Packaging string tying machine

Abstract

In view of the problem of looseness after tethering of the existing machine tethering equipment, the present invention provides a packaging tethering machine, which realizes dead-bolt tethering and has a strong tightening effect. To achieve the above object, the technical solution adopted by the present invention is as follows: The packaging tethering machine of the present invention includes a rope storage assembly, a pair of tethering traction wheels, two groups of hook rope manipulators, a tethering loop manipulator, and a tethering end fixing manipulator; the rope storage assembly is provided with a rope wheel, the tethering rope is wound around the rope wheel, and after the tethering rope is released from the rope wheel, it passes through between the tethering traction wheels; the hook rope manipulator includes a primary drive, a secondary drive, a guide tube, a hook rod, and a moving seat, the secondary drive and the guide tube are arranged on the moving seat, the moving seat is arranged on the primary drive, the primary drive is arranged on the longitudinal drive, the primary drive and the longitudinal drive are perpendicular to each other, the secondary drive is connected to the hook rod, the hook rod passes through the guide tube, and the front end of the hook rod is provided with a V-shaped hook, and the two groups of hook rope manipulators are respectively arranged on both sides of the movement path of the tethering rope.

Description

Technical Field

[0001] The present invention relates to a packaging tethering machine, belonging to a packaging device. Background Art

[0002] Currently, the most common in the packaging industry is plastic packaging, which wraps with a plastic film and then seals it with a heat sealer.

[0003] For some industrial raw material products, such as chemical raw materials with thermal hazards, there are safety hazards in the heat sealing part. In such cases, the traditional tethering and sealing method is usually adopted.

[0004] The disclosed patent document "An Automatic Loop Tethering Device for Bag Mouth", application number 202122780310.8, is a type of loop tethering. Its tethering structure is relatively loose. For the ton bags of chemical products, the tethering split needs to be firm to avoid the sealing failure and loosening caused by looseness. Summary of the Invention

[0005] Aiming at the problem of looseness after tethering of the existing machine tethering equipment, the present invention provides a packaging tethering machine to achieve dead knot tethering and have a strong tightening effect.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is:

[0007] The packaging tethering machine of the present invention includes a rope storage assembly, a pair of tethering traction wheels, two groups of hook rope manipulators, a tethering loop manipulator, and a tethering end fixing manipulator;

[0008] The rope storage assembly is provided with a rope wheel, the tethering rope is wound on the rope wheel, and after being released from the rope wheel, the tethering rope passes through between the tethering traction wheels;

[0009] The hook rope manipulator includes a primary drive, a secondary drive, a guide tube, a hook rod, and a moving seat. The secondary drive and the guide tube are arranged on the moving seat, the moving seat is arranged on the primary drive, the primary drive is arranged on the longitudinal drive, the primary drive and the longitudinal drive are perpendicular to each other, the secondary drive is connected to the hook rod, the hook rod passes through the guide tube, and the front end of the hook rod is provided with a V-shaped hook. The two groups of hook rope manipulators are respectively arranged on both sides of the movement path of the tethering rope;

[0010] The tethering loop manipulator includes a loop mechanical arm, a rotating mechanism, and a loop manipulator. The loop mechanical arm has two degrees of freedom of rotation and lifting. The loop manipulator is arranged on the rotating mechanism, the rotating mechanism is arranged at the moving end of the loop mechanical arm, and after the loop manipulator clamps the tethering rope, it is driven by the rotating mechanism to rotate, and the tethering rope is wound into a loop;

[0011] The tethering end fixing manipulator fixes the end of the tethering rope.

[0012] According to the packaging stringing machine described above, the primary drive of the hook stringing manipulator includes a base and a linear drive assembly. The linear drive assembly is fixed to the base, and a moving seat is arranged on the moving structure of the linear drive assembly. The secondary drive is arranged at the rear of the moving seat, and a guiding cylinder is arranged at the front of the moving seat. The secondary drive drives the hook rod to move back and forth in the guiding cylinder.

[0013] According to the packaging stringing machine described above, the front end face of the guiding cylinder is an inclined plane, the V-shaped hook of the hook rod is an acute-angle hook, the angle of the acute-angle hook is consistent with the inclination angle of the inclined plane of the guiding cylinder, and the acute-angle hook and the inclined plane both face downward.

