阅读说明：本技术 机械爪以及包装机 (Mechanical claw and packaging machine ) 是由 李泽伟 于 2019-02-22 设计创作，主要内容包括：本发明提出一种机械爪以及包装机。该机械爪,包括旋转盘,沿所述旋转盘周向分布并与所述旋转盘联动的多个夹合组件,与多个所述夹合组件对应连接以控制所述夹合组件夹合或分开的驱动件,分别与多个所述驱动件电性连接以单独控制每个驱动件的控制器,该包装机,包括上述机械爪。本发明所述的机械爪以及包装机,通过沿旋转盘周向分部的多个夹合组件,与多个夹合组件对应连接的多个驱动件,实现多个工位同步进行包装盒的夹取,又通过与多个驱动件对应连接的控制器,单独控制每个夹合组件的动作,从而在某一夹合组件工作出现问题时,可以单独进行调整,且不会妨碍其他的工位的工作。(The invention provides a mechanical claw and a packaging machine. The mechanical claw comprises a rotating disc, a plurality of clamping assemblies, driving pieces and a controller, wherein the clamping assemblies are distributed along the circumferential direction of the rotating disc and are linked with the rotating disc, the driving pieces are correspondingly connected with the clamping assemblies to control the clamping assemblies to clamp or separate, the controller is electrically connected with the driving pieces to control each driving piece independently, and the packaging machine comprises the mechanical claw. According to the mechanical claw and the packaging machine, the plurality of clamping assemblies distributed along the circumferential direction of the rotating disc and the plurality of driving pieces correspondingly connected with the plurality of clamping assemblies are used for synchronously clamping the packaging boxes at a plurality of stations, and the action of each clamping assembly is independently controlled through the controller correspondingly connected with the plurality of driving pieces, so that when a certain clamping assembly works, the clamping assembly can be independently adjusted, and the work of other stations cannot be hindered.)

1. The mechanical claw is characterized by comprising a rotating disk, a plurality of clamping assemblies distributed along the circumferential direction of the rotating disk and linked with the rotating disk, driving pieces correspondingly connected with the plurality of clamping assemblies to control the clamping assemblies to clamp or separate, and controllers respectively electrically connected with the plurality of driving pieces to control each driving piece independently.

2. The gripper of claim 1, further comprising a detector configured to detect whether material enters the gripping assembly, the detector being electrically coupled to the controller.

3. The gripper of claim 1, wherein a plurality of said nip assemblies are evenly spaced circumferentially of said rotatable disk.

4. The gripper of claim 1, further comprising a support plate disposed on one side of said nip assembly along an axial direction of said rotatable disk, said support plate comprising a slot.

5. The gripper of claim 1, wherein the clamping assembly comprises two clamping members disposed opposite to each other, and a limiting member disposed on one of the clamping members and protruding toward a direction close to the other clamping member, so as to limit displacement of the material between the two clamping members along the direction of the clamping members, and the limiting member is movable along the clamping members.

6. The gripper of claim 5, wherein the clamping element has a slot, and the position-limiting element comprises a first protrusion corresponding to the slot.

7. The gripper of claim 6, wherein the position-limiting member comprises a first through hole corresponding to the sliding slot, and further comprising a positioning bolt inserted into the first through hole and the sliding slot to limit the displacement of the position-limiting member.

8. A gripper according to claim 5, wherein the gripper comprises an open end provided with a second protrusion protruding in the direction of the other gripper.

9. A packaging machine comprising a gripper as claimed in any one of claims 1-8.

10. The packaging machine of claim 9, further comprising a loading unit and/or a box sealing unit disposed in correspondence with the nip assembly, the loading unit and/or the box sealing unit being electrically connected to the controller.

Technical Field

The invention belongs to the field of packaging machines, and particularly relates to a mechanical claw and a packaging machine.

Background

The conventional box filling machine, for example, for beverage packaging in a square shape, generally includes a sub-packaging device for dividing products conveyed on a single channel into multiple channels, a product stacking assembly for stacking the products fed from the multiple channels into a desired number, a paper magazine for storing the carton boxes, and conveying the cartons one by one to the desired position, a box filling assembly for conveying the stacked products to the carton boxes to perform pre-forming, and a box sealing assembly for the carton boxes, wherein the box sealing assembly includes folding each part of the carton boxes, a packing assembly for completely wrapping the products in the carton boxes, a side sealing assembly for sealing two side faces of the carton boxes with a box sealing adhesive, and a corner sealing assembly for sealing the corner positions of the carton boxes with a box sealing adhesive. The box filler realizes a full-automatic box filling process, is time-saving and labor-saving, and is widely applied in the market.

