CN107380532B - Soft bag grabbing and boxing claw - Google Patents
Soft bag grabbing and boxing claw Download PDFInfo
- Publication number
- CN107380532B CN107380532B CN201710500943.4A CN201710500943A CN107380532B CN 107380532 B CN107380532 B CN 107380532B CN 201710500943 A CN201710500943 A CN 201710500943A CN 107380532 B CN107380532 B CN 107380532B
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- Prior art keywords
- claw
- soft bag
- boxing
- grabbing
- soft
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention discloses a soft bag grabbing and boxing claw hand which comprises a claw hand base and a plurality of soft bag claw hands which are arranged in a rectangular array and are arranged on the claw hand base, wherein the transverse spacing and the longitudinal spacing between the soft bag claw hands are variable, so that all the soft bag claw hands can be switched between a furled state and a dispersed state, the transverse spacing and the longitudinal spacing are smaller in the furled state, and the transverse spacing and the longitudinal spacing are larger in the dispersed state. According to the soft bag grabbing and boxing claw, as the transverse and longitudinal spacing of the soft bag claw is variable, multiple rows of soft bags can be grabbed at one time, the grabbed soft bags are gathered together for direct boxing, one box can be filled only by one back and forth, the partition plates can be automatically placed, the production efficiency is greatly improved, and the soft bag grabbing and boxing claw is suitable for large-scale popularization.
Description
Technical Field
The invention relates to the field of packaging machinery, in particular to a soft bag grabbing and boxing claw.
Background
The packaging technology of infusion products has been developed rapidly in recent years, from traditional glass bottles, plastic bottles to plastic soft bag packaging materials, and the infusion soft bags comprise PVC (Polyvinyl chloride polymer, polyvinyl chloride) soft bags and non-PVC soft bags, and the non-PVC soft bags have very low water permeability, air permeability and migration, and are suitable for packaging most medicines.
Because the soft bag has the characteristics of soft texture and difficult erection, most of soft bags filled with liquid from a production line need a tool to keep the soft bags in an upright state, so that the distance between adjacent soft bags is large, the soft bags cannot be grabbed in batches for boxing, the existing soft bag boxing technology mostly adopts a single boxing mode or manual boxing mode, the efficiency is low, and therefore a claw capable of grabbing the soft bags in batches and directly boxing the soft bags is needed.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides the soft bag grabbing boxing claw which can grab soft bags in batches and gather the grabbed soft bags together for direct boxing.
The technical scheme is as follows: in order to achieve the above purpose, the soft bag grabbing and boxing claw comprises a claw base and a plurality of soft bag claw hands which are arranged in a rectangular array and are arranged on the claw base, wherein the transverse spacing and the longitudinal spacing between the soft bag claw hands are variable, so that all the soft bag claw hands can be switched between a folded state and a dispersed state, the transverse spacing and the longitudinal spacing are smaller in the folded state, and the transverse spacing and the longitudinal spacing are larger in the dispersed state.
Further, the soft bag claw hand groups are contained in a plurality of soft bag grabbing components, each soft bag grabbing component comprises a row of soft bag claw hands which are arranged in a straight line equidistant array and have variable density, and all the soft bag grabbing components are arranged on the claw hand base and have variable density.
Further, a half frame assembly is respectively installed on the grabbing assembly bases of the two groups of soft bag grabbing assemblies at two sides, the half frame assembly comprises frame side plates and frame end plates hinged to two ends of the frame side plates, the half frame assembly can be switched between an unfolding state and a folding state of being folded into a U shape, and when the two half frame assemblies are in the folding state, the two half frame assemblies are combined into a square whole frame.
Further, the half frame assembly translates in a direction toward or away from the soft pocket jaw.
Further, in the dispersed state, among the soft bag claw hands included in the same soft bag grabbing assembly, the claw fingers of two adjacent soft bag claw hands are abutted together.
