A steering feeding manipulator mechanism

Abstract

The present invention relates to the technical field of filling and sealing machines, and discloses a steering feeding manipulator mechanism. A swing drive mechanism drives a swing arm to swing and drives a suction cup to descend to absorb and lift the material and turn the material to a vertical state to realize the transportation of the material. After the suction cup absorbs the material, it is generally detected by a detection element. If it is found that the head and tail directions of the material are placed incorrectly, the controller controls the action of a rotating cylinder to drive the suction cup to rotate to automatically adjust the orientation of the material on the suction cup, so as to timely identify the state of the material and make accurate adjustments. In order to ensure that the suction surface of the suction cup can be parallel to the material every time the suction cup sucks downward, during the swinging process of the swing arm, the swing arm drives the second rotating shaft to rotate, and then drives the synchronous belt and the second pulley to rotate. Through the first crank and the connecting rod structure, the suction cup can rotate and automatically adjust the suction surface during the swinging process, so as to stand up the material 90 degrees, and finally put the material into the production process to ensure the stability and accuracy of the suction cup.

Description

Technical Field

[0001] The invention relates to the technical field of filling and sealing machines, in particular to a steering feeding manipulator mechanism. Background Art

[0002] The filling and sealing machine can smoothly and accurately inject various paste-like, paste-like, viscous fluid and other materials into the tube, and complete the hot air heating inside the tube, sealing, and printing batch numbers, production dates, etc. It is suitable for filling and sealing large-diameter plastic tubes and composite tubes in the pharmaceutical, food, cosmetics, daily chemical products and other industries.

[0003] When the filling and sealing machine is performing filling and sealing, the material needs to be transferred from the horizontal conveying mechanism to the vertical filling and sealing machine through the feeding mechanism. Generally, the feeding mechanism needs to switch the material between a horizontal state and a vertical state. The existing feeding mechanism simply transfers the material. When the material is placed in an incorrect position, for example, when the head and tail directions of the material are reversed, the feeding mechanism cannot identify and adjust in time, which seriously affects the subsequent filling and sealing operations. Summary of the invention

[0004] The purpose of the present invention is to provide a steering feeding robot mechanism to solve the problem that the existing feeding mechanism cannot timely identify the state of the material and make accurate adjustments, thereby seriously affecting the subsequent filling and sealing operations.

[0005] In order to solve the above problems, the present invention provides a steering feeding manipulator mechanism, comprising a base, a swing drive mechanism, a swing arm, an adjustment mechanism, a rotating cylinder, a detection element, a suction cup and a controller, wherein the detection element and the rotating cylinder are both electrically connected to the controller, the lower end of the swing arm is rotatably connected to the base through a first rotating shaft, the upper end of the swing arm is connected to the adjustment mechanism through a second rotating shaft, the swing drive mechanism is connected to the swing arm and is used to drive the swing arm to swing, the rotating cylinder is arranged at the end of the adjustment mechanism, and the suction cup is vertically connected to the output end of the rotating cylinder downward;

[0006] The adjustment mechanism includes a first pulley, a second pulley, a synchronous belt, a first crank, a connecting rod and a connecting block, the first pulley is connected to the base, the second pulley is rotatably arranged at one end of the second rotating shaft, the synchronous belt is cooperatively connected between the first pulley and the second pulley, the other end of the second rotating shaft is connected to the first crank, the connecting rod is connected between the first crank and the connecting block along the axial direction of the second rotating shaft, and the rotating cylinder is connected to the connecting block;

[0007] Connecting plates are arranged on both sides of the connecting block, the lower ends of the two connecting plates are connected with cylinder seats, and the rotating cylinder is arranged on the cylinder seats.

[0008] Furthermore, the swing arm comprises an upper arm and a lower arm, the upper arm is provided with a locking bolt, and the lower arm is provided with a long groove for the locking bolt to slide.

[0009] Furthermore, the swing driving mechanism includes a servo motor, a second crank and a connecting rod, the second crank is connected to the output end of the servo motor, and the connecting rod is connected to the second crank and the lower half arm.

[0010] Furthermore, the base includes a bottom plate, a first support and a second support, the first support and the second support are arranged in parallel on the bottom plate, the first rotating shaft is arranged on the first support, and the swing driving mechanism is arranged on the second support.

