Gripper device for grapefruit packaging machine

Abstract

The utility model relates to a gripper device for a grapefruit packaging machine, which comprises a suction nozzle, the top of the suction nozzle is downwards provided with an air passage in a penetrating manner, the diameter of the bottom of the suction nozzle is gradually enlarged from top to bottom to form a flaring part, the inner wall of the flaring part is fixedly connected with an elastic air bag, the top of the elastic air bag is provided with an exhaust hole communicated with the air passage, and the exhaust hole is communicated with the air passage. A pressure relief assembly is fixedly connected to an opening of the exhaust hole, the bottom of the elastic air bag extends downwards to the position below the suction nozzle, and an air suction hole is formed in the bottom of the elastic air bag. According to the gripper device for the grapefruit packaging machine, the suction nozzles and the elastic air bags are arranged, grapefruits can be adsorbed through negative pressure generated by rebounding of the elastic air bags after being pressed, and large friction force generated by wrapping the surfaces of the grapefruits with deformation of the elastic air bags is combined, so that the grabbing force of the elastic air bags on the grapefruits is increased; therefore, grapefruits can be stably grabbed by the grabber device.

Description

TECHNICAL FIELD

[0001] The utility model relates to pummelo packaging machine technical field especially is involved in a kind of gripper device for pummelo packaging machine. BACKGROUND

[0002] Pummelo packaging machine is designed for pummelo and other fruits Automatic equipment, to improve packaging efficiency and product appearance. According to different needs, there are various types of pummelo packaging machines on the market, including heat shrink packaging machine, fully automatic packaging machine and semi-automatic packaging machine, etc. With the increasing demand of consumers for food packaging beauty and safety, the market demand for pummelo packaging machine is also growing. Modern consumers tend to choose those well-packaged and portable products, therefore, it is particularly important for manufacturers to invest in efficient packaging equipment.

[0003] In the prior art, due to the large size of pummelo and the smooth skin, it is difficult to normally grasp the pummelo during packaging, and increasing the clamping force will easily damage the pummelo, thereby increasing the difficulty of placing the pummelo in the packaging bag and affecting the overall packaging efficiency of the pummelo. SUMMARY

[0004] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a gripper device for pummelo packaging machine, so as to solve the technical problems mentioned in the background art.

[0005] The above technical purpose of the utility model is realized by the following technical scheme:

[0006] A gripper device for pummelo packaging machine, comprising a suction nozzle, a gas passage is formed through the top of the suction nozzle downward, the diameter of the bottom of the suction nozzle gradually increases from top to bottom to form an expanded portion, the inner wall of the expanded portion is fixedly connected with a elastic air bag, the top of the elastic air bag is provided with an exhaust hole communicated with the gas passage, the opening of the exhaust hole is fixedly connected with a pressure relief assembly, the bottom of the elastic air bag extends downward to a position below the suction nozzle, and an air inlet hole is formed in the bottom of the elastic air bag.

[0007] Further, a plurality of mounting grooves are arranged in the form of an annular array at the bottom edge position of the expanded portion, a clamping jaw is rotatably connected in the mounting groove, and a torsional spring for resetting the clamping jaw is arranged at the connection position.

[0008] Further, the length of the clamping jaw is less than the length of the elastic air bag extending out of the suction nozzle, and the side wall of the clamping jaw is fixedly connected with the outer wall of the elastic air bag.

[0009] Further, a thickened portion is formed by protruding downward at the bottom of the air inlet hole, and an anti-skid layer is formed on the bottom of the elastic air bag.

[0010] Further, the pressure relief assembly comprises a limit ring, a cover plate and a linear driver, the limit ring is fixedly connected with the inner wall of the exhaust hole, the top of the limit ring is hinged with the cover plate, the side close to the limit ring of the cover plate is fixedly connected with a sealing ring, the linear driver is connected with the support rod in the limit ring, and the top of the linear driver is connected with a top rod in contact with the cover plate.

[0011] Further, the top of the suction nozzle is fixedly connected with a flange, and a through hole in communication with the air duct is formed in the outer wall of the suction nozzle below the flange.

