Four-station rotatable gripper mechanism

Abstract

The utility model relates to a four-station rotatable gripper mechanism which comprises a first cross beam and a plurality of groups of rotating shafts rotationally connected to the first cross beam, the lower ends of the rotating shafts are connected with a plurality of groups of suction cup assemblies, and negative pressure pipelines of the suction cup assemblies are connected with an electromagnetic valve located on the first cross beam in series so as to control suction and release of suction cups. Wherein four rotating shafts are rotationally connected to the bottom face of the first cross beam, the upper ends of the rotating shafts penetrate into the first cross beam and are fixedly connected with first synchronous belt wheels, and a first synchronous belt motor is fixedly connected to the middle of the bottom face of the first cross beam; an output shaft of the first synchronous belt motor extends into the first cross beam and is fixedly connected with two second synchronous belt wheels which are coaxially arranged, the second synchronous belt wheels are connected with the first synchronous belt wheels through synchronous belts, and the first synchronous belt wheels on the two rotating shafts located on the same side of the first synchronous belt motor are connected through the first synchronous belt; synchronous rotation of the four rotating shafts and the suction cup assemblies on the rotating shafts is achieved, and rotation of the four-station rice bag is achieved.

Description

Technical Field

[0001] The utility model relates to a mechanism in a rice bag packaging device, in particular to a four-station rotatable gripper mechanism. Background Art

[0002] Vacuum rice bags are of high value and need to be protected by cardboard boxes during transportation. Traditional manual packing is time-consuming and laborious.

[0003] Although there are currently some automatic rice box packing machines, such as the Chinese patent "A packing device for a rice box packing machine" with the authorization announcement number CN219565630U, which includes a moving platform. In the middle of the top of the moving platform, there is an up-and-down moving seat movably arranged. On the top of the up-and-down moving seat, there is a support frame fixedly arranged. In the middle of the top of the support frame, there is a driven wheel rotatably arranged. In the middle of both ends of the support frame, there are first slide rails fixedly arranged respectively. On the surface of the first slide rails, there is a horizontal moving seat movably arranged. In the utility model, by the relative rotation of two servo drive motors, the moving platform, the up-and-down moving seat and the support frame move up and down, and cooperate with the vacuum suction cup to adsorb the rice bag. By controlling the two servo drive motors to rotate in the same direction, the moving platform moves back and forth to complete the operation of packing the rice into the box. However, this packing device cannot realize the rotation action of multiple groups of rice bags, thus limiting the adaptation range of the device. Summary of the Invention

[0004] The purpose of the utility model is to provide a four-station rotatable gripper mechanism. The four-station rotatable gripper mechanism is reasonably designed, which is beneficial to realizing the rotation of multi-station rice bags, so as to meet the use requirements of different scenarios.

[0005] The technical solution of the utility model lies in:

[0006] The four-station rotatable gripper mechanism of the utility model is characterized in that: it includes a first cross beam and a plurality of groups of rotating shafts rotatably connected to the first cross beam. The lower ends of the rotating shafts are connected with a plurality of groups of suction cup assemblies. The negative pressure pipelines of the suction cup assemblies are connected in series with electromagnetic valves located on the first cross beam to control the suction and release of the suction cups. Among them, four rotating shafts are rotatably connected to the bottom surface of the first cross beam. The upper ends of the rotating shafts penetrate into the first cross beam and are fixedly connected with first synchronous belt wheels. In the middle of the bottom surface of the first cross beam, there is a first synchronous belt motor fixedly connected. The output shaft of the first synchronous belt motor extends into the first cross beam and is fixedly connected with two coaxially arranged second synchronous belt wheels. The second synchronous belt wheels are connected with the first synchronous belt wheels through synchronous belts. The first synchronous belt wheels on the two rotating shafts on the same side of the first synchronous belt motor are connected through a first synchronous belt. When the output shaft of the first synchronous belt motor rotates, it drives the four rotating shafts and the suction cup assemblies to rotate synchronously to realize the rotation of the rice bag.

[0007] Preferably, the first cross beam is longitudinally slidably connected to a first base plate guide rail on the first base plate. A first horizontal telescopic cylinder is provided between the first cross beam and the first base plate to drive the horizontal movement of the first cross beam. Two first support plates are spaced apart on the first base plate. The cylinder body of the first horizontal telescopic cylinder is fixedly arranged between the two first support plates, and the free end of the telescopic rod of the first horizontal telescopic cylinder is fixedly connected to a second support plate on the first cross beam.