[0014] According to the packaging stringing machine described above, it further includes a stringing guiding ring. The stringing guiding ring is a smooth metal ring, which is fixed on the movement path of the string. The string passes through a plurality of stringing guiding rings after being released from the rope wheel, and the pair of stringing traction wheels are located between two stringing guiding rings.

[0015] According to the packaging stringing machine described above, the looping robotic arm includes a rotating base, a lifting column and a lifting cantilever. The bottom of the lifting column is arranged on the rotating end of the rotating base, and the lifting cantilever is arranged on the lifting end of the lifting column. The rotating mechanism is arranged below the end position of the lifting cantilever, and the looping manipulator is arranged below the rotating end of the rotating mechanism and faces downward.

[0016] According to the packaging stringing machine described above, a pair of stringing traction wheels are divided into a driving wheel and a driven wheel. The driving wheel is connected to the stringing traction motor through a transmission shaft, and the driving wheel rotates forward or backward under the drive of the stringing traction motor.

[0017] According to the packaging stringing machine described above, it further includes a winding string robotic arm, and the string end fixing manipulator is fixed at the moving end of the winding string robotic arm; it further includes a string cutting mechanism, and the string cutting mechanism is arranged on Tether end fixing manipulator one side, including a string cutting knife and a string cutting push rod. The back of the string cutting knife is hinged to the protruding rod of the string cutting push rod, and the string cutting push rod and the string cutting knife are arranged on the moving end of the winding string robotic arm.

[0018] According to the packaging stringing machine described above, it further includes a rotating winding string assembly. The winding string robotic arm is arranged on the rotating winding string assembly, and the rotating winding string assembly drives the string end fixing manipulator to rotate around the object to be strung.

[0019] According to the packaging stringing machine described above, the winding string rotating assembly includes an annular rotating part and a rotating motor. The object to be strung is located below the middle of the annular rotating part, and the winding string robotic arm extends downward and rotates around the object to be strung.

[0020] In the present invention, two groups of manipulators are used to pull the string, the pulling strength of the string is large, and the string is firm;

[0021] There is a rope winding and cutting device, which can tie and seal the ropes of large-tonnage bags.

[0022] The whole device simulates the process of manually tying a dead knot, with firm rope tying and high rope tying efficiency. Brief Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 It is the front view of the present invention.

[0025] Figure 3 It is the top view of the present invention.

[0026] Figure 4 It is the combined structure diagram of the rope-hooking manipulator and the loop-winding manipulator of the present invention.

[0027] Figure 5 It is the structure diagram of the loop-winding robotic arm of the present invention.

[0028] Figure 6 It is the structure diagram of the rope-hooking manipulator of the present invention.

[0029] Reference Numerals: 1. Tying rope, 2. Rope wheel, 3. Tying rope traction wheel, 4. Primary drive, 41. Base, 42. Linear drive assembly, 5. Secondary drive, 6. Guide tube, 7. Hook rod, 8. Moving seat, 9. V-shaped hook, 10. Loop-winding robotic arm, 101. Rotating base, 102. Lifting column, 103. Lifting cantilever, 11. Rotating mechanism, 12. Loop-winding manipulator, 13. Rope cutting knife, 14. Rope cutting push rod, 15. Longitudinal drive, 16. Tying rope traction motor, 17. Tying rope end fixing manipulator, 18. Rope winding robotic arm, 19. Rotating rope winding assembly, 20. Object to be tied with rope. Embodiment

[0030] The content of the present invention will be further described below:

[0031] The packaging rope-tying machine of the present invention includes a rope storage component, a pair of tying rope traction wheels 3, two groups of rope-hooking manipulators, a tying rope loop-winding manipulator 12 and a tying rope end fixing manipulator. The tying rope is tied into a dead knot that prevents loosening twice through the above components.

[0032] Specifically, the rope storage component is provided with a rope wheel 2, the tying rope is wound on the rope wheel 2, and after the tying rope is released from the rope wheel 2, it passes through between the tying rope traction wheels 3. The device is also provided with a tying rope guiding ring, the tying rope guiding ring is a smooth metal ring, the tying rope guiding ring is fixedly arranged on the movement path of the tying rope, the tying rope passes through a plurality of tying rope guiding rings after being released from the rope wheel 2, and a pair of tying rope traction wheels 3 are located between the two tying rope guiding rings. The tying rope passes through the tying rope guiding ring and is driven by the incoming tying rope traction wheel 3 to release and tighten the tying rope.

