Flexible product packaging mechanical arm and system

Abstract

The utility model relates to the field of product packaging equipment, and discloses a flexible product packaging mechanical arm and device which comprises a frame, a material conveying mechanism is arranged on one side in the frame, a rod conveying shifting fork mechanism is arranged on one side of the material conveying mechanism, and the material conveying mechanism comprises a material conveying frame. A material chain plate power assembly is arranged on the outer wall of the rear end of the material conveying frame, and a plurality of material plates are arranged on a frame body of the material conveying frame. According to the packaging machine, the grabbing mechanism is arranged, the cross beam is driven by the robot arm to move, so that the cross beam drives the multiple vacuum suction cups to move, then the vacuum suction cups are matched with the vacuum generator to suck corresponding materials, the materials are moved to the discharging position at the same time, and then the materials are put into the rod feeding shifting fork mechanism; and then the rod feeding shifting fork mechanism conveys the rod to the pillow type packaging machine for packaging, so that the packaging efficiency can be effectively improved through full-automatic packaging.

Description

TECHNICAL FIELD

[0001] The utility model relates to product packaging equipment field especially relates to a flexible product packaging mechanical arm and system. BACKGROUND

[0002] In the product packaging field, the existing packaging technology is mainly traditional manual and semi-automatic equipment, which has problems such as low efficiency and poor flexibility. Even the newly developed automatic packaging can only be used for some products that are not easy to deform and can withstand certain violent taking and placing. It cannot be used for automatic packaging of easily deformed products including chocolate.

[0003] Under the background of the continuous expansion of the global chocolate market, consumers' demand for chocolate packaging is constantly upgrading, and there is an urgent need for a flexible product packaging machine to provide efficient packaging for easily deformed products including chocolate. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the shortcomings in the prior art and provides a flexible product packaging mechanical arm and system. The mechanical arm can gently take and place products. The packaging machine can greatly improve the packaging efficiency, reduce manual operation and improve the overall work efficiency of the production line through the collaborative work of the material conveying mechanism and the grabbing mechanism.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0006] A flexible product packaging mechanical arm, comprising a frame, an electric control mechanism is arranged at the upper end of the frame, the electric control mechanism comprises a robot electric control cabinet, an air control cabinet and a control cabinet which are fixed on the upper surface of the frame in sequence, a mechanical mounting plate is fixedly connected to the rear end of the inner top surface of the frame, a grabbing mechanism is arranged at the lower end of the mechanical mounting plate, the grabbing mechanism comprises a robot arm mounted on the body of the mechanical mounting plate, a connecting column is arranged on the lower surface of the robot arm, a cross beam is fixedly connected to the lower surface of the connecting column, a plurality of rotary clamping air cylinders are fixedly connected to the lower surface of the cross beam, a vacuum generator is fixedly connected to the output end of the rotary clamping air cylinder, and a vacuum suction cup is arranged at the lower end of the vacuum generator.

[0007] Through the above technical scheme, the flexible product packaging mechanical arm not only improves the production efficiency, but also improves the safety and reliability of the operation, which meets the trend of modern industrial automation.

[0008] Further, the front end of the inner frame is mounted on a fixed beam, and a plurality of intelligent cameras are fixedly connected to the lower surface of the fixed beam.

[0009] Through the technical scheme, precise recognition and positioning of the material can be realized through the combination of the intelligent camera and the robot arm, the accuracy of grabbing is improved, and the loss caused by mistaken grabbing is reduced.

[0010] Further, the rear end of the upper surface of the frame is fixedly connected with a gas storage tank, the gas storage tank is connected with a rotary clamping air cylinder pipeline, and the rotary clamping air cylinder and the gas storage tank are electrically connected with the gas control cabinet.

[0011] Through the technical scheme, the various components can better work synchronously and efficiently.

[0012] Further, the robot arm is electrically connected with the robot electric control cabinet, and the material conveying mechanism, the rod feeding fork mechanism and the grabbing mechanism are electrically connected with the control cabinet.

[0013] Through the technical scheme, the movable part can be better operated.

[0014] Further, the front end of the inner wall on both sides of the frame is fixedly connected with a plurality of light supplementing lamps.

[0015] Through the technical scheme, the light supplementing operation for the intelligent camera can be better performed.

[0016] Through the technical scheme, the material conveying frame can be better supported.