[0012] To sum up, the utility model discloses at least one of the following beneficial technical effects:

[0013] 1. The gripper device for grapefruit packaging machine, through setting up suction nozzle and elastic air bag, can utilize the negative pressure adsorption of the rebound of elastic air bag under pressure to grapefruit, in combination with the deformation of elastic air bag, the larger friction force that the surface of grapefruit is covered generates, thereby increasing the gripping force of elastic air bag to grapefruit, to guarantee that the gripper device can stably grasp grapefruit, and the flexibility of elastic air bag also will not hurt grapefruit, can guarantee the quality of grapefruit;

[0014] 2. The gripper device for grapefruit packaging machine, through the setting of the clamping jaw, can cooperate with the elastic air bag, and actively holds the bottom of grapefruit when the elastic air bag grasps grapefruit, can effectively improve the grasping stability of grapefruit, and the torsional spring is set to accelerate the rebound of elastic air bag when the clamping jaw rebounds, thereby shortening the interval of continuous grasping of the gripper device to grapefruit, further improve the packaging efficiency of grapefruit. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will be briefly introduced the drawings needed to be used in the embodiment, obviously, the drawings in the following description only some embodiments of the utility model, for those skilled in the art, under the premise of not paying creative labor, still can obtain other drawings according to these drawings.

[0016] Figure 1 It is a structure schematic view of the gripper device for grapefruit packaging machine of the utility model.

[0017] Figure 2 It is a structure schematic view of the gripper device for grapefruit packaging machine of the utility model.

[0018] Figure 3 It is a structure schematic view of the gripper device for grapefruit packaging machine of the utility model.

[0019] Figure 4The utility model discloses a structure diagram of pressure relief subassembly for the gripper device of a grapefruit packaging machine.

[0020] In the figure, 1, suction nozzle, 2, air passage, 3, flared portion, 4, elastic air bag, 5, exhaust hole, 6, pressure relief subassembly, 61, limiting ring, 62, cover plate, 63, linear driver, 7, air inlet, 8, mounting groove, 9, clamping jaw, 10, thickening portion, 11, antiskid layer, 12, sealing ring, 13, ejector pin, 14, flange, 15, through hole. DETAILED DESCRIPTION

[0021] The utility model will be made further detailed explanation below combining the drawings.

[0022] Embodiment:

[0023] Reference Figure 1 - Figure 4 The utility model discloses a gripper device for grapefruit packaging machine, including suction nozzle 1, the top of suction nozzle 1 is downwardly provided with air passage 2, the diameter of the bottom of suction nozzle 1 gradually expands from top to bottom to form flared portion 3, the inner wall of flared portion 3 is fixedly connected with elastic air bag 4, the top of elastic air bag 4 is provided with the exhaust hole 5 of air passage 2 intercommunication, the opening of exhaust hole 5 is fixedly connected with pressure relief subassembly 6, the bottom of elastic air bag 4 extends to the position below suction nozzle 1 down, and the air inlet 7 is set up in the bottom of elastic air bag 4.

[0024] In the embodiment, observe Figure 1 It can be found that by being provided with suction nozzle 1, the top of suction nozzle 1 is downwardly provided with air passage 2, then the diameter of the bottom of suction nozzle 1 gradually expands from top to bottom to form flared portion 3, the bottom of suction nozzle 1 can accommodate grapefruit, so that when suction nozzle 1 covers on grapefruit, the grapefruit is sucked by air passage 2 to generate negative pressure, realizing the grasping of grapefruit.

[0025] And because the surface of grapefruit is not really smooth, when suction nozzle 1 covers on grapefruit, there will be a slight air leakage gap, so to hold the grapefruit steadily, it is needed to increase suction, so as to use larger negative pressure to make up for the defect caused by air leakage, which will increase the cost of grasping grapefruit, thereby increasing the packaging cost of grapefruit.

[0026] Therefore, observe Figure 2 And Figure 3It can be found that the inner wall of the flared portion 3 is fixedly connected with an elastic air bag 4, the top of the elastic air bag 4 is provided with an exhaust hole 5 communicated with the air duct 2, the opening of the exhaust hole 5 is fixedly connected with a pressure relief assembly 6, the bottom of the elastic air bag 4 extends to a position below the suction nozzle 1, and the bottom of the elastic air bag 4 is provided with an air inlet hole 7, at this time, when the gripper device grabs the grapefruit, the grapefruit is pressed into the flared portion 3 by the suction nozzle 1, and due to the existence of the elastic air bag 4, the grapefruit will squeeze the elastic air bag 4, so that the air in the elastic air bag 4 is discharged through the pressure relief assembly 6, and then when the suction nozzle 1 moves up, the elastic air bag 4 is stretched, and at this time, the air cannot flow back through the pressure relief assembly 6, so that the elastic air bag 4 will rebound to generate negative pressure at the air inlet hole 7, and the elastic air bag 4 will adhere to the surface of the grapefruit when being squeezed by the grapefruit, so that there is a large contact area between the elastic air bag 4 and the surface of the grapefruit, so that when the air inlet hole 7 inhales, the air cannot be directly inhaled into the elastic air bag 4, so that the elastic air bag 4 holds the grapefruit, and the grapefruit is grabbed.