[0008] Preferably, the first base plate is fixed on a first vertical sliding seat, the first vertical sliding seat is slidably connected to a first vertical frame, the first vertical frame is fixed on a first horizontal sliding seat, and the first horizontal sliding seat is slidably connected to a first machine frame.

[0009] Preferably, the above-mentioned suction cup assembly is fixed on the lower end of a cylindrical cantilever, and the upper end of the cylindrical cantilever is fixedly connected to the lower end of a rotating shaft. The cylindrical cantilever is a hollow cylindrical square tube, and hollow holes are provided on the side walls of the cylindrical square tube.

[0010] Preferably, the above-mentioned suction cup assembly includes a suction cup tube connected to a negative pressure pipeline and a suction cup integrally connected to the suction cup tube. A horizontally arranged mounting plate is fixedly provided at the lower part of the cylindrical cantilever. The outer periphery of the suction cup tube has an external thread and its upper part passes through a perforation on the mounting plate, and the upper and lower parts of the suction cup tube passing through the mounting plate are locked with nuts.

[0011] Preferably, second synchronous belt wheels are arranged in parallel and spaced apart on the first machine frame. A second synchronous belt is connected between the two second synchronous belt wheels. One of the two second synchronous belt wheels is driven to rotate by a second synchronous belt motor, and the first horizontal sliding seat is fixedly connected to the second synchronous belt.

[0012] Preferably, third synchronous belt wheels are arranged in parallel and spaced apart on the first vertical frame. A third synchronous belt is connected between the two third synchronous belt wheels. One of the two third synchronous belt wheels is driven to rotate by a third synchronous belt motor, and the first vertical sliding seat is fixedly connected to the third synchronous belt.

[0013] Preferably, the first vertical frame is connected to the machine frame, and a rice bag conveying mechanism and a carton conveying mechanism are provided on the machine frame.

[0014] The working principle of the four-station rotatable gripper mechanism of the present utility model is as follows: when the output shaft of the first synchronous belt motor rotates, it drives the two second synchronous belt wheels to rotate coaxially. The second synchronous belt wheels drive the rotation of the first synchronous belt wheel close to the second synchronous belt wheel through the synchronous belt, and then the first synchronous belt wheel drives the rotation of the first synchronous belt wheel far from the second synchronous belt wheel through the first synchronous belt, so as to realize the synchronous rotation of the four rotating shafts and the suction cup assemblies thereon, and realize the rotation of the four-station rice bags. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional view of the rice packaging box machine;

[0016] Figure 2 It is a three-dimensional view of one perspective of the rice bag lifting and moving mechanism;

[0017] Figure 3 It is a three-dimensional view of another perspective of the rice bag lifting and moving mechanism;

[0018] Figure 4 It is a three-dimensional view of a part of the rice bag lifting and moving mechanism;

[0019] Figure 5 It is a three-dimensional view of the four-station rotatable gripper mechanism of the present utility model;

[0020] Figure 6 It is Figure 5 the sectional view of;

[0021] Figure 7 It is a three-dimensional view of one perspective of the carton unpacking mechanism;

[0022] Figure 8 It is a three-dimensional view of another perspective of the carton unpacking mechanism;

[0023] Figure 9 It is the connecting three-dimensional view of the first horizontal axis;

[0024] Figure 10 It is the connecting three-dimensional view of the second horizontal axis;

[0025] Figure 11 It is the connecting three-dimensional view of the first horizontal axis and the front unpacking board, etc.;

[0026] Figure 12 It is Figure 11 the partial view of;

[0027] Figure 13 It is the connecting three-dimensional view of the second horizontal axis and the rear unpacking board, etc.;

[0028] Figure 14 It is the connecting three-dimensional view of the guide box guardrail plate and the box-blocking telescopic cylinder, etc.;

[0029] Figure 15 It is the connecting three-dimensional view of another perspective of the guide box guardrail plate;

[0030] Figure 16 It is the connecting three-dimensional view of the box-blocking telescopic cylinder and the box-blocking board, etc.;

[0031] Figure 17 It is a three-dimensional view of one perspective of the rice bag conveying mechanism;

[0032] Figure 18 It is a three-dimensional view of another perspective of the rice bag conveying mechanism;

