Knife sealing device for packaging machine based on multi-axis linkage

Abstract

The invention discloses a cutter sealing device for a packaging machine based on multi-axis linkage, and relates to the technical field of packaging machinery. Comprising a knife sealing frame, an upper heat knife sealing assembly and a lower heat knife sealing assembly. The upper heat knife sealing assembly is assembled on the knife sealing frame through a first multi-axis linkage driving mechanism, the lower heat knife sealing assembly is assembled on the knife sealing frame through a second multi-axis linkage driving mechanism, and the first multi-axis linkage driving mechanism drives the upper heat knife sealing assembly to move in a set plane to generate two plane freedom degrees. The second multi-axis linkage driving mechanism drives the lower heat knife sealing assembly to move in the set plane, and two plane freedom degrees are generated. The first multi-axis linkage driving mechanism is matched with the second multi-axis linkage driving mechanism, and meshing of the upper heat knife sealing assembly and the lower heat knife sealing assembly is achieved. According to the knife sealing device, the rack structure and transmission parts of the knife sealing device are simplified, the effective load rate of the knife sealing device is increased, heat sealing action response is more efficient, error accumulation between mechanisms is reduced, and precision is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging machinery, and more particularly to a knife sealing device for a packaging machine based on multi-axis linkage. Background Art

[0002] The knife sealing device is a sealing device used in the field of packaging machinery for heat sealing or heat sealing cutting of packaging bags or packaging films. For example, in a pillow packaging machine, the continuously input packaging film is wrapped on the material through the film former, and the two sides of the packaging film are overlapped and sealed together by the longitudinal sealing mechanism. Then, the packaging film between adjacent materials is sealed and cut by the knife sealing device to form a single packaged product, or the seal is not completely cut, and the sealing and cutting are performed after a set number of connected packages to form a connected package product.

[0003] The existing knife sealing device generally includes an upper heat sealing knife assembly and a lower heat sealing knife assembly. The upper heat sealing knife assembly and the lower heat sealing knife assembly are driven by a heat sealing drive mechanism to engage relative to each other to achieve heat sealing and cutting operations on the packaging film passing through the upper heat sealing knife assembly and the lower heat sealing knife assembly.

[0004] When the packaging film material is thick and a longer heat-sealing time is required, a driving mechanism that reciprocates along the packaging film conveying direction is generally added to the upper heat-sealing knife assembly and the lower heat-sealing knife assembly to ensure that the heat-sealing time of the upper heat-sealing knife assembly and the lower heat-sealing knife assembly on the packaging film is increased as much as possible without affecting the packaging efficiency, so as to achieve the expected heat-sealing effect.

[0005] According to the changes in the height of the packaged material and the width of the film, the height of the engagement position of the upper heat sealing knife assembly and the lower heat sealing knife assembly also needs to be adjusted, that is, an adjustment mechanism for adjusting the engagement height of the upper heat sealing knife assembly and the lower heat sealing knife assembly is added to adapt to the changes in material specifications and packaging film specifications.

[0006] For example, the authorization announcement text of the utility model patent with the authorization announcement number CN219565716U and the authorization announcement date August 22, 2023, and the name of the utility model patent authorization announcement text is "A reciprocating horizontal sealing device". The utility model includes a mounting plate, a mounting frame, a horizontal sealing mechanism and a reciprocating drive mechanism. The horizontal sealing mechanism is installed on the mounting frame, and the mounting frame can be movably installed on the mounting plate. The reciprocating drive mechanism is installed on the mounting plate and cooperates with the mounting frame; the reciprocating drive mechanism includes a first servo drive component, a first connecting rod, a second connecting rod, a slider and a linear guide. The first servo drive component and the linear guide are fixedly installed with the mounting plate. The driving end of the first servo drive component is hinged to the first end of the first connecting rod, the second end of the first connecting rod is hinged to the first end of the second connecting rod, and the second end of the second connecting rod is hinged to the mounting frame. The linear guides are a pair and are respectively located on both sides of the mounting frame. The slider is installed on the mounting frame and slides with the linear guide.