[0027] Finally, after the grapefruit is loaded into the packaging bag, the pressure relief assembly 6 is actively activated, so that air can enter the elastic air bag 4 through the exhaust hole 5, so that the suction force of the elastic air bag 4 on the grapefruit is weakened, so that the grapefruit is placed in the packaging bag, and after the grapefruit is separated from the elastic air bag 4, the air inlet hole 7 of the elastic air bag 4 can restore normal air suction, at this time, the elastic air bag 4 will quickly recover, so that the gripper device will not have problems in subsequent use.

[0028] The arrangement of the elastic air bag 4 not only improves the stability of the grapefruit grabbing, but also cancels the mechanism for generating negative pressure, thereby further reducing the packaging cost of the grapefruit.

[0029] In a further preferred embodiment of the present application, as shown in Figure 1 A plurality of installation grooves 8 are arranged in the annular array at the bottom edge position of the flared portion 3, and a clamping jaw 9 is rotatably connected in the installation groove 8, and a torsional spring for clamping jaw reset is arranged at the connection position.

[0030] The length of the clamping jaw 9 is less than the length of the elastic air bag 4 extending out of the suction nozzle 1, and the side wall of the clamping jaw 9 is fixedly connected with the outer wall of the elastic air bag 4.

[0031] In the embodiment, it can be found that Figure 1 It can be found that a plurality of installation grooves 8 are arranged in the annular array at the bottom edge position of the flared portion 3, and a clamping jaw 9 is rotatably connected in the installation groove 8, which can be used to provide support for the bottom of the grapefruit by using a plurality of clamping jaws 9 when the grapefruit is grabbed, so as to avoid the grapefruit from falling off, and the stability of the grapefruit grabbing can be further ensured.

[0032] By making the length of the gripper 9 less than the length of the elastic airbag 4 extending from the suction nozzle 1, and then fixing the side wall of the gripper 9 to the outer wall of the elastic airbag 4, when the elastic airbag 4 is compressed and deformed inward, the position connected to the gripper 9 will be subjected to the tension of the elastic airbag 4 during deformation. Thus, the gripper 9 will actively approach the grapefruit through the pulling of the elastic airbag 4, thereby achieving the automatic gripping effect of the gripper 9. Finally, a torsion spring for resetting the gripper 9 is provided at the connection position between the gripper 9 and the mounting groove 8. After the grapefruit is placed in the packaging bag, the torsion spring will push the gripper 9 to reset. The gripper 9 will apply tension to the elastic airbag 4, which can further improve the rebound speed of the elastic airbag, thereby shortening the interval between continuous gripping of grapefruit by the gripper device and further improving the packaging efficiency of grapefruit.

[0033] In a further preferred embodiment of this utility model, such as Figure 3 As shown, the bottom of the air intake hole 7 protrudes downward to form a thickened part 10, and the bottom of the elastic airbag 4 is processed with an anti-slip layer 11.

[0034] In this embodiment, observation Figure 3 It can be observed that by providing a thickened portion 10 at the bottom of the air intake 7, the grapefruit can preferentially contact the thickened portion 10 when it comes into contact with the elastic airbag 4, thereby causing the thickened portion 10 to be squeezed preferentially, increasing the deformation range of the thickened portion 10, thereby increasing the tightness of contact between the thickened portion 10 and the grapefruit, effectively improving air tightness, and thus ensuring the stability of negative pressure suction of the grapefruit.

[0035] By processing an anti-slip layer 11 at the bottom of the elastic airbag 4, the friction can be increased after the elastic airbag 4 comes into contact with the pomelo, thereby further increasing the stability of the gripping device in grasping the pomelo.

[0036] In a further preferred embodiment of this utility model, such as Figure 4 As shown, the pressure relief assembly 6 includes a limiting ring 61, a cover plate 62, and a linear actuator 63. The limiting ring 61 is fixedly connected to the inner wall of the exhaust port 5. The top of the limiting ring 61 is hinged to the cover plate 62. A sealing ring 12 is fixedly connected to the side of the cover plate 62 near the limiting ring 61. The linear actuator 63 is connected inside the limiting ring 61 through a support rod. The top of the linear actuator 63 is connected to a top rod 13 that contacts the cover plate 62.