Further, the soft bag claw comprises a claw hand seat body, a first claw finger and a second claw finger which are rotatably arranged on the claw hand seat body, and a telescopic executing element is further arranged on the claw hand seat body, and the first claw finger and the second claw finger are respectively connected with a telescopic rod of the telescopic executing element through a first connecting rod and a second connecting rod.
Further, the first clamping jaw finger end portion is provided with a convex edge, the second clamping jaw finger end portion is provided with a groove, and when the soft bag clamping jaw hand performs a grabbing task, the convex edge of the first clamping jaw finger can be embedded into the groove of the second clamping jaw hand.
Further, a baffle claw is arranged between two adjacent groups of soft bag grabbing components.
Further, the separator claw includes a vertical elevating unit and a separator gripping unit mounted on the vertical elevating unit.
Further, two soft bag claw hands at two ends of the soft bag claw hand on the same soft bag grabbing assembly are respectively driven by a second telescopic execution unit to do translational motion.
The beneficial effects are that: according to the soft bag grabbing and boxing claw, as the transverse and longitudinal spacing of the soft bag claw is variable, multiple rows of soft bags can be grabbed at one time, the grabbed soft bags are gathered together for direct boxing, one box can be filled only by one back and forth, the partition plates can be automatically placed, the production efficiency is greatly improved, and the soft bag grabbing and boxing claw is suitable for large-scale popularization.
Drawings
FIG. 1 is a front view of a soft bag grabbing and boxing claw;
FIG. 2 is a perspective view of a soft bag grabbing and boxing claw;
fig. 3 is a structural view of the soft bag claw hand.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The soft bag grabbing and boxing claw shown in the drawings 1 and 2 comprises a claw base 1, wherein a plurality of soft bag claw hands 22 are indirectly arranged on the claw base 1, the soft bag claw hands 22 are uniformly distributed in a square array, the transverse spacing and the longitudinal spacing between the adjacent soft bag claw hands 22 are variable, and all the soft bag claw hands 22 can be switched between a furled state and a dispersed state; in the folded state, the transverse spacing and the longitudinal spacing are smaller, and in the dispersed state, the transverse spacing and the longitudinal spacing are larger.
Two groups of soft bag grabbing components 2 which are arranged in parallel and have variable intervals are arranged on the claw base 1, and specifically, the distance changing mode between the two groups of soft bag grabbing components 2 can be as follows: (1) One of the soft bag grabbing components 2 is fixed, and the other soft bag grabbing component is driven by the second telescopic execution unit 6 to translate relative to the claw base 1 so as to change the distance between the two soft bag grabbing components 2; (2) The two soft bag grabbing assemblies 2 can translate relative to the claw hand base 1 under the drive of a third telescopic execution unit 6, and the translation directions of the two soft bag grabbing assemblies are opposite. In this embodiment, the mode (2) is adopted, and the third telescopic execution unit 6 in this embodiment is a cylinder. The soft bag grabbing component 2 is installed on the claw hand base 1 through a sliding rail and a sliding block.
The soft bag gripping module 2 includes a gripping module base 21 and a plurality of soft bag gripper hands 22 mounted on the gripping module base 21 in a linear array, the distance between adjacent soft bag gripper hands 22 is variable and all the soft bag gripper hands 22 are maintained in a uniformly aligned state.
As shown in fig. 3, the soft bag gripper 22 includes a gripper base 223, a first gripper finger 221 and a second gripper finger 222, where the first gripper finger 221 and the second gripper finger 222 are rotatably mounted on the gripper base 223 and can relatively move in an opening and closing manner. The jaw base 223 is further provided with a telescopic actuating element 224, and the first jaw finger 221 and the second jaw finger 222 are respectively connected with a telescopic rod of the telescopic actuating element 224 through a first connecting rod 225 and a second connecting rod 226; the first link 225 is hinged to the first jaw finger 221 and the telescopic link of the telescopic actuator 224; the second link 226 is in hinged relationship with the second jaw finger 222 and the telescoping rod of the telescoping actuator 224. To achieve a reliable grip, the first jaw finger 221 has a ridge at its end and the second jaw finger 222 has a groove at its end, the ridge of the first jaw finger 221 being able to engage the groove of the second jaw finger 222 when the soft pocket jaw 22 is performing the gripping task. The telescopic actuator 224 is here a cylinder.
