CN102106596B - Automatic knot tying machine - Google Patents
Automatic knot tying machine Download PDFInfo
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- CN102106596B CN102106596B CN2010106211402A CN201010621140A CN102106596B CN 102106596 B CN102106596 B CN 102106596B CN 2010106211402 A CN2010106211402 A CN 2010106211402A CN 201010621140 A CN201010621140 A CN 201010621140A CN 102106596 B CN102106596 B CN 102106596B
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Abstract
The invention relates to an automatic knot tying machine, which comprises a machine frame, a material supply device and a material cutting device. The automatic knot tying machine is characterized by also comprising a feeding device, a material pulling device, a material rolling device and a winding knot tying device, wherein a first driving mechanism drives a feeding clamping jaw to make linear motion along the length of the machine frame; a second driving mechanism drives a material pulling clamping jaw to make two-dimensional linear motion along the machine frame; a material rolling clamping jaw of the material rolling device is arranged in the front of the feeding clamping jaw, a third driving mechanism drives the material rolling clamping jaw to make two-dimensional linear motion along the machine frame, and a fourth driving mechanism drives the material rolling clamping jaw to overturn within the range of 180 degrees; and a first movable plate and a second movable plate of the winding knot tying device make two-dimensional linear motion along the machine frame, and a first finger jaw and a second finger jaw are arranged oppositely in a staggered mode and rotate synchronously. In the automatic knot tying machine, the winding forming action and the knot tying action are completed by adopting the same pair of jaws formed by the first finger jaw and the second finger jaw, so that the transfer clamping of raw materials do not occur from the winding forming action to the knot tying action, the problem of seamless engagement between the winding forming action and the knot tying action is solved fundamentally, and the success rate and knot tying speed of the knot tying action can be improved substantially.
Description
Technical field
The present invention relates to a kind of automatic knotting equipment, particularly relate to a kind of automatic knot tying machine that is applicable to thin strip soft foods such as sea-tangle bar, the skin of soya-bean milk.
Background technology
Knotting belongs to essence, the deep processing of food, can significantly improve value-added content of product, and some food such as sea-tangle bar, bean curd leather strap etc. are greatly improved on mouthfeel through after tiing a knot, and receive people to welcome widely, especially receive some external consumer's favor.
At present, kelp knot, bean curd leather block are and make by hand, and there are problems in this processing mode: at first; The knotting action is the local muscular exertion of hand, mainly is forefinger and thumb, and long working causes muscle rigidity easily; Thereby labourer is caused damage,, wherein contain a large amount of salinities particularly for the salt marsh sea-tangle; Long working also can be corroded labourer's skin on hand, thereby occurs festering, symptom such as inflammation; Secondly, manual knotting belongs to labour-intensive operation, and the employee is provisional recruitment mostly, and quality is very different, is difficult to guarantee the health and the quality of food.The mouthfeel of Along with people's article requires and to the raising day by day of its process sanitary standard, realizes the automation of food knotting, to avoid the destabilizing factor of manual work, becomes knotting based food processing enterprise problem demanding prompt solution.
In the prior art, in order to realize the automation knotting of food, people are decomposed into two elemental motions of winding shaping and knotting motion with the knotting process usually, and promptly raw material grasps its two end tensions by executing agency and accomplishes the knotting motion behind winding shaping.Like application number is that the Chinese invention patent " a kind of intelligent kelp automatic knot tying machine " of CN201010119525.9 just discloses a kind of intelligent kelp automatic knot tying machine, comprises base and base-mounted automatic feed mechanism, knotting feed mechanism, winding mechanism, knotting mechanism, material cutting mechanism and is used to control the cooperatively interact PLC microcomputer control system of action of each mechanism; Automatic feed mechanism is provided with first jaw, and the knotting feed mechanism is provided with second jaw, and material cutting mechanism is provided with cutoff tool; Knotting mechanism is provided with the 3rd jaw; Winding mechanism is provided with the 4th jaw, and under the control of PLC microcomputer control system, each mechanism cooperatively interacts; Can replace artificial accomplishing feeding, winding, clamping automatically, cut off, send to, tie a knot, take off a series of sea-tangle knotting process such as material, thereby improve the knotting efficient of sea-tangle greatly.
In the automation process that realizes the knotting action, twine and the linking of tiing a knot between these two elemental motions very crucial, directly determined the success rate of knotting, also be the key technology place of knot tying machine.The difficulty or ease that driven work is realized should split winding shaping and knotting motion, like the disclosed structure of above-mentioned patent; Even the winding shaping action adheres to two different jaws separately with the knotting motion; But there is a problem in such structure, i.e. knotting action behind the winding shaping need be transferred to the knotting jaw from twining jaw with an end of raw material; Because raw material was cut to short length and (was about 120～140mm) and be wound in shape this moment; Make this transfer process in a very narrow and small working space, carry out, mechanically actuated is very inconvenient, and more disadvantageous is because the end area of the raw material that is held is very little; The success rate that shifts clamping be can have influence on greatly, and then the success rate and the speed of knotting restricted.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of can realize that from the automatic knot tying machine of the seamless connection that is wound into two actions of knotting, this automatic knot tying machine can effectively improve the speed of machine knotting and be knotted into power to above-mentioned prior art present situation.
