruch 1 verwendet,
    wobei die Vorrichtung ein Maschinengestell (11), im mittleren Teil des Maschinengestells (11) angeordnete Manipulatormaterial-Greifmechanismen und zwei symmetrisch an den beiden Seiten des mittleren Teils der Zahnstange (11) angeordnete Nudelförder- und Ausrichtungsmechanismen umfasst, und
    wobei die Manipulatormaterial-Greifmechanismen Manipulatoren (1), mechanische Arme (2), angetriebene Zahnräder (3), Sektorzahnräder (4), Exzenterräder (5), Nudelfördernuten (6) und eine Parallelverbindungsstange (16) umfassen; wobei die Manipulatoren (1) an einem der Enden der mechanischen Arme (2) angeordnet sind; wobei die mechanischen Arme (2) auf der Zahnstange (11) angeordnet sind; wobei die angetriebenen Zahnräder (3) an dem anderen der Enden der mechanischen Arme (2) angeordnet sind und mit den auf der Seitenfläche der Zahnstange (11) angeordneten Sektorzahnrädern (4) miteinander in Eingriff stehen; wobei die Exzenterräder (5) an der Seitenfläche der Zahnstange (11) angeordnet sind; wobei die beiden Enden der Parallelverbindungsstange (16) jeweils an den beiden Manipulatoren (1) angeordnet sind, und die Parallelverbindungsstange (16) dazu dient, dass die Öffnungsrichtungen der Manipulatoren (1) ständig vertikal nach unten zu halten; und wobei Elektromotoren ausgebildet sind, um die Exzenterräder (5) zur Drehung anzutreiben, die Exzenterräder (5) ausgebildet sind, um Kraft über Verbindungsstangen auf die Sektorzahnräder (4) zu übertragen, die Sektorzahnräder (4) ausgebildet sind, um die angetriebenen Räder (4) zur Drehung der Zahnräder (3) anzutreiben, die angetriebenen Zahnräder (3) ausgebildet sind, um eine Drehkraft auf die mechanischen Arme (2) zu übertragen, und wobei die mit den mechanischen Armen (2) verbundenen Manipulatoren (1) so ausgebildet sind, angetrieben zu werden, dass die Nudeln eine Greifhin- und herbewegung in Nudelfördernuten (6) ausführen; und
    wobei die Nudelförderung und -ausrichtung ferner Nudelausrichtungsplatten (7), Vibrationsplatten (8), Fünfnutenräder (9), Dreharmräder (10), Nudelschiebeplatten (12), elektromagnetische Kupplungen (13), Schwingarme (14), eine Beutelherstellungsvorrichtung (15) und Nudelausrichtungskreuzarme (17) umfasst; wobei jeder Übertragungsmechanismus für Nudelfördernuten aus mehreren Nudelfördernuten (6) besteht, die beabstandet auf einer Übertragungskette angeordnet sind; wobei die Nudelausrichtungsplatten (7) an den Nudelausrichtungsquerarmen (17) befestigt sind; wobei die zwei Enden eines der Nudelausrichtungskreuzarme (17) auf einer Seite des Maschinengestells (11) angeordnet sind und die zwei Enden des anderen der Nudelausrichtungskreuzarme (17) auf der anderen Seite des Maschinengestells (11) angeordnet sind; wobei die Vibrationsplatten (8) auf Führungsschienen angeordnet sind; wobei die zwei Seiten der Führungsschienen auf dem Maschinengestell (11) angeordnet sind; wobei die Nudelausrichtungsplatten (7) und die Vibrationsplatten (8) so ausgebildet sind, dass sie gemeinsam das Ordnen der Nudeln erledigen, die von Waagen in die Nudelfördernuten (6) fallen; wobei die Fünfnutenräder (9) und die Dreharmräder (10) ineinander eingreifend an der Zahnstange (11) angeordnet sind; wobei die Elektromotoren dazu ausgebildet sind, die Dreharmräder (10) zur Drehung antreiben, um die Fünfnutenräder (9) zu verschieben und somit eine intermittierende Drehbewegung auszuführen, so dass ein regelmäßiges Vorschieben der Nudelfördernuten (6) realisiert wird; wobei, wenn jeder Manipulator (1) die Nudeln aus der Nudelfördernut (6) greift und sich in einen Raum oberhalb der Beutelherstellungsvorrichtung (15) der Verpackungsmaschine dreht, der Manipulator (1) so offen ausgebildet ist, dass ein großer Teil der Nudeln in die Beutelherstellungsvorrichtung (15) fällt, und der Teil der Nudeln, der nicht in die Beutelherstellungsvorrichtung (15) fällt, dadurch in die Beutelherstellungsvorrichtung (15) geschoben wird, dass die entsprechende, an der Verpackungsmaschine angeordnete elektromagnetische Kupplung (13) ausgebildet ist, um den entsprechenden Schwingarm (14) zur Drehung anzutreiben, und der Schwingarm (14) dazu ausgebildet ist, die entsprechende Nudelschiebplatte (12) zu steuern, um die Nudeln durch die entsprechende Verbindungsstange zu schieben; und wobei der Nudelförder- und -ausrichtungsmechanismus ausgebildet ist, um die Funktion des Ausführens der Nudelausrichtung und -anordnung an den Endflächen der Nudeln zu übernehmen und das Ziel zu erreichen, die Nudeln in die geeigneten Positionen in der Beutelherstellungsvorrichtung (15) zu schieben, um sich an die Farbcodepositionen des Beutelfilms in der Beutelherstellungsvorrichtung (15) anzupassen, wodurch eine genaue und geordnete Verpackung erreicht wird.
EP17885842.9A 2016-12-30 2017-10-24 Bidirektionale manipulatorvorrichtung zur materialförderung und das verfahren Active EP3418206B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611252427.6A CN108216723B (zh) 2016-12-30 2016-12-30 对向输送机械手投料装置及其方法
PCT/CN2017/107401 WO2018121017A1 (zh) 2016-12-30 2017-10-24 对向输送机械手投料装置及其方法

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EP3418206A1 EP3418206A1 (de) 2018-12-26
EP3418206A4 EP3418206A4 (de) 2019-09-18
EP3418206B1 true EP3418206B1 (de) 2020-09-09

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CN109398835A (zh) * 2018-12-08 2019-03-01 温州海航机械有限公司 一种吸管计数输送机
CN111891457A (zh) * 2020-07-20 2020-11-06 上海紫江企业集团股份有限公司 一种瓶胚装箱机
CN112092011A (zh) * 2020-09-22 2020-12-18 邵阳学院 一种抓取传动结构及其抓取传动控制手臂
CN113562436B (zh) * 2021-06-08 2023-01-03 安徽安庆南风日化有限责任公司 一种洗衣液加工生产的储液罐上盖机械手
CN114278238B (zh) * 2021-12-22 2024-05-28 中煤科工集团西安研究院有限公司 一种自动化钻杆装卸设备

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Also Published As

Publication number Publication date
WO2018121017A1 (zh) 2018-07-05
EP3418206A4 (de) 2019-09-18
CN108216723B (zh) 2023-07-18
EP3418206A1 (de) 2018-12-26
CN108216723A (zh) 2018-06-29

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