A double-arm linear wax dipping machine

Abstract

The invention discloses a double-mechanical-arm linear wax dipping machine, comprising a pill distributing device, a wax trough and a cooling trough which are arranged in sequence and in a linear shape: the wax dipping machine also comprises a feeding mechanical arm and a wax dipping mechanical arm; the feeding mechanical arm is arranged directly above the pill distributing device and the wax trough, and is used for reciprocatingly transferring the pill-shaped materials on the pill distributing device to a position directly above the wax trough for dropping; the wax dipping mechanical arm is arranged on one side of the wax trough and the cooling trough, and is used for receiving the pill-shaped materials dropped by the feeding mechanical arm and cooperating with the wax trough and the cooling trough in sequence to realize wax dipping and cooling operations; the structure of the invention is reasonable in design, simple in design, and highly automated, and at the same time, the stable operation is conducive to ensuring the quality of wax dipping.

Description

Technical Field

[0001] The invention belongs to the technical field of packaging machinery, and in particular relates to a double-mechanical-arm linear wax dipping machine. Background Art

[0002] The existing linear wax dipping machines still have problems in structural design, such as poor continuous operation capability and poor wax dipping sealing effect; the prior art discloses a patent document with application number "201820702457.0" and name "A honey pill wax dipping machine", which cannot realize automatic loading during operation and cannot effectively realize continuous operation, thereby reducing production efficiency; at the same time, in terms of structural design, the fixing method of the wax dipping tray is not stable enough. During the reciprocating wax dipping process, the wax dipping tray has poor stability, which affects the quality of wax dipping. Summary of the invention

[0003] The purpose of the present invention is to provide a dual-arm linear wax dipping machine in view of the deficiencies in the prior art, which has a reasonable and simple structural design, a high degree of automation, and stable operation to ensure the quality of wax dipping.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] A double-mechanical arm linear wax dipping machine, comprising a shot dispensing device, a wax tank and a cooling tank which are arranged in sequence and in a linear arrangement; the wax dipping machine also comprises a material taking mechanical arm and a wax dipping mechanical arm;

[0006] The material taking mechanical arm is arranged just above the pill dispensing device and the wax tank, and is used to reciprocately transfer the pill-shaped materials on the pill dispensing device to the position just above the wax tank for dispensing;

[0007] The wax dipping robot arm is arranged on one side of the wax tank and the cooling tank, and is used to receive the pellet material dropped by the material taking robot arm and cooperate with the wax tank and the cooling tank in sequence to realize the wax dipping and cooling operations.

[0008] Furthermore, the wax dipping robot arm includes a crossbeam, a first transverse driving mechanism arranged on the crossbeam, a slide arranged on the first transverse driving mechanism, a lifting and lowering adjustment mechanism arranged on the slide, and a wax dipping plate arranged on the lifting and lowering adjustment mechanism; the crossbeam is arranged on the frame of the wax tank and the cooling tank.

[0009] Furthermore, the first transverse movement drive mechanism includes a first motor arranged on the beam, a synchronous belt transmission mechanism symmetrically arranged on both sides of the beam, and a first linear guide rail symmetrically arranged on both sides of the beam; the synchronous belt transmission mechanism includes two pulleys arranged at intervals along the length direction of the beam and a synchronous belt arranged on the pulleys, the corresponding pulleys located on both sides of the beam are connected through the same transmission shaft, the first motor is connected to the transmission shaft, four first linear guide rails are provided, and two are provided in the upper and lower directions of the synchronous belt transmission machine on each side of the beam.

[0010] Furthermore, the slide seat includes two plate seats symmetrically arranged on both sides of the crossbeam, the plate seats are connected to the matching sliders on the first linear guide rail, and the plate seats are connected to the synchronous belt.

[0011] Furthermore, the lifting and adjusting mechanism includes a multi-position cylinder arranged on a plate seat, a guide rod connected to the plate seat through a bearing seat, and a bending connecting frame connected to the output end of the multi-position cylinder; four guide rods are provided, two of which are arranged on each plate seat, and the four guide rods are connected to the bending connecting frame, and the bending connecting frame is connected to one side of the wax dipping plate.

[0012] Furthermore, the material picking robot arm includes a laterally arranged support plate, a second transverse driving mechanism arranged on the support plate, and a material picking suction cup arranged on the second transverse driving mechanism; the support plate is arranged on the frame of the shot dispensing device and the wax tank.