The present invention solves the problems of the technologies described above the technical scheme that is adopted: this automatic knot tying machine includes
Frame;
Feeding device is arranged on the said frame, and this feeding device includes charging aperture and discharging opening, and this feeding device clamping has the strip raw material, and the head end of said raw material stretches out in said discharging opening;
Cutoff device is used to cut off said raw material, and this cutoff device is arranged on the said frame and is positioned at raw material discharging opening one side of said feeding device;
It is characterized in that: described automatic knot tying machine also includes
Pay-off; Include the feeding jaw and first driving mechanism; Said first driving mechanism is arranged on the said frame and drives said feeding jaw does rectilinear motion along the length direction of said frame, and said feeding jaw has and corresponding first clamping part of said discharging opening;
Draw materials device; Include and draw the feed collet pawl and second driving mechanism; Said front portion of drawing the feed collet pawl to be arranged at said feeding jaw; This draws the feed collet pawl to have second clamping part that first clamping part with said feeding jaw parallels, and the said feed collet pawl that draws of said second drive mechanism is done two-dimentional rectilinear motion along the length and the width of said frame respectively;
The coiled strip device; Include coiled strip jaw, the 3rd driving mechanism and 4 wheel driven actuation mechanism; Said coiled strip jaw is arranged at the front portion of said feeding jaw; This coiled strip jaw has the 3rd clamping part that first clamping part with said feeding jaw parallels, and the said coiled strip jaw of said the 3rd drive mechanism is done two-dimentional rectilinear motion along length and the width of said frame respectively, and said this coiled strip jaw of 4 wheel driven actuation mechanism driving overturns in 180 degree scopes; And
The tangled up and knotted device; Comprise first paw, second paw, first tumbler, second tumbler, first movable plate and second movable plate; Wherein, Said first tumbler and second tumbler are installed on respectively on said first movable plate, second movable plate, and said first movable plate and second movable plate can be done straight line along the width of said frame respectively and move, and said first paw and second paw are crisscross arranged and rotation synchronously relatively; The turning cylinder of said first paw and said first tumbler is connected; The turning cylinder of said second paw and second tumbler is connected, and said first paw rotates under the driving of said first tumbler, and said second paw rotates under the driving of said second tumbler.
For first paw that can guarantee each tangled up and knotted device effectively and the rotation synchronism of second paw; Improve the knotting quality; Reduce equipment cost simultaneously, the simplified apparatus structure is as preferably; Also be provided with first paw and the synchronous transmission mechanism that rotates of second paw that guarantee said tangled up and knotted device between described first movable plate and second movable plate; This transmission mechanism includes the bearing block that is arranged at respectively on said first movable plate and second movable plate, is provided with drive link between two said bearing blocks, and said drive link is rotated by the drive mechanism that is arranged at this drive link one end; And; Said first tumbler has first turning cylinder that links to each other with said first paw, and said second tumbler has second turning cylinder that links to each other with said second paw, and the overhanging end of said first turning cylinder and second turning cylinder is respectively arranged with a secondary belt pulley; The two ends of said drive link have the position of said secondary belt pulley to be respectively arranged with a main pulley in correspondence, between the said secondary belt pulley of the same side and said main pulley, link to each other through belt.So two paws that are provided with that stagger relatively that drive link can drive in the tangled up and knotted device rotate synchronously, guarantee the rotation synchronism of two paws in the same set of tangled up and knotted device, improve the quality of knotting.Here the driving mechanism that drives the drive link rotation can be various mechanical transmission mechanisms of the prior art, like pinion and rack, belt wheel transmission mechanism, gear drive or rotary cylinder etc.; In addition; The rotation synchronism that guarantees said two paws is not limited to use above-mentioned mechanical transmission mechanism; Said first turning cylinder and second turning cylinder also can be respectively by two driven by servomotor, and the synchronous rotation of controlling two servomotors through control device can reach two synchronous purposes of paws rotation of assurance too.
As preferably; Said first driving mechanism includes along first pedestal of said frame length direction setting and is arranged at first cylinder on this first pedestal; Wherein, The cylinder body of said first cylinder is fixed on said first pedestal, and described feeding jaw is connected on the piston rod free end of said first cylinder.
In order to guarantee to draw the feed collet pawl planar along the free degree of X and Y both direction; As preferably; Said second driving mechanism includes second pedestal, first slide plate and second slide plate, and said second pedestal is fixed on the said frame, and said second pedestal is provided with the slide rail of arranging along said frame length direction; Said first slide plate is arranged on this second pedestal and can does the straight line slippage along the slide rail of this second pedestal; Said first slide plate is provided with the slide rail that is provided with along said frame width, and said second slide plate is arranged on said first slide plate and can does the straight line slippage along the slide rail of this first slide plate, and the said feed collet pawl that draws is arranged on said second slide plate.
In order to guarantee that the coiled strip jaw is planar along the free degree of X and Y both direction; As preferably; Said the 3rd driving mechanism includes the 3rd pedestal, the 3rd slide plate and the 4th slide plate, and said the 3rd pedestal is fixed on the said frame, and said the 3rd pedestal is provided with the slide rail of arranging along said frame length direction; Said the 3rd slide plate is arranged on the 3rd pedestal and can does the straight line slippage along the slide rail of the 3rd pedestal; Said the 3rd slide plate is provided with the slide rail of arranging along said frame width, and said the 4th slide plate is arranged on said the 3rd slide plate and can does the straight line slippage along the slide rail of the 3rd slide plate, and said coiled strip jaw is arranged on said the 4th slide plate.
