Stacking device for dialysate thermal shrinkage packaging robot

Abstract

The utility model provides a stacking device for a dialysate thermal shrinkage packaging robot, which can further improve the safety in the dialysate stacking process and ensure that dialysate thermal shrinkage packaging is not scratched or adsorbed to deform, and comprises a transverse moving component, a pressing component and an L-shaped supporting plate, the top of the vertical end of the L-shaped supporting plate is connected with the transverse moving assembly, the downward pressing assembly is assembled on the transverse moving assembly or a fixed assembly of the mechanical arm, the L-shaped supporting plate comprises a vertical fixed frame, a connecting cylinder and deformable comb teeth, and the top of the vertical fixed frame is connected with the transverse moving assembly; the connecting cylinder is a rectangular pipe body, and the bottom of the vertical fixing frame is connected to the top of the connecting cylinder; a rotating shaft is arranged in the connecting cylinder, a rotating motor is arranged at any end of the connecting cylinder, and the rotating motor is connected with the rotating shaft; a plurality of assembly holes are formed in one side of the connecting cylinder; the end of one deformable comb tooth is connected to the position of one assembly hole, and the smooth wedge-shaped tip end of the deformable comb tooth tilts upwards under the action of the rotating motor.

Description

Technical Field

[0001] The utility model relates to the field of dialysate packaging, and in particular to a palletizing device for a dialysate heat shrink packaging robot. Background Art

[0002] After dialysate is produced, heat shrink film is typically applied to the packaging to provide better protection against dust, water, and scratches. After sealing, a shrink film packaging machine heats the film to secure it tightly to the product. To save manpower and resources, the current heat shrink palletizing process for dialysate uses robots in conjunction with grippers. Traditional grippers often use clamps or vacuum cups to grasp the dialysate, but both methods have drawbacks.

[0003] For example, when using a clamp-type clamp, the general front and rear clamps or left and right clamps are prone to slippage because the heat shrink film wraps the dialysate in liquid state. If the clamp is too tight, it is easy to squeeze the dialysate and cause product damage. If the clamp is too loose, it is easy to cause the product to fall, affecting production safety. In addition, traditional clamp-type clamps are often inserted into the product clamping position from top to bottom, which has strict requirements on product size and is easy to damage the product, causing product damage and affecting production costs.

[0004] While using a clamping fixture with a vacuum suction cup can avoid slipping and other issues, for shrink-wrapped dialysate products, the shrinking nature of the product prevents the outer packaging film from remaining horizontal, and vacuum suction can also damage the film, requiring rework. Therefore, both existing clamping methods present inconveniences during the palletizing process of shrink-wrapped dialysate packages, resulting in limited functionality. Utility Model Content

[0005] The purpose of the utility model is to provide a palletizing device for a dialysate heat shrink packaging robot, which can further improve the safety of the dialysate palletizing process and ensure that the dialysate heat shrink packaging will not be scratched or deformed by adsorption.

[0006] The embodiment of the present utility model is achieved as follows:

[0007] A palletizing device for a dialysate heat shrink packaging robot comprises a manipulator fixed assembly, a transverse moving assembly, a pressing assembly, and an L-shaped support plate. The top of the vertical end of the L-shaped support plate is connected to the transverse moving assembly, enabling the L-shaped support plate to move laterally. The pressing assembly is assembled on the fixed structure of the transverse moving assembly or the manipulator fixed assembly, so that the dialysate heat shrink package enters the L-shaped support plate and presses the top of the dialysate heat shrink package.

[0008] L-shaped pallet includes:

[0009] A vertical fixed frame, the top of which is connected to the horizontal movable component;

[0010] The connecting tube is a rectangular tube, the bottom of the vertical fixing frame is connected to the top of the connecting tube; a rotating shaft is provided in the connecting tube, and a rotating motor is provided at either end of the connecting tube, and the rotating motor is connected to the rotating shaft; a plurality of assembly holes are provided on one side of the connecting tube;

[0011] Deformable comb teeth, the end of a deformable comb tooth is connected to an assembly hole position, and the smooth wedge-shaped tip of the deformable comb tooth is tilted upward under the action of the rotating motor.

[0012] In a preferred embodiment of the present invention, the deformable comb teeth include:

[0013] Rectangular flat tube, the interior of the rectangular flat tube is hollow;

[0014] A deformable wedge-shaped tip, which is composed of multiple hexahedral blocks with gradually varying heights arranged in sequence. The multiple hexahedral blocks are connected by silicone tubes. Each hexahedral block is provided with a through hole, and at least the hexahedral block with the smallest height is provided with a second rotating wheel.

