CN113212826A - Packaging film fixing device of winding packaging robot - Google Patents
Packaging film fixing device of winding packaging robot Download PDFInfo
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- CN113212826A CN113212826A CN202110490938.6A CN202110490938A CN113212826A CN 113212826 A CN113212826 A CN 113212826A CN 202110490938 A CN202110490938 A CN 202110490938A CN 113212826 A CN113212826 A CN 113212826A
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- adhesive tape
- support
- shaft
- clamping
- packaging
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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
- B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
- B65B11/02—Wrapping articles or quantities of material, without changing their position during the wrapping operation, e.g. in moulds with hinged folders
- B65B11/025—Wrapping articles or quantities of material, without changing their position during the wrapping operation, e.g. in moulds with hinged folders by webs revolving around stationary articles
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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
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/04—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages
- B65B61/06—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages by cutting
- B65B61/10—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for severing webs, or for separating joined packages by cutting using heated wires or cutters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H35/00—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers
- B65H35/04—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers from or with transverse cutters or perforators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Basic Packing Technique (AREA)
Abstract
The invention relates to a packaging film fixing device of a winding packaging robot, which finishes the fixing and cutting work of an adhesive tape on a packaging film through a multi-section armlet, a clamping and turning mechanism and a press belt cutting mechanism which are arranged on a square bracket; the clamping turnover mechanism is connected to one side of the square support in a sliding mode and is driven to vertically slide through a gear rack, two clamping belt assemblies on the clamping turnover mechanism are used for clamping two sides of an adhesive tape, the mechanism can clamp the adhesive tape and pull the adhesive tape out downwards, the motor drives the turnover shaft to rotate after the adhesive tape is pulled out to push the pulled adhesive tape out outwards, and then the adhesive tape is adhered to a packaging film and a to-be-packaged object; the eccentric shaft of the belt pressing and cutting mechanism can drive the cylindrical pressure head to swing outwards to attach the adhesive tape to the packaging film and the object to be packaged, and the mechanism can also slide up and down to attach the packaging film to the object to be packaged; the invention realizes the automatic adhesive tape fixing and cutting actions, replaces the traditional manual adhesive tape pasting operation, and improves the winding and packaging efficiency of the robot.
Description
Technical Field
The invention relates to the technical field of film winding and packaging robots, in particular to a packaging film fixing device of a winding and packaging robot.
Background
The winding packaging machine meets the packaging requirements of containerized storage, transportation, mechanical loading and unloading of goods and the like, develops the packaging machines with different characteristics such as a tray type winding machine, a pre-tensioning type automatic packaging film winding packaging machine and the like along with the continuous progress of the technology, and is widely applied to the industries needing containerized transportation such as food, paper making, foreign trade export, glass plastic industry and the like. Winding packagine machine can prevent effectively that the product from colliding with the emergence that leads to accidental conditions such as damage in transportation and handling, has reduced the loss of being packed the product, has improved packing efficiency, and the use of winding membrane can also be dampproofing, plays the protection product and keeps the clear effect of product.
The tray type packaging machine is characterized in that a tray is communicated with goods carried by the tray and is firmly wrapped by a stretching packaging film to form a reliable carrying unit, and the economic and convenient packaging mode is widely praised by the industry. However, the packaging machine is used for packaging at a fixed position, the use range and the place are limited, and when the packaging is started and finished, the film feeding and cutting operations are generally carried out manually, so that the overall automation degree is low, and the efficiency is not high; in order to improve the application range and packaging efficiency of the existing packaging machine, it is necessary to design a device capable of autonomously fixing a film on an object to be packaged, which mainly simulates manual work to fix the end of the film on the surface of the object to be packaged by using an adhesive tape, so that the film can be wound under the driving of a winding and packaging robot, and the problem that whether the winding robot can work normally is the first problem and needs to be solved.
Disclosure of Invention
In order to solve the above problems, the present invention provides a packaging film fixing device of a wrapping robot.