The existing packaging machine is characterized in that when the packaging box is grabbed, the existing packaging machine is synchronously moved by a plurality of clamping jaws on a plane, the clamping jaws are synchronously clamped and released, the clamped packaging box is transferred to a designated position to complete corresponding operation, so that synchronous packaging of a plurality of packaging boxes is realized, however, the occupied area of the packaging machine is small, one fault easily occurs when the packaging box is synchronously packaged, and a plurality of stations are required to be stopped for adjustment.

Disclosure of Invention

The invention provides a mechanical claw and a packaging machine, aiming at the technical problems, wherein the mechanical claw and the packaging machine can be used for synchronously packaging a plurality of packaging boxes, but can also be used for timely adjusting one packaging box in case of failure.

In order to achieve the purpose, the invention adopts the technical scheme that:

the mechanical claw comprises a rotating disk, a plurality of clamping assemblies, driving pieces and a controller, wherein the clamping assemblies are distributed along the circumferential direction of the rotating disk and are linked with the rotating disk, the driving pieces are correspondingly connected with the clamping assemblies to control the clamping assemblies to clamp or separate, and the controller is electrically connected with the driving pieces to control each driving piece independently.

Preferably, the clamping device further comprises a detection piece for detecting whether a material enters the clamping assembly, and the detection piece is electrically connected with the controller.

Preferably, a plurality of the clamping assemblies are uniformly arranged at intervals along the circumferential direction of the rotating disc.

Preferably, the clamping assembly further comprises a bearing plate arranged on one side of the rotating disc in the axial direction, and the bearing plate comprises a slot hole.

Preferably, the clamping assembly comprises two clamping pieces which are oppositely arranged, and a limiting piece which is arranged on one of the clamping pieces and protrudes towards the direction close to the other clamping piece, so as to limit the displacement of the material between the two clamping pieces along the direction of the clamping pieces, and the limiting piece can move along the clamping pieces.

Preferably, a sliding groove is formed in the clamping piece, and the limiting piece comprises a first protruding portion corresponding to the sliding groove.

Preferably, the limiting member includes a first through hole corresponding to the sliding groove, and further includes a positioning bolt inserted into the first through hole and the sliding groove to limit the displacement of the limiting member.

Preferably, the clamping piece comprises an opening end, and the opening end is provided with a second protruding part protruding towards the other clamping piece.

A packaging machine comprising a gripper as claimed in any one of the preceding claims.

Preferably, the clamping assembly further comprises a loading unit and/or a box sealing unit which are arranged corresponding to the clamping assembly, and the loading unit and/or the box sealing unit are electrically connected with the controller.

Compared with the prior art, the invention has the advantages and positive effects that:

according to the mechanical claw, the plurality of clamping assemblies distributed along the circumferential direction of the rotating disc and the plurality of driving pieces correspondingly connected with the plurality of clamping assemblies are used for synchronously clamping the packaging boxes at a plurality of stations, and the action of each clamping assembly is independently controlled through the controller correspondingly connected with the plurality of driving pieces, so that when a certain clamping assembly works, the clamping assembly can be independently adjusted, and the work of other stations cannot be hindered.

The packaging machine comprises the mechanical claw, a plurality of clamping assemblies distributed along the circumferential direction of the rotating disc and a plurality of driving pieces correspondingly connected with the clamping assemblies, so that a plurality of stations synchronously clamp the packaging box, and the action of each clamping assembly is independently controlled by a controller correspondingly connected with the driving pieces, so that when a certain clamping assembly works, the clamping assembly can be independently adjusted, and the work of other stations cannot be hindered.

Drawings

FIG. 1 is a first schematic structural view of a gripper according to the present invention;

FIG. 2 is a second schematic structural view of the gripper of the present invention;

FIG. 3 is an enlarged view of a portion of the gripper shown in FIG. 1 at A;

FIG. 4 is a schematic view of a portion of a gripper according to the present invention;

FIG. 5 is a second schematic view of a partial structure of the gripper of the present invention;

FIG. 6 is an enlarged view of a portion of the gripper shown in FIG. 4 at B;

FIG. 7 is an enlarged view of a portion of the gripper shown in FIG. 4 at C;

FIG. 8 is an enlarged partial view of the gripper shown in FIG. 5 at D;

fig. 9 is a schematic view of a gripper according to the present invention.