In order to realize the rotation of coiled strip jaw; Preferred as further; Said 4 wheel driven actuation mechanism includes bearing block and is arranged on this bearing block and the rotating shaft that can in 180 degree scopes, rotate; Said bearing block is fixedly set on said the 4th slide plate, and said coiled strip jaw is connected with said rotating shaft, and this rotating shaft is rotated by the drive unit driving that is fixed on the 4th slide plate.
In order to improve the efficient that clamps raw material; Make things convenient for the automatic charging of tangled up and knotted device; As preferably, said feeding device includes two conveyer belts laterally arranging side by side along said frame width, across a plurality of pallets that are arranged on two said conveyer belts, and clamping has described strip raw material in each pallet; And; The top that is positioned at the said pallet of working position is provided with stopping means that compresses this pallet and second cylinder that drives this stopping means action, and the top that is positioned at the said pallet of inoperative position is provided with and prevents the blocking pin of this pallet with conveyer belt, and said blocking pin is by stopping air cylinder driven.So stopping means can be realized pallet fixing at working position, blocking pin can cooperate with the pallet top on the inoperative position, prevents that pallet on the inoperative position is along with driving-belt moves.
Clamp and control the turnover of raw material for ease, and prevent to be clamped in the raw material slippage in the anchor clamps, preferred as further, each described pallet includes body, pressing plate, guide pillar, spring and base; Wherein, Said body includes end face, the little side that is provided with perpendicular to said end face and the big side that is provided with perpendicular to said end face; Said big side and little side are parallel to each other and are positioned at the same side of said end face, and said end face offers and supplies said guide pillar to do the pilot hole of axial slip and the shotpin hole of matching with said blocking pin; Said base includes the baffle plate supporting plate inboard with being arranged at this baffle plate; Said baffle plate and said little side are positioned at the same side; Said supporting plate is parallel with said end face; The one end alignment of said supporting plate one end and said baffle plate, the projection of this supporting plate other end just in time drops in the neutral gear that forms between two said conveyer belts, and the big side of said base and said body is fixedly connected; Said guide pillar is fixedly connected on the said pressing plate, and the head of this guide pillar is arranged in the said pilot hole, and said pressing plate is arranged in the middle of said end face and the supporting plate; The bottom of said pressing plate also is provided with the push rod that upwards promotes this pressing plate; This push rod is arranged with said spring by an air cylinder driven on the said guide pillar, the bottom of this spring and said pressing plate offset; The top of this spring and the bottom of said end face offset, and said spring has the trend that said pressing plate is tight against with said supporting plate all the time.So raw material is clamped between pressing plate and the supporting plate, when the needs feeding; The said air cylinder driven push rod jack-up pressing plate that makes progress, raw material can be dragged charging, when needs fixedly during raw material; Then the air cylinder driven push rod is regained, and at this moment, raw material is clamped at again between pressing plate and the supporting plate.
For easy to operate, improve to cut off efficient, as preferably; Said cutoff device includes support, the 3rd cylinder and oblique blade cutter; Said support is fixedly set on the said frame, and the cylinder body of said the 3rd cylinder is fixed on the said support, and; The piston rod of the 3rd cylinder is perpendicular to said frame setting, and said oblique blade cutter is connected with the piston rod of said the 3rd cylinder.
In order further to improve the operating efficiency of knot tying machine; As preferably; Described cutoff device, pay-off, draw materials device, coiled strip device and tangled up and knotted device to have two and form symmetrically arranged two cover knotting systems respectively; And; Two described tangled up and knotted devices are provided with side by side at interval, and first tumbler of two said tangled up and knotted devices is installed on same said first movable plate, and second tumbler of two said tangled up and knotted devices is installed on same said second movable plate.So, adopt two cover knotting systems can realize the double work of a knot tying machine, improved the efficient of knotting effectively, be more suitable in production in enormous quantities.
Compared with prior art; The invention has the advantages that: winding shaping is to adopt the same a pair of jaw of being made up of first paw and second paw to accomplish with the knotting action; Make raw material move to tie a knot to move and do not shift clamping from winding shaping; Fundamentally solved seamless connection problem between the two, can significantly improve the success rate and the knotting speed of knotting action, the knotting action can be accomplished within 1 second; Secondly; Through feeding device, pay-off, draw materials device, coiled strip device and cutoff device to realize the cutting and the automatic charging of full-length raw material; Realize the winding shaping and knotting action of raw material at last through the tangled up and knotted device; The application's knotting process can realize automation mechanized operation fully, can effectively replace manually-operated and improves the operating efficiency of food knotting, is more suitable for producing continuously in enormous quantities.
Description of drawings
Fig. 1 is the knot tying machine perspective view of the embodiment of the invention.
Fig. 2 is the vertical view of knot tying machine shown in Figure 1.
Fig. 3 be A-A shown in Figure 2 to partial sectional perspective view.
Fig. 4 is the feeder structure sketch map of the embodiment of the invention.
Fig. 5 draws the materials device structural representation for the embodiment of the invention.
Fig. 6 is the coiled strip apparatus structure sketch map of the embodiment of the invention.
Fig. 7 is the tangled up and knotted apparatus structure sketch map (removing first movable plate and second movable plate) of the embodiment of the invention.