The technical scheme of the invention is as follows: the utility model provides a winding packaging robot's packaging film fixing device which characterized by: the device comprises a rotating base fixed on an AGV, a multi-section arm A with a transverse or vertical telescopic function, a clamping and turning mechanism, a belt pressing and cutting mechanism and a rubber belt wheel, wherein the lower end of the multi-section arm A is fixedly connected to the rotating base, the upper end of the multi-section arm A is fixedly connected with a square support, one side of the square support is vertically provided with a guide rail rack component A, and the component comprises a rack A and a guide rail A;
the inner side surface of a support A of the clamping and overturning mechanism is provided with a sliding block A and a guide rail A which are in sliding connection, a gear motor A is arranged above the outer side surface of the support A, a gear A and a rack A which are meshed are arranged on a shaft of the gear motor A, an overturning motor and a belt seat bearing are transversely fixed on the outer side surface below the support A, the shaft of the overturning motor is connected with a rotating shaft extending out of the belt seat bearing through a coupling, two radial rods are arranged on the rotating shaft, a swing shaft parallel to the rotating shaft is arranged between the inner ends of the two radial rods, two clamping belt assemblies are symmetrically arranged on a platform plate arranged at the outer ends of the two radial rods, a certain interval is reserved between the two clamping belt assemblies, each clamping belt assembly comprises a cylinder A transversely fixed on the platform plate, a vertical shaft corresponding to a piston rod of the cylinder A is arranged in the middle of the platform plate, an upper connecting rod mechanism and a lower connecting rod mechanism are hinged between the end part of the piston rod and the vertical shaft, and the outer ends of the two connecting rod mechanisms are both provided with clamping plates to form a clamping belt head, the adhesive tape wheel is arranged at the upper end of the square bracket and is vertically opposite to the two clamping heads;
the press belt cutting mechanism is arranged on a sliding support at the other side of the square support and comprises a guide rail rack component B and an eccentric wheel component, the guide rail rack component B comprises a guide rail B and a rack B, the outer end of the sliding support is transversely and fixedly connected with an air cylinder B, the guide rail rack component B is vertically and fixedly connected to a piston rod of the air cylinder B, and a guide support rod is arranged between the guide rail rack component B and the sliding support; the inner side face of a support B of the eccentric wheel assembly is provided with a sliding block B and a guide rail B in sliding connection, the upper portion of the outer side face of the support B is provided with a gear motor B, a gear B and a rack B are sleeved on a shaft of the gear motor B in a meshed mode, the lower portion of the outer side face of the support B is transversely provided with a belt pressing motor and a bearing support, the shaft of the belt pressing motor is fixedly connected with an eccentric shaft penetrating through the bearing support through a coupler, the outer end of the eccentric shaft is provided with a cylindrical pressing head, and the inner side of the cylindrical pressing head is provided with a cutter.
Preferably, the multi-section armlet comprises a plurality of mutually hinged supporting armlets, an electric push rod is connected between the middle parts of the adjacent supporting armlet, the base of the electric push rod is hinged with the middle part of the supporting armlet at the inner side, and the end part of the telescopic rod of the electric push rod is hinged with the middle part of the supporting armlet at the outer side.
Preferably, a linear module for driving the platform plate to transversely slide is arranged between the platform plate and the radial rod.
Preferably, the linear module comprises a screw rod, a nut sliding block, a sliding rail and a screw rod motor, wherein the nut sliding block, the sliding rail and the screw rod motor are sleeved on the screw rod, the lower end of the nut sliding block is connected with the sliding rail in a sliding mode, the upper end of the nut sliding block is fixedly connected with the platform plate, and the screw rod is driven to rotate through the screw rod to drive the screw rod nut and the platform plate to move transversely.
Preferably, the adhesive tape wheel is provided with an adhesive tape tensioning device below, the device comprises a transverse roller shaft assembly for S-shaped winding of the adhesive tape, a supporting roller is arranged at the lower end of the transverse roller shaft assembly, and a pressing plate is arranged above the supporting roller.
The beneficial technical effects of the invention are as follows:
the packaging film fixing device finishes the regulation and cutting work of the adhesive tape on the packaging film through a multi-section armlet, a clamping and turning mechanism and a press belt cutting mechanism which are arranged on a square support; the clamping turnover mechanism is connected to one side of the square support in a sliding mode and driven to vertically slide through a gear rack, two clamping belt assemblies on the clamping turnover mechanism are used for clamping two sides of an adhesive tape, so that the mechanism can clamp the adhesive tape upwards and pull out downwards, the adhesive tape is driven by a motor to rotate a turnover shaft after being pulled out to push out the pulled adhesive tape outwards, and then the whole device is driven by a plurality of sections of arms to move transversely to adhere the adhesive tape to a packaging film and a to-be-packaged object; the eccentric shaft of the belt pressing and cutting mechanism can drive the cylindrical pressure head to swing outwards to attach the adhesive tape to the packaging film and the object to be packaged, and the mechanism can also slide up and down to attach the packaging film to the object to be packaged; the invention realizes the automatic adhesive tape fixing and cutting actions, replaces the traditional manual adhesive tape pasting operation, and improves the winding and packaging efficiency of the robot.