[0007] Existing knife sealing devices often adopt a complex frame structure with many transmission components, resulting in a low effective load rate of the knife sealing device, great difficulty in assembling the knife sealing device, and low assembly efficiency; at the same time, the reciprocating drive mechanism drives the mounting frame to move back and forth as a whole, with a large motion inertia and slow response, and the vibration and noise generated during the movement of the entire knife sealing device are also large; there are errors in both the transverse sealing mechanism and the reciprocating drive mechanism in actual operation, and their errors are accumulated when the two are coordinated, resulting in low accuracy of the knife sealing device. Summary of the invention

[0008] In order to overcome the defects and shortcomings in the above-mentioned prior art, the present invention provides a knife sealing device for a packaging machine based on multi-axis linkage. The purpose of the present invention is to solve the problems of low effective load rate, slow response and low precision of the existing knife sealing device. The present invention includes a knife sealing frame, an upper hot knife sealing assembly, and a lower hot knife sealing assembly; the upper hot knife sealing assembly is assembled on the knife sealing frame through a first multi-axis linkage driving mechanism, and the lower hot knife sealing assembly is assembled on the knife sealing frame through a second multi-axis linkage driving mechanism. The first multi-axis linkage driving mechanism drives the upper hot knife sealing assembly to move in a set plane, generating two planar degrees of freedom; the second multi-axis linkage driving mechanism drives the lower hot knife sealing assembly to move in the set plane, generating two planar degrees of freedom; the first multi-axis linkage driving mechanism cooperates with the second multi-axis linkage driving mechanism to achieve the meshing of the upper hot knife sealing assembly and the lower hot knife sealing assembly. The present invention adopts two groups of multi-axis linkage driving mechanisms to respectively drive the upper hot knife sealing assembly and the lower hot knife sealing assembly, which simplifies the frame structure and transmission components of the knife sealing device and improves the effective load rate of the knife sealing device. The multi-axis linkage driving mechanism directly acts on the hot knife sealing assembly, the heat sealing action response is more efficient, the error accumulation between the mechanisms is reduced, and the accuracy is higher.

[0009] In order to solve the above problems existing in the prior art, the present invention is implemented through the following technical solutions.

[0010] The present invention provides a knife sealing device for a packaging machine based on multi-axis linkage, comprising a knife sealing frame, an upper hot knife sealing assembly, and a lower hot knife sealing assembly; the upper hot knife sealing assembly is assembled on the knife sealing frame through a first multi-axis linkage driving mechanism, and the lower hot knife sealing assembly is assembled on the knife sealing frame through a second multi-axis linkage driving mechanism, the first multi-axis linkage driving mechanism drives the upper hot knife sealing assembly to move in a set plane, generating two planar degrees of freedom; the second multi-axis linkage driving mechanism drives the lower hot knife sealing assembly to move in the set plane, generating two planar degrees of freedom; the first multi-axis linkage driving mechanism cooperates with the second multi-axis linkage driving mechanism to achieve the meshing of the upper hot knife sealing assembly and the lower hot knife sealing assembly.

[0011] Further preferably, a guide shaft is provided between the upper hot knife sealing assembly and the lower hot knife sealing assembly, and the upper hot knife sealing assembly and the lower hot knife sealing assembly move relative to each other axially along the guide shaft.

[0012] More preferably, one end of the guide shaft is fixedly connected to the lower heat knife seal assembly, and the other end of the guide shaft is slidably connected to the upper heat knife seal assembly.

[0013] More preferably, one end of the guide shaft is fixedly connected to the upper heat knife seal assembly, and the other end of the guide shaft is slidably connected to the lower heat knife seal assembly.

[0014] Further preferably, the first multi-axis linkage drive mechanism and the second multi-axis linkage drive mechanism are both two-axis parallel robotic arms.

[0015] Further preferably, both the first multi-axis linkage drive mechanism and the second multi-axis linkage drive mechanism are serially connected robotic arms with at least two rotational joints.

[0016] More preferably, both the first multi-axis linkage drive mechanism and the second multi-axis linkage drive mechanism are XY plane motion mechanisms or cross slide motion mechanisms.

[0017] Further preferably, the first multi-axis linkage drive mechanism and the second multi-axis linkage drive mechanism respectively include a servo telescopic drive component I and a servo telescopic drive component II, the cylinder body portion of the servo telescopic drive component I is rotatably mounted on the knife sealing frame, and the telescopic end of the servo telescopic drive component I is hinged to one end of the upper hot knife sealing assembly or the lower hot knife sealing assembly; the cylinder body portion of the servo telescopic drive component II is rotatably mounted on the knife sealing frame, and the telescopic end of the servo telescopic drive component II is hinged to the other end of the upper hot knife sealing assembly or the lower hot knife sealing assembly.