[0033] Figure 19 It is a perspective view of the rice bag guardrail adjusting mechanism;

[0034] Figure 20 is Figure 18 a partial perspective view of;

[0035] Figure 21 It is a perspective view of a part of the carton conveying mechanism;

[0036] Figure 22 It is a partial perspective view of the carton conveying mechanism;

[0037] Figure 23 It is a perspective view of the guardrail adjusting mechanism;

[0038] Figure 24 It is a perspective view of the carton conveying mechanism;

[0039] Figure 25 is Figure 11 a partial view from another perspective. Specific embodiments

[0040] To make the above features and advantages of the present utility model more easily understood, specific embodiments are given below and described in detail in conjunction with the accompanying drawings, but the present utility model is not limited thereto.

[0041] The rice packaging machine includes a frame 1, a rice bag conveying mechanism A, a carton conveying mechanism B, a carton unpacking mechanism C, and a rice bag lifting and moving mechanism D arranged in the frame 1. The carton unpacking mechanism C includes a plurality of unpacking plates that can keep the turning plates of each carton in an open state.

[0042] Among them, the rice bag conveying mechanism A and the carton conveying mechanism B can be belt conveyors, roller conveyors, etc. for transporting rice bags and cartons. Other specific structures will be described in detail later. The rice bag lifting and moving mechanism D is used to transfer the rice bags on the rice bag conveying mechanism A into the cartons on the carton conveying mechanism B, and it can be a manipulator or a structure to be described in detail later.

[0043] When the rice packaging machine is working, the rice bags are input by the rice bag conveying mechanism, the cartons are input by the carton conveying mechanism, and then through the carton unpacking mechanism, it is ensured that the turning plates of each carton are in an open state. Finally, the rice bags are grabbed and transferred from the rice bag conveying mechanism to the cartons on the carton unpacking mechanism by the rice bag lifting and moving mechanism. After completion, the cartons filled with rice bags are output in the carton conveying mechanism.

[0044] The carton lifting mechanism C comprises two groups of lifting electric push rods C1 (cylinders may also be used) connected to the frame 1 and a lifting frame C2 of the carton lifting mechanism connected to the free ends of the lifting electric push rods of the carton lifting mechanism. The frame 1 is provided with a lifting frame guide rail C3 for guiding the lifting frame C2 of the carton lifting mechanism to slide vertically. The lifting frame C2 of the carton lifting mechanism is vertically guided by the lifting frame guide rail C3, and is lifted and lowered by the action of the lifting electric push rod C1 of the carton lifting mechanism (which is conducive to adapting to cartons of different heights and sizes).

[0045] A first transverse axis C4 and a second transverse axis C5 which are both rotatable are provided in parallel on the first side and the second side of the lifting frame C2 of the box-lifting mechanism, and a plurality of groups of box-lifting plates which rotate along with the transverse axes are provided on the first transverse axis C4 and the second transverse axis C5, and the box-lifting plates include a side box-lifting plate C6 for keeping the side flip plate K1 of the carton K in an open state, and a front box-lifting plate C7 and a rear box-lifting plate C8 for keeping the front flip plate K2 and the rear flip plate K3 of the carton in an open state; that is, the first transverse axis C4 and the second transverse axis C5 have a plurality of groups of box-lifting plates separately, and by providing a plurality of groups of box-lifting plates which rotate along with the transverse axes on the first transverse axis and the second transverse axis, the side box-lifting plates, the front box-lifting plates and the rear box-lifting plates can realize linkage action, thereby reducing the problem of inconsistent action response of the existing box-lifting plates (that is, by the linkage action of the side box-lifting plates, the front box-lifting plates and the rear box-lifting plates, the number of cylinders used is reduced, which is beneficial to reducing the time reserved for waiting for each cylinder to complete the action), and is beneficial to improving work efficiency.

[0046] A longitudinal sliding seat C9 is provided on the first side of the lifting frame C2 of the above-mentioned box-opening mechanism. The first transverse axis C4 is rotatably hinged on the longitudinal sliding seat C9. The longitudinal sliding seat C9 is slidably connected to the longitudinal guide rail C10 on the lifting frame C2 of the box-opening mechanism. The longitudinal sliding of the longitudinal sliding seat is driven by the first longitudinal cylinder C11, and the longitudinal sliding seat C9 is enabled to slide in the longitudinal direction (the Y direction shown in the figure) through the first longitudinal cylinder C11 (which is beneficial for adapting to cartons of different widths).