[0017] The packaging system provided by the application is equipped with the mechanical arm, and the system comprises a frame, one side inside the frame is provided with a material conveying mechanism, one side of the material conveying mechanism is provided with a rod feeding fork mechanism, the material conveying mechanism comprises a material conveying frame, the rear end outer wall of the material conveying frame is provided with a material chain plate power assembly, the frame body of the material conveying frame is provided with a plurality of material plates, the rod feeding fork mechanism comprises a rod feeding fork support fixed at the lower end of the frame, the rear end of the rod feeding fork support is provided with a transmission assembly, the outer wall of the transmission assembly is provided with a chain, and the upper end of the rod feeding fork support is provided with a fork chain channel connecting rod.

[0018] The upper end of the frame is provided with an electric control mechanism, the electric control mechanism comprises a robot electric control cabinet, a gas control cabinet and a control cabinet which are fixed on the upper surface of the frame in sequence, the rear end of the inner top surface of the frame is fixedly connected with a mechanical mounting plate, the lower end of the mechanical mounting plate is provided with a grabbing mechanism, the grabbing mechanism comprises a robot arm mounted on the frame body of the mechanical mounting plate, the lower surface of the robot arm is provided with a connecting column, the lower surface of the connecting column is fixedly connected with a cross beam, the lower surface of the cross beam is fixedly connected with a plurality of rotary clamping air cylinders, the output end of the rotary clamping air cylinder is fixedly connected with a vacuum generator, and the lower end of the vacuum generator is provided with a vacuum suction cup.

[0019] Through the technical scheme, the flexible product packaging mechanical arm improves production efficiency, operation safety and reliability, and meets the trend of modern industrial automation.

[0020] Further, the front end of the frame is mounted on a fixed beam, and the lower surface of the fixed beam is fixedly connected with a plurality of intelligent cameras.

[0021] Through the technical scheme, the combination of the intelligent camera and the robot arm can realize accurate identification and positioning of the material, improve the accuracy of grabbing, and reduce the loss caused by mistaken grabbing.

[0022] Further, the rear end of the upper surface of the frame is fixedly connected with a gas storage tank, the gas storage tank is connected with a rotary clamping air cylinder pipeline, and the rotary clamping air cylinder and the gas storage tank are electrically connected with a gas control cabinet.

[0023] Through the technical scheme, the various components can work synchronously and efficiently.

[0024] Further, the robot arm is electrically connected with a robot electric control cabinet, and the material conveying mechanism, the rod feeding fork mechanism and the grabbing mechanism are electrically connected with the control cabinet.

[0025] Through the technical scheme, the movable component can be better operated.

[0026] Further, the front end of the inner wall on both sides of the frame is fixedly connected with a plurality of light supplementing lamps.

[0027] Through the technical scheme, the intelligent camera can be better lighted.

[0028] Further, the lower surface of the material conveying frame is fixedly connected with a plurality of supporting frames.

[0029] Further, the rear end of the material conveying frame is provided with a material collecting box.

[0030] Through the technical scheme, after the material is taken out, the empty material plate is reversed by the conveying belt below, and finally conveyed to the collecting box, so that the controlled material plate can be better collected.

[0031] The utility model has the advantages of:

[0032] 1. The utility model proposes a kind of flexible product packaging mechanical arm, compared with existing packaging machinery, the packaging machinery is moved by the traverse beam driven by robot arm through the setting grabbing mechanism, to make the traverse beam drive multiple vacuum chuck move, then make vacuum chuck cooperate vacuum generator and be extracted to corresponding material, simultaneously move to material discharge position, then into the rod fork mechanism, then the rod fork mechanism is conveyed to pillow type packaging machine and is packaged, to effectively improve packaging efficiency by full automation packaging. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is the isometric view of the flexible product packaging mechanical arm proposed in the utility model;

[0034] Figure 2 It is the exploded view of the flexible product packaging mechanical arm proposed in the utility model;

[0035] Figure 3 It is the structure schematic view of grabbing mechanism in the flexible product packaging mechanical arm proposed in the utility model;

[0036] Figure 4 It is the back view of the flexible product packaging mechanical arm proposed in the utility model;

[0037] Figure 5 It is the structure schematic view of material conveying mechanism and other components in the flexible product packaging mechanical arm proposed in the utility model;

[0038] Figure 6 It is the structure schematic view of material receiving box and other mechanisms in the flexible product packaging mechanical arm proposed in the utility model;

[0039] Figure 7 It is the position schematic view of light supplementing lamp and intelligent camera and other components in the flexible product packaging mechanical arm proposed in the utility model;

[0040] Figure 8 It is the position schematic view of grabbing mechanism and other components in the flexible product packaging mechanical arm proposed in the utility model.