Fig. 8 is the pallet assembly structure sketch map of the embodiment of the invention.
Fig. 9 is the three-dimensional exploded view of pallet shown in Figure 8.
The specific embodiment
Embodiment describes in further detail the present invention below in conjunction with accompanying drawing.
Like Fig. 1～shown in Figure 9; Be specific embodiment of the present invention; This automatic knot tying machine can replace artificial the realization as the automatic knotting operation of thin strip soft food such as sea-tangle bar, the skin of soya-bean milk or other knotting series products, thereby has realized the automation that the knotting series products is processed, and the knot tying machine of present embodiment can not only improve knotting efficient; Also improved the knotting quality, the mass production of the product that helps tiing a knot.
The automatic knot tying machine of present embodiment is a double knot tying machine; Promptly an operation cycle can be got two finished product knots; This knot tying machine includes frame 9 and two covers are symmetricly set in the knotting system on the frame 9; The structure of two cover knotting systems is identical with operation principle, and every cover knotting system includes following structure:
Feeding device; Include two conveyer belts 1 being provided with at interval side by side along the width of frame 9, across a plurality of pallets that are arranged side by side 2 that are arranged on two conveyer belts 1; Each pallet 2 interior clamping has strip raw material 3 and can move with conveyer belt 1; The end of conveyer belt 1 is a working position; The top of this working position is provided with second cylinder 11 of these stopping means 131 actions of stopping means 131 and control that compress this pallet, and the top that is positioned at the pallet of inoperative position then is provided with plays barrier effect and prevent the blocking pin 141 that casual anchor clamps 2 move with driving-belt, and this blocking pin 141 is by stopping that cylinder 14 drives;
Wherein, Each pallet 2 includes body 21, pressing plate 22, guide pillar 23, base 24 and spring 25; Body 21 includes end face 211, the little side 212 that is provided with perpendicular to end face 211 and the big side 213 that is provided with perpendicular to end face 211; Big side 213 is positioned at the downside of end face 211 with little side 212 and is parallel to each other; End face 211 offers and supplies guide pillar 23 to do the pilot hole 215 of axial slip and the shotpin hole 216 that can match with blocking pin 141, and 213 bottoms, side offer first installing hole 214 greatly;
Owing to be held on raw material 3 limited length in each pallet 2; Article two, the inboard of conveyer belt 1 can also be equipped with a sensor (like the correlation optoelectronic switch) at corresponding pallet 2 work bit positions; Because the tail end of raw material 3 is in the neutral gear 12 that droops between two conveyer belts 1; Whether sensor just breaks into a finished product knot through raw material 3 residue lengths that can judge in the corresponding pallet 2 that have or not of raw materials 3 in the induction neutral gear 12, if length can continue, if length is not enough; Then conveyer belt 1 action and drive a back pallet 2 to working position, 2 of previous pallets are delivered to Turnover Box through conveyer belt 1; The sensor that is used to detect raw material 3 length can adopt of the prior art various, is not the main inventive point of present embodiment, does not give unnecessary details at this.
Cutoff device; Be arranged at raw material 3 discharging openings one side of feeding device, this cutoff device includes support 31, the 3rd cylinder 32 and oblique blade cutter 33, and support 31 is fixedly set on the frame 9; The cylinder body of the 3rd cylinder 32 is fixed on the support 31; The piston rod of the 3rd cylinder 32 is provided with perpendicular to frame 9, and oblique blade cutter 33 is used to cut off raw material 3 and is connected with the piston rod of the 3rd cylinder 32, referring to Fig. 3.
Pay-off includes the feeding jaw 41 and first driving mechanism, and first driving mechanism is arranged on the frame 9 and drives feeding jaw 41 does rectilinear motion along the length direction of frame 9, and feeding jaw 41 has and corresponding first clamping part of discharging opening; Wherein, First driving mechanism includes along first pedestal 42 of frame 9 length direction settings and is arranged at first cylinder 43 on this first pedestal 42; Wherein, the cylinder body of first cylinder 43 is fixed on first pedestal 42, is connected with a riser 44 on piston rod 431 free ends of first cylinder 43; Be fixed with two feeding cylinders 45 on this riser 44; Feeding jaw 41 is realized opening or clamping by feeding cylinder 45 controls, also is connected with a transverse slat 13, the second cylinders 11 on first pedestal 42 and stops that cylinder 14 is individually fixed on this transverse slat 13.
Draw materials device; Include and draw the feed collet pawl 51 and second driving mechanism; Draw feed collet pawl 51 to be arranged at the front portion of feeding jaw 41; This draws feed collet pawl 51 to have second clamping part, 511, the second drive mechanism that first clamping part with feeding jaw 41 parallels to draw feed collet pawl 51 to do rectilinear motion along the length and the width of frame 9 respectively; Wherein, Second driving mechanism includes second pedestal 52, first slide plate 53 and second slide plate 54; Second pedestal 52 is fixed on the frame 9, and second pedestal 52 is provided with the slide rail of arranging along frame 9 length directions, and first slide plate 53 is arranged on this second pedestal 52 and can does the straight line slippage along the slide rail of this second pedestal 52; First slide plate 53 is provided with the slide rail that is provided with along frame 9 widths; Second slide plate 54 is arranged on first slide plate 53 and can does the straight line slippage along the slide rail of this first slide plate 53, is fixed with on second slide plate 54 to draw material cylinder 55, draws 55 controls of material cylinder to draw the clamping of feed collet pawl 51 and open.