Drawings
FIG. 1 is a schematic side view of the packaging film holding device of the present invention;
FIG. 2 is a schematic perspective view of the packaging film fixing device of the present invention;
FIG. 3 is a schematic cross-sectional view of the tape tensioner of the present invention;
FIG. 4 is a front view of the clamping and flipping mechanism of FIG. 2;
FIG. 5 is a sectional view taken along line B-B of FIG. 4;
FIG. 6 is a schematic structural view of the entrainment assembly of FIG. 2;
FIG. 7 is a schematic perspective view of a cutting mechanism for a press belt of the fixing device for a packaging film according to the present invention;
FIG. 8 is a cross-sectional view taken along line C-C of FIG. 7;
FIG. 9 is a front view schematically showing the structure of the fixing device for the packaging film according to the present invention;
FIG. 10 is one of the schematic structural diagrams of the wrapping robot;
FIG. 11 is a second schematic view of the overall structure of the wrapping robot;
FIG. 12 is a schematic perspective view of the film feeding apparatus of the present invention;
FIG. 13 is an enlarged partial schematic view of FIG. 12;
FIG. 14 is a sectional view taken along line A-A of FIG. 12;
FIG. 15 is a schematic view of the driving mechanism of the film feeding apparatus of the present invention;
FIG. 16 is a perspective view of the membrane end clamping mechanism;
FIG. 17 is a perspective view of a chuck positioning device of the robot;
FIG. 18 is one of the schematic perspective views of the chuck assembly and the heat staking mechanism of the robot;
FIG. 19 is a second schematic perspective view of the chuck assembly and the thermal fuse mechanism of the robot;
FIG. 20 is a schematic view of a robot for adhering the head of a film to a load to be packaged;
FIG. 21 is a schematic view of various actions of the robot in wrapping a material to be wrapped;
fig. 22 is a schematic block diagram of a control section in the present invention.
In the figure, 01.AGV car, 11. rotating base, 12. object camera forming module, 02. mechanical arm, 03. film feeding device, 31. supporting plate, 32. top plate, 321. slotted hole, 322. tension sensor, 33. bottom plate, 331. extending bottom plate, 34. driving roller A, 341. chain wheel A, 35. driving roller B, 351. chain wheel B, 36. driven roller, 361. hinge structure, 37. film end clamping mechanism, 371. fixed vertical plate, 372. movable clamping plate, 373. clamping spring, 38. sucking disc backing plate, 39. film roll support column, 04. packaging film fixing device, 41. multi-section arm A, 411. supporting arm A, 42. square support, 421. guide rail rack component A, 422. rack A423, guide rail A, 43. clamping turnover mechanism, 44. belt pressing mechanism, 45. belt wheel, 451. tensioning device, 452. transverse roller shaft component, 453. supporting roller, 21. film cutting device, 454. The automatic hot melt adhesive machine comprises a pressure plate, 51 support A, 52 slide block A, 53 gear motor A, 54 gear A, 55 overturning motor, 56 seated bearing, 57 rotating shaft, 571 radial rod, 572 swing shaft, 573 platform plate, 58 clamping component, 581 cylinder A, 582 connecting rod mechanism, 583 clamping plate, 584 clamping head, 585 vertical shaft, 59 linear module, 61 guide rail and rack component B, 62 guide rail B, 63 rack B, 64 sliding support, 641 cylinder B, 65 support B, 651 slide block B, 652 gear motor B, 653 gear B, 66 eccentric wheel component, 661 belt pressing motor, 663 eccentric shaft, 664 adhesive tape press head, 665 cutter, 67 guide support rod, 07 suction cup positioning device, 71 suction cup positioning device, 711 arm B, 711 suction cup support arm 72, 73 suction cup, 74 support plate, 75 hot melt adhesive support, 751. The packaging machine comprises a cross support plate, 76 rotating shafts, 77 thermal fuses, 78 electric push rods, 81 roller shaft motors, 811 driving chain wheels, 91 air cylinders, 92 air cylinders, 100 films, 200 adhesive tapes and 300 goods to be packaged.