[0018] The servo telescopic driving component I and the servo telescopic driving component II are servo electric cylinders.

[0019] The servo telescopic drive component I and the servo telescopic drive component II both include a servo motor, a reducer, a rotating sleeve and a screw. The servo motor is connected to the reducer. The servo motor and the reducer are rotatably assembled on the knife seal frame through a motor mounting seat. The rotating sleeve is connected to the output shaft of the reducer. An internal thread matching the external thread on the screw is provided in the rotating sleeve. One end of the screw is threadedly connected to the rotating sleeve, and the other end of the screw is hinged to the upper hot knife seal assembly or the lower hot knife seal assembly through a connecting seat.

[0020] Compared with the prior art, the beneficial technical effects brought by the present invention are as follows: 1. Improve the response speed and working performance of the packaging machine: The knife sealing device for the packaging machine based on multi-axis linkage of the present invention does not require the complex frame structure of the traditional packaging machine. It only needs to drive the upper hot knife sealing assembly and the lower hot knife sealing assembly to move, and the effective load rate is greatly improved. Under the same conditions, the speed and response performance of the packaging machine are further improved. Due to the reduction in load weight, the impact force generated is reduced. Under the same conditions, the vibration and noise problems of the traditional packaging machine under high-speed operation are effectively improved, thereby improving the working performance and the operating environment of the packaging workers.

[0021] 2. Improve the effective load rate of the packaging machine, reduce the number of parts, reduce the cost of the whole machine, and improve assembly efficiency: Compared with the traditional structure, the knife sealing device for the packaging machine based on multi-axis linkage of the present invention does not require the complex frame structure of the traditional structure, and reduces the number of overall parts; it is beneficial to improve the assembly speed and accuracy of the whole machine, and is also beneficial to improve the standardization of parts, adopt large-scale production and processing technology, reduce costs, and reduce the weight of the whole machine, facilitating transportation and deployment.

[0022] 3. Improve overall accuracy, rigidity, and meshing pressure: The present invention adopts a multi-axis linkage drive mechanism to drive separately, and adopts a multi-axis parallel drive mode. The errors of each drive are not accumulated, and the load is distributed to each drive mechanism. Therefore, the accuracy and bearing capacity (meshing pressure) are relatively high, and the load pressure is distributed to each drive link, and the rigidity of the whole machine mechanism is high.

[0023] 4. Improve the added value of software and hardware: The knife sealing device for the packaging machine based on multi-axis linkage of the present invention has a simple structure and adopts multi-axis linkage control technology to control the correct timing movement and holding torque of four servo motors. The product has high software added value. The knife sealing device can be adjusted through software settings, which has higher adaptability and is more conducive to adapting to changes in packaging specifications and packaging film materials. Adaptation can be performed without adjusting the mechanical mechanism.