The coiled strip device includes coiled strip jaw 61, the 3rd driving mechanism and 4 wheel driven actuation mechanism, and coiled strip jaw 61 is arranged at the front portion of feeding jaw 41, and this coiled strip jaw 61 has the 3rd clamping part 611 that first clamping part with feeding jaw 41 parallels;
Wherein, The 3rd driving mechanism can drive coiled strip jaw 61 and do rectilinear motion along the length and the width of frame 9 respectively; The 3rd driving mechanism includes the 3rd pedestal 62, the 3rd slide plate 63 and the 4th slide plate 64; The 3rd pedestal 62 is fixed on the frame 9, and the 3rd pedestal 62 is provided with the slide rail of arranging along frame 9 length directions, and the 3rd slide plate 63 is arranged on the 3rd pedestal 62 and can does the straight line slippage along the slide rail of the 3rd pedestal 62; The 3rd slide plate 63 is provided with the slide rail of arranging along frame 9 widths; The 4th slide plate 64 is arranged on the 3rd slide plate 63 and can does the straight line slippage along the slide rail of the 3rd slide plate 63, is fixed with coiled strip cylinder 65 on the 4th slide plate 64, and coiled strip cylinder 65 is controlled the clamping of coiled strip jaws 61 and opened; The 4 wheel driven actuation mechanism can drive this coiled strip jaw 61 and in 180 degree scopes, overturn; This 4 wheel driven actuation mechanism includes bearing block 66 and is arranged on this bearing block 66 and the rotating shaft 67 that can in 180 degree scopes, rotate; Bearing block 66 is fixedly set on the 4th slide plate 64; Coiled strip cylinder 65 directly links to each other with rotating shaft 67, and rotating shaft 67 can drive the coiled strip cylinder and coiled strip jaw 61 overturns together.
The tangled up and knotted device; Comprise first paw 71, second paw 72, first tumbler 73, second tumbler 74, first movable plate 75 and second movable plate 76; Wherein, First tumbler 73 and second tumbler 74 are installed on respectively on first movable plate 75, second movable plate 76, and first movable plate 75 and second movable plate 76 can be done straight line along the width of frame 9 separately and move through being arranged in guide rail on the frame 9, and first paw 71 and second paw 72 are crisscross arranged relatively; The turning cylinder of first paw 71 and first tumbler 73 is connected; The turning cylinder of second paw 72 and second tumbler 74 is connected, and first paw 71 rotates under the driving of first tumbler 73, and second paw 72 rotates under the driving of second tumbler 74;
Between first movable plate 75 and second movable plate 76, also be provided with a mechanical synchronization transmission mechanism; This transmission mechanism can guarantee the synchronous rotation of first paw 71 and second paw 72 of tangled up and knotted device; Improve the knotting quality; Wherein, transmission mechanism includes between 81, two bearing blocks 81 of bearing block that are arranged at respectively on first movable plate 75 and second movable plate 76 and is provided with drive link 82; Drive link 82 is by the pinion and rack that is arranged at these drive link 82 1 ends (also can be various machine driving of the prior art such as belt wheel transmission or gear drive) driven in rotation; And first tumbler 73 has first turning cylinder, 731, the second tumblers 74 that link to each other with first paw 71 and has second turning cylinder 741 that links to each other with second paw 72; Be respectively arranged with a secondary belt pulley 77 on the overhanging end of first turning cylinder 731 and second turning cylinder 741; The two ends of drive link 82 also are being respectively arranged with a main pulley 83 to the position that secondary belt pulley should be arranged, between the secondary belt pulley 77 of the same side and main pulley 83, link to each other through belt, so; When drive link 82 rotated, drive link 82 two ends made win paw 71 and second paw 72 can keep rotational synchronization property through belt transmission; The rotation synchronism that guarantees first paw 71 and second paw 72 is not limited to use above-mentioned mechanical transmission mechanism; First turning cylinder 731 and second turning cylinder 741 also can be respectively by two driven by servomotor; Promptly cancel drive link 82, also can reach two synchronous purposes of paws rotation of assurance by two synchronous rotations of servomotor of control device control.
Because the automatic knot tying machine of present embodiment has two cover knotting systems and is symmetrical set; Promptly two tangled up and knotted devices are to be arranged on the frame 9 at interval side by side; Referring to Fig. 1, Fig. 2; In the present embodiment, first tumbler 73 of two tangled up and knotted devices is installed on same first movable plate 75, and second tumbler 74 of two tangled up and knotted devices is installed on same second movable plate 76; All be to link to each other through belt pulley between the one group of paw of each tangled up and knotted device and the drive link 82 of transmission mechanism, one group of paw that the rotation of drive link 82 can drive each tangled up and knotted device rotates simultaneously.
The operation principle of present embodiment is following:
This automatic knot tying machine adopts double knotting system, and two overlap the system synchronization motion of tiing a knot, and the operation principle of every cover knotting system is identical, and present embodiment is the operation principle that example is explained knot tying machine with single knotting system of overlapping only.