The soft bag claw 22 achieves a translatable relationship with the grasping assembly base 21 through a sliding fit relationship of a linear bearing and a linear guide rod mounted on the grasping assembly base 21. In the first embodiment, all the soft bag claws 22 can be switched between two position states of an aggregation state in which all the soft bag claws 22 are abutted against each other and a deployment state in which all the soft bag claws 22 are kept at equal intervals; specifically, all the soft bag claw hands 22 can perform the distance-changing motion by taking the soft bag claw hand 22 on the most edge as a reference one way or performing the distance-changing motion by taking a certain soft bag claw hand 22 in the middle as a reference two way. The latter is adopted in this embodiment, namely, two soft bag claws 22 at two ends are driven to move by a single second telescopic execution unit 23, and the second telescopic execution unit 23 is an air cylinder in this embodiment. When the two soft bag claw hands 22 at the two ends are closest in distance, all soft bag claw hands 22 are in an aggregation state as a whole, when the two soft bag claw hands 22 at the two ends are largest in distance, all soft bag claw hands 22 are in a stretching state as a whole, in the stretching state, the first clamping jaw finger 221 of one soft bag claw hand 22 between two adjacent soft bag claw hands 22 abuts against the second clamping jaw finger 222 of the other soft bag claw hand 22, and therefore the distance between any two adjacent soft bag claw hands 22 can be equal.
In the second embodiment, all the soft bag claws 22 can be switched between two position states of the folded state and the unfolded state, and springs are arranged between the adjacent soft bag claws 22, so that the distance between the adjacent soft bag claws 22 is equal under the adjustment action of the springs no matter how the distance is changed. Specifically, all the soft bag claw hands 22 can perform the distance-changing motion by taking the soft bag claw hand 22 on the most edge as a reference one way or performing the distance-changing motion by taking a certain soft bag claw hand 22 in the middle as a reference two way. The specific implementation is the same as the first embodiment.
Because the overall height of the soft bag is higher, when the soft bag claw hand 22 grabs the upper end of the soft bag claw hand to move, the soft bag is easy to shake because of the higher overall movement speed of the boxing claw hand, and furthermore, the soft bag can creep or even fall relative to the soft bag claw hand 22. In order to prevent the soft bag from shaking during the movement of the boxing claw, the boxing claw further comprises two half-frame assemblies 3, in this embodiment, the two half-frame assemblies 3 are respectively mounted on the two grabbing assembly bases 21, each half-frame assembly 3 comprises a frame side plate 31 and two frame end plates 32 hinged to two sides of the frame side plate 31, the half-frame assemblies 3 can be switched between an unfolding state and a folding state, and in the unfolding state, the frame end plates 32 are parallel to the frame side plates 31 or are outwards turned relative to the frame side plates 31; in the folded state, the frame end plate 32 is folded inward with respect to the frame side plate 31 to form a U-shaped half frame, and the two half frame assemblies 3 can be enclosed to form a square whole frame.
Specifically, the rotation of the frame end plate 32 with respect to the frame side plate 31 is achieved in the following manner: a rocker 33 is rotatably connected (directly or indirectly) with respect to the frame side plate 31, and a rotation center is provided in the middle of the rocker 33. A second telescopic execution unit 34 is rotatably installed relative to the frame side plate 31, in this embodiment, the second telescopic execution unit 34 is an air cylinder, a cylinder seat of the second telescopic execution unit 34 is rotatably connected relative to the frame side plate 31, and a telescopic rod of the second telescopic execution unit 34 is hinged with one end of the rocker 33; a driving rod 35 is rotatably mounted on the frame end plate 32, and the other end of the rocker 33 is hinged with the driving rod 35.