[0047] A swing cylinder C12 (or an electric push cylinder) is connected to the longitudinal sliding seat C9, and the free end of the telescopic rod of the swing cylinder is fixedly connected to the first transverse axis C4 through a swing arm C13 (the first transverse axis C4 is rotatably hinged on the longitudinal sliding seat C9, one end of the swing arm C13 is connected to the free end of the telescopic rod of the swing cylinder, and the other end of the swing arm C13 is fixedly connected to the first transverse axis C4) to achieve the rotation of the first transverse axis C4 and the side box-lifting plate C6 fixedly provided on the first transverse axis C4 under the action of the swing cylinder C12. In the figure, 4 groups of cartons are taken as an example, that is, four groups of side box-lifting plates C6 (used to keep the side flip plate on one side of the carton open) are provided on the first transverse axis C4.

[0048] The front carton-opening board C7 (used to keep the front turning board of the carton front side open) is fixedly connected to the first carton-opening longitudinal axis C14. The first carton-opening longitudinal axis C14 is rotatably connected to the first carton-opening longitudinal axis bushing C15. The first carton-opening longitudinal axis bushing C15 is fixedly connected to the longitudinal sliding seat C9. The end of the first carton-opening longitudinal axis is connected to the first cross axis C4 through a universal joint C16 (which can be a crosshead universal joint capable of realizing power transmission in the vertical direction). The first carton-opening longitudinal axis and the first cross axis C4 are arranged perpendicular or nearly perpendicular. When the first cross axis C4 rotates, it can drive the first carton-opening longitudinal axis C14 and the front carton-opening board C7 to rotate through the universal joint C16, so that the front turning board of the carton is in an open state. That is, by rotating the first cross axis C4, the side carton-opening board C6 and the front carton-opening board C7 on the first side can swing, and the side turning board and the front turning board on the first side are kept in an open state.

[0049] A transverse sliding seat C17 capable of moving horizontally (in the X direction shown in the figure) is provided on the carton-opening mechanism lifting frame C2. The transverse sliding seat C17 is slidably connected to the transverse guide rail on the carton-opening mechanism lifting frame C2. The horizontal movement of the transverse sliding seat C17 is driven by the first horizontal cylinder C19. That is, under the action of the first horizontal cylinder C19, the transverse sliding seat C17 moves horizontally (which is beneficial to adapting to cartons of different length dimensions); the second cross axis C5 is rotatably hinged on the transverse sliding seat C17. A rotary cylinder C20 capable of driving the second cross axis C5 to rotate is provided on the transverse sliding seat C17. A plurality of groups of side carton-opening boards are provided on the second cross axis C5. By the action of the rotary cylinder C20, the second cross axis C5 and the side carton-opening boards on the second side rotate, and the second side turning board of the carton is kept in an open state.

[0050] The rear carton-opening board C8 is fixedly connected to the second carton-opening longitudinal axis C21. The second carton-opening longitudinal axis C21 is rotatably connected to the second carton-opening longitudinal axis bushing C22. The second carton-opening longitudinal axis bushing C22 is fixedly connected to the transverse sliding seat C17. The end of the second carton-opening longitudinal axis C21 is connected to the second cross axis C5 through a universal joint C16 (which can be a crosshead universal joint capable of realizing power transmission in the vertical direction). The second carton-opening longitudinal axis C21 and the second cross axis C5 are arranged perpendicular or nearly perpendicular. When the second cross axis C5 rotates, it can drive the second carton-opening longitudinal axis C21 and the rear carton-opening board C8 to rotate through the universal joint C16, so that the rear turning board of the carton is in an open state; that is, by rotating the second cross axis C5, the side carton-opening boards and the rear carton-opening board C8 on the second side can swing, and the side turning board and the rear turning board on the second side are kept in an open state.

[0051] The universal joint C16 can be a commercially available crosshead universal joint capable of achieving power transmission in the vertical direction, or have the following specific structure. The universal joint C16 of the present application includes two C-shaped blocks C23 and a connecting block C24 connected between the two C-shaped blocks. The first end of the connecting block is hinged to a C-shaped block through a first pin shaft, and the second end of the connecting block is fixedly connected to the other C-shaped block. The openings of the two C-shaped blocks are rotatably hinged on the transverse shaft (the first transverse shaft or the second transverse shaft) or the longitudinal shaft of the case-unloading mechanism. When the transverse shaft rotates, the two C-shaped blocks are driven to twist in sequence, thereby driving the longitudinal shaft of the case-unloading mechanism to rotate.