Whole piece raw material 3 is clamped on each pallet 2 in advance; The clamp method of raw material 3 is as shown in Figure 3; The afterbody of raw material 3 falls into two neutral gears 12 between the conveyer belt 1, and the stem of raw material 3 stretches out in outside pallet 2 heads and be relative with the feeding jaw 41 of pay-off, can be arranged side by side a plurality of pallets 2 on the conveyer belt 1; After the raw material 3 of previous pallet 2 uses up; 11 off-loads of second cylinder, this pallet 2 can be transported to Turnover Box with conveyer belt 1, and a back pallet 2 changes working position then over to;
During work; Cylinder 15 drives the pressing plate 22 that push rod 151 backs down pallet 2; Feeding jaw 41 grasps the head end of raw material 3 and under the effect of first cylinder 43, travels forward, and feeding jaw 41 is responsible for raw material 3 is pulled out the rearward position of delivering near cutting work station from pallet 2;
Draw the feed collet pawl 51 of material mechanism to move to the front portion of pay-off subsequently, 3 head ends of the raw material on the feeding jaw 41 are clamped, and pulled out first paw 71 of certain-length to tangled up and knotted device, grasp the head end of raw material 3 by first paw 71;
Coiled strip jaw 61 moves to the position near the cutting work station front side subsequently; And raw material 3 is carried out clamping; And; Be clamped in raw material 3 length between first paw 71 and the coiled strip jaw 61 and just in time be the full-length of the required raw material 3 of finished product knot, the scope of this full-length is that 130 ± 10mm, width range are 20 ± 5mm, under the effect of the 3rd cylinder 32, make progress jack-up and cut off raw material 3 of the oblique blade cutter 33 of cutter sweep;
So first paw 71 and second paw 72 be 1～2 circle of rotation synchronously under the driving of first tumbler 73 and second tumbler 74 respectively, coiled strip jaw 61 turns over turnback simultaneously and moves to the retaining part of second paw 72; Second paw 72 is clamped raw material 3 tail ends of full-length; At this moment, raw material 3 two ends of full-length are clamped by first paw 71 and second paw 72 respectively, under the drive of first movable plate 75 and second movable plate 76; First paw 71 and second paw 72 each other dorsad straight line move and accomplish knotting tension action; So far accomplish an operation cycle of knotting automatically, repeat said process, can whole piece raw material 3 be broken into a plurality of finished product knots.
In sum; The knotting process of present embodiment may be summarized to be: feed, feeding, draw material, blank, coiled strip and six steps of tangled up and knotted, when long raw material 3 knottings of whole piece to its end, judge by being installed in conveyer belt 1 inboard sensor whether remaining length can just break into a finished product knot; If could would continue; If curtailment, then tailing is sent to Turnover Box with anchor clamps, and next clamping simultaneously has the pallet 2 of whole piece raw material 3 to be sent to working position; The knot tying machine of present embodiment also offers a finished product and bears mouthfuls 84 between two adjacent tangled up and knotted devices, the finished product that breaks into knot is born mouthfuls 84 by this finished product and seen off.
The knot tying machine of present embodiment is because winding shaping moves employing with a pair of paw (first paw 71 and second paw 72) with knotting; Make winding shaping move to and tie a knot to move the clamping transfer does not take place; Fundamentally solve the connection problem between two actions, guaranteed to twine and the continuity of knotting action, improved the success rate and knotting quality of knotting; Can also improve the speed and the operating efficiency of knotting, be more suitable in realizing that the in enormous quantities of finished product knot produces continuously.
Claims (10)
1. an automatic knot tying machine includes
Frame (9);
Feeding device is arranged on the said frame (9), and this feeding device includes charging aperture and discharging opening, and this feeding device clamping has strip raw material (3), and the head end of said raw material (3) stretches out in said discharging opening;
Cutoff device is used to cut off said raw material (3), and this cutoff device is arranged at raw material (3) discharging opening one side that said frame (9) went up and be positioned at said feeding device;
It is characterized in that: described automatic knot tying machine also includes
Pay-off; Include the feeding jaw (41) and first driving mechanism; The said frame (9) that is arranged at said first driving mechanism goes up and drives said feeding jaw (41) does rectilinear motion along the length direction of said frame (9), and said feeding jaw (41) has and corresponding first clamping part of said discharging opening;
Draw materials device; Include and draw the feed collet pawl (51) and second driving mechanism; Said front portion of drawing feed collet pawl (51) to be arranged at said feeding jaw (41); This draws feed collet pawl (51) to have second clamping part that first clamping part with said feeding jaw (41) parallels, and the said feed collet pawl (51) that draws of said second drive mechanism is done two-dimentional rectilinear motion along the length and the width of said frame (9) respectively;
The coiled strip device; Include coiled strip jaw (61), the 3rd driving mechanism and 4 wheel driven actuation mechanism; Said coiled strip jaw (61) is arranged at the front portion of said feeding jaw (41); This coiled strip jaw (61) has the 3rd clamping part that first clamping part with said feeding jaw (41) parallels; The said coiled strip jaw of said the 3rd drive mechanism (61) is done two-dimentional rectilinear motion along the length and the width of said frame (9) respectively, and said 4 wheel driven actuation mechanism drives this coiled strip jaw (61) and in 180 degree scopes, overturns; And
The tangled up and knotted device; Comprise first paw (71), second paw (72), first tumbler (73), second tumbler (74), first movable plate (75) and second movable plate (76); Wherein, Said first tumbler (73) and second tumbler (74) are installed on respectively on said first movable plate (75), second movable plate (76); Said first movable plate (75) and second movable plate (76) can be done straight line along the width of said frame (9) respectively and move; Said first paw (71) and second paw (72) are crisscross arranged and rotation synchronously relatively, and said first paw (71) is connected with the turning cylinder of said first tumbler (73), and said second paw (72) is connected with the turning cylinder of second tumbler (74); Said first paw (71) rotates under the driving of said first tumbler (73), and said second paw (72) rotates under the driving of said second tumbler (74).