[0041] LEGEND:

[0042] 1, frame;

[0043] 2, material conveying mechanism;201, material conveying frame;202, support frame;203, material plate;204, material chain plate power component;

[0044] 3, material receiving box;

[0045] 4, the bar feeding fork mechanism; 401, the bar feeding fork support; 402, the fork chain channel connecting rod; 403, transmission assembly; 404, chain;

[0046] 5, the electric control mechanism; 501, the robot electric control cabinet; 502, the pneumatic cabinet; 503, control cabinet;

[0047] 6, the grabbing mechanism; 601, the robot arm; 602, vacuum generator; 603, connecting column; 604, crossbeam; 605, rotary clamping cylinder; 606, vacuum chuck;

[0048] 7, mechanical mounting plate; 8, air tank; 9, fixed beam; 10, fill light; 11, intelligent camera. DETAILED DESCRIPTION

[0049] The technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0050] Embodiment 1

[0051] Referring to Figures 1-8 , the present application provides an embodiment:

[0052] A flexible product packaging mechanical arm, comprising a frame 1, the upper end of the frame 1 is provided with an electric control mechanism 5, the electric control mechanism 5 comprises a robot electric control cabinet 501, a pneumatic cabinet 502 and a control cabinet 503 which are fixed on the upper surface of the frame 1 in sequence, the rear end of the top surface of the frame 1 is fixedly connected with a mechanical mounting plate 7, the lower end of the mechanical mounting plate 7 is provided with a grabbing mechanism 6, the grabbing mechanism 6 comprises a robot arm 601 installed on the body of the mechanical mounting plate 7, the lower surface of the robot arm 601 is provided with a connecting column 603, the lower surface of the connecting column 603 is fixedly connected with a crossbeam 604, the lower surface of the crossbeam 604 is fixedly connected with a plurality of rotary clamping cylinders 605, the output end of the rotary clamping cylinder 605 is fixedly connected with a vacuum generator 602, and the lower end of the vacuum generator 602 is provided with a vacuum chuck 606; as a preferred embodiment, the vacuum chuck 606 is padded with sponge;

[0053] The front end inside the frame 1 is mounted to the fixed beam 9, the lower surface of the fixed beam 9 is fixedly connected with a plurality of intelligent cameras 11, so that accurate identification and positioning of the material can be realized through the combination of the intelligent cameras 11 and the robot arm 601, the accuracy of grabbing is improved, and the loss caused by mistaken grabbing is reduced, the rear end of the upper surface of the frame 1 is fixedly connected with the gas storage tank 8, the gas storage tank 8 is connected with the rotary clamping air cylinder 605 pipeline, the rotary clamping air cylinder 605 and the gas storage tank 8 are electrically connected with the gas control cabinet 502, so that synchronous and efficient work can be better realized through the various components, and the robot arm 601 is electrically connected with the robot electric control cabinet 501, so that the movable component can be better operated.

[0054] Embodiment 2

[0055] A chocolate bar packaging system is assembled with the flexible product packaging mechanical arm, because the chocolate bar product is easy to deform, the traditional mechanical arm cannot take and place the chocolate bar, and therefore the production line of the chocolate bar is assembled with the flexible mechanical arm of the application,

[0056] The frame 1 is provided with a material conveying mechanism 2 on one side inside the frame 1, the material conveying mechanism 2 is provided with a bar feeding fork mechanism 4 on one side, the material conveying mechanism 2 comprises a material conveying frame 201, the rear end outer wall of the material conveying frame 201 is provided with a material chain plate power assembly 204, the frame body of the material conveying frame 201 is provided with a plurality of material plates 203, the bar feeding fork mechanism 4 comprises a bar feeding fork support 401 fixed at the lower end of the frame 1, the rear end of the bar feeding fork support 401 is provided with a transmission assembly 403, the outer wall of the transmission assembly 403 is provided with a chain 404, and the upper end of the bar feeding fork support 401 is provided with a fork chain channel connecting rod 402;

