Low-drive high-speed bag supply equipment based on Delta robot

Abstract

The invention discloses a Delta-robot-based low-drive high-speed bag supply device, and belongs to the technical field of packaging equipment, the Delta-robot-based low-drive high-speed bag supply device comprises a rack, the rack is connected with a downward Delta robot, the Delta robot comprises a fixed platform, the fixed platform is fixedly connected with the top of the rack, the fixed platform is connected with a plurality of drooping symmetrical driving branches, and the fixed platform is fixedly connected with the top of the rack. A movable platform is fixedly arranged at the terminals of the symmetrical driving branches, a cam device is arranged between the fixed platform and the movable platform, a transmission device connected with the cam device is arranged at the bottom of the movable platform, and a plurality of bag clamping devices are arranged at the bottom of the transmission device. The use of a driving motor is reduced, the equipment manufacturing cost is reduced, and the problem of high production cost is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of packaging equipment, in particular to a few driving high-speed bag feeding equipment based on a Delta robot. BACKGROUND

[0002] In the current rapid development of the packaging industry, with the continuous rise of the demand for packaging efficiency and quality in the domestic and foreign markets, the automation upgrade of packaging machinery equipment has become the core direction of the industry development. At present, although the packaging machinery industry shows a rapid market growth trend, it still faces many bottlenecks: the overall automation degree of the equipment is low, which makes it difficult to break through the packaging speed and cannot adapt to the operation demand of the high-speed production line; at the same time, some enterprises are trapped in vicious competition at low cost, which makes the equipment have short boards in safety and reliability, further restricting the high-quality development of the industry. Under this background, the development of high-speed, stable and cost-controllable bag feeding equipment as a key link of the packaging production line has become an urgent task to promote the innovation and upgrading of the domestic packaging industry. The bag feeding link as the starting end of the packaging process directly affects the operation efficiency of the whole production line. The traditional bag feeding device adopts a decentralized structure driven by multiple motors, which controls different actions such as bag taking, conveying and positioning through multiple motors. This not only leads to complex equipment structure and difficult assembly, but also significantly increases the hardware procurement and maintenance cost. At the same time, when multiple motors are controlled cooperatively, the problem of action delay or poor connection is easy to occur, which directly reduces the bag feeding efficiency and has a significant gap with the demand for high-speed packaging. Delta robot has the advantages of high three-dimensional spatial movement freedom, outstanding motion efficiency, high end effector precision and small motion inertia, and can realize high-speed and stable material grabbing and transfer, which has become an important adaptation technology for the upgrade of packaging machinery equipment. Its application in the bag feeding link is generally considered as the future development trend of the industry. However, the existing devices that combine Delta robot with bag feeding function still have not broken through the design limitation of traditional multiple motor driving, and have not fully utilized the structural advantages of Delta robot to simplify the driving system, resulting in high equipment cost and restricted improvement of bag feeding efficiency, which is difficult to meet the urgent demand of the packaging industry for "high-speed, low-cost and high-reliability" bag feeding equipment. Therefore, there is an urgent need for a Delta robot bag feeding device with more optimized structure and lower cost. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a few driving high-speed bag feeding equipment based on a Delta robot, which aims to solve the core problem of low bag feeding efficiency and high production cost in the prior art.

[0004] To solve the above technical problems, the technical scheme adopted by the present application is: a few driving high-speed bag feeding equipment based on Delta robot, including rack, downward Delta robot is connected and arranged on the rack, the Delta robot includes fixed platform, the fixed platform is fixedly connected with the top of the rack, a plurality of downward symmetrical driving branches are connected and arranged on the fixed platform, a movable platform is commonly fixedly arranged at the terminal of the plurality of symmetrical driving branches, a cam device is arranged between the fixed platform and the movable platform, a transmission device is arranged at the bottom of the movable platform, and a plurality of bag clamping devices are arranged at the bottom of the transmission device.

[0005] Further improvement of the technical scheme of the present application is that the cam device includes a universal joint one fixedly connected with the fixed platform of the Delta robot, a cylindrical track shaft is connected with the lower end of the universal joint one, two symmetrical cam tracks are arranged on the side of the track shaft, the shape of the cam track is that the upper part is a straight line, the middle part is a curve spirally wound around the track shaft, and the lower part is a straight line, a cam sleeve is arranged outside the track shaft, two protruding shafts are arranged inside the cam sleeve and horizontally extend, a cam bearing is arranged on the protruding shaft, the two protruding shafts are arranged in the two cam tracks respectively and are connected with the cam bearing to form a sliding connection, and a universal joint two is arranged at the bottom of the cam sleeve.