2. automatic knot tying machine according to claim 1; It is characterized in that: also be provided with first paw (71) and the synchronous transmission mechanism that rotates of second paw (72) that guarantee said tangled up and knotted device between described first movable plate (75) and second movable plate (76); This transmission mechanism includes the bearing block (81) that is arranged at respectively on said first movable plate (75) and second movable plate (76); Be provided with drive link (82) between two said bearing blocks (81); Said drive link (82) is rotated by the driving mechanism that is arranged at these drive link (82) one ends; And; Said first tumbler (73) has first turning cylinder (731) that links to each other with said first paw (71), and said second tumbler (74) has second turning cylinder (741) that links to each other with said second paw (72), and the overhanging end of said first turning cylinder (731) and second turning cylinder (741) is respectively arranged with a secondary belt pulley; The two ends of said drive link (82) have the position of said secondary belt pulley to be respectively arranged with a main pulley in correspondence, between the said secondary belt pulley of the same side and said main pulley, link to each other through belt.
3. automatic knot tying machine according to claim 1; It is characterized in that: said first driving mechanism includes along first pedestal (42) of said frame (9) length direction setting and is arranged at first cylinder (43) on this first pedestal (42); Wherein, The cylinder body of said first cylinder (43) is fixed on said first pedestal (42), and described feeding jaw (41) is connected on the piston rod free end of said first cylinder (43).
4. automatic knot tying machine according to claim 1; It is characterized in that: said second driving mechanism includes second pedestal (52), first slide plate (53) and second slide plate (54); Said second pedestal (52) is fixed on the said frame (9); Said second pedestal (52) is provided with the slide rail of arranging along said frame (9) length direction; Said first slide plate (53) is arranged at this second pedestal (52) and goes up also and can do the straight line slippage along the slide rail of this second pedestal (52); Said first slide plate (53) is provided with the slide rail that is provided with along said frame (9) width, and said second slide plate (54) is arranged at said first slide plate (53) and goes up also and can do the straight line slippage along the slide rail of this first slide plate (53), and the said feed collet pawl (51) that draws is arranged on said second slide plate (54).
5. automatic knot tying machine according to claim 1; It is characterized in that: said the 3rd driving mechanism includes the 3rd pedestal (62), the 3rd slide plate (63) and the 4th slide plate (64); Said the 3rd pedestal (62) is fixed on the said frame (9); Said the 3rd pedestal (62) is provided with the slide rail of arranging along said frame (9) length direction; Said the 3rd slide plate (63) is arranged at the 3rd pedestal (62) and goes up also and can do the straight line slippage along the slide rail of the 3rd pedestal (62); Said the 3rd slide plate (63) is provided with the slide rail of arranging along said frame (9) width, and said the 4th slide plate (64) is arranged at said the 3rd slide plate (63) and goes up also and can do the straight line slippage along the slide rail of the 3rd slide plate (63), and said coiled strip jaw (61) is arranged on said the 4th slide plate (64).
6. automatic knot tying machine according to claim 5; It is characterized in that: said 4 wheel driven actuation mechanism includes bearing block (66) and is arranged on the rotating shaft (67) that this bearing block (66) is gone up and can in 180 degree scopes, be rotated; Said bearing block (66) is fixedly set on said the 4th slide plate (64), and said coiled strip jaw (61) is connected with said rotating shaft (67).
7. according to the described automatic knot tying machine of arbitrary claim in the claim 1～6; It is characterized in that: said feeding device includes two conveyer belts (1) of laterally arranging side by side along said frame (9) width, across a plurality of pallets (2) that are arranged on two said conveyer belts (1); The interior clamping of each pallet (2) has described strip raw material (3); And; The top that is positioned at the said pallet (2) of working position is provided with stopping means (131) that compresses this pallet (2) and second cylinder (11) that drives this stopping means (131) action; The top that is positioned at the said pallet (2) of inoperative position is provided with and prevents the blocking pin (141) of this pallet (2) with conveyer belt, and said blocking pin (141) is by stopping that cylinder (14) drives.
8. automatic knot tying machine according to claim 7 is characterized in that: each described pallet (2) includes body (21), pressing plate (22), guide pillar (23), spring (25) and base (24); Wherein, Said body (21) includes end face (211), the little side (212) that is provided with perpendicular to said end face (211) and the big side (213) that is provided with perpendicular to said end face (211); Said big side (213) and little side (212) are positioned at the same side and are parallel to each other, and said end face (211) offers and supplies said guide pillar (23) to do the pilot hole (215) of axial slip and the shotpin hole (216) of matching with said blocking pin (141);
Said base (24) includes baffle plate (241) and is arranged at the inboard supporting plate (242) of this baffle plate (241); Said baffle plate (241) and said little side (212) are positioned at the same side; Said supporting plate (242) is parallel with said end face (211); The one end alignment of said supporting plate (242) one ends and said baffle plate (241), the projection of this supporting plate (242) other end just in time drops in the neutral gear (12) that forms between two said conveyer belts (1), and the big side (213) of said base (24) and said body (21) is fixedly connected;
Said guide pillar (23) is fixedly connected on the said pressing plate (22); The head of this guide pillar (23) is arranged in the said pilot hole (215); Said pressing plate (22) is arranged in the middle of said end face (211) and the supporting plate (242), and the bottom of said pressing plate (22) also is provided with the push rod (151) that upwards promotes this pressing plate (22), and this push rod (151) is driven by a cylinder (15); Be arranged with said spring (25) on the said guide pillar (23); Bottom of this spring (25) and said pressing plate (22) offset, and the bottom of top of this spring (25) and said end face (211) offsets, and said spring (25) has the trend that said pressing plate (22) is tight against with said supporting plate (242) all the time.
