Motion control device for manipulator of bag clamping machine

Abstract

The utility model relates to the technical field of bag clamping machines, and discloses a bag clamping machine manipulator action control device which comprises a rack, a guide rail is arranged on the rack in a sliding mode, a first screw rod in threaded connection with the guide rail is further rotatably arranged on the rack, and a sliding seat fixedly connected with a bag clamping machine manipulator is arranged on the guide rail in a sliding mode. And a second screw rod in threaded connection with the sliding seat is rotationally arranged on the guide rail, and a linkage assembly and a driving assembly are further arranged on the rack. According to the action control device for the mechanical arm of the bag clamping machine, the linkage assembly is arranged on the rack, the state of the first screw rod and the state of the second screw rod are linked, and therefore a driving motor and an air cylinder in the driving assembly can be used for controlling the state of the first screw rod or the state of the second screw rod correspondingly, and adjustment of the sliding base in the height direction and the horizontal direction is achieved; and meanwhile, the number of power structures required by the whole device can be reduced, so that the operation steps of the whole device are simpler and more convenient, and the whole use performance is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to bag clamping machine technical field, concretely is a kind of bag clamping machine mechanical hand action control device. BACKGROUND

[0002] Bag clamping machine mechanical hand is mainly used to seal the mouth of bag.

[0003] In practical application, in order to realize the movement of mechanical hand in the height direction and horizontal direction, multiple power devices similar to cylinder push rod are set up in different directions of rack, meet the displacement demand of multiple directions of mechanical hand, and multiple electronic controllers are synchronously set up for operation, so that the operation steps of overall device are more complex, affect actual use efficiency, therefore we propose a kind of bag clamping machine mechanical hand action control device to solve the above problems. UTILITY MODEL CONTENTS

[0004] In view of the deficiencies of prior art, the utility model provides a kind of bag clamping machine mechanical hand action control device, solve the problem mentioned in the above background.

[0005] The utility model provides following technical scheme: a kind of bag clamping machine mechanical hand action control device, comprising: rack, the rack is slidably provided with guide rail, and first screw rod is also rotationally arranged on rack and is threadedly connected with guide rail, the slide seat fixedly connected with bag clamping machine mechanical hand is slidably arranged on guide rail, and second screw rod is rotationally arranged on guide rail and is threadedly connected with slide seat, driving assembly and linkage assembly are also provided on the rack;The linkage assembly includes auxiliary shaft rotationally arranged on the rack, short pulley group arranged at the internal cavity of guide rail, and worm and worm wheel rotationally arranged in the internal cavity of guide rail, the auxiliary shaft is slidably connected with worm, worm is meshingly connected with worm wheel, and worm wheel is drivingly connected with second screw rod by short pulley group;The driving assembly includes driving motor and cylinder arranged on the top surface of rack, upper transmission ring and lower transmission ring rotationally arranged in the internal cavity of rack, auxiliary seat slidably arranged on the rack, and first long pulley group and second long pulley group arranged at the internal cavity of rack, the upper transmission ring is drivingly connected with first screw rod by first long pulley group, the lower transmission ring is drivingly connected with auxiliary shaft by second long pulley group, the auxiliary seat is fixedly connected with the piston rod of cylinder, and connecting bearing is arranged on the auxiliary seat, the auxiliary seat is rotationally connected with friction disc by connecting bearing, driving motor is rotationally connected with motor output shaft on the rack, and square rod is slidably connected with motor output shaft and is fixedly installed on the friction disc.

[0006] Preferably, the rack is designed as U-shaped structure, and an opening slot for accommodating the first screw rod is formed in the rack.

[0007] Preferably, a through hole for passing through the auxiliary shaft is formed on the guide rail, and a strip-shaped groove is formed on the outer surface of the auxiliary shaft.

[0008] Preferably, the friction disc is located between the upper transmission ring and the lower transmission ring, and the thickness of the friction disc is greater than the thickness of the auxiliary seat.

