Knife sealing device for packaging machine based on multi-axis linkage

Abstract

The utility model discloses a cutter sealing device for a packaging machine based on multi-axis linkage, and relates to the technical field of packaging machinery. Comprising a knife sealing frame, an upper heat knife sealing assembly and a lower heat knife sealing assembly. The upper heat knife sealing assembly is assembled on the knife sealing frame through a first multi-axis linkage driving mechanism, the lower heat knife sealing assembly is assembled on the knife sealing frame through a second multi-axis linkage driving mechanism, and the first multi-axis linkage driving mechanism drives the upper heat knife sealing assembly to move in a set plane to generate two plane freedom degrees. The second multi-axis linkage driving mechanism drives the lower heat knife sealing assembly to move in the set plane, and two plane freedom degrees are generated. The first multi-axis linkage driving mechanism is matched with the second multi-axis linkage driving mechanism, and meshing of the upper heat knife sealing assembly and the lower heat knife sealing assembly is achieved. According to the knife sealing device, the rack structure and the transmission part of the knife sealing device are simplified, the effective load rate of the knife sealing device is improved, the heat sealing action response is more efficient, error accumulation between mechanisms is reduced, and the precision is higher.

Description

Technical Field

[0001] This utility model relates to the field of packaging machinery technology, and more specifically to a knife sealing device for packaging machines based on multi-axis linkage. Background Technology

[0002] A knife-sealing device is a sealing device used in the packaging machinery field to heat-seal or heat-seal and cut packaging bags or packaging films. For example, in a pillow packaging machine, the continuously fed packaging film is wrapped around the material by a film forming device. The two sides of the packaging film are overlapped and sealed together by a longitudinal sealing mechanism. Then, the knife-sealing device seals and cuts the packaging film between adjacent materials to form a single packaged product. Alternatively, the seal may not be completely cut, and the film may be sealed and cut after a set number of consecutive packages to form a continuous package product.

[0003] Existing knife sealing devices generally include an upper heat sealing knife assembly and a lower heat sealing knife assembly. The upper and lower heat sealing knife assemblies are driven by a heat sealing drive mechanism to engage with each other, thereby performing heat sealing and cutting operations on the packaging film passing between the upper and lower heat sealing knife assemblies.

[0004] When the packaging film material is thick and requires a longer heat sealing time, a reciprocating drive mechanism along the packaging film conveying direction is usually added to the upper and lower heat sealing knife assemblies to ensure that the heat sealing time of the upper and lower heat sealing knife assemblies on the packaging film is increased as much as possible without affecting packaging efficiency, so as to achieve the expected heat sealing effect.

[0005] Depending on the changes in the height of the packaged material and the width of the film, the engagement height of the upper and lower heat sealing knife assemblies also needs to be adjusted. This requires adding an adjustment mechanism to adjust the engagement height of the upper and lower heat sealing knife assemblies to accommodate changes in material specifications and packaging film specifications.

[0006] For example, the utility model patent authorization announcement text with authorization announcement number CN219565716U, authorization announcement date August 22, 2023, entitled "A Reciprocating Horizontal Sealing Device", includes a mounting plate, a mounting frame, a horizontal sealing mechanism, and a reciprocating drive mechanism. The horizontal sealing mechanism is mounted on the mounting frame, and the mounting frame is movably mounted on the mounting plate. The reciprocating drive mechanism is mounted on the mounting plate and cooperates with the mounting frame. The reciprocating drive mechanism includes a first servo drive component, a first connecting rod, a second connecting rod, a slider, and a linear guide rail. The first servo drive component and the linear guide rail are fixedly mounted on the mounting plate. The drive end of the first servo drive component is hinged to the first end of the first connecting rod, the second end of the first connecting rod is hinged to the first end of the second connecting rod, and the second end of the second connecting rod is hinged to the mounting frame. The linear guide rails are a pair and are located on both sides of the mounting frame. The slider is mounted on the mounting frame and slides with the linear guide rails.