[0011] The present invention provides a steering feeding robot mechanism, in which a swing drive mechanism drives a swing arm to swing, drives a suction cup to descend, absorbs and lifts the material, and turns the material to a vertical state to realize the transportation of the material. After the suction cup absorbs the material, it is generally detected by a detection element. If it is found that the head and tail directions of the material are placed incorrectly, the controller controls the action of the rotating cylinder to drive the suction cup to rotate to automatically adjust the orientation of the material on the suction cup, so as to timely identify the state of the material and make accurate adjustments to ensure the filling operation of the filling and sealing machine. Since the material is transported horizontally, in order to ensure that the suction surface of the suction cup can be parallel to the material every time the suction cup sucks downward, during the swinging process of the swing arm, the swing arm drives the second rotating shaft to rotate, and then drives the synchronous belt and the second pulley to rotate. Through the first crank and the connecting rod structure, the suction cup can rotate and automatically adjust the suction surface during the swinging process, so as to stand up the material 90 degrees, and finally put the material into the production process to ensure the stability and accuracy of the suction cup. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the steering feeding robot mechanism in an embodiment of the present invention.

[0013] Figure 2 It is a structural schematic diagram of the steering feeding robot mechanism in the embodiment of the present invention from another perspective.

[0014] In the figure, 1, base; 2, swing drive mechanism; 3, swing arm; 4, adjustment mechanism; 5, rotary cylinder; 6, suction cup; 7, first rotating shaft; 8, second rotating shaft; 101, bottom plate; 102, first support; 103, second support; 201, servo motor; 202, second crank; 203, connecting rod; 301, upper arm; 302, lower arm; 303, locking bolt; 304, long groove; 401, first pulley; 402, second pulley; 403, synchronous belt; 404, first crank; 405, connecting rod; 406, connecting block; 407, connecting plate; 408, cylinder seat. DETAILED DESCRIPTION

[0015] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0016] In the description of the present invention, it is necessary to understand that the terms "up", "down", "left", "right", "top", "bottom", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0017] Combination Figure 1~2 As shown, a steering feeding manipulator mechanism of an embodiment of the present invention is schematically shown, including a base 1, a swing drive mechanism 2, a swing arm 3, an adjustment mechanism 4, a rotating cylinder 5, a detection element, a suction cup 6 and a controller. The detection element and the rotating cylinder 5 are both electrically connected to the controller. The detection element in this embodiment is generally a photoelectric detector. The lower end of the swing arm 3 is rotatably connected to the base 1 through a first rotating shaft 7, and the upper end of the swing arm 3 is connected to the adjustment mechanism 4 through a second rotating shaft 8. The swing drive mechanism 2 is connected to the swing arm 3 and is used to drive the swing arm 3 to swing. The rotating cylinder 5 is arranged at the end of the adjustment mechanism 4, and the suction cup 6 is vertically downward. The adjusting mechanism 4 comprises a first pulley 401, a second pulley 402, a synchronous belt 403, a first crank 404, a connecting rod 405 and a connecting block 406. The first pulley 401 is connected to the base 1, and the second pulley 402 is rotatably arranged at one end of the second rotating shaft 8. The synchronous belt 403 is connected between the first pulley 401 and the second pulley 402. The other end of the second rotating shaft 8 is connected to the first crank 404. The connecting rod 405 is connected between the first crank 404 and the connecting block 406 along the axial direction of the second rotating shaft 8. The rotating cylinder 5 is connected to the connecting block 406.

[0018] In order to facilitate the connection and installation of the rotating cylinder 5 , connecting plates 407 are provided on both sides of the connecting block 406 . The lower ends of the two connecting plates 407 are connected to a cylinder seat 408 , and the rotating cylinder 5 is arranged on the cylinder seat 408 .