[0052] In order to limit the positions of adjacent cartons, guide box guard plates C25 are provided below the first transverse shaft and the second transverse shaft on the lifting frame C2 of the case-unloading mechanism (one of the guide box guard plates is fixed on the lifting frame C2 of the case-unloading mechanism, and the other guide box guard plate is fixed on the longitudinal sliding seat C9. The guide box guard plate C25 is also located above the third conveyor belt B23 of the carton). A plurality of windows C26 are opened on the guide box guard plate, and swingable box-blocking plates C27 are rotatably hinged in the plurality of windows. Each box-blocking plate is fixedly connected with a turning arm C28, and each turning arm is hinged to a turning push rod C29. The turning push rod C29 is connected to the free end of the telescopic rod of a box-blocking telescopic cylinder C30 (which can also be an electric push rod). The cylinder body of the box-blocking telescopic cylinder is connected to the guide box guard plate C25. Under the action of the box-blocking telescopic cylinder C30, the turning push rod C29 moves horizontally (in the X direction shown in the figure), thereby driving the turning arm C28 and the box-blocking plate C27 to swing. The swing of the box-blocking plate C27 has two working positions. One working position is to swing into the window C26 without affecting the progress of the carton along the conveyor belt, and the other working position is to swing out of the window C26 to block the progress of the carton on the conveyor belt.

[0053] The rice bag lifting and moving mechanism D includes a first frame D1 fixedly provided on the frame 1, a first horizontal sliding seat D2 slidably connected to the first frame D1, and a first vertical frame D3 fixedly provided on the first horizontal sliding seat D2. The first vertical frame D3 is connected with a first vertical sliding seat D4 in a lifting and sliding manner. A plurality of groups of suction cup assemblies D5 capable of grasping and transferring the rice bags in the rice bag conveying mechanism to the cartons in the carton conveying mechanism are connected to the first vertical sliding seat D4. Four groups are taken as an example in the figure. The above-mentioned first horizontal sliding seat D2 can slide along the Y direction shown in the figure, and the first vertical sliding seat D4 can slide along the Z direction shown in the figure.

[0054] On the first frame D1, there are second synchronous belt pulleys D23 arranged in parallel at intervals. A second synchronous belt D24 is connected between the two second synchronous belt pulleys D23. One of the two second synchronous belt pulleys D24 is directly or indirectly driven (driven by a motor through a speed reducer or a belt pulley mechanism) by a second synchronous belt motor D25 to rotate. A first horizontal slide D2 is fixedly connected to the second synchronous belt. Through the action of the second synchronous belt motor D25, the first horizontal slide D2 slides along the Y direction shown in the figure (there are guide rails on the first frame D1 to support the sliding of the first horizontal slide D2).

[0055] On the first vertical frame D3, there are third synchronous belt pulleys D26 arranged in parallel at intervals. A third synchronous belt D27 is connected between the two third synchronous belt pulleys D26. One of the two third synchronous belt pulleys is driven to rotate by a third synchronous belt motor D28. A first vertical slide D4 is fixedly connected to the third synchronous belt. Through the action of the third synchronous belt motor D28, the first vertical slide D4 slides along the Z direction shown in the figure (there are guide rails on the first vertical frame D3 to support the sliding of the first vertical slide D4).

[0056] A first seat plate D6 is fixedly connected to the above-mentioned first vertical slide D4. A first seat plate guide rail D7 is provided on the first seat plate D6. A first cross beam D8 is slidably connected to the first seat plate guide rail D7. Between the first cross beam D8 and the first seat plate D6, there is The first horizontal telescopic cylinder D9 to drive the horizontal movement of the first cross beam D8 (the X direction shown in the figure, and the transfer of the rice bag and the carton in the case of misalignment in the X direction is realized through the movement of the first cross beam D8 in the X direction). A number of groups of rotating shafts D10 (taking 4 groups as an example in the figure) are rotatably connected to the first cross beam D8. The lower ends of the rotating shafts are connected with the above-mentioned suction cup assembly D5. The negative pressure pipeline of the suction cup assembly is connected in series with a solenoid valve D11 located on the first cross beam to control the suction and release of the suction cup D12.