[0006] Further improvement of the technical scheme of the present application is that the transmission device includes a mounting shell fixedly arranged below the movable platform, a horizontal slide rail is fixedly arranged inside the mounting shell, a plurality of slidable sliding blocks are arranged on the slide rail, a horizontal gear rack is fixedly arranged in the middle of each sliding block, a bag clamping device connector is arranged at the bottom of each sliding block, a bag clamping device is arranged on the bag clamping device connector, a driving shaft is connected and arranged at the tail end of the universal joint two, a gear set is connected and arranged at the tail end of the driving shaft extending into the inside of the mounting shell, and the gear set is engaged with the gear rack of each sliding block.

[0007] Further improvement of the technical scheme of the present application is that the number of the sliding blocks is four, the four sliding blocks are symmetrically arranged on both sides of the driving shaft, the sliding blocks are sequentially arranged on the slide rail and are sliding block one, sliding block two, sliding block three and sliding block four, the sliding block one is provided with a gear rack one, the sliding block two is provided with a gear rack two, the sliding block three is provided with a gear rack three, and the sliding block four is provided with a gear rack four. Further improvement of the technical scheme of the present application is that the number, length and shape of the gear rack one and the gear rack four are completely same, the number, length and shape of the gear rack two and the gear rack three are completely same, and the length of the gear rack one and the gear rack four is greater than that of the gear rack two and the gear rack three. Further improvement of the technical scheme of the present application is that the driving large gear and the transmission large gear are completely same in tooth number and size, and the driving small gear and the transmission small gear are completely same in tooth number and size.

[0008] Further improvement of the technical scheme of the present application is that the first bag clamping device connector is arranged at the bottom of the first sliding block, the second bag clamping device connector is arranged at the bottom of the second sliding block, the third bag clamping device connector is arranged at the bottom of the third sliding block, and the fourth bag clamping device connector is arranged at the bottom of the fourth sliding block.

[0009] By adopting the above technical scheme, the present application has the following technical progress: the bag feeding function is realized through the driving control of the Delta robot; the bag feeding efficiency is improved through the high-speed movement of the multiple bag clamping devices, and the slow bag feeding problem is solved; meanwhile, the use of driving motors is reduced through the movement of the mechanical structure and the transmission of power, the equipment manufacturing cost is reduced, and the high production cost problem is solved. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings. Figure 1 Fig. 1 is a schematic diagram of the overall structure of the bag feeding device of the present application; Figure 2 Fig. 2 is a schematic diagram of the structure of the Delta robot of the present application; Figure 3 Fig. 3 is a schematic diagram of the structure of the cam device of the present application; Figure 4 Fig. 4 is a schematic diagram of the structure of the transmission device of the present application.

[0011] Among them, 1. Frame, 2. Delta robot, 21. Fixed platform, 22. Moving platform, 23. Symmetrical drive branch, 3. Cam device, 31. Universal coupling one, 32. Cam track, 33. Cam bearing, 34. Cam sleeve, 35. Universal coupling two, 4. Transmission device, 41. Mounting shell, 42. Drive shaft, 43. Slide rail, 431. Slider one, 432. Slider two, 433. Slider three, 434. Slider four, 441. Rack one, 442. Rack two, 443. Drive large gear, 444. Drive small gear, 451. Rack four, 452. Rack three, 453. Transmission large gear, 454. Transmission small gear, 461. Bag clamping device connector one, 462. Bag clamping device connector two, 463. Bag clamping device connector three, 464. Bag clamping device connector four, 5. Bag clamping device. Detailed Implementation

[0012] The present invention will be further described in detail below with reference to embodiments: like Figure 1 The diagram shows a structural schematic of a low-drive, high-speed bag feeding device based on a Delta robot, including a rectangular frame 1. A downward-facing Delta robot 2 is positioned below the top crossbeam of the frame 1. Figure 2 As shown, the Delta robot 2 includes a fixed platform 21, which is fixedly connected to the top of the frame 1. Multiple symmetrical driving branches 23 are connected to the fixed platform 21; in this embodiment, there are three driving branches 23. A moving platform 22 is fixedly mounted at the ends of the three symmetrical driving branches 23. A cam device 3 is provided between the fixed platform 21 and the moving platform 22. A transmission device 4 connected to the cam device 3 is located at the bottom of the moving platform 22. Several bag-clamping devices 5 are located at the bottom of the transmission device 4. The main function of the Delta robot 2 is to provide support for the transmission device 4 and the bag-clamping devices 5, and to provide drive for the high-speed movement of the entire device.