9. according to the described automatic knot tying machine of arbitrary claim in the claim 1～6; It is characterized in that: said cutoff device includes support (31), the 3rd cylinder (32) and oblique blade cutter (33); Said support (31) is fixedly set on the said frame (9), and the cylinder body of said the 3rd cylinder (32) is fixed on the said support (31), and; The piston rod of the 3rd cylinder (32) is provided with perpendicular to said frame (9), and said oblique blade cutter (33) is connected with the piston rod of said the 3rd cylinder (32).
10. automatic knot tying machine according to claim 1; It is characterized in that: described feeding device, cutoff device, pay-off, draw materials device, coiled strip device and tangled up and knotted device to have two and form symmetrically arranged two cover knotting systems respectively; And; Two described tangled up and knotted devices are provided with side by side at interval; First tumbler (73) of two said tangled up and knotted devices is installed on same said first movable plate (5), and second tumbler (74) of two said tangled up and knotted devices is installed on same said second movable plate (76).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106211402A CN102106596B (en) | 2010-12-24 | 2010-12-24 | Automatic knot tying machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106211402A CN102106596B (en) | 2010-12-24 | 2010-12-24 | Automatic knot tying machine |
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| Publication Number | Publication Date |
|---|---|
| CN102106596A CN102106596A (en) | 2011-06-29 |
| CN102106596B true CN102106596B (en) | 2012-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010106211402A Expired - Fee Related CN102106596B (en) | 2010-12-24 | 2010-12-24 | Automatic knot tying machine |
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| Country | Link |
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| CN (1) | CN102106596B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104382212B (en) * | 2014-10-30 | 2016-08-24 | 上海增勋自动化科技有限公司 | A kind of full-automatic knot tying machine |
| CN104770779B (en) * | 2015-04-15 | 2018-08-07 | 青岛农业大学 | Machine for knotting sea-tangle and knotting method |
| CN105325946B (en) * | 2015-11-17 | 2018-11-23 | 大连工业大学 | Double reef knot formula machine for knotting sea-tangle |
| CN110384219A (en) * | 2018-04-23 | 2019-10-29 | 哈尔滨工业大学（威海） | Double helix machine for knotting sea-tangle |
| CN109169366B (en) * | 2018-09-10 | 2020-08-04 | 温州科技职业学院 | Dog chews knot-tying machine |
| CN112224997B (en) * | 2020-09-25 | 2022-04-15 | 渭南高新区木王科技有限公司 | Feeding device for knotting of probe needle tube |
| CN112224998B (en) * | 2020-09-25 | 2022-04-15 | 渭南高新区木王科技有限公司 | Full-automatic probe needle tube knotting device |
| CN113287719B (en) * | 2021-05-26 | 2024-05-24 | 山东傲看自动化科技有限公司 | Automatic knotting equipment for bean products |
| CN113974191B (en) * | 2021-10-27 | 2022-09-20 | 伯朝平 | Automatic bean stick rolling machine and bean stick processing system |
| CN115465521B (en) * | 2022-08-31 | 2023-07-28 | 福建省南安市海特机械有限公司 | Fu bag knotting device and knotting process thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1524459A (en) * | 2003-03-02 | 2004-09-01 | 哲 李 | Automatic machine for knotting sea-tangle |
| CN101822394A (en) * | 2010-03-09 | 2010-09-08 | 福建省水产研究所 | Intelligent kelp automatic knot tying machine |
| JP2010239943A (en) * | 2009-04-10 | 2010-10-28 | Design Network Co Ltd | Apparatus for making knot on string-shaped body |
| CN201919634U (en) * | 2010-12-24 | 2011-08-10 | 杨绪剑 | Automatic knot tying machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6423852A (en) * | 1987-07-18 | 1989-01-26 | Shinichi Takahashi | Method for binding 'sasadango' (rice dumpling covered with bamboo leaves) and binding machine therefor |
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- 2010-12-24 CN CN2010106211402A patent/CN102106596B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1524459A (en) * | 2003-03-02 | 2004-09-01 | 哲 李 | Automatic machine for knotting sea-tangle |
| JP2010239943A (en) * | 2009-04-10 | 2010-10-28 | Design Network Co Ltd | Apparatus for making knot on string-shaped body |
| CN101822394A (en) * | 2010-03-09 | 2010-09-08 | 福建省水产研究所 | Intelligent kelp automatic knot tying machine |
| CN201919634U (en) * | 2010-12-24 | 2011-08-10 | 杨绪剑 | Automatic knot tying machine |
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| CN102106596A (en) | 2011-06-29 |
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