[0024] 5. Improve the controllability of the knife sealing trajectory. The knife sealing device for the packaging machine based on the multi-axis linkage of the present invention can move along a set position trajectory within the working area; it does not require a traditional lifting mechanism to adjust the engagement height position, and its position trajectory is not limited by the frame structure of the traditional knife sealing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional schematic diagram of the mechanical arm driven structure of the knife sealing device for a packaging machine based on multi-axis linkage of the present invention; Figure 2 It is a schematic side view of the mechanical arm driven structure of the knife sealing device of the present invention; Figure 3 It is a schematic front view of the mechanical arm driven structure of the knife sealing device of the present invention; Figure 4It is a schematic diagram of the comparative structure of the mechanical arm driven structure knife seal device of the present invention when the knife seal device is engaged at different heights; Figure 5 It is a schematic diagram of the plane motion of the mechanical arm driven type knife sealing device of the present invention; Figure 6 A comparison diagram of the opening and closing of the upper hot knife sealing component and the lower hot knife sealing component of the knife sealing device of the present invention; Figure 7 A schematic diagram of a deformed structure of the mechanical arm driven structure of the knife sealing device of the present invention; Figure 8 The knife seal device of the present invention is a schematic structural diagram of a rotary knife seal; Fig. 9 It is a schematic diagram of the serial mechanical arm driven structure of the knife sealing device of the present invention; Fig.10 It is a schematic diagram of the servo electric cylinder driven structure of the knife sealing device of the present invention; Fig.11 It is a schematic diagram of the servo rotary drive structure of the knife sealing device of the present invention; Figure numerals: 1. knife seal frame, 2. upper hot knife seal assembly, 3. lower hot knife seal assembly, 4. first multi-axis linkage drive mechanism, 5. second multi-axis linkage drive mechanism, 6. guide shaft, 7. two-axis parallel mechanical arm; 10. servo telescopic drive component I, 11. servo telescopic drive component II, 12. servo motor, 13. rotating sleeve, 14. screw, 15. motor mounting seat, 16. connecting seat; 17. static platform, 18. dynamic platform, 19. first servo drive motor, 20. second servo drive motor, 21. first support arm, 22. second support arm, 23. first connecting rod, 24. second connecting rod, 25. first balancing connecting rod, 26. second balancing connecting rod, 27. balancing connecting block, 28. knife seal mounting seat, 30. guide sleeve. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings of the present invention specification to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Example 1 As a preferred embodiment of this embodiment, refer to the attached Figure 1 , Attachment Figure 8 , Attachment Fig. 9 , Attachment Fig.10 and attached Fig.11As shown, this embodiment discloses a knife sealing device for a packaging machine based on multi-axis linkage, including a knife sealing frame 1, an upper hot knife sealing assembly 2, and a lower hot knife sealing assembly 3; the upper hot knife sealing assembly 2 is assembled on the knife sealing frame 1 through a first multi-axis linkage drive mechanism 4, and the lower hot knife sealing assembly 3 is assembled on the knife sealing frame 1 through a second multi-axis linkage drive mechanism 5, the first multi-axis linkage drive mechanism 4 drives the upper hot knife sealing assembly 2 to move in a set plane, generating two planar degrees of freedom; the second multi-axis linkage drive mechanism 5 drives the lower hot knife sealing assembly 3 to move in the set plane, generating two planar degrees of freedom; the first multi-axis linkage drive mechanism 4 cooperates with the second multi-axis linkage drive mechanism 5 to achieve the engagement of the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3.

[0028] In this embodiment, the same multi-axis linkage drive mechanism can be used to drive the upper hot knife sealing component 2 and the lower hot knife sealing component 3 to move respectively. The multi-axis linkage drive mechanism here refers to a mechanism that can drive the upper hot knife sealing component 2 or the lower hot knife sealing component 3 to achieve at least two degrees of freedom. Taking the packaging film conveying direction as an example, one degree of freedom is parallel to the packaging film conveying direction, and the other degree of freedom is perpendicular to the packaging film conveying direction. Among them, the degree of freedom perpendicular to the packaging film conveying direction is to achieve the meshing or separation operation between the upper hot knife sealing component 2 and the lower hot knife sealing component 3; the degree of freedom parallel to the packaging film conveying direction can be realized by moving a certain distance and resetting with the packaging film, ensuring that the upper hot knife sealing component 2 and the lower hot knife sealing component 3 can increase the meshing time of the two without affecting the packaging film conveying rate, so as to adapt to thicker films or films made of aluminum foil that require higher temperatures to be heat-sealed together.

[0029] Compared with the prior art, the biggest improvement of the present application is that the upper hot knife sealing assembly 2 is separated from the lower hot knife sealing assembly 3, and they are driven by two multi-axis linkage drive mechanisms (i.e., the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5) respectively. In essence, the multi-axis linkage drive mechanism can independently drive the upper hot knife sealing assembly 2 or the lower hot knife sealing assembly 3 to move within a set plane. The upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 are assembled on the knife sealing frame 1 through the multi-axis linkage drive mechanism (the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5), and do not need to directly cooperate with the knife sealing frame 1, which can simplify the structure of the knife sealing frame 1 and reduce the precision requirements on the structure of the knife sealing frame 1.

[0030] The travel of the upper hot knife sealing component 2 and the lower hot knife sealing component 3 is only limited by the multi-axis linkage drive mechanism (the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5), and the trajectory can be adjusted through the control of the software program, without being constrained by the inherent framework. For example, the meshing height, meshing follow-up travel, meshing follow-up position, etc. of the upper hot knife sealing component 2 and the lower hot knife sealing component 3 can all be achieved through the software program, and are no longer subject to specific structural restrictions. The scope of application is wider, and it can be applied to almost all sealing and cutting of whole-roll film forming packaging.