[0015] The traction rope is inserted from the hexahedron with the highest height, passes through the through holes of multiple hexahedron blocks in sequence, goes around the second rotating wheel, passes through multiple silicone tubes in sequence, enters the rectangular flat tube, and is finally connected to the rotating shaft.

[0016] In a preferred embodiment of the present invention, one or more first rotating wheels are provided in the rectangular flat tube.

[0017] In a preferred embodiment of the present invention, the upper surface of the deformable wedge-shaped tip is smooth.

[0018] In a preferred embodiment of the present invention, the above-mentioned hexahedral block includes a hard structure arranged inside and a silicone structure partially covering the bottom of the hard structure; the hard structure includes a smooth plate body and a support sheet arranged at the bottom of the smooth plate body, and the two ends of the smooth plate body are provided with downward-curved arc-shaped edges, and the bottom of the support sheet is provided with an upward-curved arc-shaped edges, and at least two support sheets are provided under each smooth plate body.

[0019] In a preferred embodiment of the present invention, the L-shaped support plate further comprises a transverse fixing block, which is fixedly arranged on the top of the vertical fixing frame, and the transverse moving assembly is connected to the transverse fixing block.

[0020] In a preferred embodiment of the present invention, the above-mentioned manipulator fixing assembly includes:

[0021] An upper connecting plate, the surface of which is provided with a plurality of connecting holes for fixing the robotic arm;

[0022] A connecting frame is fixedly connected to the bottom of the upper connecting plate, and a cylinder control electromagnetic valve is fixedly arranged on the connecting frame.

[0023] A side positioning frame is fixedly arranged below the connecting frame on the side close to the comb tooth supporting plate, and the side positioning frame is provided with a hole for the transverse moving assembly to pass through.

[0024] In the preferred embodiment of the present application, the transverse moving assembly comprises a guide and a telescopic cylinder, the guide is arranged on both sides of the telescopic cylinder, and the guide column of the guide and the telescopic column of the telescopic cylinder are connected to the L-shaped supporting plate.

[0025] In the preferred embodiment of the present application, the pressing-down assembly comprises a pressing-down cylinder and a pressing-down fixed plate, and the telescopic column of the pressing-down cylinder is connected to the top of the pressing-down fixed plate.

[0026] In the preferred embodiment of the present application, the bottom of the pressing-down fixed plate is provided with a flexible anti-skid pad.

[0027] The beneficial effects of the embodiment of the present application are as follows: the L-shaped supporting plate is arranged at the lower part of the stacking device in the present application, the bottom of the L-shaped supporting plate is comb-shaped as a whole, so that the dialysis liquid after heat shrink packaging is partly on the upper part of the comb and partly embedded into the gap between the combs, which can ensure that the dialysis liquid will not fall off and the dialysis liquid bag will not be squeezed; after the dialysis liquid heat shrink packaging enters the L-shaped supporting plate, the vertical fixed frame of the L-shaped supporting plate can provide positioning, the deformable comb tooth is raised to provide positioning on the opposite side, the pressing-down assembly arranged on the upper part in a cantilevered manner is moved downward to abut against the top of the dialysis liquid heat shrink packaging, so as to ensure that the dialysis liquid heat shrink packaging will not fall off during the transfer process of the mechanical arm; when reaching the specified position, the deformable comb tooth is reset; the transverse moving assembly moves forward to control the L-shaped supporting plate to move forward, so as to stack the dialysis liquid heat shrink packaging at the specified position, and the stacking process is smooth and will not cause damage to the dialysis liquid and the dialysis liquid heat shrink film packaging. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and other related drawings can also be obtained by those skilled in the art without creative labor on the premise of not paying creative labor.

[0029] Figure 1 FIG. 1 is a structural schematic view of the stacking device for the dialysis liquid heat shrink packaging robot according to the embodiment of the present application;

[0030] Figure 2 FIG. 2 is a structural schematic view of the deformable wedge-shaped tip of the stacking device according to the embodiment of the present application when being raised;

[0031] Figure 3 Hexahedral block structure schematic view of the embodiment of the utility model;

[0032] Icon: mechanical arm fixed assembly 110, upper connecting plate 111, connecting frame 112, side direction positioning frame 113, air cylinder control electromagnetic valve 114, transverse movement assembly 120, guide 121, telescopic air cylinder 122, pressing assembly 130, pressing air cylinder 131, pressing fixed plate 132, flexible antiskid pad 133, L-shaped supporting plate 140, transverse fixed block 141, vertical fixed frame 142, connecting cylinder 143, deformable comb tooth 145, rotating shaft 146, rotating motor 144;