[0007] Existing knife seal devices often employ complex frame structures with numerous transmission components, resulting in low effective load rates, difficult assembly, and low assembly efficiency. Furthermore, the reciprocating drive mechanism causes the mounting frame to move back and forth, resulting in significant inertia, slow response, and substantial vibration and noise during the entire movement process. Both the horizontal sealing mechanism and the reciprocating drive mechanism exhibit errors in actual operation, which accumulate when they work together, leading to low accuracy in the knife seal device. Utility Model Content

[0008] To overcome the defects and shortcomings of the existing technology, this utility model provides a multi-axis linkage-based knife sealing device for packaging machines. The purpose of this invention is to solve the problems of low effective load rate, slow response, and low accuracy in existing knife sealing devices. This utility model includes a knife sealing frame, an upper heated knife sealing assembly, and a lower heated knife sealing assembly. The upper heated knife sealing assembly is mounted on the knife sealing frame via a first multi-axis linkage drive mechanism, and the lower heated knife sealing assembly is mounted on the knife sealing frame via a second multi-axis linkage drive mechanism. The first multi-axis linkage drive mechanism drives the upper heated knife sealing assembly to move within a set plane, generating two planar degrees of freedom. The second multi-axis linkage drive mechanism drives the lower heated knife sealing assembly to move within the set plane, generating two planar degrees of freedom. The first and second multi-axis linkage drive mechanisms cooperate to achieve the meshing of the upper and lower heated knife sealing assemblies. This invention employs two sets of multi-axis linkage drive mechanisms to drive the upper and lower hot knife sealing components respectively, simplifying the frame structure and transmission components of the knife sealing device, improving the effective load rate of the knife sealing device, and the multi-axis linkage drive mechanism acts directly on the hot knife sealing component, making the hot sealing action response more efficient, reducing the accumulation of errors between mechanisms, and achieving higher precision.

[0009] To address the problems existing in the prior art, the present invention is achieved through the following technical solution.

[0010] This utility model provides a knife sealing device for a packaging machine based on multi-axis linkage, including a knife sealing frame, an upper heated knife sealing assembly, and a lower heated knife sealing assembly. The upper heated knife sealing assembly is mounted on the knife sealing frame via a first multi-axis linkage drive mechanism, and the lower heated knife sealing assembly is mounted on the knife sealing frame via a second multi-axis linkage drive mechanism. The first multi-axis linkage drive mechanism drives the upper heated knife sealing assembly to move within a set plane, generating two planar degrees of freedom. The second multi-axis linkage drive mechanism drives the lower heated knife sealing assembly to move within the set plane, generating two planar degrees of freedom. The first and second multi-axis linkage drive mechanisms cooperate to achieve the meshing of the upper and lower heated knife sealing assemblies.

[0011] More preferably, a guide shaft is provided between the upper hot knife seal assembly and the lower hot knife seal assembly, and the upper hot knife seal assembly and the lower hot knife seal assembly move relative to each other along the axial direction of the guide shaft.

[0012] More preferably, one end of the guide shaft is fixedly connected to the lower hot knife seal assembly, and the other end of the guide shaft is slidably connected to the upper hot knife seal assembly.

[0013] More preferably, one end of the guide shaft is fixedly connected to the upper hot knife seal assembly, and the other end of the guide shaft is slidably connected to the lower hot knife seal assembly.

[0014] More preferably, both the first multi-axis linkage drive mechanism and the second multi-axis linkage drive mechanism are two-axis parallel robotic arms.

[0015] More preferably, both the first multi-axis linkage drive mechanism and the second multi-axis linkage drive mechanism are serial robotic arms with at least two rotating joints.

[0016] More preferably, both the first multi-axis linkage drive mechanism and the second multi-axis linkage drive mechanism are XY planar motion mechanisms or cross slide motion mechanisms.

[0017] More preferably, the first multi-axis linkage drive mechanism and the second multi-axis linkage drive mechanism respectively include a servo telescopic drive component I and a servo telescopic drive component II. The cylinder part of the servo telescopic drive component I is rotatably mounted on the knife seal frame, and the telescopic end of the servo telescopic drive component I is hinged to one end of the upper hot knife seal assembly or the lower hot knife seal assembly. The cylinder part of the servo telescopic drive component II is rotatably mounted on the knife seal frame, and the telescopic end of the servo telescopic drive component II is hinged to the other end of the upper hot knife seal assembly or the lower hot knife seal assembly.