[0013] like Figure 3As shown, the cam device 3 includes a universal joint one 31 fixedly connected with the fixed platform 21 of the Delta robot 2, a cylindrical track shaft connected at the lower end of the universal joint one 31, two symmetrical cam tracks 32 provided on the side of the track shaft, the cam tracks 32 being shaped as straight lines at the upper part, curved lines spirally wound around the track shaft at the middle part, and straight lines at the lower part, a cam sleeve 34 provided outside the track shaft, two protruding shafts provided horizontally inside the cam sleeve 34, a cam bearing 33 provided on the protruding shafts, the two protruding shafts being provided in the two cam tracks 32 respectively to form a sliding connection through the cam bearing 33, and a universal joint two 35 provided at the bottom of the cam sleeve 34. That is, when the two protruding shafts slide at the straight lines at the upper part of the track, the cam sleeve 34 performs a translation motion from top to bottom without rotation. The cam bearing 33 can make the sliding more smooth. When the two protruding shafts slide at the spiral curves at the middle part of the track, the cam sleeve 34 performs a rotation motion following the spiral track of the track while moving from top to bottom. When the two protruding shafts slide at the straight lines at the lower part of the track, the cam sleeve 34 performs a translation motion from top to bottom without rotation. That is, the cam sleeve 34 separates from the track shaft from top to bottom in a motion mode of straight up-straight down-rotation-straight up-straight down.

[0014] As Figure 4 As shown in FIG. 4 is a structural schematic view of the transmission device 4, which includes a mounting shell 41 fixedly provided below the movable platform 22, a horizontal slide rail 43 fixedly provided inside the mounting shell 41, a plurality of slidable slide blocks provided on the slide rail 43, in this embodiment, four slide blocks, a horizontal rack fixedly provided at the middle part of each slide block, a bag clamping device connecting piece provided at the bottom of each slide block, a bag clamping device 5 provided on the bag clamping device connecting piece, and a gear set horizontally placed and rotatable provided inside the mounting shell 41 through a rotatable support shaft. The gear set and the racks of the slide blocks are engaged, a driving shaft 42 connected at the tail end of the universal joint two 35, the driving shaft 42 extending into the mounting shell 41 and fixedly connected with the gear set. That is, when the cam sleeve 34 rotates, the driving shaft 42 is driven to rotate, the gear set is driven to rotate, the racks are driven to slide, and the slide blocks are driven to slide. The specific connection relationship is as follows: In this embodiment, there are four sliders, and therefore four bag clamping devices 5. The four sliders are symmetrically arranged on both sides of the drive shaft 42 and mounted on the slide rail 43. They are slider one 431, slider two 432, slider three 433, and slider four 434 in sequence. Slider one 431 is equipped with rack one 441, slider two 432 is equipped with rack two 442, slider three 433 is equipped with rack three 452, and slider four 434 is equipped with rack four 451. The gear set mounted on the drive shaft 42 is specifically the drive shaft 42 A large drive gear 443 is fixedly connected to the bottom. A small drive gear 444 is fixedly mounted on the bottom of the large drive gear 443. A large transmission gear 453 meshes with the large drive gear 443 on its side. A small transmission gear 454 is mounted on the bottom of the large transmission gear 453. The large drive gear 443 meshes with rack one 441, the small drive gear 444 meshes with rack two 442, the large transmission gear 453 meshes with rack four 451, and the small transmission gear 454 meshes with rack three 452. Rack one 441 and rack four 451 have the same number of teeth, length, and shape. Rack two 442 and rack three 452 have the same number of teeth, length, and shape. The length of rack one 441 and rack four 451 is greater than that of rack two 442 and rack three 452. The large drive gear 443 and the large transmission gear 453 have the same number of teeth and size. The small drive gear 444 and the small transmission gear 454 have the same number of teeth and size. The bottom of slider 1 431 is provided with bag clamping device connector 1 461, the bottom of slider 2 432 is provided with bag clamping device connector 2 462, the bottom of slider 3 433 is provided with bag clamping device connector 3 463, and the bottom of slider 434 is provided with bag clamping device connector 464. The structure of bag clamping device connector 1 461 and bag clamping device connector 464 is symmetrical, and the structure of bag clamping device connector 2 462 and bag clamping device connector 3 463 is the same.

[0015] The Delta robot has three translational degrees of freedom. To achieve the bag-loading action, the displacement of the moving platform required for the bag-loading action is completed through the coordinated work of three motors via the drive control of the Delta robot. The entire transmission device generates three-dimensional translational motion along with the moving platform.

[0016] To achieve the bag-separating action, the Delta robot's moving platform undergoes three-dimensional translational motion relative to the fixed platform. A bag-separating transmission device is mounted on the moving platform, driven by the rotation of a follower bag-separating cam device. This transmission device contains a gear set for power transmission, ultimately transmitting the motion to the end-effector gripper to achieve the bag-separating action. Specifically, the bag-separating action can be further described as follows: the follower action of the cam track, cam bearing, and cam sleeve in the cam device transmits motion and power to the drive shaft of the transmission device. Then, the meshing of the gear set and rack drives the bag-gripping device at the end of the gripper connector to move symmetrically on both sides of the drive shaft, thus achieving the bag-separating action.