Furthermore, the whole half frame assembly 3 can translate in the direction approaching to and far away from the soft bag claw hand 22, so that the half frame assembly 3 and the soft bag conveying line can be prevented from interfering when the boxing claw hand integrally grabs the soft bag, the space limitation during equipment design can be reduced, when the boxing claw hand grabs the soft bag and lifts the soft bag to a certain height, firstly the soft bag claw hand 22 is changed into a furled state, the grabbed soft bag is inwards furled in the X/Y axis direction, then the half frame assembly 3 is furled in the direction approaching to the soft bag, the frame end plate 32 is inwards folded, and the two groups of half frame assemblies 3 encircle to form a soft bag holding frame to hold the soft bag without shaking.
The specific translation mode of the half frame assembly 3 is as follows: the grabbing component base 21 is fixedly provided with a translation cylinder 5, and the half frame component 3 is arranged on the translation cylinder 5.
When actually boxing, a partition plate is arranged between two rows of soft bags, and a better boxing mode is that the partition plate and the soft bags enter the paper box simultaneously, so that the partition plate is not easy to be scattered, a partition plate claw 4 is further arranged on the claw hand base 1, the partition plate claw 4 comprises a vertical lifting unit 41 and a partition plate grabbing unit 42 comprising two clamping jaw fingers, and a clamping block is arranged on each clamping jaw finger of the partition plate grabbing unit 42. Thus, before the soft bags are grabbed by the boxing claw, the soft bags are boxed, the soft bags are moved to the partition plate supply device 4, the vertical lifting unit 41 drives the partition plate grabbing unit 42 to descend, and the partition plate grabbing unit 42 lifts to bring the partition plates between two adjacent rows of soft bags after the partition plate grabbing unit 42 clamps the partition plates, and the soft bags are boxed together.
According to the soft bag grabbing and boxing claw, as the transverse and longitudinal spacing of the soft bag claw is variable, multiple rows of soft bags can be grabbed at one time, the grabbed soft bags are gathered together for direct boxing, one box can be filled only by one back and forth, the partition plates can be automatically placed, the production efficiency is greatly improved, and the soft bag grabbing and boxing claw is suitable for large-scale popularization.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (7)
1. The utility model provides a soft bag snatchs vanning claw hand which characterized in that: the soft bag claw comprises a claw base and a plurality of soft bag claw hands which are arranged in a rectangular array and are arranged on the claw base, wherein the transverse spacing and the longitudinal spacing between the soft bag claw hands are variable, so that all the soft bag claw hands can be switched between a furled state and a dispersed state, the transverse spacing and the longitudinal spacing are smaller in the furled state, and the transverse spacing and the longitudinal spacing are larger in the dispersed state;
the soft bag gripper is divided into groups and comprises a plurality of soft bag gripping assemblies, each soft bag gripping assembly comprises a row of soft bag gripper fingers which are arranged in a straight line equidistant array and have variable density, and all the soft bag gripping assemblies are arranged on a gripper base and have variable density; the two groups of soft bag grabbing component bases at two sides are respectively provided with a half frame component, the half frame component comprises a frame side plate and frame end plates hinged at two ends of the frame side plate, the half frame component can be switched between an unfolding state and a folding state of being folded into a U shape, and when the two half frame components are in the folding state, the two half frame components are enclosed into a square whole frame;
the half frame assembly translates in a direction approaching or separating from the soft bag claw;
a rocker is rotationally connected relative to the frame side plate, and a rotation center is arranged in the middle of the rocker; the second telescopic execution unit is rotatably arranged relative to the frame side plate, the second telescopic execution unit is an air cylinder, a cylinder seat of the second telescopic execution unit is rotatably connected relative to the frame side plate, and a telescopic rod of the second telescopic execution unit is hinged with one end of the rocker; a driving rod is rotatably arranged on the frame end plate, and the other end of the rocker is hinged with the driving rod;
the grabbing component base is fixedly provided with a translation cylinder, and the half-frame component is arranged on the translation cylinder.
2. A soft bag gripping and boxing claw according to claim 1, wherein: in the dispersed state, in the soft bag claw hands contained in the same soft bag grabbing assembly, the claw fingers of two adjacent soft bag claw hands are abutted together.