[0031] In this embodiment, the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 can be a structure including a knife sealing mounting seat 28, a heat sealing knife seat is installed on the knife sealing mounting seat 28, and a cutting knife is inserted into one of the heat sealing knife seats, that is, the structure of the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 shown in the utility model patent with authorization announcement number CN219565716U, authorization announcement date August 22, 2023, and name “A reciprocating horizontal sealing device”.

[0032] In this embodiment, refer to the attached manual Figure 8 As shown, the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 can also be a rotary knife sealing structure, that is, the upper hot knife sealing assembly 2 includes an upper rotating shaft, an upper knife seat, an upper cutter, an upper cutter driving cylinder and an upper heat sealing motor driving the upper rotating shaft to rotate. Multiple upper knife seats can be arranged on the upper rotating shaft, such as a double knife seat, two knife seats are spaced 180° apart; such as a three-knife seat, two adjacent knife seats are spaced 120° apart. The upper cutter is embedded in the knife seat and is driven to extend by the upper cutter driving cylinder so that the packaging film is cut when the upper hot knife sealing assembly 2 is engaged with the lower hot knife sealing assembly 3; the upper heat sealing motor drives the upper rotating shaft to rotate, so that the multiple upper knife seats on the upper rotating shaft are sequentially fitted with the multiple lower knife seats in the lower hot knife sealing assembly 3. The lower hot knife sealing assembly 3 is similar in structure to the upper hot knife sealing assembly 2, except that the lower hot knife sealing assembly 3 does not have a cutter, and its lower knife seat is provided with a groove or a bottom knife that cooperates with the upper cutter to cut the packaging film.

[0033] Generally speaking, the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 are connected in parallel by the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 to form a parallel knife sealing device with at least two degrees of freedom.

[0034] Example 2 As another preferred embodiment of the present invention, this embodiment is based on the above-mentioned embodiment 1, and further supplements and explains the technical solution of the present invention in detail. Figure 1 , Attachment Figure 8 , Attachment Fig. 9 , Attachment Fig.10 and attached Fig.11As shown, a guide shaft 6 is provided between the upper heat knife seal assembly 2 and the lower heat knife seal assembly 3 , and the upper heat knife seal assembly 2 and the lower heat knife seal assembly 3 move axially relative to each other along the guide shaft 6 .

[0035] Specifically, a guide shaft 6 is provided between the mounting seats (i.e., the knife seal mounting seat 28) of the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3. Since the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 are driven by the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5, respectively, the meshing accuracy between the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 is guaranteed by the matching accuracy of the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5. After the guide shaft 6 is added, the matching accuracy of the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 can be reduced. Under the limiting effect of the guide shaft 6, the meshing accuracy of the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 can also be effectively guaranteed.

[0036] Even the degree of freedom of one of the multi-axis linkage drive mechanisms parallel to the packaging film conveying direction can be set as follow-up. For example, the degree of freedom of the lower hot knife sealing assembly 3 driven by the second multi-axis linkage drive mechanism 5 parallel to the packaging film conveying direction is set as follow-up, and only the driving force of the degree of freedom perpendicular to the packaging film conveying direction is retained.

[0037] As an example of this embodiment, one end of the guide shaft 6 is fixedly connected to the lower hot knife seal assembly 3, and the other end of the guide shaft 6 is slidably connected to the upper hot knife seal assembly 2. That is, the lower end of the guide shaft 6 is fixed to the knife seal mounting seat 28 of the lower hot knife seal assembly 3, and the knife seal mounting seat 28 of the upper hot knife seal assembly 2 is provided with a guide sleeve 30 that cooperates with the guide shaft 6. The same is also applicable when the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 are rotary knife seals.

[0038] As another example of this embodiment, as shown in the attached Figure 6 As shown, one end of the guide shaft 6 is fixedly connected to the upper hot knife seal assembly 2, and the other end of the guide shaft 6 is slidably connected to the lower hot knife seal assembly 3. That is, the upper end of the guide shaft 6 is fixed to the knife seal mounting seat 28 of the upper hot knife seal assembly 2, and the knife seal mounting seat 28 of the lower hot knife seal assembly 3 is provided with a guide sleeve 30 that matches the guide shaft 6. The same is also applicable when the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 are rotary knife seals.