[0019] Specifically, the swing drive mechanism 2 drives the swing arm 3 to swing and drives the suction cup 6 to descend to absorb and lift the material and turn the material to a vertical state to realize the transportation of the material. After the suction cup 6 absorbs the material, it will generally be detected by the detection element. If it is found that the head and tail directions of the material are placed incorrectly, the controller controls the rotation cylinder 5 to drive the suction cup 6 to rotate to automatically adjust the orientation of the material on the suction cup 6, so as to timely identify the state of the material and make accurate adjustments to ensure the filling operation of the filling and sealing machine. Since the material is transported horizontally, in order to ensure that the suction surface of the suction cup 6 is parallel to the material every time the suction cup 6 absorbs downward, during the swinging process of the swing arm 3, the swing arm 3 drives the second rotating shaft 8 to rotate, thereby driving the synchronous belt 403 and the second pulley 4 02 rotates, and through the first crank 404 and the connecting rod 405 structure, the suction cup 6 can rotate during the swinging process to automatically adjust the suction surface, so as to stand up the material 90 degrees, and finally put the material into the production process to ensure the stability and accuracy of the suction cup 6; further, the swing arm 3 includes an upper arm 301 and a lower arm 302, and the upper arm 301 is provided with a locking bolt 303, and the lower arm 302 is provided with a long groove 304 for the locking bolt 303 to slide, and the distance between the upper arm 301 and the lower arm 302 can be adjusted by adjusting the position of the locking bolt 303 in the long groove 304, so as to extend or shorten the length of the entire swing arm 3 to match the transportation distance of different materials, and it has strong adaptability.

[0020] The swing drive mechanism 2 in this embodiment includes a servo motor 201, a second crank 202 and a connecting rod 203. The second crank 202 is connected to the output end of the servo motor 201, and the connecting rod 203 is connected to the second crank 202 and the lower arm 302. The servo motor 201 drives the second crank 202 to rotate, and the second crank 202 drives the connecting rod 203 to swing and then drives the lower arm 302 to swing. The lower arm 302 is connected to the upper arm 301, so that the entire swing arm 3 can be driven to swing to transport materials. Its structure is simple and easy to operate.

[0021] The base 1 in this embodiment includes a bottom plate 101, a first support 102 and a second support 103. The first support 102 and the second support 103 are arranged in parallel on the bottom plate 101. The first rotating shaft 7 is arranged on the first support 102. The swing drive mechanism 2 is arranged on the second support 103. The bottom plate 101 supports the entire steering feeding robot. By arranging the first support 102 and the second support 103 in parallel on the bottom plate 101, on the one hand, structural interference can be reduced. On the other hand, by arranging the swing drive mechanism 2 on one side, the force can be balanced during the movement, thereby ensuring the stability of the swing arm 3 during the swinging process to avoid tipping.

[0022] It should be understood that the present invention uses the terms "first", "second", etc. to describe various information, but these information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0023] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A steering feeding manipulator mechanism, characterized in that: It includes a base, a swing drive mechanism, a swing arm, an adjustment mechanism, a rotating cylinder, a detection element, a suction cup and a controller, wherein the detection element and the rotating cylinder are both electrically connected to the controller, the lower end of the swing arm is rotatably connected to the base through a first rotating shaft, the upper end of the swing arm is connected to the adjustment mechanism through a second rotating shaft, the swing drive mechanism is connected to the swing arm and is used to drive the swing arm to swing, the rotating cylinder is arranged at the end of the adjustment mechanism, and the suction cup is vertically connected to the output end of the rotating cylinder downward; The adjustment mechanism includes a first pulley, a second pulley, a synchronous belt, a first crank, a connecting rod and a connecting block, the first pulley is connected to the base, the second pulley is rotatably arranged at one end of the second rotating shaft, the synchronous belt is cooperatively connected between the first pulley and the second pulley, the other end of the second rotating shaft is connected to the first crank, the connecting rod is connected between the first crank and the connecting block along the axial direction of the second rotating shaft, and the rotating cylinder is connected to the connecting block; Connecting plates are provided on both sides of the connecting block, the lower ends of the two connecting plates are connected to cylinder seats, and the rotating cylinder is arranged on the cylinder seats; The swing drive mechanism drives the swing arm to swing, driving the suction cup to descend, absorb and lift the material, and turn the material to a vertical state to transfer the material. After the suction cup absorbs the material, it is detected by the detection element. If it is found that the head and tail directions of the material are placed incorrectly, the controller controls the rotary cylinder to drive the suction cup to rotate to automatically adjust the orientation of the material on the suction cup.

2. The steering feeding robot mechanism according to claim 1, characterized in that: The swing arm comprises an upper half arm and a lower half arm, the upper half arm is provided with a locking bolt, and the lower half arm is provided with a long groove for the locking bolt to slide.

3. The steering feeding robot mechanism according to claim 2, characterized in that: The swing driving mechanism comprises a servo motor, a second crank and a connecting rod, wherein the second crank is connected to the output end of the servo motor, and the connecting rod is connected to the second crank and the lower half arm.

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