[0013] Furthermore, the second transverse driving mechanism includes a screw rod arranged on the support plate, a second motor arranged on the support plate and connected to the screw rod, a nut seat cooperating with the screw rod, and a second linear guide rail arranged on the support plate and located below the screw rod; a slider matching the second linear guide rail is connected to the nut seat.

[0014] Furthermore, the material taking suction cup includes a connecting plate connected to the nut seat, a cylinder arranged on the connecting plate, and a suction cup frame connected to the output end of the cylinder.

[0015] Furthermore, a cooling water replenishment tank is provided on one side of the cooling trough, and a material chute is provided above the cooling water replenishment tank on the cooling trough.

[0016] Furthermore, the wax tank is provided with two wax pools.

[0017] The beneficial effects of the present invention are:

[0018] 1. The present invention provides a material taking mechanical arm and a wax dipping mechanical arm that can cooperate with each other in structural design; the material taking mechanical arm can take materials quickly and conveniently, and the material taking stroke is short, which can reduce the risk of the shelled honey pills falling off; the wax dipping mechanical arm can improve the stability and accuracy of the cantilever wax dipping tray in structural design; at the same time, the lateral arrangement of the wax dipping mechanical arm is conducive to the cooperation with the material taking mechanical arm, and the wax tank and the water tank can be in a semi-open state, which is conducive to the inspection and maintenance of the wax tank and the water tank, and the structural design is also more concise;

[0019] 2. The present invention has the following structural features: the wax dipping robot arm adopts a double plate seat clamping crossbeam structure design, which can ensure that the plate seat can move more smoothly and has a stronger load-bearing capacity after cooperating with the first linear guide rail, which is conducive to suppressing the negative impact of eccentric load; the synchronous belt drives the plate seat, which can achieve precise lateral movement control, and can also effectively reduce noise and maintenance costs; the four guide rods cooperate with the bending connecting frame to achieve connection with the wax dipping tray, which can make the wax dipping tray lifting action more stable, which is conducive to ensuring the quality of wax dipping;

[0020] 3. In practical application, the present invention can automatically complete the operations of cloth, feeding, wax dipping and cooling, with a higher degree of automation and more convenient use. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 2 It is a side view structural schematic diagram of the present invention;

[0023] Figure 3 It is a rear view structural schematic diagram of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the wax dipping robot arm in the present invention;

[0025] Figure 5 It is a structural schematic diagram of the material taking mechanical arm in the present invention.

[0026] Among them, 1-shot distribution device; 2-wax trough; 3-cooling trough; 4-crossbeam; 5-wax dipping plate; 6-first motor; 7-first linear guide; 8-pulley; 9-synchronous belt; 10-drive shaft; 11-plate seat; 12-multi-position cylinder; 13-guide rod; 14-bending connecting frame; 15-support plate; 16-screw rod; 17-second motor; 18-nut seat; 19-second linear guide; 20-connecting plate; 21-cylinder; 22-suction cup frame; 23-circulating water supply tank; 24-material chute; 25-material picking robot arm; 26-wax dipping robot arm. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings:

[0028] like Figures 1 to 5 As shown, a double-robotic-arm linear wax dipping machine comprises a pill-distributing device 1, a wax trough 2 and a cooling trough 3 which are sequentially arranged and in a linear arrangement: the wax dipping machine also comprises a feeding robotic arm and a wax dipping robotic arm; the feeding robotic arm reciprocally transfers the pill-shaped material on the pill-distributing device 1 to the position directly above the wax trough 2 and then drops it; the wax dipping robotic arm is used to receive the pill-shaped material dropped by the feeding robotic arm and cooperate with the wax trough 2 and the cooling trough 3 in sequence to realize wax dipping and cooling operations.