[0018] The servo telescopic drive unit I and servo telescopic drive unit II are servo electric cylinders.

[0019] Both the servo telescopic drive component I and the servo telescopic drive component II include a servo motor, a reducer, a rotating sleeve, and a screw. The servo motor is connected to the reducer, and the servo motor and reducer are rotatably mounted on the knife seal frame via a motor mounting base. The rotating sleeve is connected to the output shaft of the reducer, and the rotating sleeve is provided with an internal thread that mates with the external thread on the screw. One end of the screw is threadedly connected to the rotating sleeve, and the other end of the screw is hinged to the upper or lower hot knife seal assembly via a connecting seat.

[0020] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0021] 1. Improved response speed and working performance of packaging machines: This utility model, based on a multi-axis linkage packaging machine knife sealing device, does not require the complex frame structure of traditional packaging machines. It only needs to drive the upper and lower hot knife sealing components to move, which greatly increases the effective load rate. Under the same conditions, the speed and response performance of the packaging machine are further improved. Due to the reduced load weight, the impact force generated is reduced, and the vibration and noise problems of traditional packaging machines under high-speed operation are effectively improved under the same conditions, thus improving working performance and the operating environment of packaging workers.

[0022] 2. Improve the effective load rate of the packaging machine, reduce the number of parts, reduce the overall cost, and improve assembly efficiency: Compared with the traditional structure, the knife sealing device for packaging machines based on multi-axis linkage of this utility model does not require the complex frame structure of the traditional structure, reducing the overall number of parts; it is conducive to improving the assembly speed and accuracy of the whole machine, and also conducive to improving the standardization of parts. It adopts large-scale production and processing technology, reduces costs, and reduces the weight of the whole machine, making transportation and deployment convenient.

[0023] 3. Improve overall accuracy, rigidity, and meshing pressure: This utility model adopts a multi-axis linkage drive mechanism to drive separately and uses a multi-axis parallel drive method. The driving errors of each drive do not accumulate, and the load is distributed to each drive mechanism. Therefore, the accuracy and load-bearing capacity (meshing pressure) are high, and the load pressure is distributed to each drive link, resulting in high rigidity of the whole machine mechanism.

[0024] 4. Enhanced Software and Hardware Added Value: This utility model features a simple structure for a multi-axis linkage packaging machine knife sealing device. It employs multi-axis linkage control technology to control the correct timing and torque of four servo motors, resulting in high software added value. The knife sealing device can be adjusted through software settings, making it more adaptable and better suited to changes in packaging specifications and film materials. It can be adapted without adjusting the mechanical mechanism.

[0025] 5. Improved controllability of the knife sealing trajectory: The knife sealing device for packaging machines based on multi-axis linkage can move in a set position trajectory within the working area; it does not require the traditional lifting mechanism to adjust the engagement height position, and its position trajectory is not limited by the frame structure of the traditional knife sealing device. Attached Figure Description

[0026] Figure 1 This is a three-dimensional schematic diagram of the robotic arm driven structure of the multi-axis linkage-based knife sealing device for packaging machines according to this utility model;

[0027] Figure 2 This is a side view of the robotic arm driven structure of the knife sealing device of this utility model;

[0028] Figure 3 This is a front view schematic diagram of the robotic arm driven structure of the knife sealing device of this utility model;

[0029] Figure 4 This is a comparative structural diagram of the robotic arm-driven knife sealing device of this utility model, showing the meshing structure at different heights.

[0030] Figure 5 This is a schematic diagram of the planar motion principle of the robotic arm-driven knife sealing device of this utility model.

[0031] Figure 6 This is a comparison diagram of the opening and closing of the upper and lower heated knife seal components of the knife seal device of this utility model;

[0032] Figure 7 This is a schematic diagram of a modified structure of the robotic arm driven structure of the knife sealing device of this utility model;

[0033] Figure 8 This is a schematic diagram of the rotary knife seal device of this utility model;

[0034] Figure 9 This is a schematic diagram of the serial mechanical arm driven structure of the knife sealing device of this utility model;

[0035] Figure 10 This is a schematic diagram of the servo-driven electric cylinder structure of the knife sealing device of this utility model;

[0036] Figure 11 This is a schematic diagram of the servo-rotary drive structure of the knife sealing device of this utility model;