[0057] The upper end of the frame 1 is provided with an electric control mechanism 5, the electric control mechanism 5 comprises a robot electric control cabinet 501, a gas control cabinet 502 and a control cabinet 503 which are sequentially fixed on the upper surface of the frame 1, the rear end of the top surface in the frame 1 is fixedly connected with a mechanical mounting plate 7, the lower end of the mechanical mounting plate 7 is provided with a grabbing mechanism 6, the grabbing mechanism 6 comprises a robot arm 601 mounted on the plate body of the mechanical mounting plate 7, the lower surface of the robot arm 601 is provided with a connecting column 603, the lower surface of the connecting column 603 is fixedly connected with a cross beam 604, the lower surface of the cross beam 604 is fixedly connected with a plurality of rotary clamping air cylinders 605, the output end of the rotary clamping air cylinder 605 is fixedly connected with a vacuum generator 602, and the lower end of the vacuum generator 602 is provided with a vacuum suction cup 606;

[0058] The flexible product packaging mechanical arm not only improves the production efficiency, but also improves the safety and reliability of operation, and meets the trend of modern industrial automation.

[0059] The front end inside the frame 1 is mounted to the fixed beam 9, the lower surface of the fixed beam 9 is fixedly connected with a plurality of intelligent cameras 11, so that accurate identification and positioning of the material can be realized through the combination of the intelligent cameras 11 and the robot arm 601, the accuracy of grabbing is improved, the loss caused by mistaken grabbing is reduced, the rear end of the upper surface of the frame 1 is fixedly connected with the gas storage tank 8, the gas storage tank 8 is connected with the rotary clamping air cylinder 605 pipeline, the rotary clamping air cylinder 605 and the gas storage tank 8 are electrically connected with the gas control cabinet 502, so that synchronous and efficient work can be better realized through the various components, the robot arm 601 is electrically connected with the robot electric control cabinet 501, the material conveying mechanism 2, the rod feeding fork mechanism 4 and the grabbing mechanism 6 are electrically connected with the control cabinet 503, so that the movable components can be better operated.

[0060] A plurality of light supplementing lamps 10 are fixedly connected to the front end of the inner walls on both sides of the frame 1, so that the light supplementing operation for the intelligent cameras 11 can be better realized, a plurality of support frames 202 are fixedly connected to the lower surface of the material conveying frame 201, so that the material conveying frame 201 can be better supported, a material collecting box 3 is arranged at the rear end of the material conveying frame 201, so that after the material is taken, the empty material plate 203 is reversely conveyed through the conveying belt below, and finally conveyed to the collecting box, so that the controlled material plate 203 can be better collected.

[0061] Working principle: when in use, the material plate 203 with 30 chocolate bars is placed at the front end of the material conveying frame by artificial, then the material chain plate power assembly 204 moves the material plate 203 three material plates each time, and moves to the lower end of the light supplement lamp 10 at the lower end of the frame 1, then the intelligent camera 11 takes a picture, and the chocolate bars on the material plate 203 are sequentially sorted in the form of coordinates and transmitted to the robot electric control cabinet 501, after the picture is taken, the material conveying chain is conveyed to the robot arm 601 taking material position, the material chain plate power assembly 204 continues to move the material plate 203, moves to the rear of the lower end of the frame 1, and the grabbing mechanism 6 is convenient for taking material, then the robot arm 601 moves to the discharge position through the coordinates given by the intelligent camera 11, and the five vacuum suction cups 606 of the robot arm 601, three robot arms 601 respectively take the material through the given coordinates, move the robot arm to make the vacuum suction cup 606 suck the material, and then move to the discharge position at the same time, after reaching the discharge position, three robot arms 601 have a collection signal, when the collection signal is satisfied, the fork chain link connecting rod 402 is in position, then the chain 404 controlled by the pillow type packaging machine rotates continuously, when the chain 404 drives the proximity switch at the tail end of the fork chain link connecting rod 402 to read the position of the fork chain link connecting rod 402, the signal is given to the electric control mechanism 5, then the electric control mechanism 5 makes the grabbing mechanism 6 obtain the discharge signal, and moves a distance synchronously with the bar feeding fork mechanism 4, in the synchronous process, the material is placed in the fork chain link connecting rod 402 of the bar feeding fork mechanism 4, and is conveyed to the pillow type packaging machine by the fork chain link connecting rod 402, after taking the material, the empty material plate 203 is conveyed to the box receiving box 3 through the reverse conveying of the conveying belt below.