[0057] Specifically, four rotating shafts D10 are rotatably connected to the bottom surface of the first cross beam D8. The upper ends of the rotating shafts penetrate into the first cross beam and are fixedly connected with first synchronous belt pulleys D13. A first synchronous belt motor D14 is fixedly connected to the middle of the bottom surface of the first cross beam. The output shaft of the first synchronous belt motor D14 extends into the first cross beam and is fixedly connected with two coaxially arranged second synchronous belt pulleys D15. The second synchronous belt pulleys D15 are connected with the first synchronous belt pulleys D13 through a synchronous belt. The first synchronous belt pulleys on the two rotating shafts on the same side of the first synchronous belt motor D14 are connected through a synchronous belt. When the output shaft of the first synchronous belt motor rotates, it drives the four rotating shafts and the suction cup assembly to rotate synchronously, so as to realize the synchronous rotation of the rice bags adsorbed by the suction cups and meet the need for turning during the transfer of the rice bags.

[0058] Among them, the suction cup assembly D5 is fixed on the lower end of the cylindrical cantilever D16. The upper end of the cylindrical cantilever D16 is fixedly connected to the lower end of the rotating shaft D10. The cylindrical cantilever is a hollow cylindrical square tube, and the side walls of the cylindrical square tube are provided with hollow holes D17, through which the weight can be reduced.

[0059] The above-mentioned suction cup assembly D5 includes a suction cup tube D18 connected to a negative pressure pipeline (which can be a plastic hose, omitted in the figure) and a suction cup D12 integrally connected to the suction cup tube. A horizontally arranged mounting plate D19 is fixedly provided at the lower part of the cylindrical cantilever. The outer periphery of the suction cup tube has an external thread and its upper part passes through the perforation on the mounting plate. The upper and lower parts of the suction cup tube passing through the mounting plate are locked by nuts D20. Multiple suction cup tubes D18 and suction cups D12 can be installed through the mounting plate D19 and multiple perforations thereon, and the locking by nuts D20 is stable and reliable.

[0060] Two first support plates D21 are arranged at intervals on the above-mentioned first seat plate D6. The cylinder body of the first horizontal telescopic cylinder D9 is fixedly arranged between the two first support plates D21. The free end of the telescopic rod of the first horizontal telescopic cylinder D9 is fixedly connected to the second support plate D22 on the first cross beam D8. Through the action of the first horizontal telescopic cylinder D9, the first cross beam D8 can move relative to the first seat plate in the X direction.

[0061] Among them, the carton conveying mechanism B includes a carton first conveyor belt B1, a carton second conveyor belt B2 and a carton third conveyor belt B23 arranged adjacent to each other. A hollow channel B3 is provided between the carton first conveyor belt and the carton second conveyor belt for arranging a set of first chain conveying mechanisms B4. A hollow channel is provided in the middle of the carton third conveyor belt for arranging a second chain conveying mechanism B24. Both the first chain conveying mechanism B4 and the second chain conveying mechanism B24 include a driving sprocket B5, a driven sprocket B6 and a chain B7 wound around the driving sprocket and the driven sprocket. The driving sprocket B5 of the first chain conveying mechanism is close to the output end of the second conveyor belt B2, and the driven sprocket B6 of the first chain conveying mechanism is close to the input end of the first conveyor belt B1. The driving sprocket and the driven sprocket of the second chain conveying mechanism are respectively arranged at the output end and the input end of the carton third conveyor belt. Carton push plates B8 are fixedly arranged at intervals on the chain; through the operation of the chain (the driving sprocket B5 driven by a motor drives the chain to work), the carton push plates B8 push the cartons forward.

[0062] During operation, each cardboard box is successively conveyed from the first conveyor belt to the second conveyor belt through the first chain conveyor mechanism and the cardboard box pusher plate thereon. When a certain number of cardboard boxes (four cardboard boxes are taken as an example in this application) are gathered on the second conveyor belt, the first chain conveyor mechanism, the second conveyor belt, the third conveyor belt, and the second chain conveyor mechanism and the cardboard box pusher plate thereon act synchronously (equivalent to using the second conveyor belt as a buffer zone for collecting multiple cardboard boxes. After a certain number of cardboard boxes are collected on the second conveyor belt, they are uniformly conveyed into the third conveyor belt, and the third conveyor belt serves as the packing station for rice bags), so that the cardboard boxes located on the second conveyor belt are uniformly fed onto the third conveyor belt, greatly saving the efficiency of the existing method that requires waiting for all cardboard boxes to reach the third conveyor belt one by one before starting the manipulator (the rice bag lifting and moving mechanism D in this application) to perform the rice bag packing work.