[0037] Reference numerals: 1. Knife seal frame; 2. Upper heated knife seal assembly; 3. Lower heated knife seal assembly; 4. First multi-axis linkage drive mechanism; 5. Second multi-axis linkage drive mechanism; 6. Guide shaft; 7. Two-axis parallel robotic arm; 10. Servo telescopic drive component I; 11. Servo telescopic drive component II; 12. Servo motor; 13. Rotating sleeve; 14. Screw; 15. Motor mounting base; 16. Connecting seat; 17. Static platform; 18. Moving platform; 19. First servo drive motor; 20. Second servo drive motor; 21. First support arm; 22. Second support arm; 23. First connecting rod; 24. Second connecting rod; 25. First balance connecting rod; 26. Second balance connecting rod; 27. Balance connecting block; 28. Knife seal mounting base; 30. Guide sleeve. Detailed Implementation

[0038] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0039] Example 1

[0040] As a preferred embodiment of this example, please refer to the appendix to the specification. Figure 1 Appendix Figure 8 Appendix Figure 9 Appendix Figure 10 and attached Figure 11 As shown, this embodiment discloses a multi-axis linkage-based knife sealing device for packaging machines, including a knife sealing frame 1, an upper heated knife sealing assembly 2, and a lower heated knife sealing assembly 3. The upper heated knife sealing assembly 2 is mounted on the knife sealing frame 1 via a first multi-axis linkage drive mechanism 4, and the lower heated knife sealing assembly 3 is mounted on the knife sealing frame 1 via a second multi-axis linkage drive mechanism 5. The first multi-axis linkage drive mechanism 4 drives the upper heated knife sealing assembly 2 to move within a set plane, generating two planar degrees of freedom. The second multi-axis linkage drive mechanism 5 drives the lower heated knife sealing assembly 3 to move within the set plane, generating two planar degrees of freedom. The first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 cooperate to achieve the meshing of the upper heated knife sealing assembly 2 and the lower heated knife sealing assembly 3.

[0041] In this embodiment, the same multi-axis linkage drive mechanism can be used to drive the upper hot-knife sealing assembly 2 and the lower hot-knife sealing assembly 3 to move respectively. Here, the multi-axis linkage drive mechanism refers to a mechanism capable of driving the upper hot-knife sealing assembly 2 or the lower hot-knife sealing assembly 3 to achieve at least two degrees of freedom of movement. Taking the packaging film conveying direction as an example, one degree of freedom is parallel to the packaging film conveying direction, and the other degree of freedom is perpendicular to the packaging film conveying direction. The degree of freedom perpendicular to the packaging film conveying direction enables the engagement or disengagement operation between the upper hot-knife sealing assembly 2 and the lower hot-knife sealing assembly 3; the degree of freedom parallel to the packaging film conveying direction enables the assembly to move a certain distance with the packaging film and reset, ensuring that the upper hot-knife sealing assembly 2 and the lower hot-knife sealing assembly 3 can increase their engagement time without affecting the packaging film conveying rate, thus adapting to thicker films or aluminum foil films that require higher temperatures to heat-seal together.

[0042] Compared with the prior art, the biggest improvement of this application is that the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 are separated and driven by two multi-axis linkage drive mechanisms (i.e., the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5). In fact, the multi-axis linkage drive mechanism can drive the upper hot knife sealing assembly 2 or the lower hot knife sealing assembly 3 to move in a set plane independently. The upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 are assembled on the knife sealing frame 1 through the multi-axis linkage drive mechanism (the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5), without needing to directly cooperate with the knife sealing frame 1. This simplifies the structure of the knife sealing frame 1 and reduces the precision requirements of the knife sealing frame 1 structure.

[0043] The stroke of the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 is only limited by the multi-axis linkage drive mechanism (the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5), and the trajectory can be adjusted by software program control, without being constrained by the inherent frame. For example, the meshing height, meshing following stroke, and meshing following position of the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 can all be realized by software program, no longer subject to specific structural limitations. Its application range is wider, and it can be applied to the sealing and cutting of almost all roll film forming packaging.