Detailed Description
First embodiment, referring to fig. 1-9 of the specification, a wrapping film fixing device of a wrapping robot is characterized in that: the device comprises a rotating base fixed on an AGV, a multi-section arm A with a transverse or vertical telescopic function, a clamping and overturning mechanism, a belt pressing and cutting mechanism and a rubber belt wheel, wherein the lower end of the multi-section arm A is fixedly connected to the rotating base, the upper end of the multi-section arm A is fixedly connected with a square support, one side of the square support is vertically provided with a guide rail and rack assembly A, and the assembly comprises a rack A and a guide rail A and is used for lifting, clamping and overturning the mechanism;
the inner side surface of a support A of the clamping and overturning mechanism is provided with a sliding block A and a guide rail A which are in sliding connection, a gear motor A is arranged above the outer side surface of the support A, a gear A and a rack A which are meshed are arranged on a shaft of the gear motor A, an overturning motor and a belt seat bearing are transversely fixed on the outer side surface below the support A, the shaft of the overturning motor is connected with a rotating shaft extending out of the belt seat bearing through a coupling, two radial rods are arranged on the rotating shaft, a swing shaft parallel to the rotating shaft is arranged between the inner ends of the two radial rods, two clamping belt assemblies are symmetrically arranged on a platform plate arranged at the outer ends of the two radial rods, a certain interval is reserved between the two clamping belt assemblies, each clamping belt assembly comprises a cylinder A transversely fixed on the platform plate, a vertical shaft corresponding to a piston rod of the cylinder A is arranged in the middle of the platform plate, an upper connecting rod mechanism and a lower connecting rod mechanism are hinged between the end part of the piston rod and the vertical shaft, and the outer ends of the two connecting rod mechanisms are both provided with clamping plates to form a clamping belt head, the expansion of the cylinder A drives the link mechanism to control, and the clamping and the loosening of the clamping head are realized; the adhesive tape wheel is arranged at the upper end of the square bracket and is vertically opposite to the two clamping heads, so that the end part of the adhesive tape can be clamped at two sides by the two clamping heads and the adhesive tape is pulled out downwards;
the press belt cutting mechanism is arranged on a sliding support on the other side of the square support and comprises a guide rail rack component B and an eccentric wheel component, the guide rail rack component B comprises a guide rail B and a rack B, the outer end of the sliding support is transversely and fixedly connected with an air cylinder B, the guide rail rack component B is vertically and fixedly connected to a piston rod of the air cylinder B, and a guide support rod is arranged between the guide rail rack component B and the sliding support; a sliding block B is arranged on the inner side surface of a support B of the eccentric wheel assembly and is in sliding connection with a guide rail B, a gear motor B is arranged on the upper portion of the outer side surface of the support B, a gear B and a rack B are sleeved on a shaft of the gear motor B to be meshed, a belt pressing motor and a bearing support are transversely arranged on the lower portion of the outer side surface of the support B, an eccentric shaft penetrating through the bearing support is fixedly connected onto the shaft of the belt pressing motor through a coupling, a cylindrical pressing head is arranged at the outer end of the eccentric shaft, and a cutter is arranged on the inner side of the cylindrical pressing head;
the multi-section armlet comprises a plurality of mutually hinged supporting armlet bodies, electric push rods are connected between the middle parts of the adjacent supporting armlet bodies, bases of the electric push rods are hinged with the middle parts of the supporting armlet bodies on the inner sides, and the end parts of telescopic rods of the electric push rods are hinged with the middle parts of the supporting armlet bodies on the outer sides.
A linear module for driving the platform plate to transversely slide is arranged between the platform plate and the radial rod, the linear module comprises a lead screw, a nut sliding block sleeved on the lead screw, a sliding rail and a lead screw motor, the lower end of the nut sliding block is connected with the sliding rail in a sliding manner, the upper end of the nut sliding block is fixedly connected with the platform plate, and the lead screw rotates to drive the lead screw nut and the platform plate to transversely move; the distance between the two clamping components is adjusted through the platform plate so as to adapt to the width of the adhesive tape;
the lower part of the adhesive tape wheel is provided with an adhesive tape tensioning device which comprises a transverse roller shaft assembly for S-shaped winding of an adhesive tape, the lower end of the transverse roller shaft assembly is provided with a supporting roller, and a pressing plate is arranged above the supporting roller.