[0009] Preferably, the top surface of the friction disc is provided with first friction lines for enhancing the friction between the upper transmission ring, and the bottom surface of the friction disc is provided with second friction lines for enhancing the friction between the lower transmission ring.

[0010] Preferably, the axis of the square rod coincides with the axis of the friction disc, and the square rod is located at the internal cavity of the upper transmission ring.

[0011] Preferably, the upper end of the square rod is provided with a limiting block for avoiding the square rod from being separated from the motor output shaft.

[0012] Preferably, the shape of the auxiliary seat is consistent with the shape of a table tennis bat, and a circular hole for accommodating the friction disc and the connecting bearing is further formed on the auxiliary seat.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1、The clamping machine mechanical hand movement control device, through set up the linkage assembly on the rack, the state of the first screw rod and the second screw rod is contacted, therefore the state of the first screw rod or the second screw rod can be controlled by the driving motor and the cylinder in the driving assembly respectively, so that the adjustment of the height direction and the horizontal direction of the sliding seat is realized, and the number of power structures required by the overall device can be reduced, so that the operation steps of the overall device are more simple, and the overall use performance is improved.

[0015] 2、The clamping machine mechanical hand movement control device, through the vertical first screw rod and the horizontal second screw rod, the movement of the sliding seat in four directions of up, down, left and right is realized, so as to meet the actual use requirement. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the overall structure schematic view of the utility model;

[0017] Figure 2 It is the structure schematic view of another embodiment of the utility model;

[0018] Figure 3 It is the sectional view of the guide rail structure of the utility model;

[0019] Figure 4 It is the sectional view of the rack structure of the utility model;

[0020] Figure 5 It is the first long pulley group structure schematic view of the utility model.

[0021] Figure 6 It is the connecting bearing structure explosion view of the utility model.

[0022] In the drawing: 1, rack; 2, first screw; 3, guide rail; 4, second screw; 5, sliding seat; 6, linkage assembly; 61, auxiliary shaft; 62, worm; 63, worm gear; 64, short pulley group; 7, drive assembly; 71, drive motor; 72, cylinder; 73, motor output shaft; 74, square rod; 75, friction disc; 76, upper transmission ring; 77, lower transmission ring; 78, auxiliary seat; 79, first long pulley group; 710, second long pulley group; 711, connecting bearing; 8, cylinder. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0024] Please refer to Figure 1 A cylinder 8 can be additionally arranged on the guide rail 3, and the push rod of the cylinder 8 is connected with the sliding seat 5 on which the mechanical hand is arranged. Therefore, the mechanical hand can slide left and right by starting the cylinder 8 and adjusting the length of the push rod, so that the actual application efficiency is achieved. Meanwhile, the mechanical hand can be transmitted by the cylinder 8 and controlled by a magnetic switch and PLC as the technical protection.

[0025] Please refer to Figures 2-6 In another embodiment, a mechanical hand movement control device of a bag clamping machine comprises: a rack 1, the rack 1 is slidably provided with a guide rail 3, and the rack 1 is further rotatably provided with a first screw 2 threadedly connected with the guide rail 3; the guide rail 3 is slidably provided with a sliding seat 5 fixedly connected with the mechanical hand of the bag clamping machine, and the guide rail 3 is rotatably provided with a second screw 4 threadedly connected with the sliding seat 5; the rack 1 is further provided with a linkage assembly 6 and a drive assembly 7; the rack 1 is designed in a U-shaped structure, and an opening sliding groove for accommodating the first screw 2 is formed in the rack 1, so that the rack 1 can provide sufficient support requirement, thereby meeting the actual use requirement.

[0026] The linkage assembly 6 comprises an auxiliary shaft 61 rotatably arranged on the frame 1, a short pulley set 64 arranged at the inner cavity of the guide rail 3, a worm 62 and a worm wheel 63 rotatably arranged in the guide rail 3, the auxiliary shaft 61 is in sliding connection with the worm 62, the worm 62 is in meshing transmission connection with the worm wheel 63, and the worm wheel 63 is in transmission connection with the second screw 4 through the short pulley set 64; the guide rail 3 is provided with a through hole for passing through the auxiliary shaft 61, and a strip-shaped groove is arranged on the outer surface of the auxiliary shaft 61, so as to ensure the transmission effect of the auxiliary shaft 61, so that the worm 62 can rotate with the auxiliary shaft 61.