[0044] In this embodiment, the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 can be structures including a knife sealing mounting base 28, on which a heat sealing knife holder is mounted, and a cutter is inserted into one of the heat sealing knife holders. This is the structure of the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 shown in the utility model patent with authorization announcement number CN219565716U, authorization announcement date August 22, 2023, entitled "A reciprocating horizontal sealing device".

[0045] In this embodiment, refer to the appendix to the specification. Figure 8 As shown, the upper hot-knife sealing assembly 2 and the lower hot-knife sealing assembly 3 can also be a rotary knife sealing structure. That is, the upper hot-knife sealing assembly 2 includes an upper rotating shaft, an upper knife holder, an upper cutter, an upper cutter drive cylinder, and an upper heat-sealing motor that drives the upper rotating shaft. Multiple upper knife holders can be mounted on the upper rotating shaft, such as a double knife holder with two knife holders spaced 180° apart, or a triple knife holder with adjacent knife holders spaced 120° apart. The upper cutter is embedded in the knife holder and extends by the upper cutter drive cylinder to cut the packaging film when the upper hot-knife sealing assembly 2 and the lower hot-knife sealing assembly 3 engage. The upper heat-sealing motor drives the upper rotating shaft to rotate, causing the multiple upper knife holders on the upper rotating shaft to sequentially engage with the multiple lower knife holders in the lower hot-knife sealing assembly 3. The lower hot-knife sealing assembly 3 has a similar structure to the upper hot-knife sealing assembly 2, except that the lower hot-knife sealing assembly 3 does not have a cutter. Its lower knife holder is provided with a groove that cooperates with the upper cutter to cut the packaging film, or it may be a bottom knife.

[0046] In general, the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 are connected in parallel by the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 to form a parallel knife seal device with at least two degrees of freedom.

[0047] Example 2

[0048] As another preferred embodiment of this utility model, this embodiment is a further detailed supplement and explanation of the technical solution of this utility model based on the above-described embodiment 1. (Refer to the appendix of the specification.) Figure 1 Appendix Figure 8 Appendix Figure 9 Appendix Figure 10 and attached Figure 11As shown, a guide shaft 6 is provided between the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3, and the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 move relative to each other along the axial direction of the guide shaft 6.

[0049] Specifically, a guide shaft 6 is provided between the mounting bases (i.e., the knife seal mounting base 28) of the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3. Since the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 are driven by the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 respectively, the meshing accuracy between the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 is guaranteed by the matching accuracy of the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5. After adding the guide shaft 6, the matching accuracy of the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 can be reduced to some extent. Under the limiting effect of the guide shaft 6, the meshing accuracy of the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 can also be effectively guaranteed.

[0050] It is even possible to set the degree of freedom of one of the multi-axis linkage drive mechanisms parallel to the packaging film conveying direction as a follower. For example, the degree of freedom of the lower hot knife sealing assembly 3 driven by the second multi-axis linkage drive mechanism 5 parallel to the packaging film conveying direction can be set as a follower, while only the driving force perpendicular to the packaging film conveying direction is retained.

[0051] As an example of this embodiment, one end of the guide shaft 6 is fixedly connected to the lower hot knife seal assembly 3, and the other end of the guide shaft 6 is slidably connected to the upper hot knife seal assembly 2. That is, the lower end of the guide shaft 6 is fixed to the knife seal mounting base 28 of the lower hot knife seal assembly 3, and the knife seal mounting base 28 of the upper hot knife seal assembly 2 is provided with a guide sleeve 30 that cooperates with the guide shaft 6. The same applies when the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 are rotary knife seals.

[0052] As another example of this embodiment, see attached Figure 6 As shown, one end of the guide shaft 6 is fixedly connected to the upper hot knife seal assembly 2, and the other end of the guide shaft 6 is slidably connected to the lower hot knife seal assembly 3. That is, the upper end of the guide shaft 6 is fixed to the knife seal mounting base 28 of the upper hot knife seal assembly 2, and the knife seal mounting base 28 of the lower hot knife seal assembly 3 is provided with a guide sleeve 30 that cooperates with the guide shaft 6. This also applies when the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 are rotary knife seals.

[0053] Example 3

[0054] As another preferred embodiment of this utility model, this embodiment further supplements and elaborates on the technical solution of this utility model based on the above-described embodiment 1 or embodiment 2. (Refer to the appendix of the specification.) Figure 1 Appendix Figure 2 and attached Figure 3As shown, in this embodiment, both the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 are two-axis parallel robotic arms 7.