The cylinders A, B, C and D are connected with corresponding electromagnetic valves and air sources through air pipes;
the function and function of the wrapping film holding apparatus of this embodiment in a self-propelled wrapping robot will be described in detail with reference to fig. 1-22 of the specification.
Referring to the attached drawings 1-22 of the specification, the self-walking type winding packaging robot comprises an AGV and a mechanical arm arranged at the front end of the AGV, wherein a film feeding device is arranged on the mechanical arm, a packaging film fixing device in the first embodiment is arranged in the middle of the AGV, and a sucker positioning device is arranged at the rear end of the AGV;
the film feeding device comprises a top plate and a bottom plate which are fixedly connected through a supporting plate, a vertical roller shaft group and a driving mechanism for driving the roller shaft group to rotate, the film feeding device is vertically and fixedly connected to the end part of the mechanical arm through the supporting plate, the roller shaft group comprises a driving roller A, a driving roller B and two driven rollers which are vertically staggered and rotatably arranged, two ends of the driving roller A are installed between the top plate and the bottom plate, the two driving roller shafts are located in the middle of the bottom plate and the top plate, and the two driven rollers are located on the outer sides of the bottom plate and the top plate; the two driven rollers are arranged side by side, a gap is reserved between the two driven rollers, and a film roll support is arranged at a position on one side of the bottom plate, which corresponds to the driving roller A; an extension bottom plate is arranged on the bottom plate of the driven roller, a sucker base plate is vertically arranged on the extension bottom plate, a membrane end clamping mechanism is arranged on the outer side of the sucker base plate and used for providing a smooth support for the sucker during adsorption, the membrane end clamping mechanism is used for temporarily fixing the membrane end during the first membrane feeding,
the driving mechanism comprises a roller shaft motor, a driving roller shaft A, a chain wheel A and a chain wheel B which are arranged on a shaft at the upper end of the driving roller shaft B, the size of the chain wheel A is larger than that of the chain wheel B, so that the rotating speeds of the two driving rollers are different, the stretching and tensioning of the film are realized, and the driving chain wheel is arranged on the shaft of the roller shaft motor and is connected with the chain wheel A and the chain wheel B for transmission through a chain; the device comprises a driven roller, a shaft, a bottom plate, a tension sensor, a roller shaft motor, a bottom plate, a shaft hole, a long round hole, a shaft, a sliding pair and a tension sensor, wherein the driven roller is provided with a swinging roller with a certain activity, the shaft at the lower end of the swinging roller is hinged with the bottom plate, the shaft hole of the swinging roller on the top plate is provided with the long round hole, the shaft at the upper end of the swinging roller is inserted into the long round hole to form the sliding pair, the tension sensor is arranged along the length direction of the long round hole, one end of the tension sensor is fixedly connected with the upper end of the swinging roller, the other end of the tension sensor is fixedly connected with the surface of the top plate, the tension sensor can transmit a signal of pulling a film or stopping pulling the film to the roller shaft motor, the roller shaft motor drives the two driving rollers to rotate or stop, and is also used for monitoring the real-time internal tension of the film and sending out a tension value in time during the winding process; and a tension controller is also arranged in the film feeding device, and the rotating speed of the roller shaft motor is controlled according to the tension value measured by the tension sensor.
The sucking disc positioner is connected at the afterbody of AGV car through rotating the base, and the device is including the multiunit arm second that has horizontal or vertical flexible function, and the end connection of multiunit arm second has vertical sucking disc pole, and the both ends of sucking disc pole are equipped with the sucking disc. Be equipped with the hot melt mechanism with sucking disc pole parallel arrangement in the sucking disc pole outside, this hot melt mechanism include the backup pad with the end connection of multinode arm second, the hot melt support, the hot melt, the upper end of hot melt support rotates the installation through the shaft hole in pivot and the backup pad, the hot melt support on, install the hot melt between the horizontal backup pad at lower both ends, be connected with electric putter between the middle part of hot melt support and the tip of multinode arm second, electric putter drives the change that the hot melt position was realized in the swing of hot melt support, thereby can be with hot melt and film contact, the fusing film, the solenoid valve and the air supply that the sucking disc corresponds through the trachea connection, solenoid valve passes through wire connection control module, realize the unclamping and adsorption control to the sucking disc.