[0027] The driving assembly 7 comprises a driving motor 71 and a cylinder 72 arranged on the top surface of the frame 1, an upper transmission ring 76 and a lower transmission ring 77 rotatably arranged in the frame 1, an auxiliary seat 78 slidingly arranged on the frame 1, a first long pulley set 79 and a second long pulley set 710 arranged at the inner cavity of the frame 1, the upper transmission ring 76 is in transmission connection with the first screw 2 through the first long pulley set 79, the lower transmission ring 77 is in transmission connection with the auxiliary shaft 61 through the second long pulley set 710, the auxiliary seat 78 is fixedly connected with the piston rod of the cylinder 72, the auxiliary seat 78 is rotatably connected with a friction disc 75 through a connecting bearing 711 arranged on the auxiliary seat 78, the driving motor 71 is provided with a motor output shaft 73 rotatably connected with the frame 1, a square rod 74 in sliding connection with the motor output shaft 73 is fixedly installed on the friction disc 75, the friction disc 75 is located between the upper transmission ring 76 and the lower transmission ring 77, the thickness of the friction disc 75 is greater than the thickness of the auxiliary seat 78, the top surface of the friction disc 75 is provided with a first friction pattern for enhancing the friction between the upper transmission ring 76 and the friction disc 75, and the bottom surface of the friction disc 75 is provided with a second friction pattern for enhancing the friction between the lower transmission ring 77 and the friction disc 75, the axis of the square rod 74 coincides with the axis of the friction disc 75, and the square rod 74 is located at the inner cavity of the upper transmission ring 76, a limiting block for preventing the square rod 74 from being separated from the motor output shaft 73 is arranged on the upper end of the square rod 74, the shape of the auxiliary seat 78 is consistent with the shape of a table tennis bat, and a circular hole for accommodating the friction disc 75 and the connecting bearing 711 is arranged on the auxiliary seat 78.

[0028] When the height of the sliding seat 5 is adjusted, the cylinder 72 is started, the auxiliary seat 78 is pulled to slide towards the upper transmission ring 76, so that the friction disc 75 connected with the auxiliary seat 78 through the connecting bearing 711 is in contact with the upper transmission ring 76, and the friction lines on the friction disc 75 form a certain friction force with the upper transmission ring 76, then the driving motor 71 is started, the motor output shaft 73 on the driving motor 71 is in sliding connection with the square rod 74 fixed on the friction disc 75, and the driving motor 71 drives the motor output shaft 73 to rotate, so that the friction disc 75 drives the upper transmission ring 76 to rotate synchronously, and the first long belt pulley set 79 drives the first screw rod 2 to rotate synchronously, so that the guide rail 3 connected with the first screw rod 2 in screw thread can slide on the rack 1, and the height of the sliding seat 5 arranged on the guide rail 3 is changed synchronously; when the horizontal position of the sliding seat 5 is adjusted, the auxiliary seat 78 is pushed to slide downwards by the cylinder 72, so that the friction lines on the bottom surface of the friction disc 75 are in close contact with the lower transmission ring 77, and a certain friction force is formed, then the driving motor 71 drives the motor output shaft 73 to rotate, so that the lower transmission ring 77 drives the auxiliary shaft 61 to rotate through the second long belt pulley set 710, the auxiliary shaft 61 is in sliding connection with the worm 62 arranged on the guide rail 3 and connected with the auxiliary shaft 61, the worm 62 is in meshing transmission connection with the worm wheel 63, the worm wheel 63 is driven to rotate by the short belt pulley set 64, so that the second screw rod 4 is driven to rotate on the guide rail 3, and the sliding seat 5 connected with the second screw rod 4 in screw thread can slide on the guide rail 3, so that the horizontal position of the sliding seat 5 and the mechanical arm fixed on the sliding seat 5 is changed.