[0055] The structure of the parallel robotic arm can be an existing structure, such as the structures shown in the authorization announcement numbers CN221186521U, CN220463895U, CN208788584U, CN206717849U, CN206717850U, CN206748413U, etc.

[0056] As an example of this embodiment, please refer to the appendix to the specification. Figure 1 Appendix Figure 2 and attached Figure 3 As shown, the knife sealing frame 1 only needs to have a frame portion that can support and suspend the upper two-axis parallel robotic arm 7 and a frame portion that can support and install the lower two-axis parallel robotic arm 7. This can be achieved by using the frame of a packaging machine.

[0057] As another example of this embodiment, the two-axis parallel robotic arm 7 includes a static platform 17, a moving platform 18, a first servo drive motor 19, a second servo drive motor 20, a first support arm 21, a second support arm 22, a first connecting rod 23, a second connecting rod 24, a first balance connecting rod 25, a second balance connecting rod 26, and a balance connecting block 27; the first servo drive motor 19 and the second servo drive motor 20 are both mounted on the static platform 17; the first servo drive motor 19 drives the first support arm 21 to swing; the second servo drive motor 20 ... The drive motor 20 drives the second arm 22 to swing; the upper end of the first connecting rod 23 is hinged to the first arm 21, and the lower end is hinged to the moving platform 18; the upper end of the second connecting rod 24 is hinged to the second arm 22, and the lower end is hinged to the moving platform 18; the first balance connecting rod 25, the second balance connecting rod 26, and the balance connecting block 27 can be set on the branch formed by the first arm 21 and the first connecting rod 23, or on the branch formed by the second arm 22 and the second connecting rod 24, mainly to ensure the balance of the moving platform 18. The structure of the two-axis parallel robotic arm 7 will not be described in detail in this application.

[0058] Refer to the instruction manual appendix Figure 7 As shown, as a modified structure of the two-axis parallel robotic arm 7, the knife seal frame 1 is treated as part of the static platform 17, and the knife seal mounting base 28 of the heated knife seal assembly 2 is treated as part of the moving platform 18; the first servo drive motor 19 and the second servo drive motor 20 are directly mounted on the knife seal frame 1.

[0059] Refer to the instruction manual appendix Figure 5As shown in the diagram, there are 16 moving parts, all in planar motion, with 16*3=48 degrees of freedom; 22 planar revolute joints (4 pairs of revolute joints sharing 2 intersection points), and 1 prismatic joint, with (22+1)*2=46 degrees of freedom; the total degrees of freedom of the upper hot knife seal assembly 2 or the lower hot knife seal assembly 3 ultimately driven is 48-46=2. With 2 drive motors, this mechanism has a unique positional solution, and the motion control principle of the mechanism is feasible. The knife seal device has 4 drive motors.

[0060] Refer to the instruction manual appendix Figure 4 As shown, the meshing position of the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 in the knife seal device can be adjusted and changed by controlling the four drive motors (i.e., the first servo drive motor 19, the second servo drive motor 20, the first servo drive motor 19 (corresponding to another multi-axis linkage drive mechanism), and the second servo drive motor 20 (corresponding to another multi-axis linkage drive mechanism)) of the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5.

[0061] Refer to the instruction manual appendix Figure 6 As shown, the opening and engagement of the upper hot knife seal assembly 2 and the lower hot knife seal assembly 3 in the knife seal device can also be adjusted and changed by controlling the four drive motors (i.e., the first servo drive motor 19, the second servo drive motor 20, the first servo drive motor 19 (corresponding to another multi-axis linkage drive mechanism), and the second servo drive motor 20 (corresponding to another multi-axis linkage drive mechanism)) of the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5.

[0062] Example 4

[0063] As another preferred embodiment of this utility model, this embodiment further supplements and elaborates on the technical solution of this utility model based on the above-described embodiment 1 or embodiment 2. (Refer to the appendix of the specification.) Figure 9 As shown, in this embodiment, both the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 are serial robotic arms with at least two rotating joints. The serial robotic arm with at least two rotating joints includes a first servo drive motor 19, a first support arm 21, a second servo drive motor 20, and a second support arm 22. The first servo drive motor 19 is mounted on the knife-sealing frame 1 and connected to the first support arm 21, causing the first support arm 21 to swing. The second servo drive motor 20 is mounted on the first support arm 21 and connected to the second support arm 22. The end of the second support arm 22 is hinged to the knife-sealing mounting base 28.