The multi-section armband comprises a plurality of mutually hinged supporting armband bodies, a cylinder C is connected between the middle parts of the adjacent supporting armband bodies, the base of the cylinder C is hinged with the middle part of the supporting armband body at the inner side, and the end part of a telescopic rod of the cylinder C is hinged with the middle part of the supporting armband body at the outer side; the multi-section arm B comprises a plurality of mutually hinged supporting arms B, air cylinders T are connected between the adjacent supporting arms B, bases of the air cylinders T are hinged with the lower ends of the supporting arms on the inner sides, and the end parts of telescopic rods of the air cylinders T are hinged with the upper ends of the supporting arms on the outer sides.
The cylinders A, B, C and D are connected with corresponding electromagnetic valves and air sources through air pipes; the electromagnetic valve is connected with the control module through a lead to realize the control of the cylinder action.
The adhesive tape tensioning device is arranged below the adhesive tape wheel and comprises a transverse roller shaft assembly for S-shaped winding of an adhesive tape, a supporting roller is arranged at the lower end of the transverse roller shaft assembly, a pressing plate is arranged above the supporting roller, the adhesive tape tensioning device is in the prior art, structural details of the adhesive tape tensioning device are not described in detail, and the requirement of unreeling with tension can be met.
The AGV is provided with a walking control module, a position positioning module, an object camera shooting forming module and a control module, wherein the position positioning module is used for positioning the AGV in real time and transmitting position data to the control module, the object camera shooting forming module is used for shooting a wound object, a digital three-dimensional model of the wound object is built through pictures and is transmitted to the control module, a network unit, a storage unit and a control center are arranged in the control module, the network unit is used for networking to realize remote control of the robot and bidirectional mutual transmission of data, and the storage unit is used for storing the digital three-dimensional model, the position data, the tension value and a walking route and a winding route which are transported by the control center through the position data and the digital three-dimensional model; the control center modifies the winding path through the tension value in the winding process so as to realize the adjustment of the film tension.
This carry out article from walking winding packaging robot and wrap specific step as follows:
s1, the goods to be packaged are orderly arranged in a goods yard, the AGV receives the position information of the goods to be packaged (300), and automatically seeks to reach the position of the goods to be packaged according to the position information and a yard map;
s2, an object camera shooting forming module (12) equipped by the AGV obtains images of cargos, the images are generated into a digital three-dimensional model of the cargos according to a three-dimensional visualization technology, and a control system automatically plans a winding path of the AGV according to the cargo model;
s3, the film (100) for wrapping the goods is attached to the surface of the goods (300) to be packaged through the matching of the packaging film fixing device (04) and the sucker positioning device (07), and then the bottom of the packaging film fixing device rotates and retreats;
s4, the AGV starts to do surrounding motion according to a path, a driven roller positioned on the inner side is attached to a film and swings under the action of the drawing tension of the film, a tension sensor sends a starting signal to a tension controller so as to start a roller motor to unreel the film, a film feeding device (03) is always opposite to the packaging surface of the goods to be packaged, a mechanical arm (02) does not have lifting action when the first circle of surrounding starts, the film feeding device is positioned at the lower part of the goods, as shown in a position 1 in the figure, the surrounding process starts to be slowly lifted, as shown in positions 2 and 3 in the figure, the film is in a spiral lifting state on the surface of the goods, and the film feeding device is always opposite to the packaging surface of;
s6, the AGV winds according to a planned path, a tension sensor on a film feeding device detects the internal tension of a film (100) in the winding process, in order to ensure that the film wound on the goods is proper in tightness, the tension sensor transmits the internal tension information to a control module of the AGV or a tension controller of the film feeding device (03), and the driving wheels correct the travelling track of the trolley or adjust the rotating speed of a driving roller of the film feeding device to adjust the internal tension of the film;
s7, after the wrapping of goods is completed, the AGV stops walking, the shaft roller motor stops rotating, the sucker of the sucker positioning device and the sucker base plate move close to each other and press the sucker base plate to adsorb the film, meanwhile, the hot melting mechanism rotates, the hot melt wire fuses the film, the end portion of the film is adsorbed by the sucker, the end portion of the film is simultaneously drawn out when the sucker positioning device is far away from the sucker base plate, and the film is used for wrapping next time.