[0029] in,

[0030] The material taking mechanical arm (25) comprises a support plate 15, a second transverse driving mechanism and a material taking suction cup; the material taking suction cup is in the shape of a plate and is fixed to the frame of the pill dispensing device 1 and the wax tank 2 through legs; the second transverse driving mechanism comprises a screw rod 16 arranged on the support plate 15, a second motor 17 arranged on the support plate 15 and connected to the screw rod 16, a screw nut seat 18 matched with the screw rod 16, a second linear guide rail 19 arranged on the support plate 15 and located below the screw rod 16; a sliding block 19 matched with the second linear guide rail 19 The block is connected to the nut seat 18, and the screw nut transmission cooperates with the linear guide rail to ensure that the nut can move horizontally more stably; the material-retrieving suction cup includes a connecting plate 20 connected to the nut seat 18, a cylinder 21 arranged on the connecting plate 20, and a suction cup frame 22 connected to the output end of the cylinder 21; after the connecting plate 20 is connected to the nut seat 18, it is located below the support plate 15, and two guide columns can be arranged on both sides of the cylinder 21 on the connecting plate 20 to assist the cylinder 21 to move smoothly; the suction cup frame 22 is used to absorb the honey pills after the shell is buckled. The suction cup frame 22 moves between the pill dispensing device 1 and the wax tank 2, and its stroke is short. The shell ensures the stability and safety of the suction cup frame 22 to adsorb the honey pills to prevent the honey pills from falling. A protective shell can be set on the outside of the material-retrieving mechanical arm.

[0031] The wax dipping robot arm includes a crossbeam 4, a first transverse driving mechanism, a slide, a lifting and lowering adjustment mechanism and a wax dipping plate 5. The crossbeam 4 is plate-shaped, lattice-shaped or hollow cylindrical in shape. The crossbeam 4 is fixed to the frame of the wax tank 2 and the cooling tank 3 through legs and is located at one side. The first transverse driving mechanism includes a first motor 6 arranged on the crossbeam 4, a synchronous belt transmission mechanism symmetrically arranged on both sides of the crossbeam 4, and a first linear guide 7 symmetrically arranged on both sides of the crossbeam 4; the synchronous belt transmission mechanism includes two pulleys 8 arranged at intervals along the length direction of the crossbeam 4 and a synchronous belt 9 arranged on the pulley 8; the corresponding pulleys 8 located on both sides of the crossbeam 4 are connected through the same transmission shaft 10, and the first motor 6 and the transmission shaft 10 are connected by belt transmission, chain transmission or gear transmission, so that the synchronous belts 9 on both sides of the crossbeam 4 can be driven simultaneously; there are four first linear guides 7, and two are arranged in the upper and lower directions of the synchronous belt transmission machine on each side of the crossbeam 4. Such a structural design can make the slide run more stably. The slide seat includes two plate seats 11 symmetrically arranged on both sides of the crossbeam 4. The plate seats 11 are connected to the matching sliders on the first linear guide rail 7. The plate seats 11 are connected to the synchronous belt 9. The four first linear guide rails 7 make the lateral movement of the two plate seats 11 more stable and make the plate seats 11 have stronger bearing capacity. The lifting and adjusting mechanism includes a multi-position cylinder 12 arranged on a plate seat 11, a guide rod 13 connected to the plate seat 11 through a bearing seat, and a bending connecting frame 14 connected to the output end of the multi-position cylinder 12; the multi-position cylinder 12 can provide multiple stroke positions; there are four guide rods 13, two of which are arranged on each plate seat 11; the four guide rods 13 are connected to the bending connecting frame 14, so that the lifting and lowering action of the bending connecting frame 14 can be more stable; the side direction of the bending connecting frame 14 is Z-shaped, and the bending connecting frame 14 includes two parallel Z-shaped rods arranged at intervals and a connecting rod connected between the Z-shaped rods. The bending connecting frame 14 is connected and fixed to the side frame of the wax dipping tray 5, so that the wax dipping tray 5 can correspond to the wax tank 2 and the cooling tank 3 directly above and be cantilevered; the wax dipping tray 5 in a cantilevered state can simplify the structural transformation of the wax tank 2 and the cooling tank 3, so that the wax tank 2 and the cooling tank 3 have a semi-open state, which is conducive to the staff to observe the processing status from one side and perform equipment maintenance and overhaul.The wax dipping tray 5 is a wax dipping tray with a self-unloading function, such as a wax dipping tray with an application number of "CN201820701908.9" and a name of "a wax dipping tray". The wax dipping tray has a self-unloading function, and loading or unloading is achieved by acting on a lever on the wax dipping tray, and corresponding blocks are provided on the frames of the wax trough 2 and the cooling trough 3. The wax dipping tray 5 can also adopt the structure shown in the drawings of the present application. The wax dipping tray 5 in the drawings of the present application includes a square outer frame, a perforated plate for positioning the shelled honey pills is provided in the square outer frame, and blocking rod frames are provided on the upper and lower sides of the square outer frame to block The blocking rod frame is in the shape of a grid. Under normal conditions, the blocking rod frame cooperates with the positioning orifice plate to fix the shelled honey pills. The blocking rod frame is provided with a push rod at the front and rear ends. The push rod is slidably matched with the sleeve arranged on the square outer frame. A spring is sleeved on the push rod. One end of the spring is connected and fixed to the push rod, and the other end is elastically pressed on the sleeve. A baffle that can cooperate with the push rod is arranged at an appropriate position on the wax groove 2 and the cooling groove 3. When the baffle rod is pressed against the baffle plate during the movement of the wax dipping tray 5, the upper or lower blocking rod frame can be moved relative to the square outer frame, thereby realizing the delivery of the shelled honey pills or facilitating the delivery of the shelled honey pills. A protective shell can be arranged on the outside of the wax dipping mechanical arm.