[0029] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A bagging machine robot motion control device, characterized by, Include: The rack (1) is provided with a guide rail (3), and the rack (1) is further provided with a first screw rod (2) which is threadedly connected with the guide rail (3), the guide rail (3) is provided with a sliding seat (5) which is fixedly connected with a mechanical hand of a bag clamping machine, and the guide rail (3) is further provided with a second screw rod (4) which is threadedly connected with the sliding seat (5), the rack (1) is further provided with a linkage assembly (6) and a driving assembly (7); The linkage assembly (6) comprises an auxiliary shaft (61) rotatably arranged on the rack (1), a short belt pulley set (64) arranged in the internal cavity of the guide rail (3), a worm (62) and a worm wheel (63) rotatably arranged in the internal cavity of the guide rail (3), the auxiliary shaft (61) is slidably connected with the worm (62), the worm (62) is meshingly and drivingly connected with the worm wheel (63), and the worm wheel (63) is drivingly connected with the second screw rod (4) through the short belt pulley set (64); The driving assembly (7) comprises a driving motor (71) and a cylinder (72) arranged on the top surface of the rack (1), an upper transmission ring (76) and a lower transmission ring (77) rotatably arranged in the internal cavity of the rack (1), an auxiliary seat (78) slidably arranged on the rack (1), and a first long belt pulley set (79) and a second long belt pulley set (710) arranged in the internal cavity of the rack (1), the upper transmission ring (76) is drivingly connected with the first screw rod (2) through the first long belt pulley set (79), the lower transmission ring (77) is drivingly connected with the auxiliary shaft (61) through the second long belt pulley set (710), the auxiliary seat (78) is fixedly connected with the piston rod of the cylinder (72), the auxiliary seat (78) is provided with a connecting bearing (711), the auxiliary seat (78) is rotatably connected with a friction disc (75) through the connecting bearing (711), the driving motor (71) is provided with a motor output shaft (73) which is rotatably connected with the rack (1), and the friction disc (75) is fixedly installed with a square rod (74) which is slidably connected with the motor output shaft (73).

2. The control device for the mechanical hand of a bag sealer according to claim 1, wherein The rack (1) is designed in a U-shaped structure, and an opening slot for accommodating the first screw rod (2) is formed in the rack (1).

3. The control device for the mechanical hand of a bag sealer according to claim 1, characterized in that, A through hole for passing through the auxiliary shaft (61) is formed in the guide rail (3), and a strip-shaped groove is formed in the outer surface of the auxiliary shaft (61).

4. The control device for the mechanical hand of a bag sealer according to claim 1, wherein The friction disc (75) is located between the upper transmission ring (76) and the lower transmission ring (77), and the thickness of the friction disc (75) is greater than the thickness of the auxiliary seat (78).

5. The control device for a mechanical hand of a bag press according to claim 1, wherein A first friction pattern for enhancing the friction between the upper transmission ring (76) and the friction disc (75) is arranged on the top surface of the friction disc (75), and a second friction pattern for enhancing the friction between the lower transmission ring (77) and the friction disc (75) is arranged on the bottom surface of the friction disc (75).

6. The control device for a mechanical hand of a bag press according to claim 1, wherein The axis of the square rod (74) coincides with the axis of the friction disc (75), and the square rod (74) is located in the internal cavity of the upper transmission ring (76).

7. The control device for a mechanical hand of a bag press according to claim 1, wherein A limiting block for preventing the square rod (74) from being separated from the motor output shaft (73) is arranged on the upper end of the square rod (74).

8. The control device for the mechanical hand of a bag sealer according to claim 1, wherein The auxiliary seat (78) is shaped in accordance with the shape of a table tennis bat, and a circular hole for accommodating the friction disc (75) and the connecting bearing (711) is further formed in the auxiliary seat (78).

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