[0064] At this point, the role of the guide shaft 6 becomes more important. Under the action of the guide shaft 6, it is only necessary to ensure that the straight line at the end of the second arm 22 of the two sets of serial robotic arms is parallel to the axis of the guide shaft 6. Under the constraint of the guide shaft 6, the opening and engagement of the upper hot knife sealing assembly 2 and the lower hot knife sealing assembly 3 can be achieved without adding a third servo drive motor.

[0065] As an example of this embodiment, both the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 are XY planar motion mechanisms (not shown in the figure). For example, the X-axis is parallel to the packaging film conveying direction, and the Y-axis is perpendicular to the packaging film conveying direction.

[0066] As another example of this embodiment, both the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 are cross slide motion mechanisms (not shown in the figure).

[0067] The XY planar motion mechanism and the cross slide motion mechanism are both existing structures, and they also have various variations. Their specific structures will not be described in detail in this application.

[0068] Example 5

[0069] As another preferred embodiment of this utility model, this embodiment further supplements and elaborates on the technical solution of this utility model based on the above-described embodiment 1 or embodiment 2. (Refer to the appendix of the specification.) Figure 10 and attached Figure 11 As shown, the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 respectively include a servo telescopic drive component I 10 and a servo telescopic drive component II 11. The cylinder part of the servo telescopic drive component I 10 is rotatably mounted on the knife seal frame 1, and the telescopic end of the servo telescopic drive component I 10 is hinged to one end of the upper hot knife seal assembly 2 or the lower hot knife seal assembly 3. The cylinder part of the servo telescopic drive component II 11 is rotatably mounted on the knife seal frame 1, and the telescopic end of the servo telescopic drive component II 11 is hinged to the other end of the upper hot knife seal assembly 2 or the lower hot knife seal assembly 3.

[0070] As an example of this embodiment, please refer to the appendix to the specification. Figure 10 As shown, the servo telescopic drive component I10 and the servo telescopic drive component II11 are servo electric cylinders.

[0071] As another example of this embodiment, refer to the appendix to the specification. Figure 11As shown, both the servo telescopic drive component I 10 and the servo telescopic drive component II 11 include a servo motor 12, a reducer, a rotating sleeve 13, and a screw 14. The servo motor 12 is connected to the reducer. The servo motor 12 and the reducer are rotatably mounted on the knife seal frame 1 through the motor mounting base 15. The rotating sleeve 13 is connected to the output shaft of the reducer. The rotating sleeve 13 is provided with an internal thread that mates with the external thread on the screw 14. One end of the screw 14 is threadedly connected to the rotating sleeve 13, and the other end of the screw 14 is hinged to the upper hot knife seal assembly 2 or the lower hot knife seal assembly 3 through the connecting seat 16.

[0072] Example 6

[0073] As another preferred embodiment of the present invention, this embodiment is a further detailed supplement and explanation of the technical solution of the present invention based on the above embodiments 1, 2, 3, 4, 5 or 6.

[0074] In this embodiment, the structures of the first multi-axis linkage drive mechanism 4 and the second multi-axis linkage drive mechanism 5 can be different. For example, the first multi-axis linkage drive mechanism 4 adopts the two-axis parallel robotic arm 7 structure of Embodiment 3, and the second multi-axis linkage drive mechanism 5 adopts the serial robotic arm structure with at least two rotating joints of Embodiment 4. Alternatively, the first multi-axis linkage drive mechanism 4 adopts the two-axis parallel robotic arm 7 structure of Embodiment 3, and the second multi-axis linkage drive mechanism 5 adopts the structure with at least two rotating joints of Embodiment 3. Figure 7 Deformed structure.