[0033] Rectangular flat pipe 1451, deformable wedge-shaped tip 1452, traction rope 1453, hexahedral block 14521, silica gel pipe 14522, through hole 14523;

[0034] Hard structure 001, silica gel structure 002, smooth plate body 003, supporting sheet 004. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiment of the utility model clearer, the technical scheme in the embodiment of the utility model will be described clearly and completely below in combination with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, rather than all the embodiments. The components of the embodiment of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiment of the utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but only represents selected embodiments of the utility model. Based on the embodiment in the utility model, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the utility model.

[0037] It should be noted that: similar signs and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0038] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the utility model product is typically placed when in use. These terms are intended solely to facilitate the description of this utility model and to simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0039] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0040] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0041] First embodiment

[0042] See Figure 1-3 This embodiment provides a palletizing device for a dialysate heat shrink packaging robot, which includes a manipulator fixed component 110, a lateral movement component 120, a downward pressure component 130 and an L-shaped support plate 140. The lateral movement component 120 is arranged at the bottom of the manipulator fixed component 110, and the movable end of the lateral movement component 120 is connected to the vertical end top of the L-shaped support plate 140, so that the L-shaped support plate 140 can move laterally under the action of the lateral movement component 120; the downward pressure component 130 is assembled on the fixed structure of the lateral movement component 120 or the manipulator fixed component 110, so that the dialysate heat shrink package can press the top of the dialysate heat shrink package after entering the L-shaped support plate 140.

[0043] The manipulator fixing assembly 110 is used to fix the entire palletizing device to the manipulator arm. The manipulator fixing assembly 110 includes an upper connecting plate 111, a connecting frame 112, and a side positioning frame 113. The upper connecting plate 111 is provided with a plurality of connection holes for fixing the manipulator arm. The connecting frame 112 is fixedly connected to the bottom of the upper connecting plate 111. Specifically, the front and rear rods of the connecting frame 112 are fixedly connected to the upper connecting plate 111. The left rod of the connecting frame 112 is fixed with an overlapping cylinder control solenoid valve 114. The side positioning frame 113 is fixedly set below the connecting frame 112 on the side close to the comb support plate, that is, below the right rod of the connecting frame 112. The side positioning frame 113 is provided with a hole for the lateral movement assembly 120 to pass through. The side positioning frame 113 is used.

[0044] The lateral movement assembly 120 is used to help the L-shaped pallet 140 move laterally so that it can be placed under or removed from the dialysate heat shrink package. It includes a guide member 121 and a telescopic cylinder 122. The guide member 121 is arranged on both sides of the telescopic cylinder 122. The guide column of the guide member 121 and the telescopic column of the telescopic cylinder 122 are connected to the L-shaped pallet 140.

[0045] The pressing assembly 130 is used to press down the upper surface of the dialysate heat shrink package after it enters the L-shaped support plate 140. It includes a pressing cylinder 131 and a pressing fixing plate 132. The telescopic column of the pressing cylinder 131 is connected to the top of the pressing fixing plate 132. The bottom of the pressing fixing plate 132 is provided with a flexible anti-slip pad 133 to prevent damage to the dialysate heat shrink package.

[0046] The L-shaped support plate 140 is used to position the bottom surface and two opposite sides of the dialysate heat shrink package, which includes: a horizontal fixing block 141, a vertical fixing frame 142, a connecting tube 143 and a deformable comb 145. The horizontal fixing block 141 is fixedly set on the top of the vertical fixing frame 142, the horizontal moving component 120 is connected to the horizontal fixing block 141, and the top of the vertical fixing frame 142 is connected to the horizontal moving component 120 to enhance the connection stability between the horizontal moving component 120 and the L-shaped support plate 140; the connecting tube 143 is used to assemble the vertical fixing frame 142 and the deformable comb 145, The connecting tube 143 is a rectangular tube with a hollow interior, and the bottom of the vertical fixed frame 142 is connected to the top of the connecting tube 143; a rotating shaft 146 is provided in the connecting tube 143, and a rotating motor 144 is provided at either end of the connecting tube 143, and the rotating motor 144 is connected to the rotating shaft 146, and the rotating motor 144 can drive the rotating shaft 146 to rotate when rotating; a plurality of assembly holes are provided on one side of the connecting tube 143; the end of a deformable comb tooth 145 is connected to an assembly hole position, and the smooth wedge-shaped tip of the deformable comb tooth 145 can be tilted upward under the action of the rotating motor 144.