[0063] For reasonable design, conveyor belt drive shafts B9 and conveyor belt driven shafts B10 are provided on the above-mentioned first cardboard box conveyor belt, second cardboard box conveyor belt, and third cardboard box conveyor belt. One end of the conveyor belt drive shaft extends and is fixedly connected with a conveyor belt drive sprocket B11, and the conveyor belt drive sprocket B11 is connected to the sprocket on the motor output shaft through a chain; the rotating shaft of the drive sprocket B5 extends and is fixedly connected with a cardboard box conveying mechanism synchronous pulley B12, and the cardboard box conveying mechanism synchronous pulley B12 is connected to the synchronous pulley B25 on the motor output shaft through a synchronous belt.

[0064] To adapt to different cardboard boxes, a cardboard box fixed guardrail B13 is provided on the first side above the first conveyor belt and the second cardboard box conveyor belt, and a telescopic cardboard box guardrail B14 is provided on the second side above the first conveyor belt and the second cardboard box conveyor belt, so as to facilitate adjusting the distance between the two guardrails to adapt to the cardboard box size. The telescopic cardboard box guardrail B14 can be driven to expand and contract by a cylinder, an electric push rod, etc. The following is the specific structure of the telescopic cardboard box guardrail B14 in this application.

[0065] The first end of the telescopic cardboard box guardrail B14 is rotatably connected to the cardboard box conveyor belt frame B16 through a vertical rod B15, and the second end of the telescopic cardboard box guardrail B14 is provided with a guardrail adjusting mechanism B17; the guardrail adjusting mechanism B17 includes a first stepping motor B18 provided on the cardboard box conveyor belt frame and a cardboard box guardrail adjusting screw B19 driven by the first stepping motor. A cardboard box guardrail support rod mounting seat B20 is threadedly connected to the cardboard box guardrail adjusting screw B19, and a cardboard box guardrail support rod B21 is provided on the cardboard box guardrail support rod mounting seat. The cardboard box guardrail support rod B21 is connected to the second end of the telescopic cardboard box guardrail. When the first stepping motor B18 works, it drives the cardboard box guardrail adjusting screw B19 to rotate, and then drives the cardboard box guardrail support rod mounting seat B20, the cardboard box guardrail support rod B21, and the second end of the telescopic cardboard box guardrail B14 to move (the Y direction shown in the figure), realizing the limit of the side of the cardboard box.

[0066] To ensure the stable and reliable movement of the installation seat B20 of the carton guardrail support rod, etc., a carton guardrail adjustment guide rod B22 is installed on the above-mentioned carton conveyor belt frame B16, and the installation seat B20 of the carton guardrail support rod is slidably connected to the carton guardrail adjustment guide rod B22.

[0067] Among them, the rice bag conveying mechanism A includes multiple groups of rice bag conveyor belts A1 that are arranged close to each other in sequence and operate independently. On both sides above the rice bag conveyor belts, there are respectively a fixed rice bag guardrail A2 and a telescopic rice bag guardrail A3, so as to facilitate adjusting the distance between the two guardrails to adapt to the size of the rice bag.

[0068] Both ends of the telescopic rice bag guardrail A3 are respectively connected to two groups of rice bag guardrail adjusting mechanisms A4. Among them, the rice bag guardrail adjusting mechanism A4 includes a rice bag guardrail adjustment screw A6 installed on the rice bag conveyor belt frame A5 and a rice bag guardrail support rod installation seat A7 that is threadedly connected to the rice bag guardrail adjustment screw. The rice bag guardrail support rod installation seat A7 is provided with a rice bag guardrail support rod A8, and the rice bag guardrail support rod A8 is connected to both ends of the telescopic rice bag guardrail. The end of the rice bag guardrail adjustment screw A6 is provided with a guardrail adjustment synchronous pulley A9, and a synchronous belt is wound between the two guardrail adjustment synchronous pulleys. One of the rice bag guardrail adjustment screws is driven by a second stepping motor A10 to work. The rice bag conveyor belt frame A5 is installed with a rice bag guardrail adjustment guide rod A11, and the rice bag guardrail support rod installation seat A7 is slidably connected to the rice bag guardrail adjustment guide rod A11. When the second stepping motor A10 works, the two rice bag guardrail adjustment screws A6 rotate synchronously through the synchronous belt and the guardrail adjustment synchronous pulley A9, and then drive the rice bag guardrail support rod installation seat A7, the rice bag guardrail support rod A8 and both ends of the telescopic rice bag guardrail to move synchronously along the Y direction shown in the figure, so as to meet the need of adjusting to different rice bag sizes.