Wherein the sub-working steps of the packaging film fixing device of the present invention in step S3 are:
s3.1, pulling out the film (100) on the film roll to pass around a driving roller A (34) and a driving roller B (35) in an S shape, then pulling out the film from the two driven rollers, and putting the end part of the film into a film end clamping mechanism to realize primary clamping of the end part of the film; the film feeding device (03) and the sucker positioning device (07) move close to each other, the sucker positioning device adjusts the sucker to face a sucker base plate (38) on the film feeding device by rotating the base (11), the sucker (73) is driven to move towards the sucker base plate by the air cylinder T (92) and the multi-section arm B (71) until the sucker presses the film onto the sucker base plate and tightly sucks the film, and the sucker positioning device pulls out the tightly sucked film (100) and presses the film onto the surface of the goods (300) to be packaged;
s3.2, after the film (100) is pressed on the goods to be packaged by the suction cup (73), the packaging film fixing device (04) drives the two supporting arm nails (411) to act through the two air cylinders (91), so that the whole packaging film fixing device is close to the upper part of the film (100);
s3.3, the tape clamping head (584) clamps the adhesive tape (200) under the drive of the air cylinder A (581), the tape clamping head (584) clamps the adhesive tape (200) to move downwards along the rack A (422) under the drive of the gear motor A (53) and the gear A (54) and is parallel to the film (100), and the upper end and the lower end of the adhesive tape exceed the upper edge and the lower edge of the film (100);
s3.4, the swing shaft (572) fixedly connected with the belt clamp (584) rotates under the driving of the overturning motor (55), and the lower end (200) of the adhesive tape is pressed on the surface of the goods (300) to be packaged;
s3.5, driving the belt pressing and cutting mechanism (44) to move to one side of the adhesive tape by the cylinder B (641), so that the belt pressing and cutting mechanism (44) is integrally positioned on the side of the adhesive tape (200), the film (100) and the goods to be packaged (300);
s3.6, pressing the adhesive tape (200) on the surface of the film (100) to be firmly adhered by the eccentric shaft (663) under the driving of a tape pressing motor (661), pressing the adhesive tape to move upwards along the rack (63) by the adhesive tape pressing head (664) under the driving of a gear motor B (652) through a gear B (653), tightly adhering the film (100) to the goods (300) to be packaged, and adhering and fixing the parts of the upper and lower ends of the pulled adhesive tape (200) which exceed the edge of the film (100) on the surface of the goods (300) to be packaged;
s3.7, when the adhesive tape pressing head reaches a proper position, the belt pressing motor (661) drives the eccentric shaft (663) to enable the adhesive tape pressing head (664) to turn over in one direction, and the adhesive tape is cut off by the cutter (665);
s3.8, loosening the adhesive tape (200) by the tape clamp (584), and moving upwards along with the adhesive tape press head (664) under the driving of the gear motor A (53);
s3.9, the belt pressing cutting mechanism (44) is driven by the air cylinder B (641) to return to the other side;
s3.10, the packaging film fixing device (04) retracts to the initial position, and the second operation of the packaging film fixing device is started from the substep S3.2.