[0047] The rotating shaft 146 can also be provided with a structure such as a ring groove at the corresponding position of each deformable comb tooth 145 for restraining the traction rope. When the rotating motor 144 rotates, the traction rope is wrapped around the rotating shaft 146, causing the tip of the deformable comb tooth 145 to tilt up, so that both sides of the L-shaped support plate 140 are provided with obstructions to prevent the positioning dialysate heat shrink package from falling.

[0048] Specifically, the deformable comb teeth 145 include a rectangular flat tube 1451, a deformable wedge-shaped tip 1452, and a traction rope 1453. The interior of the rectangular flat tube 1451 is hollow, and one or more first runners 1454 are provided in the rectangular flat tube 1451 to help the traction rope 1453 to constrain positioning and traction sliding; the deformable wedge-shaped tip 1452 is composed of a plurality of hexahedral blocks 14521 with gradually varying heights arranged in sequence, and the plurality of hexahedral blocks 14521 are connected by silicone tubes 14522, and each hexahedral block 14521 is provided with a through hole 14523, and at least the hexahedral block 14521 with the smallest height is provided with a second runner 14524 for traction. Guide rope 1453 deflects and simultaneously helps constrain and position traction rope 1453. Traction rope 1453 enters the tallest hexahedron. The tail end of traction rope 1453 is fixedly connected or removably connected to the tallest hexahedron. It then passes through through-holes 14523 of multiple hexahedron blocks 14521, winds around second rotating wheel 14524, and passes through multiple silicone tubes 14522. It enters rectangular flat tube 1451, passes through first rotating wheel 1454, and connects to shaft 146. When traction rope 1453 is retracted, deformable wedge-shaped tip 1452 of shaft 146 tilts upward. When traction rope 1453 is released, deformable wedge-shaped tip 1452 returns to its original position. The smooth upper surface of deformable wedge-shaped tip 1452 facilitates the entry of dialysate heat shrink packaging.

[0049] See Figure 3 The hexahedral block 14521 includes a hard structure 001 arranged inside and a silicone structure 002 partially / completely covered on the bottom of the hard structure. The hard structure is used to help the hexahedral block 14521 to be shaped and to assemble the second rotating wheel 14524. The silicone structure is used to provide a part of the deformation space, which is conducive to the insertion of the L-shaped support plate 140 under the dialysate heat shrink package; the hard structure includes a smooth plate body 003 and a support sheet 004 arranged at the bottom of the smooth plate body. Both ends of the smooth plate body 003 are provided with downward curved edges. When the package enters the smooth plate body, it contacts the curved surface, thereby preventing the dialysate heat shrink package from being scratched. The bottom of the support sheet is provided with an upward curved edge to avoid puncturing the silicone structure. At least two support sheets 004 are provided under each smooth plate body 003, and the support sheet 004 is provided with a through hole 14523.

[0050] In summary, the lower part of the stacking device in this embodiment adopts an L-shaped support plate 140, and the bottom of the L-shaped support plate 140 is comb-shaped as a whole, so that the dialysate after heat shrink packaging is partially on the upper part of the comb teeth and partially embedded in the gaps between the comb teeth, which can ensure that the dialysate does not fall and there is no squeezing of the dialysate bag; after the dialysate heat shrink package enters the L-shaped support plate 140, the vertical fixing frame 142 of the L-shaped support plate 140 can provide positioning, and at the same time, the deformable comb teeth 145 are tilted to provide positioning on the opposite side, and the upper hanging down pressure component 130 moves downward to press against the top of the dialysate heat shrink package, thereby ensuring that the dialysate heat shrink package does not fall during the transportation process of the robotic arm; when reaching the designated position, the deformable comb teeth 145 are reset; the lateral moving component 120 moves forward to control the L-shaped support plate 140 to move forward, and the dialysate heat shrink package is stacked at the designated position. The stacking process is smooth and will not cause damage to the dialysate and the dialysate heat shrink film package.