[0069] The above are only the preferred embodiments of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope covered by the present invention.

Claims

1. A four-station rotatable gripper mechanism, characterized in that: It includes a first cross beam and several groups of rotating shafts rotatably connected to the first cross beam. The lower ends of the rotating shafts are connected with several groups of suction cup assemblies. The negative pressure pipelines of the suction cup assemblies are connected in series with electromagnetic valves located on the first cross beam to control the suction and release of the suction cups. Among them, four rotating shafts are rotatably connected to the bottom surface of the first cross beam. The upper ends of the rotating shafts penetrate into the first cross beam and are fixedly connected with first synchronous belt pulleys. A first synchronous belt motor is fixedly connected to the middle of the bottom surface of the first cross beam. The output shaft of the first synchronous belt motor extends into the first cross beam and is fixedly connected with two coaxially arranged second synchronous belt pulleys. The second synchronous belt pulleys are connected with the first synchronous belt pulleys through synchronous belts. The first synchronous belt pulleys on the two rotating shafts on the same side of the first synchronous belt motor are connected through a first synchronous belt. When the output shaft of the first synchronous belt motor rotates, it drives the four rotating shafts and the suction cup assemblies to rotate synchronously to realize the rotation of the rice bag.

2. The four-station rotatable gripper mechanism according to claim 1, characterized in that: The first cross beam is longitudinally slidably connected to the first seat plate guide rail on the first seat plate. A first horizontal telescopic cylinder is arranged between the first cross beam and the first seat plate to drive the horizontal movement of the first cross beam. Two first support plates are arranged at intervals on the first seat plate. The cylinder body of the first horizontal telescopic cylinder is fixedly arranged between the two first support plates. The free end of the telescopic rod of the first horizontal telescopic cylinder is fixedly connected to the second support plate on the first cross beam.

3. The four-station rotatable gripper mechanism according to claim 2, characterized in that: The first seat plate is fixed on the first vertical sliding seat. The first vertical sliding seat is slidably connected to the first vertical frame. The first vertical frame is fixed on the first horizontal sliding seat. The first horizontal sliding seat is slidably connected to the first frame.

4. The four-station rotatable gripper mechanism according to claim 3, wherein: The suction cup assembly is fixed on the lower end of the cylindrical cantilever. The upper end of the cylindrical cantilever is fixedly connected to the lower end of the rotating shaft. The cylindrical cantilever is a hollow cylindrical square pipe, and hollow holes are provided on the side walls of the cylindrical square pipe.

5. The four-station rotatable gripper mechanism according to claim 4, wherein: The suction cup assembly includes a suction cup pipe connected to the negative pressure pipeline and a suction cup integrally connected to the suction cup pipe. A horizontally arranged mounting plate is fixedly provided at the lower part of the cylindrical cantilever. The outer periphery of the suction cup pipe has an external thread and its upper part passes through the through hole on the mounting plate. The upper and lower parts of the suction cup pipe passing through the mounting plate are locked with nuts.

6. The four-station rotatable gripper mechanism according to claim 5, wherein: Second synchronous belt pulleys are arranged in parallel and at intervals on the first frame. A second synchronous belt is connected between the two second synchronous belt pulleys. One of the two second synchronous belt pulleys is driven to rotate by a second synchronous belt motor. The first horizontal sliding seat is fixedly connected to the second synchronous belt.

7. The four-station rotatable gripper mechanism according to claim 6, wherein: Third synchronous belt pulleys are arranged in parallel and at intervals on the first vertical frame. A third synchronous belt is connected between the two third synchronous belt pulleys. One of the two third synchronous belt pulleys is driven to rotate by a third synchronous belt motor. The first vertical sliding seat is fixedly connected to the third synchronous belt.

8. The four-station rotatable gripper mechanism according to claim 7, wherein: The first vertical frame is connected to the frame. A rice bag conveying mechanism and a carton conveying mechanism are arranged on the frame.

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