[0075] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A knife sealing device for a packaging machine based on multi-axis linkage, comprising a knife sealing frame (1), an upper heated knife sealing assembly (2), and a lower heated knife sealing assembly (3); characterized in that: The upper hot knife seal assembly (2) is mounted on the knife seal frame (1) via the first multi-axis linkage drive mechanism (4), and the lower hot knife seal assembly (3) is mounted on the knife seal frame (1) via the second multi-axis linkage drive mechanism (5). The first multi-axis linkage drive mechanism (4) drives the upper hot knife seal assembly (2) to move in a set plane, generating two planar degrees of freedom. The second multi-axis linkage drive mechanism (5) drives the lower hot knife seal assembly (3) to move in the set plane, generating two planar degrees of freedom. The first multi-axis linkage drive mechanism (4) and the second multi-axis linkage drive mechanism (5) cooperate to realize the meshing of the upper hot knife seal assembly (2) and the lower hot knife seal assembly (3).

2. The multi-axis linkage-based knife sealing device for packaging machines as described in claim 1, characterized in that: A guide shaft (6) is provided between the upper hot knife seal assembly (2) and the lower hot knife seal assembly (3), and the upper hot knife seal assembly (2) and the lower hot knife seal assembly (3) move relative to each other along the axial direction of the guide shaft (6).

3. The multi-axis linkage-based knife sealing device for packaging machines as described in claim 2, characterized in that: One end of the guide shaft (6) is fixedly connected to the lower hot knife seal assembly (3), and the other end of the guide shaft (6) is slidably connected to the upper hot knife seal assembly (2).

4. The multi-axis linkage-based knife sealing device for packaging machines as described in claim 2, characterized in that: One end of the guide shaft (6) is fixedly connected to the upper hot knife seal assembly (2), and the other end of the guide shaft (6) is slidably connected to the lower hot knife seal assembly (3).

5. The multi-axis linkage-based knife sealing device for packaging machines as described in any one of claims 1-4, characterized in that: Both the first multi-axis linkage drive mechanism (4) and the second multi-axis linkage drive mechanism (5) are two-axis parallel robotic arms (7).

6. The multi-axis linkage-based knife sealing device for packaging machines as described in any one of claims 1-4, characterized in that: Both the first multi-axis linkage drive mechanism (4) and the second multi-axis linkage drive mechanism (5) are serial robotic arms with at least two rotating joints.

7. The multi-axis linkage-based knife sealing device for packaging machines as described in claim 6, characterized in that: Both the first multi-axis linkage drive mechanism (4) and the second multi-axis linkage drive mechanism (5) are XY plane motion mechanisms or cross slide motion mechanisms.

8. The multi-axis linkage-based knife sealing device for packaging machines as described in any one of claims 1-4, characterized in that: The first multi-axis linkage drive mechanism (4) and the second multi-axis linkage drive mechanism (5) respectively include a servo telescopic drive component I (10) and a servo telescopic drive component II (11). The cylinder part of the servo telescopic drive component I (10) is rotatably mounted on the knife seal frame (1), and the telescopic end of the servo telescopic drive component I (10) is hinged to one end of the upper hot knife seal assembly (2) or the lower hot knife seal assembly (3). The cylinder part of the servo telescopic drive component II (11) is rotatably mounted on the knife seal frame (1), and the telescopic end of the servo telescopic drive component II (11) is hinged to the other end of the upper hot knife seal assembly (2) or the lower hot knife seal assembly (3).

9. The multi-axis linkage-based knife sealing device for packaging machines as described in claim 8, characterized in that: The servo telescopic drive component I (10) and the servo telescopic drive component II (11) are servo electric cylinders.

10. The multi-axis linkage-based knife sealing device for packaging machines as described in claim 8, characterized in that: Both the servo telescopic drive component I (10) and the servo telescopic drive component II (11) include a servo motor (12), a reducer, a rotating sleeve (13), and a screw (14). The servo motor (12) is connected to the reducer. The servo motor (12) and the reducer are rotatably mounted on the knife seal frame (1) through the motor mounting base (15). The rotating sleeve (13) is connected to the output shaft of the reducer. The rotating sleeve (13) is provided with an internal thread that matches the external thread on the screw (14). One end of the screw (14) is threadedly connected to the rotating sleeve (13). The other end of the screw (14) is hinged to the upper hot knife seal assembly (2) or the lower hot knife seal assembly (3) through the connecting seat (16).

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