[0033] A pair of cord traction wheels 3 are divided into a driving wheel and a driven wheel. The driving wheel is connected to the cord traction motor through a transmission shaft and rotates forward or backward under the drive of the cord traction motor. The two cord traction wheels 3 can release and tighten the cord. During the cord tying stage, the cord is released to enable the cord to be folded and looped around each other to provide a redundant length. After the cord is tied into a knot, the cord is retracted to tighten the cord and tighten the cord knot to achieve a more secure cord knot structure.

[0034] The hook and cord manipulator of the present invention has two groups with the same structure, which are used to hook the cord and penetrate it from the cord loop. Specifically, it includes a primary drive, a secondary drive 5, a guide cylinder 6, a hook rod 7, and a moving seat 8. The secondary drive 5 and the guide cylinder 6 are arranged on the moving seat 8, the moving seat 8 is arranged on the primary drive, the primary drive is arranged on the longitudinal drive, the primary drive and the longitudinal drive are perpendicular to each other, the secondary drive 5 is connected to the hook rod 7, the hook rod 7 penetrates into the guide cylinder 6, and a V-shaped hook 9 is provided at the front end of the hook rod 7. The two groups of hook and cord manipulators are respectively arranged on both sides of the movement path of the cord.

[0035] The longitudinal drive drives the whole to move in the extending direction of the cord to adjust the position of hooking the cord. The primary drive drives the moving seat, the secondary drive, the guide cylinder 6, and the hook rod 7 to move forward and backward as a whole to pass the guide cylinder 6 and the hook rod 7 through near the cord loop. The primary drive drives the guide cylinder and the hook rod 7 to pass through the cord loop, and the secondary drive drives the hook rod 7 to hook the end of the cord.

[0036] Further, in the present invention, the primary drive of the hook and cord manipulator includes a base 41 and a linear drive assembly 42. The linear drive assembly 42 is fixed on the base 41, the moving seat 8 is arranged on the moving structure of the linear drive assembly 42, the secondary drive 5 is arranged at the rear of the moving seat 8, the guide cylinder 6 is arranged at the front of the moving seat 8, and the secondary drive 5 drives the hook rod 7 to move forward and backward in the guide cylinder 6.

[0037] The front end face of the guide cylinder 6 is an inclined surface, the V-shaped hook 9 of the hook rod 7 is an acute-angle hook, the angle of the acute-angle hook is the same as the inclination angle of the inclined surface of the guide cylinder 6, and the acute-angle hook and the inclined surface both face downward. The V-shaped hook is used to hook the cord. The downward inclination is convenient for the cord to automatically fall after the cord is loosened for the next step of restoring tension. The inclined surface of the guide cylinder and the V-shaped hook jointly clamp the end of the cord and then pass through the cord loop. The side of the cord loop is tightened by the cord traction wheel, and the two ends of the cord wound into a circle are tightened to form a cord knot.

[0038] The two groups of hook and cord manipulators hook the cord in two directions respectively to match the direction change of both ends of the cord after one cord tying for secondary cord tying. The two cord tyings can ensure that the cord forms a fixed cord knot and prevent the knot from loosening due to accidental pulling or shaking.

[0039] The tether looping manipulator 12 includes a looping robotic arm 10, a rotating mechanism 11, and a looping manipulator 12. The looping robotic arm 10 has two degrees of freedom of rotation and lifting. The looping manipulator 12 is arranged on the rotating mechanism 11, and the rotating mechanism 11 is arranged at the moving end of the looping robotic arm 10. After the looping manipulator 12 grips the tether, it is driven by the rotating mechanism 11 to rotate, and the tether is wound into a loop to perform the interweaving of tethers to form a buckle structure.

[0040] Further, the looping robotic arm 10 includes a rotating base 101, a lifting column 102, and a lifting cantilever 103. The bottom of the lifting column 102 is arranged on the rotating moving end of the rotating base 101, and the lifting cantilever 103 is arranged on the lifting moving end of the lifting column 102. The rotating mechanism 11 is arranged below the end position of the lifting cantilever 103, and the looping manipulator 12 is arranged below the rotating end of the rotating mechanism 11 and faces downward. The looping robotic arm 10 drives the looping manipulator 12 to approach the tether, the looping manipulator 12 grabs the tether, and then rotates, and the tether forms a loop. When tethering for the first time, the tether rotates counterclockwise when the loop is formed. When tethering for the second time, the tether forms a clockwise loop.