[0017] To achieve faster bag feeding, the transmission device adopts a four-station mode for bag clamping, which increases the number of bags fed at one time and further improves the working efficiency of the mechanism.

[0018] To reduce the cost of mechanism construction, the cam device adopts a non-driven follow-up motion form, and the rotation of the cam device is completed by the relative motion of the moving platform and the fixed platform.

[0019] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A low-drive, high-speed bag feeding device based on a Delta robot, characterized in that: The system includes a frame (1), on which a downward Delta robot (2) is connected. The Delta robot (2) includes a fixed platform (21), which is fixedly connected to the top of the frame (1). Multiple downward symmetrical drive branches (23) are connected to the fixed platform (21). A moving platform (22) is fixedly connected at the end of the multiple symmetrical drive branches (23). A cam device (3) is provided between the fixed platform (21) and the moving platform (22). A transmission device (4) connected to the cam device (3) is provided at the bottom of the moving platform (22). Several bag clamping devices (5) are provided at the bottom of the transmission device (4).

2. The low-drive, high-speed bag feeding device based on a Delta robot according to claim 1, characterized in that: The cam device (3) includes a universal coupling (31) fixedly connected to the fixed platform (21) of the Delta robot (2). The lower end of the universal coupling (31) is connected to a cylindrical track shaft. Two symmetrical cam tracks (32) are provided on the side of the track shaft. The cam track (32) is straight at the top, curved in the middle and spirally coiled around the track shaft, and straight at the bottom. A cam sleeve (34) is sleeved on the outside of the track shaft. Two horizontally protruding cam shafts are provided inside the cam sleeve (34). Cam bearings (33) are sleeved on the cam shafts. The two cam shafts and cam bearings (33) are respectively installed in the two cam tracks (32) to form a sliding connection. A universal coupling (35) is provided at the bottom of the cam sleeve (34).

3. A low-drive, high-speed bag feeding device based on a Delta robot according to claim 2, characterized in that: The transmission device (4) includes a mounting shell (41) fixedly installed below the moving platform (22). A horizontal slide rail (43) is fixedly installed inside the mounting shell (41). Several slidable sliders are mounted on the slide rail (43). A horizontal rack is fixedly installed in the middle of each slider. A bag clamping device connector is installed at the bottom of each slider. A bag clamping device (5) is installed on the bag clamping device connector. A drive shaft (42) is connected to the tail end of the universal coupling (35). The tail end of the drive shaft (42) extends into the mounting shell (41) and is connected to a gear set.

4. A low-drive, high-speed bag feeding device based on a Delta robot according to claim 3, characterized in that: Four sliders are symmetrically arranged on both sides of the drive shaft (42) and mounted on the slide rail (43). They are slider one (431), slider two (432), slider three (433), and slider four (434) in sequence. Slider one (431) is equipped with rack one (441), slider two (432) is equipped with rack two (442), slider three (433) is equipped with rack three (452), and slider four (434) is equipped with rack four (451). The gear set mounted on the drive shaft (42) is specifically a drive gear fixed at the bottom of the drive shaft (42). A large gear (443) is driven by a small gear (444) fixedly installed at the bottom of the large gear (443). A transmission gear (453) meshes with the side of the large gear (443). A transmission small gear (454) is installed at the bottom of the transmission gear (453). The large gear (443) meshes with rack one (441), the small gear (444) meshes with rack two (442), the transmission gear (453) meshes with rack four (451), and the small gear (454) meshes with rack three (452).

5. A low-drive, high-speed bag feeding device based on a Delta robot according to claim 4, characterized in that: The number of teeth, length and shape of rack 1 (441) and rack 4 (451) are exactly the same. The number of teeth, length and shape of rack 2 (442) and rack 3 (452) are exactly the same. The length of rack 1 (441) and rack 4 (451) is greater than that of rack 2 (442) and rack 3 (452).

6. A low-drive, high-speed bag feeding device based on a Delta robot according to claim 4, characterized in that: The number of teeth and size of the drive gear (443) and the transmission gear (453) are exactly the same, as are the number of teeth and size of the drive pinion (444) and the transmission pinion (454).

7. A low-drive, high-speed bag feeding device based on a Delta robot according to claim 4, characterized in that: The bottom of slider 1 (431) is provided with bag clamping device connector 1 (461), the bottom of slider 2 (432) is provided with bag clamping device connector 2 (462), the bottom of slider 3 (433) is provided with bag clamping device connector 3 (463), and the bottom of slider 4 (434) is provided with bag clamping device connector 4 (464). The structure of bag clamping device connector 1 (461) and bag clamping device connector 4 (464) is symmetrical, and the structure of bag clamping device connector 2 (462) and bag clamping device connector 3 (463) is the same.

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