[0032] The wax tank 2 may be provided with two wax pools, which can be used to realize one for use and one for backup, or one wax pool may supply liquid to the other wax pool to ensure the stability of the liquid level of the other wax pool.

[0033] A circulating water supply tank 23 is provided on one side of the cooling trough 3. A submersible pump is installed in the circulating water supply tank 23 to realize circulating water supply of the cooling trough 3 to ensure the cooling effect. A material chute 24 is provided above the circulating water supply tank 23 on the cooling trough 3. The material chute 24 is in a grid shape. The water dripped by the wax pills can be collected in the circulating water supply tank 23 for reuse.

[0034] The pill distributing device 1 is used to lift the collected shelled honey pills to the bottom of the material-retrieving robot arm. The pill distributing device 1 can adopt a chain conveyor, and a straight conveying section is formed under the material-retrieving robot arm. A perforated plate can be set on the chain plate of the chain conveyor, and the perforated plate can be used to arrange the scattered shelled honey pills in a regular manner.

[0035] The working process of the present invention is as follows: after the shelled honey pills are put into the pill distributing device 1, the pill distributing device 1 lifts the shelled honey pills and realizes automatic and regular arrangement of the shelled honey pills so as to allow the material taking robot arm to quickly take the materials; the pill distributing device 1 has a horizontal conveying section, after the shelled honey pills are located in the horizontal conveying section, the cylinder 21 controls the suction cup frame 22 to move down a fixed distance, after the suction cup frame 22 absorbs the shelled honey pills, the cylinder 21 controls the suction cup frame 22 to move up a fixed distance; the second motor 17 drives the screw rod 16 to rotate, and the material is taken out by the feeding robot arm; the feeding robot arm 10 drives the screw rod 16 to rotate, and ... The nut 18 controls the suction cup frame 22 to move horizontally and linearly for a specified distance, and makes the suction cup frame 22 located directly above the wax dipping tray 5; at this time, the blocking rod frame on the upper side of the wax dipping tray 5 moves, and the orifice plate is in an open state; the suction cup frame 22 drops the shelled honey pills, and the shelled honey pills fall into the holes of the orifice plate; the first motor 6 drives the synchronous belt 9 to rotate, and the synchronous belt 9 drives the plate seat 11 to move horizontally, and the plate seat 11 drives the wax dipping tray 5 to move; after moving horizontally for a certain distance, the blocking rod frame on the upper side is reset, and the wax dipping tray 5 is now in an open state. 5 realizes the fixation of the shelled honey pill; after being located at an appropriate position in the wax pool 2, the wax dipping plate 5 is controlled to move downward to perform the wax dipping operation; the multi-position cylinder 12 controls the wax dipping plate 5 to move downward through the bending connecting frame 14, and the multi-position cylinder 12 has a multi-stage displacement that can control the control of multiple positions of the wax dipping plate 5 after it moves downward; after the wax dipping plate 5 moves up and down in the wax pool 2 for a certain number of times, the wax dipping plate 5 is controlled to move up to a specified position and then stop; the first motor 6 drives the synchronous belt 9 to rotate, and the plate seat 11 drives the wax dipping plate 5 to continue to move horizontally, 3, and the wax dipping tray 5 stops at an appropriate position above the cooling trough 3; after the wax dipping tray 5 stops, the blocking rod frame at the lower side of the wax dipping tray 5 is triggered to move, and at this time, the shelled honey pills on the wax dipping tray 5 fall into the cooling trough 3, and the wax seal of the shelled honey pills is cooled and solidified and then discharged through the material chute 24, and then collected; after the wax dipping tray 5 is put into the shelled honey pills, the first motor 6 drives the synchronous belt 9 to rotate in the opposite direction, so that the wax dipping tray 5 is reset, and after the wax dipping tray 5 is reset, the suction cup frame 22 can put the shelled honey pills to be wax-sealed again, so as to realize the continuous processing of the shelled honey pills.