3. A soft bag gripping and boxing claw according to any one of claims 1-2, wherein: the soft bag claw comprises a claw hand seat body, a first claw finger and a second claw finger which are rotatably arranged on the claw hand seat body, and a telescopic actuating element is further arranged on the claw hand seat body, and the first claw finger and the second claw finger are respectively connected with a telescopic rod of the telescopic actuating element through a first connecting rod and a second connecting rod.
4. A soft bag gripping and boxing claw according to claim 3, wherein: the first clamping jaw finger end is provided with a convex rib, the second clamping jaw finger end is provided with a groove, and when the soft bag clamping jaw hand performs a grabbing task, the convex rib of the first clamping jaw finger can be embedded into the groove of the second clamping jaw hand.
5. A soft bag gripping and boxing claw according to any one of claims 1-2, wherein: a baffle claw is arranged between two adjacent groups of soft bag grabbing components.
6. A soft bag gripping and boxing claw according to claim 5, wherein: the baffle claw comprises a vertical lifting unit and a baffle grabbing unit arranged on the vertical lifting unit.
7. A soft bag gripping and boxing claw according to any one of claims 1-2, wherein: two soft bag claw hands at two ends of the soft bag claw hand on the same soft bag grabbing assembly are respectively driven by a second telescopic execution unit to do translational motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710500943.4A CN107380532B (en) | 2017-06-27 | 2017-06-27 | Soft bag grabbing and boxing claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710500943.4A CN107380532B (en) | 2017-06-27 | 2017-06-27 | Soft bag grabbing and boxing claw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107380532A CN107380532A (en) | 2017-11-24 |
| CN107380532B true CN107380532B (en) | 2023-08-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710500943.4A Active CN107380532B (en) | 2017-06-27 | 2017-06-27 | Soft bag grabbing and boxing claw |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408271B (en) * | 2021-12-15 | 2023-08-29 | 合肥通用机械研究院有限公司 | Automatic boxing device, boxing method and automatic soft bag packaging boxing system |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556386B (en) * | 2011-12-29 | 2013-07-31 | 大连佳林设备制造有限公司 | Vertical bag boxing machine |
| CN102975881A (en) * | 2012-12-13 | 2013-03-20 | 连云港千樱医疗设备有限公司 | Encasement machine for liquid soft package bag |
| CN103407609B (en) * | 2013-08-02 | 2015-12-02 | 无锡众创自动化科技有限公司 | A kind of vanning paw |
| CN203681945U (en) * | 2013-12-11 | 2014-07-02 | 广州市万世德包装机械有限公司 | Box filling machine for vertical bags |
| CN203958745U (en) * | 2014-05-20 | 2014-11-26 | 无锡力优医药自动化技术有限公司 | Automatic boxing is put spacer mechanism |
| CN205045475U (en) * | 2015-09-16 | 2016-02-24 | 山东新华医疗器械股份有限公司 | Soft sackholder utensil of rotation type |
| CN205045051U (en) * | 2015-09-16 | 2016-02-24 | 山东新华医疗器械股份有限公司 | Automatic package system of many soft bags |
| CN205419047U (en) * | 2015-10-14 | 2016-08-03 | 北京航天斯达科技有限公司 | Multistation robot clamp that can shift |
| CN105173195A (en) * | 2015-10-26 | 2015-12-23 | 无锡众创自动化科技有限公司 | Soft bag boxing gripper device |
| CN206031894U (en) * | 2016-08-30 | 2017-03-22 | 成都康河机械设备有限公司 | Adjustable space distance's double -layered dumpling structure |
| CN207089761U (en) * | 2017-06-27 | 2018-03-13 | 无锡力优医药自动化技术有限公司 | A kind of soft bag crawl vanning cleft hand |
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2017
- 2017-06-27 CN CN201710500943.4A patent/CN107380532B/en active Active
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| Publication number | Publication date |
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| CN107380532A (en) | 2017-11-24 |
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