[0062] Finally, it should be pointed out that: the above only describes preferred embodiments of the present application, and is not used to limit the present application, the number and arrangement of the suction cups can be adjusted according to the number and placement position of the material on the material plate, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A flexible product packaging robot arm comprising a frame (1), characterized in that: The upper end of the frame (1) is provided with an electric control mechanism (5), the electric control mechanism (5) comprises a robot electric control cabinet (501), an air control cabinet (502) and a control cabinet (503) which are fixed on the upper surface of the frame (1) in sequence, the rear end of the inner top surface of the frame (1) is fixedly connected with a mechanical mounting plate (7), the lower end of the mechanical mounting plate (7) is provided with a grabbing mechanism (6), the grabbing mechanism (6) comprises a robot arm (601) mounted on the plate body of the mechanical mounting plate (7), the lower surface of the robot arm (601) is provided with a connecting column (603), the lower surface of the connecting column (603) is fixedly connected with a cross beam (604), the lower surface of the cross beam (604) is fixedly connected with a plurality of rotary clamping air cylinders (605), the output end of the rotary clamping air cylinder (605) is fixedly connected with a vacuum generator (602), and the lower end of the vacuum generator (602) is provided with a vacuum chuck (606).

2. A flexible product packaging robot arm as claimed in claim 1, wherein: The front end of the frame (1) is mounted on a fixed beam (9), and the lower surface of the fixed beam (9) is fixedly connected with a plurality of intelligent cameras (11).

3. A flexible product packaging robot arm as claimed in claim 1, wherein: The rear end of the upper surface of the frame (1) is fixedly connected with a gas storage tank (8), the gas storage tank (8) is connected with the rotary clamping air cylinder (605) in a pipeline manner, and the rotary clamping air cylinder (605) and the gas storage tank (8) are electrically connected with the air control cabinet (502).

4. A flexible product packaging robot arm as claimed in claim 1, wherein: The front end of the inner wall of the frame (1) is fixedly connected with a plurality of light supplementing lamps (10).

5. A packaging system equipped with the robot arm according to any one of claims 1 to 4, characterized in that, One side of the frame (1) is provided with a material conveying mechanism (2), one side of the material conveying mechanism (2) is provided with a rod feeding fork mechanism (4), the material conveying mechanism (2) comprises a material conveying frame (201), the rear end of the outer wall of the material conveying frame (201) is provided with a material chain plate power assembly (204), the frame body of the material conveying frame (201) is provided with a plurality of material plates (203), the rod feeding fork mechanism (4) comprises a rod feeding fork support (401) fixed at the lower end of the frame (1), the rear end of the rod feeding fork support (401) is provided with a transmission assembly (403), the outer wall of the transmission assembly (403) is provided with a chain (404), and the upper end of the rod feeding fork support (401) is provided with a fork chain channel connecting rod (402).

6. The packaging system of claim 5, wherein: The front end of the frame (1) is mounted on a fixed beam (9), and the lower surface of the fixed beam (9) is fixedly connected with a plurality of intelligent cameras (11). The rear end of the upper surface of the frame (1) is fixedly connected with a gas storage tank (8), the gas storage tank (8) is connected with the rotary clamping air cylinder (605) in a pipeline manner, and the rotary clamping air cylinder (605) and the gas storage tank (8) are electrically connected with the air control cabinet (502). The robot arm (601) is electrically connected with the robot electric control cabinet (501), and the material conveying mechanism (2), the rod feeding fork mechanism (4) and the grabbing mechanism (6) are electrically connected with the control cabinet (503).

7. The packaging system of claim 5, wherein: The front end of the inner wall of the frame (1) is fixedly connected with a plurality of light supplementing lamps (10).

8. The packaging system of claim 5, wherein: The lower surface of the material conveying frame (201) is fixedly connected with a plurality of support frames (202).

9. The packaging system of claim 5, wherein: The rear end of the material conveying frame (201) is provided with a material collecting box (3).

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