[0051] This specification describes examples of embodiments of the present invention and does not mean that these embodiments illustrate and describe all possible forms of the present invention. It should be understood that the embodiments in the specification can be implemented in a variety of alternative forms. The drawings do not need to be drawn to scale; some features can be enlarged or reduced to show the details of specific components. The specific structural and functional details disclosed should not be interpreted as limiting, but are merely representative bases for teaching those skilled in the art to implement the present invention in various forms. It should be understood by those skilled in the art that the multiple features illustrated and described with reference to any one of the figures can be combined with the features illustrated in one or more other figures to form embodiments that are not explicitly illustrated or described. The illustrated combined features provide representative embodiments for typical applications. However, various combinations and variations of features consistent with the teachings of the present invention can be used for specific applications or implementations as needed.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A palletizing device for a dialysate heat shrink packaging robot, characterized in that: The palletizing device includes a manipulator fixed component, a transverse moving component, a pressing component, and an L-shaped support plate. The top of the vertical end of the L-shaped support plate is connected to the transverse moving component, so that the L-shaped support plate can move laterally. The pressing component is assembled on the fixed structure of the transverse moving component or the manipulator fixed component, so that the dialysate heat shrink package enters the L-shaped support plate and presses the top of the dialysate heat shrink package. L-shaped pallet includes: A vertical fixing frame, the top of which is connected to the horizontal moving assembly; The connecting tube is a rectangular tube, the bottom of the vertical fixing frame is connected to the top of the connecting tube; a rotating shaft is provided in the connecting tube, and a rotating motor is provided at either end of the connecting tube, and the rotating motor is connected to the rotating shaft; a plurality of assembly holes are provided on one side of the connecting tube; Deformable comb teeth, one end of the deformable comb teeth is connected to one of the assembly hole positions, and the smooth wedge-shaped tip of the deformable comb teeth is tilted upward under the action of the rotating motor.

2. The palletizing device for the dialysate heat shrink packaging robot according to claim 1, characterized in that: The deformable comb teeth include: A rectangular flat tube, wherein the interior of the rectangular flat tube is hollow; A deformable wedge-shaped tip, the deformable wedge-shaped tip being formed by sequentially arranging a plurality of hexahedral blocks of gradually varying heights, the plurality of hexahedral blocks being connected by silicone tubes, each of the hexahedral blocks being provided with a through hole, and at least the hexahedral block with the smallest height being provided with a second rotating wheel; The traction rope is inserted from the hexahedron with the largest height, passes through the through holes of multiple hexahedron blocks in sequence, goes around the second rotating wheel and passes through multiple silicone tubes in sequence, enters the rectangular flat tube, and is finally connected to the rotating shaft.

3. The palletizing device for the dialysate heat shrink packaging robot according to claim 2, characterized in that: One or more first rotating wheels are arranged in the rectangular flat tube.

4. The palletizing device for the dialysate heat shrink packaging robot according to claim 2, characterized in that: The upper surface of the deformable wedge-shaped tip is smooth.

5. The palletizing device for the dialysate heat shrink packaging robot according to claim 2, characterized in that: The hexahedral block includes a hard structure arranged inside and a silicone structure partially covering the bottom of the hard structure; the hard structure includes a smooth plate body and a support sheet arranged at the bottom of the smooth plate body, the two ends of the smooth plate body are provided with downward curved edges, the bottom of the support sheet is provided with an upward curved edge, and at least two support sheets are provided under each of the smooth plates.

6. The palletizing device for the dialysate heat shrink packaging robot according to claim 1, characterized in that: The L-shaped supporting plate further comprises a transverse fixing block, which is fixedly arranged on the top of the vertical fixing frame, and the transverse moving assembly is connected to the transverse fixing block.

7. The palletizing device for a dialysate heat shrink packaging robot according to any one of claims 1 to 6, characterized in that: The manipulator fixing assembly includes: An upper connecting plate, wherein a surface of the upper connecting plate is provided with a plurality of connecting holes for fixing the robotic arm; A connecting frame, the connecting frame being fixedly connected to the bottom of the upper connecting plate, and having an overlapping cylinder control solenoid valve fixed on the connecting frame; A side positioning frame is fixedly arranged under the connecting frame close to one side of the comb support plate, and the side positioning frame is provided with a hole for the lateral moving component to pass through.

8. The palletizing device for a dialysate heat shrink packaging robot according to any one of claims 1 to 6, characterized in that: The lateral movement assembly includes a guide member and a telescopic cylinder. The guide member is arranged on both sides of the telescopic cylinder. The guide column of the guide member and the telescopic column of the telescopic cylinder are connected to the L-shaped support plate.

9. The palletizing device for a dialysate heat shrink packaging robot according to any one of claims 1 to 6, characterized in that: The pressing assembly includes a pressing cylinder and a pressing fixing plate, and the telescopic column of the pressing cylinder is connected to the top of the pressing fixing plate.

10. The palletizing device for the dialysate heat shrink packaging robot according to claim 9, characterized in that: A flexible anti-slip pad is provided at the bottom of the pressing and fixing plate.

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