[0037] In this embodiment, observation Figure 4It can be found that by fixing and connecting the limiting ring 61 to the inner wall of the exhaust hole 5, then hingingly connecting the cover plate 62 to the top of the limiting ring 61, and then fixing and connecting the sealing ring 12 to the side of the cover plate 62 close to the limiting ring 61, the cover plate 62 can be actively blocked in the inner hole of the limiting ring 61 under the action of gravity. At this time, when the elastic air bag 4 is pressed, the air pressure in the elastic air bag 4 increases, and the air is pushed out to displace the cover plate 62, and when the grapefruit grabbing is completed, the elastic air bag 4 rebounds to generate negative pressure inside, and due to the arrangement of the sealing ring 12, the air gap between the cover plate 62 and the limiting ring 61 is avoided to make the air unable to be discharged through the exhaust hole 5, so that the stability of the negative pressure suction of the grapefruit is realized.

[0038] And since the air cannot actively enter the elastic air bag 4 through the exhaust hole 5, and the air inlet hole 7 is blocked by the grapefruit, the grapefruit cannot be normally placed into the packaging bag. Therefore, in Figure 4 It can also be found that the linear driver 63 is connected to the limiting ring 61 through the support rod, and the top rod 13 in contact with the cover plate 62 is connected to the top of the linear driver 63. At this time, by activating the linear driver 63, the output shaft of the linear driver 63 pushes the top rod 13 to move upward to lift the cover plate 62, so that the gap for air intake is actively generated at the position of the exhaust hole 5, so as to weaken the suction force of the elastic air bag 4, and the elastic air bag 4 can also rebound to release the grapefruit, so that the grapefruit is placed more stably.

[0039] In further preferable embodiments of the present application, as Figure 1 shown, the top of the suction nozzle 1 is fixedly connected with a flange 14, and the outer wall of the suction nozzle 1 is provided with a through hole 15 communicating with the air duct 2 below the flange 14.

[0040] In this embodiment, the flange 14 is connected to the top of the suction nozzle 1, and the through hole 15 communicating with the air duct 2 is formed in the outer wall of the suction nozzle 1 below the flange 14, so that the flange 14 can be connected with the mechanical arm, and the gap for normal air circulation is ensured for the operation of the elastic air bag 4.

[0041] The embodiments of the present application are preferable embodiments of the present application, and are not limited to the protection scope of the present application, so that: any equivalent changes made according to the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A gripper device for a grapefruit packing machine, characterized in that The utility model provides an improved mouthpiece (1), the top of mouthpiece (1) is downwardly provided with an air passage (2), the bottom of mouthpiece (1) is gradually enlarged from top to bottom to form a flared portion (3), the inner wall of flared portion (3) is fixedly connected with a resilient air bag (4), the top of resilient air bag (4) is provided with an exhaust hole (5) communicated with air passage (2), the opening of exhaust hole (5) is fixedly connected with a pressure relief assembly (6), the bottom of resilient air bag (4) extends downwardly to a position below mouthpiece (1) and is provided with an air inlet hole (7) at the bottom of resilient air bag (4).

2. A gripper device for a grapefruit packing machine according to claim 1, characterized in that A plurality of mounting grooves (8) are annularly arranged at the bottom edge of flared portion (3), a clamping jaw (9) is rotatably connected in each mounting groove (8) and is provided with a torsion spring for resetting the clamping jaw.

3. A gripper device for a grapefruit packing machine according to claim 2, characterized in that The length of clamping jaw (9) is less than the length of resilient air bag (4) extending out of mouthpiece (1), and the side wall of clamping jaw (9) is fixedly connected with the outer wall of resilient air bag (4).

4. A gripper device for a grapefruit packing machine according to claim 3, characterized in that The bottom of air inlet hole (7) is protruded downwardly to form a thickened portion (10), and the bottom of resilient air bag (4) is provided with an anti-skid layer (11).

5. A gripper device for a grapefruit packing machine according to claim 4, characterized in that The pressure relief assembly (6) comprises a limiting ring (61), a cover plate (62) and a linear driver (63), the limiting ring (61) is fixedly connected with the inner wall of exhaust hole (5), the top of limiting ring (61) is hingedly connected with cover plate (62), the side of cover plate (62) close to limiting ring (61) is fixedly connected with a sealing ring (12), the limiting ring (61) is connected with linear driver (63) through a support rod, and the top of linear driver (63) is connected with a top rod (13) in contact with cover plate (62).

6. A gripper device for a grapefruit packing machine according to claim 5, characterized in that The top of mouthpiece (1) is fixedly connected with a flange (14), and the outer wall of mouthpiece (1) is provided with a through hole (15) communicated with air passage (2) at a position below flange (14).

Images