Claims (5)
1. The utility model provides a winding packaging robot's packaging film fixing device which characterized by: the device comprises a rotating base fixed on an AGV, a multi-section arm A with a transverse or vertical telescopic function, a clamping and turning mechanism, a belt pressing and cutting mechanism and a rubber belt wheel, wherein the lower end of the multi-section arm A is fixedly connected to the rotating base, the upper end of the multi-section arm A is fixedly connected with a square support, one side of the square support is vertically provided with a guide rail rack component A, and the component comprises a rack A and a guide rail A;
the inner side surface of a support A of the clamping and overturning mechanism is provided with a sliding block A and a guide rail A which are in sliding connection, a gear motor A is arranged above the outer side surface of the support A, a gear A and a rack A which are meshed are arranged on a shaft of the gear motor A, an overturning motor and a belt seat bearing are transversely fixed on the outer side surface below the support A, the shaft of the overturning motor is connected with a rotating shaft extending out of the belt seat bearing through a coupling, two radial rods are arranged on the rotating shaft, a swing shaft parallel to the rotating shaft is arranged between the inner ends of the two radial rods, two clamping belt assemblies are symmetrically arranged on a platform plate arranged at the outer ends of the two radial rods, a certain interval is reserved between the two clamping belt assemblies, each clamping belt assembly comprises a cylinder A transversely fixed on the platform plate, a vertical shaft corresponding to a piston rod of the cylinder A is arranged in the middle of the platform plate, an upper connecting rod mechanism, the adhesive tape wheel is arranged at the upper end of the square bracket and is vertically opposite to the two clamping heads;
the press belt cutting mechanism is arranged on a sliding support at the other side of the square support and comprises a guide rail rack component B and an eccentric wheel component, the guide rail rack component B comprises a guide rail B and a rack B, the outer end of the sliding support is transversely and fixedly connected with an air cylinder B, the guide rail rack component B is vertically and fixedly connected to a piston rod of the air cylinder B, and a guide support rod is arranged between the guide rail rack component B and the sliding support; the inner side face of a support B of the eccentric wheel assembly is provided with a sliding block B and a guide rail B in sliding connection, the upper portion of the outer side face of the support B is provided with a gear motor B, a gear B and a rack B are sleeved on a shaft of the gear motor B in a meshed mode, the lower portion of the outer side face of the support B is transversely provided with a belt pressing motor and a bearing support, the shaft of the belt pressing motor is fixedly connected with an eccentric shaft penetrating through the bearing support through a coupler, the outer end of the eccentric shaft is provided with a cylindrical pressing head, and the.
2. The packaging film fixing device of a self-propelled wrapping packaging robot as claimed in claim 1, wherein: the multi-section armlet comprises a plurality of mutually hinged supporting armlet bodies, electric push rods are connected between the middle parts of the adjacent supporting armlet bodies, bases of the electric push rods are hinged with the middle parts of the supporting armlet bodies on the inner sides, and the end parts of telescopic rods of the electric push rods are hinged with the middle parts of the supporting armlet bodies on the outer sides.
3. The packaging film fixing device of a self-propelled wrapping packaging robot as claimed in claim 2, wherein: the platform plate and the radial rod are provided with a linear module for driving the platform plate to transversely slide.
4. The packaging film fixing device of a self-propelled wrapping packaging robot as claimed in claim 3, wherein: the linear module comprises a screw rod, a nut sliding block, a sliding rail and a screw rod motor, wherein the nut sliding block, the sliding rail and the screw rod motor are sleeved on the screw rod, the lower end of the nut sliding block is connected with the sliding rail in a sliding mode, the upper end of the nut sliding block is fixedly connected with the platform plate, and the screw rod rotates to drive the screw rod nut and the platform plate to move transversely.
5. The packaging film fixing device of the self-walking winding packaging robot as claimed in claim 4, wherein: the lower part of the adhesive tape wheel is provided with an adhesive tape tensioning device which comprises a transverse roller shaft assembly for S-shaped winding of an adhesive tape, the lower end of the transverse roller shaft assembly is provided with a supporting roller, and a pressing plate is arranged above the supporting roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110490938.6A CN113212826B (en) | 2021-05-06 | 2021-05-06 | Packaging film fixing device of winding packaging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110490938.6A CN113212826B (en) | 2021-05-06 | 2021-05-06 | Packaging film fixing device of winding packaging robot |
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| Publication Number | Publication Date |
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| CN113212826A true CN113212826A (en) | 2021-08-06 |
| CN113212826B CN113212826B (en) | 2022-07-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110490938.6A Active CN113212826B (en) | 2021-05-06 | 2021-05-06 | Packaging film fixing device of winding packaging robot |
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| Country | Link |
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| CN (1) | CN113212826B (en) |
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| CN114987870A (en) * | 2022-04-30 | 2022-09-02 | 郑州轻工业大学 | Intelligent film disassembling equipment for top-side integrated packaging film cold cutting |
| CN115571397A (en) * | 2022-11-21 | 2023-01-06 | 德佟电子科技(江苏)有限公司 | Film winding packaging machine for printer |
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| CN114987870A (en) * | 2022-04-30 | 2022-09-02 | 郑州轻工业大学 | Intelligent film disassembling equipment for top-side integrated packaging film cold cutting |
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| CN115571397B (en) * | 2022-11-21 | 2023-03-14 | 德佟电子科技(江苏)有限公司 | Film winding and packaging machine for printer |
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| Publication number | Publication date |
|---|---|
| CN113212826B (en) | 2022-07-12 |
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