In the above figures: 1. rotating the disc; 2. a clamping assembly; 21. a clamping member; 211. a chute; 212. an open end; 2121. a second boss portion; 2122. a first guide surface; 213. a closed end; 2131. a groove; 22. a limiting member; 221. a first boss portion; 222. a first through hole; 223. positioning the bolt; 224. a position limiting member body; 225. an extension; 3. a drive member; 4. a controller; 5. a detection member; 6. a support plate; 61. a slot; 7. a mounting member; 71. a second through hole; 72. a limit screw; 8. a charging unit; 9. and a box sealing unit.

Detailed Description

The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.

In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "front", "rear", and the like indicate orientations or positional relationships based on positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1-9, the present invention provides a gripper, which includes a rotating disc 1, a plurality of clamping assemblies 2 distributed along the circumference of the rotating disc 1 and linked with the rotating disc 1, driving members 3 correspondingly connected to the plurality of clamping assemblies 2 to control the clamping or separating of the clamping assemblies 2, a controller 4 electrically connected to the plurality of driving members 3 to control each driving member 3 individually, the number of clamping assemblies 2 being set as required, the distribution of the clamping assemblies in the circumference of the rotating disc 1 being set as appropriate, and being capable of being staggered in various types, and also being spaced in one type, and being connected to the rotating disc 1 by a servo motor or a stepping motor to drive the rotating disc 1 to rotate, the shape of the rotating disc 1 being preferably circular, and also being adjustable according to the division form of other components of a packaging machine, the controller 4 can adopt programmable controllers such as a PLC and the like, and is easy to edit and control.

According to the mechanical claw, the clamping of the packing boxes is synchronously performed at a plurality of stations through the plurality of clamping assemblies 2 distributed along the circumferential direction of the rotating disc 1 and the plurality of driving pieces 3 correspondingly connected with the plurality of clamping assemblies 2, and the action of each clamping assembly 2 is independently controlled through the controller 4 correspondingly connected with the plurality of driving pieces 3, so that when a problem occurs in the operation of one clamping assembly 2, the mechanical claw can be independently adjusted, and the operation of other stations cannot be hindered.

Further, the device also comprises a detection piece 5 for detecting whether materials enter the clamping component 2 or not, the detection piece 5 is electrically connected with the controller 4, when the detecting member 5 does not detect that the material enters the clamping assembly 2, no electric signal is transmitted to the controller 4, the controller 4 does not control the clamping of the clamping component 2, and the clamping component 2 continues to rotate along with the rotating disk 1 to other stations, such as the corresponding positions of mechanisms such as loading or box sealing, when the controller 4 does not receive a signal of material entering, the station to which the clamping assembly 2 rotates does not operate, thereby realizing the adjustment of the single clamping component 2, and not influencing the continuous work of other clamping components 2, the detection piece 5 is preferably a laser detection sensor, and the detection result is relatively accurate and the signal is stable.

Furthermore, a plurality of clamping components 2 are uniformly arranged at intervals along the circumferential direction of the rotating disk 1, so that the rotating rhythm of the rotating disk 1 is set more simply, the clamping components are only required to be arranged according to the angle corresponding to the interval length of the clamping components 2, the operating process of other components or the signal of other components is required to rotate, and the setting of a plurality of rotating angles is not required.

Further comprises a bearing plate 6 arranged on one side of the clamping assembly 2 along the axial direction of the rotating disc 1, the supporting plate 6 comprises a slotted hole 61, and the arrangement of the supporting plate 6 effectively ensures that the materials or the packaging boxes clamped by the clamping component 2 cannot fall off, particularly when the packaging boxes are sealed or filled, effectively preventing the package box clamped by the clamping component 2 or the materials in the package box from falling off, the bearing plate 6 is provided with a slotted hole 61, used for reserving space for packaging the lower part of the packing box after the packing box is clamped by the clamping component 2, the length of the slot 61 is set according to the requirement, preferably the length corresponding to three stations, can adapt to the bottom packaging of different packaging boxes, after the packaging box bottom is packaged, the positions corresponding to other stations are used for bearing, and the packaging box or materials are prevented from falling.

Further, the clamping assembly 2 includes two clamping pieces 21 that set up relatively, and locate one of them clamping piece 21 is last and to being close to another the bellied locating part 22 of clamping piece 21 direction is located two with the restriction material between the clamping piece 21 is followed the displacement of clamping piece 21 direction, locating part 22 can be followed the clamping piece 21 removes, through locating part 22 on one of them clamping piece 1, limits the position of packing carton to restrict the box opening of packing carton on predetermined position, when corresponding different packing cartons, can remove locating part 22 to suitable position along clamping piece 21, thereby restrict the box opening of packing carton on predetermined position, application scope is wider.