[0039] Example 3 As another preferred embodiment of the present invention, this embodiment is based on the above-mentioned embodiment 1 or embodiment 2, and further supplements and explains the technical solution of the present invention in detail. Figure 1 , Attachment Figure 2 and attached Figure 3As shown, in this embodiment, the first multi-axis linkage driving mechanism 4 and the second multi-axis linkage driving mechanism 5 are both two-axis parallel robotic arms 7 .

[0040] The structure of the parallel robotic arm may be an existing structure, such as the structures shown in authorization announcement numbers CN221186521U, CN220463895U, CN208788584U, CN206717849U, CN206717850U, and CN206748413U.

[0041] As an example of this embodiment, refer to the attached Figure 1 , Attachment Figure 2 and attached Figure 3 As shown, the knife sealing frame 1 only needs to have a frame part that can support and suspend the upper two-axis parallel mechanical arm 7 and a frame part that supports and installs the lower two-axis parallel mechanical arm 7. The frame of the packaging machine can be used for implementation.

[0042] As another example of this embodiment, the two-axis parallel robot arm 7 includes a static platform 17, a dynamic platform 18, a first servo drive motor 19, a second servo drive motor 20, a first support arm 21, a second support arm 22, a first connecting rod 23, a second connecting rod 24, a first balancing connecting rod 25, a second balancing connecting rod 26 and a balancing connecting block 27; the first servo drive motor 19 and the second servo drive motor 20 are both installed on the static platform 17; the first servo drive motor 19 drives the first support arm 21 to swing; the second servo drive motor 20 drives the first support arm 21 to swing; The service driving motor 20 drives the second arm 22 to swing; the upper end of the first connecting rod 23 is hinged to the first arm 21, and the lower end is hinged to the moving platform 18; the upper end of the second connecting rod 24 is hinged to the second arm 22, and the lower end is hinged to the moving platform 18; the first balancing connecting rod 25, the second balancing connecting rod 26 and the balancing connecting block 27 can be arranged on the branch chain formed by the first arm 21 and the first connecting rod 23, and can also be arranged on the branch chain formed by the second arm 22 and the second connecting rod 24, mainly to ensure the balance of the moving platform 18. The structure of the two-axis parallel robot arm 7 is not described in detail in this application.

[0043] Refer to the instruction manual Figure 7 As shown, as a deformation structure of the two-axis parallel robot arm 7, the knife seal frame 1 is regarded as a part of the static platform 17, and the knife seal mounting seat 28 of the upper hot knife seal assembly 2 is regarded as a part of the dynamic platform 18; the first servo drive motor 19 and the second servo drive motor 20 are directly mounted on the knife seal frame 1, Refer to the instruction manual Figure 5As shown in the figure, there are 16 moving parts in total, the motion form is planar motion, and the degrees of freedom are 16*3=48; there are 22 planar rotation pairs (of which 4 pairs of rotation pairs share 2 intersections), 1 translation pair, and the degrees of freedom are (22+1)*2=46; the total degrees of freedom of the upper hot knife sealing component 2 or the lower hot knife sealing component 3 driven in the end is 48-46=2. When the number of driving motors is 2, this mechanism has a unique position solution, and the mechanism motion control principle is feasible. The number of driving motors of the knife sealing device is 4.

[0044] Refer to the instruction manual Figure 4 As shown, the meshing position of the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 in the knife sealing device can be adjusted and changed by controlling the four drive motors of the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 (i.e., the first servo drive motor 19, the second servo drive motor 20, the first servo drive motor 19 (corresponding to another multi-axis linkage drive mechanism), and the second servo drive motor 20 (corresponding to another multi-axis linkage drive mechanism)).

[0045] Refer to the instruction manual Figure 6 As shown, the opening and engagement of the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 in the knife sealing device can also be adjusted and changed by controlling the four drive motors of the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 (i.e., the first servo drive motor 19, the second servo drive motor 20, the first servo drive motor 19 (corresponding to another multi-axis linkage drive mechanism), and the second servo drive motor 20 (corresponding to another multi-axis linkage drive mechanism)).