Claims

1. A dual-arm linear wax dipping machine, comprising a shot dispensing device (1), a wax tank (2) and a cooling tank (3) arranged in sequence and in a linear arrangement: characterized in that: It also includes a material taking robot arm and a wax dipping robot arm; The material taking mechanical arm is arranged just above the shot dispensing device (1) and the wax tank (2), and is used to reciprocately transfer the pellet-shaped material on the shot dispensing device (1) to a position just above the wax tank (2) for dispensing; the material taking mechanical arm comprises a laterally arranged support plate (15), a second transverse driving mechanism arranged on the support plate (15), and a material taking suction cup arranged on the second transverse driving mechanism; the support plate (15) is arranged on the frame of the shot dispensing device (1) and the wax tank (2); The wax dipping robot arm is arranged on one side of the wax trough (2) and the cooling trough (3), and is used to receive the pelletized material dropped by the material taking robot arm and cooperate with the wax trough (2) and the cooling trough (3) in sequence to realize wax dipping and cooling operations; the wax dipping robot arm comprises a crossbeam (4), a first transverse driving mechanism arranged on the crossbeam (4), a slide seat arranged on the first transverse driving mechanism, a lifting and lowering adjustment mechanism arranged on the slide seat, and a wax dipping plate (5) arranged on the lifting and lowering adjustment mechanism; the crossbeam (4) is arranged on the frame of the wax trough (2) and the cooling trough (3).

2. A dual-arm linear wax dipping machine as claimed in claim 1, characterized in that: The first transverse driving mechanism comprises a first motor (6) arranged on the crossbeam (4), a synchronous belt transmission mechanism symmetrically arranged on both sides of the crossbeam (4), and a first linear guide rail (7) symmetrically arranged on both sides of the crossbeam (4); the synchronous belt transmission mechanism comprises two pulleys (8) arranged at intervals along the length direction of the crossbeam (4) and a synchronous belt (9) arranged on the pulleys (8); the corresponding pulleys (8) located on both sides of the crossbeam (4) are connected through the same transmission shaft (10); the first motor (6) is connected to the transmission shaft (10) in a transmission manner; four first linear guide rails (7) are provided, and two are provided in the upper and lower directions of the synchronous belt transmission machine on each side of the crossbeam (4).

3. A dual-arm linear wax dipping machine as claimed in claim 2, characterized in that: The slide seat comprises two plate seats (11) symmetrically arranged on both sides of the crossbeam (4); the plate seats (11) are connected to a matching slider on the first linear guide rail (7); and the plate seats (11) are connected to a synchronous belt (9).

4. A dual-arm linear wax dipping machine as claimed in claim 3, characterized in that: The lifting and lowering adjustment mechanism comprises a multi-position cylinder (12) arranged on a plate seat (11), a guide rod (13) connected to the plate seat (11) through a bearing seat, and a bending connecting frame (14) connected to the output end of the multi-position cylinder (12); four guide rods (13) are provided, two of which are arranged on each plate seat (11); the four guide rods (13) are connected to the bending connecting frame (14), and the bending connecting frame (14) is connected to one side of the wax dipping tray (5).

5. A dual-arm linear wax dipping machine as claimed in claim 1, characterized in that: The second transverse driving mechanism comprises a screw rod (16) arranged on the support plate (15), a second motor (17) arranged on the support plate (15) and connected to the screw rod (16), a nut seat (18) matched with the screw rod (16), and a second linear guide rail (19) arranged on the support plate (15) and located below the screw rod (16); a sliding block matched with the second linear guide rail (19) is connected to the nut seat (18).

6. A dual-arm linear wax dipping machine as claimed in claim 5, characterized in that: The material taking suction cup comprises a connecting plate (20) connected to a nut seat (18), a cylinder (21) arranged on the connecting plate (20), and a suction cup frame (22) connected to an output end of the cylinder (21).

7. A dual-arm linear wax dipping machine as claimed in claim 1, characterized in that: A circulating water supply box (23) is provided on one side of the cooling trough (3), and a material smoothing chute (24) is provided above the circulating water supply box (23) on the cooling trough (3).

8. A dual-arm linear wax dipping machine as claimed in claim 1, characterized in that: The wax tank (2) is provided with two wax pools.

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