[0041] The tether end fixing manipulator fixes the end of the tether. In the present invention, the tether rotates around the object to be tethered at least one circle from the end, and this process is fixed at the moving end of the winding robotic arm by the tether end fixing manipulator, realizing the rotation of the tether end fixing manipulator and realizing at least one circle of winding around the object to be tethered.

[0042] After tethering, in order to carry out continuous operation, the tether also needs to be cut, so a rope cutting mechanism is also designed. The rope cutting mechanism is arranged on one side of Tether end fixing manipulator and includes a rope cutting knife 13 and a rope cutting push rod 14. The back of the rope cutting knife 13 is hinged to the protruding rod of the rope cutting push rod 14, and the rope cutting push rod 14 and the rope cutting knife 13 are arranged on the moving end of the winding robotic arm. The tether passes through the movement range of the blade of the rope cutting knife, and the rope cutting push rod 14 drives the rope cutting knife to move to cut the tether. The rope cutting operation is carried out after tethering to realize the continuous operation of the next tethering.

[0043] The winding robotic arm is arranged on the rotating winding assembly, and the rotating winding assembly drives the tether end fixing manipulator to rotate around the object to be tethered. The winding rotating assembly includes an annular rotating part and a rotating motor. Below the middle of the annular rotating part is the object to be tethered, and the winding robotic arm extends downward and rotates around the object to be tethered.

[0044] The working process of the present invention will be described in detail:

[0045] a) The tether end fixing manipulator fixes the end of the tether, the rope wheel releases the tether, the rotating winding assembly drives it to rotate around the object to be tethered, and then approaches the other end of the tether;

[0046] b) The tether - winding and looping manipulator 12 approaches the tether, clamps the middle tether, and then rotates. It rotates counter - clockwise 180 degrees from the top - down view. At this time, the tether forms a loop.

[0047] c) The hook rod (7) of the remote side - hook tether manipulator passes through the tether, hooks the end of the tether, and together with the guide cylinder, clamps the end of the tether. Then it pulls through the rope loop. At this time, the end - fixing manipulator of the tether releases.

[0048] d) The primary drive of the hook - tether manipulator drives the tether to retreat through the rope loop. The tether - winding and looping manipulator releases the tether. At this time, the tether traction wheel drives the rope loop to retract and tighten, and the two ends of the tether wound into a rope circle are pulled to form a rope buckle. This kind of rope buckle is a dead knot and will not easily loosen or fall off.

[0049] e) The first - time tether - hook tether manipulator still clamps the end of the tether. At this time, the tether - winding and looping manipulator grabs the tether again, drives the tether to rotate clockwise 180 degrees to form a secondary rope loop. The secondary tether - hook tether manipulator passes through the secondary rope loop, clamps the end of the tether, then retracts, drives the end of the tether to pass through the secondary rope loop, and the whole secondary tether - hook tether manipulator retracts. The tether traction wheel drives the rope loop to retract and tighten, and the tether wound into a rope circle is pulled to form a rope buckle. This kind of rope buckle is still a dead knot, forming a secondary rope buckle. The two rope buckles ensure that the tether will not loosen.

[0050] f) Cut the tether. The rope - winding robotic arm drives the cutter to approach the release end of the tether. The end - fixing manipulator of the tether clamps the tether again. The cutting knife cuts the tether under the action of the cutter push rod to complete this tether operation.

[0051] In order to achieve automated operation, the present invention marks the tether with colors, sets up a vision camera to detect the position of the tether, calculates the detection results according to the motion requirements, generates the motion paths and motion cycles of each power component, and realizes mechanized and automated operation.

[0052] In the present invention, two groups of manipulators are used to pull the tether, the pulling strength of the tether is large, and the tether is firm; there are rope - winding and rope - cutting devices, which can tie the rope and seal the mouth of a large - tonnage bag; the whole device simulates the process of tying a dead knot manually, the tether is firm and the tethering efficiency is high.

[0053] Combined with the current vision recognition technology, the present invention can improve the automation of the tethering process and at the same time ensure the firmness and stability of the tethering.