[0046] Example 4 As another preferred embodiment of the present invention, this embodiment is based on the above-mentioned embodiment 1 or embodiment 2, and further supplements and explains the technical solution of the present invention in detail. Fig. 9 As shown, in this embodiment, the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 are both serial mechanical arms with at least two rotating joints. The serial mechanical arms with at least two rotating joints include a first servo drive motor 19, a first support arm 21, a second servo drive motor 20, and a second support arm 22, wherein the first servo drive motor 19 is mounted on the knife seal frame 1, the first servo drive motor 19 is connected to the first support arm 21, and drives the first support arm 21 to swing, the second servo drive motor 20 is mounted on the first support arm 21, the second servo drive motor 20 is connected to the second support arm 22, and the end of the second support arm 22 is hinged to the knife seal mounting seat 28.

[0047] At this time, the role of the guide shaft 6 is more important. Under the action of the guide shaft 6, it is only necessary to ensure that the straight line where the ends of the second arms 22 of the upper and lower groups of serially connected robotic arms are located is parallel to the axis of the guide shaft 6. Under the limitation of the guide shaft 6, the opening and engagement of the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 can be achieved without adding a third servo drive motor.

[0048] As an example of this embodiment, the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 are both XY plane motion mechanisms (not shown in the figure). For example, the X axis is parallel to the packaging film conveying direction, and the Y axis is perpendicular to the packaging film conveying direction.

[0049] As another example of this embodiment, the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 are both cross-slide motion mechanisms (not shown in the figure).

[0050] The XY plane motion mechanism and the cross slide motion mechanism are both existing structures, which also have various deformations, and their specific structures will not be repeated in this application.

[0051] Example 5 As another preferred embodiment of the present invention, this embodiment is based on the above-mentioned embodiment 1 or embodiment 2, and further supplements and explains the technical solution of the present invention in detail. Fig.10 and attached Fig.11 As shown, the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 respectively include a servo telescopic drive component Ⅰ10 and a servo telescopic drive component Ⅱ11, the cylinder body portion of the servo telescopic drive component Ⅰ10 is rotatably mounted on the knife sealing frame 1, and the telescopic end of the servo telescopic drive component Ⅰ10 is hinged to one end of the upper hot knife sealing assembly 2 or the lower hot knife sealing assembly 3; the cylinder body portion of the servo telescopic drive component Ⅱ11 is rotatably mounted on the knife sealing frame 1, and the telescopic end of the servo telescopic drive component Ⅱ11 is hinged to the other end of the upper hot knife sealing assembly 2 or the lower hot knife sealing assembly 3.

[0052] As an example of this embodiment, refer to the attached Fig.10 As shown, the servo telescopic drive component Ⅰ10 and the servo telescopic drive component Ⅱ11 are servo electric cylinders.

[0053] As another example of this embodiment, refer to the attached Fig.11As shown, the servo telescopic drive component I10 and the servo telescopic drive component II11 both include a servo motor 12, a reducer, a rotating sleeve 13 and a screw 14. The servo motor 12 is connected to the reducer. The servo motor 12 and the reducer are rotatably assembled on the knife seal frame 1 through a motor mounting seat 15. The rotating sleeve 13 is connected to the output shaft of the reducer. An internal thread matching the external thread on the screw 14 is provided in the rotating sleeve 13. One end of the screw 14 is threadedly connected to the rotating sleeve 13, and the other end of the screw 14 is hinged to the upper hot knife seal assembly 2 or the lower hot knife seal assembly 3 through a connecting seat 16.

[0054] Example 6 As another preferred embodiment of the present invention, this embodiment further supplements and elaborates on the technical solution of the present invention on the basis of the above-mentioned embodiment 1, embodiment 2, embodiment 3, embodiment 4, embodiment 5 or embodiment 6.

[0055] In this embodiment, the structures of the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 can be different. For example, the first multi-axis linkage drive mechanism 4 adopts the two-axis parallel mechanical arm 7 structure of embodiment 3, and the second multi-axis linkage drive mechanism 5 adopts the serial mechanical arm structure of at least two rotating joints of embodiment 4. Alternatively, the first multi-axis linkage drive mechanism 4 adopts the two-axis parallel mechanical arm 7 structure of embodiment 3, and the second multi-axis linkage drive mechanism 5 adopts the serial mechanical arm structure of at least two rotating joints of embodiment 3. Figure 7 The deformed structure.