Further, be equipped with spout 211 on the clamping piece 21, locating part 22 include with the corresponding first boss 221 of spout 211, locating part 2 include with the corresponding first boss 221 of spout 11, first boss 221 inserts and locates in the spout 211, locating part 22 can follow clamping piece 21 removes, easily installs and fix a position to can be simple adjust.

Further, the limiting member 22 includes a first through hole 222 corresponding to the sliding groove 211, and further includes a positioning bolt 223 inserted into the first through hole 222 and the sliding groove 211 to limit the displacement of the limiting member 22, where the positioning bolt 223 passes through the first through hole 222 and the sliding groove 211 to position the limiting member 22 at a set position, so as to avoid the situation that the limiting member 22 moves due to an excessive impact force of the packing box during use, and prevent the position of the packing box from shifting due to the movement of the limiting member 22.

Further, the clamping member 21 includes an opening end 212, the opening end 212 is provided with a second protrusion 2121 protruding toward the other clamping member 21 to limit the displacement of the material or the packaging box between the two clamping members 21, and prevent the material or the packaging box from falling from the opening end 212, where one side of the second protrusion 2121 close to the limiting member 22 is a right angle and corresponds to an edge of the exterior of the packaging box, and the length of the second protrusion 2121 can be set as required.

As a further optimization of the embodiment, the limiting member 22 includes a limiting member body 224 and an extending portion 225 disposed at one end of the limiting member body 224, the extending portion 225 is disposed such that when the two clamping members 21 are separated, the limiting member 22 can effectively block the package, when the two clamping members 21 are clamped, the limiting member 22 does not affect the displacement of the two clamping members 21, and when there is no other limiting structure, the limiting member body 224 further defines a minimum distance between the two clamping members 21, so as to prevent the package from being broken; the clamping piece 21 comprises a closed end 213 with a groove 2131 to be clamped with a mounting piece 7, the driving piece 3 is connected with the clamping component 2 through the mounting piece 7, the arrangement of the groove 2131 makes the mounting position more definite, and the situation that the positions of two opposite clamping pieces 21 do not correspond after mounting is avoided, so that the alignment of the two clamping pieces 21 is facilitated, and the groove 2131 is preferably concave and is easier to mount; the mounting member 4 is provided with a second through hole 71, and further comprises a limit screw 72 penetrating through the second through hole 71 to limit the distance between the two mounting members 7, an internal thread can be arranged in the second through hole 71, the limit screw 72 can be connected with the second through hole 71 through the internal thread, and can also be positioned through a nut, when in use, the minimum distance between the two mounting members 7 can be adjusted by adjusting the length of the two limit screws 72 protruding or recessed in the mounting members 7, so as to adjust the minimum distance between the two clamping members 21, the structure cost is low, the replacement is easy, preferably, an air cylinder is connected with the two mounting members 7 to drive the clamping and the separation of the two mounting members 7, one end of the open end 212, which is far away from the limiting member 22, is provided with a first guide surface 2122, get into two with the guide material between the clamping part 21, when this gripper was used for snatching the packing carton, often with cylinder and sucking disc cooperation, the sucking disc absorbs the packing carton and moves to two between the clamping part 21, packing carton or for opening completely or the position has the deviation this moment, often can with open end 212 bumps mutually, the setting of first spigot surface 2122, the effectual entering that has guaranteed that the packing carton can be smooth is two between the clamping part 21, the preferred arc of first spigot surface 2122 can not appear the condition emergence of card hanging when contacting with packing carton or material.

The invention also provides a packaging machine, which comprises the mechanical claw, wherein the mechanical claw is divided into a plurality of clamping components 2 along the circumferential direction of the rotating disc 1, a plurality of driving parts 3 correspondingly connected with the clamping components 2 are used for synchronously clamping the packaging boxes at a plurality of stations, and the controller 4 correspondingly connected with the driving parts 3 is used for independently controlling the action of each clamping component 2, so that when a certain clamping component 2 has a problem in operation, the clamping component can be independently adjusted, and the operation of other stations is not hindered.

Further, the clamping assembly comprises a loading unit 8 and/or a box sealing unit 9 which are arranged corresponding to the clamping assembly 2, wherein the loading unit 8 and/or the box sealing unit 9 are electrically connected with the controller 4, so that when no packing box is arranged in the clamping assembly 2, the loading unit 8 and/or the box sealing unit 9 can not be operated correspondingly, energy is saved, and unnecessary loss caused by operation of an empty station is avoided.

The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.