Claims

1. A packaging stringing machine, characterized in that, It includes a rope storage assembly, a pair of rope tying traction wheels (3), two groups of rope hooking manipulators, a rope tying loop forming manipulator (12), a rope tying end fixing manipulator, a rope winding robotic arm, a rope cutting mechanism, and a rotating rope winding assembly; The rope storage assembly is provided with a rope wheel (2), and the rope for tying is wound around the rope wheel (2). After being released from the rope wheel (2), the rope for tying passes through between the rope tying traction wheels (3); The pair of rope tying traction wheels (3) are divided into a driving wheel and a driven wheel. The driving wheel is connected to a rope tying traction motor through a transmission shaft, and the driving wheel rotates forward or backward under the drive of the rope tying traction motor; The rope hooking manipulator includes a primary drive, a secondary drive (5) and a longitudinal drive, a guiding cylinder (6), a hook rod (7), and a moving seat (8). The secondary drive (5) and the guiding cylinder (6) are arranged on the moving seat (8), the moving seat (8) is arranged on the primary drive, the primary drive is arranged on the longitudinal drive, the primary drive and the longitudinal drive are perpendicular to each other. The secondary drive (5) is connected to the hook rod (7), the hook rod (7) passes through the guiding cylinder (6), and the front end of the hook rod (7) is provided with a V-shaped hook (9). The two groups of rope hooking manipulators are respectively arranged on both sides of the movement path of the rope for tying; The rope tying loop forming manipulator (12) includes a loop forming robotic arm (10), a rotating mechanism (11), and a loop forming robotic gripper. The loop forming robotic arm (10) has two degrees of freedom of rotation and lifting. The loop forming robotic gripper is arranged on the rotating mechanism (11), the rotating mechanism (11) is arranged at the moving end of the loop forming robotic arm (10), and after the loop forming robotic gripper clamps the rope for tying, it is driven by the rotating mechanism (11) to rotate, and the rope for tying is wound into a loop; The rope tying end fixing manipulator is fixed at the moving end of the rope winding robotic arm; The rope cutting mechanism is arranged on The rope tying end fixing manipulator one side of, and includes a rope cutting knife (13) and a rope cutting push rod (14). The back of the rope cutting knife (13) is hinged to the protruding rod of the rope cutting push rod (14). The rope cutting push rod (14) and the rope cutting knife (13) are arranged on the moving end of the rope winding robotic arm; The rotating rope winding assembly includes an annular rotating part and a rotating motor. The object to be tied with the rope is located below the middle of the annular rotating part. The rope winding robotic arm extends downward and rotates around the object to be tied with the rope; The rope winding robotic arm is arranged on this rotating rope winding assembly, and the rotating rope winding assembly drives the rope tying end fixing manipulator to rotate around the object to be tied with the rope.

2. The packaging stringing machine according to claim 1, wherein The primary drive of the rope hooking manipulator includes a base (41) and a linear drive assembly (42). The linear drive assembly (42) is fixed on the base (41), the moving seat (8) is arranged on the moving structure of the linear drive assembly (42), the secondary drive (5) is arranged at the rear of the moving seat (8), the guiding cylinder (6) is arranged at the front of the moving seat (8), and the secondary drive (5) drives the hook rod (7) to move back and forth in the guiding cylinder (6).

3. The packaging string tying machine according to claim 2, characterized in that, The front end face of the guiding cylinder (6) is an inclined surface, and the V-shaped hook (9) of the hook rod (7) is an acute angle hook. The angle of the acute angle hook is the same as the inclination angle of the inclined surface of the guiding cylinder (6), and the acute angle hook and the inclined surface both face downward.

4. The packaging stringing machine according to claim 1, characterized in that, It also includes a rope guiding ring. The rope guiding ring is a smooth metal ring. The rope guiding ring is fixedly arranged on the movement path of the rope for tying. After being released from the rope wheel (2), the rope for tying passes through a plurality of rope guiding rings, and the pair of rope tying traction wheels (3) are located between the two rope guiding rings.

5. The packaging stringing machine according to claim 1, characterized in that, The loop-around robotic arm (10) includes a rotating base (101), a lifting column (102) and a lifting cantilever (103). The bottom of the lifting column (102) is provided on the rotating end of the rotating base (101), and the lifting cantilever (103) is provided on the lifting end of the lifting column (102). The rotating mechanism (11) is provided below the end position of the lifting cantilever (103), and the loop-around robotic gripper is provided below the rotating end of the rotating mechanism (11) and faces downward.

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