[0056] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A knife sealing device (1) for a packaging machine based on multi-axis linkage, comprising a knife sealing frame (1), an upper hot knife sealing component (2), and a lower hot knife sealing component (3); characterized in that: An upper hot knife sealing component (2) is assembled on a knife sealing frame (1) via a first multi-axis linkage drive mechanism (4), and a lower hot knife sealing component (3) is assembled on the knife sealing frame (1) via a second multi-axis linkage drive mechanism (5); the first multi-axis linkage drive mechanism (4) drives the upper hot knife sealing component (2) to move within a set plane, thereby generating two planar degrees of freedom; the second multi-axis linkage drive mechanism (5) drives the lower hot knife sealing component (3) to move within the set plane, thereby generating two planar degrees of freedom; the first multi-axis linkage drive mechanism (4) cooperates with the second multi-axis linkage drive mechanism (5) to achieve meshing of the upper hot knife sealing component (2) and the lower hot knife sealing component (3).

2. The knife sealing device (1) for a packaging machine based on multi-axis linkage according to claim 1, characterized in that: A guide shaft (6) is provided between the upper hot knife sealing assembly (2) and the lower hot knife sealing assembly (3), and the upper hot knife sealing assembly (2) and the lower hot knife sealing assembly (3) move relative to each other in the axial direction along the guide shaft (6).

3. The knife sealing device (1) for a packaging machine based on multi-axis linkage according to claim 2, characterized in that: One end of the guide shaft (6) is fixedly connected to the lower hot knife sealing assembly (3), and the other end of the guide shaft (6) is slidably connected to the upper hot knife sealing assembly (2).

4. The knife sealing device (1) for a packaging machine based on multi-axis linkage according to claim 2, characterized in that: One end of the guide shaft (6) is fixedly connected to the upper hot knife sealing assembly (2), and the other end of the guide shaft (6) is slidably connected to the lower hot knife sealing assembly (3).

5. The knife sealing device (1) for a packaging machine based on multi-axis linkage according to any one of claims 1 to 4, characterized in that: The first multi-axis linkage drive mechanism (4) and the second multi-axis linkage drive mechanism (5) are both two-axis parallel mechanical arms (7).

6. The knife sealing device (1) for a packaging machine based on multi-axis linkage according to any one of claims 1 to 4, characterized in that: The first multi-axis linkage drive mechanism (4) and the second multi-axis linkage drive mechanism (5) are both serially connected mechanical arms with at least two rotational joints.

7. The knife sealing device (1) for a packaging machine based on multi-axis linkage according to claim 6, characterized in that: The first multi-axis linkage drive mechanism (4) and the second multi-axis linkage drive mechanism (5) are both XY plane motion mechanisms or cross slide motion mechanisms.

8. The knife sealing device (1) for a packaging machine based on multi-axis linkage according to any one of claims 1 to 4, characterized in that: The first multi-axis linkage drive mechanism (4) and the second multi-axis linkage drive mechanism (5) respectively comprise a servo telescopic drive member I (10) and a servo telescopic drive member II (11); the cylinder body portion of the servo telescopic drive member I (10) is rotatably mounted on the knife seal frame (1), and the telescopic end of the servo telescopic drive member I (10) is hinged to one end of the upper hot knife seal assembly (2) or the lower hot knife seal assembly (3); the cylinder body portion of the servo telescopic drive member II (11) is rotatably mounted on the knife seal frame (1), and the telescopic end of the servo telescopic drive member II (11) is hinged to the other end of the upper hot knife seal assembly (2) or the lower hot knife seal assembly (3).

9. The knife sealing device (1) for a packaging machine based on multi-axis linkage according to claim 8, characterized in that: The servo telescopic drive component I (10) and the servo telescopic drive component II (11) are servo electric cylinders.

10. The knife sealing device (1) for a packaging machine based on multi-axis linkage according to claim 8, characterized in that: The servo telescopic drive component I (10) and the servo telescopic drive component II (11) both comprise a servo motor (12), a reducer, a rotating sleeve (13) and a screw (14); the servo motor (12) is connected to the reducer; the servo motor (12) and the reducer are rotatably mounted on the knife seal frame (1) via a motor mounting seat (15); the rotating sleeve (13) is connected to the output shaft of the reducer; an internal thread matching an external thread on the screw (14) is provided in the rotating sleeve (13); one end of the screw (14) is threadedly connected to the rotating sleeve (13); and the other end of the screw (14) is hinged to the upper hot knife seal assembly (2) or the lower hot knife seal assembly (3) via a connecting seat (16).

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