A bionic mechanical arm-type bag-feeding mechanism with bag-rolling function

Abstract

The present invention discloses a bionic mechanical arm type bag feeding mechanism with a bag-stroking function, comprising a mounting frame, the bottom end of the mounting frame is provided with two flippable bent arms through a horizontal and vertical rotating shaft, and the two bent arms are respectively located on both sides of the mounting frame, the front ends of the bent arms are respectively provided with clamping mechanisms for clamping and fixing bag openings on both sides, the clamping mechanism comprises a clamping arm, the front ends of the clamping arm are respectively provided with clamping plates for clamping both sides of the material bag, the clamping action of the clamping plate is driven by a clamping claw cylinder, after the clamping plate is clamped, the clamping arm is driven by a rotating arm cylinder to rotate toward each other to make way for the bag opening mechanism, a flippable bag-supporting mechanism is installed between the two clamping arms through a bag-supporting rotating shaft, the flipping of the bag-supporting mechanism is driven by a bag-supporting flipping cylinder, and the bag-supporting mechanism comprises two left bag-supporting plates and right bag-supporting plates arranged in parallel. The present invention adopts a bionic mechanical arm type structure, integrates bag moving, bag clamping and bag feeding, has a bag-stroking function, simplifies the equipment structure, and improves work efficiency.

Description

Technical field:

[0001] The invention relates to the field of bag feeding machines, and mainly to a bionic mechanical arm type bag feeding mechanism with a bag-rolling function. Background technology:

[0002] At present, the actions of the automatic bag supply mechanism include taking bags, moving bags, opening bags, clamping bags, and delivering bags. Each action process requires a corresponding mechanism to implement. The mechanisms in the prior art all act independently, occupying a large space, and the equipment has an independent structure, and the required equipment has a high cost. Moreover, the coordinated actions between the various devices are decomposed into multiple handover actions. During the mobile handover process, the stability of the handover will be affected by the stability of each mechanism, so the stability is poor, and there will be certain errors, which will affect the effect of bag supply. At the same time, the time required for the handover process of each mechanism is relatively long, which affects the work efficiency. There are certain errors that lead to poor stability and low efficiency. Therefore, how to improve the existing bag supply equipment during the bag supply process, the bag supply stability is poor due to multiple actions and a large number of handovers is a problem that the present invention needs to solve. Summary of the invention:

[0003] The purpose of the present invention is to make up for the defects of the existing technology and provide a bionic mechanical arm type bag delivery mechanism with bag smoothing function. It adopts a bionic mechanical arm structure, integrates bag moving, bag clamping and bag delivery in one, has the bag smoothing function, simplifies the equipment structure, improves work efficiency, reduces the errors and stability in the handover process, and meets the requirements of batch processing and production.

[0004] The present invention is achieved through the following technical solutions:

[0005] The bag-feeding mechanism of the present invention is a bionic mechanical arm type bag-feeding mechanism with a bag-smoothing function, comprising a mounting frame, the bottom end portion of the mounting frame is provided with two flippable bent arms through a horizontal and vertical rotating shaft, and the two bent arms are respectively located on two sides of the mounting frame, and the front ends of the bent arms are respectively provided with clamping mechanisms for clamping and fixing the bag openings on both sides, the clamping mechanism comprises clamping arms, and the front ends of the clamping arms are respectively provided with clamping plates for clamping the two sides of the material bag, the clamping action of the clamping plates is driven by a clamping claw cylinder, and after the clamping plates are clamped, the clamping arms are driven by a rotating arm cylinder to rotate towards each other to make way for the bag opening mechanism, a flippable bag-holding mechanism is installed between the two clamping arms through a bag-holding rotating shaft, and the flipping of the bag-holding mechanism is driven by a bag-holding flipping cylinder, the bag-holding mechanism comprises a left bag-holding plate and a right bag-holding plate arranged in parallel, and the bag-holding actions of the left bag-holding plate and the right bag-holding plate are respectively driven by corresponding bag-holding cylinders.

[0006] The mounting frame includes a crossbeam, a left side plate and a right side plate are installed on both sides of the crossbeam, a bent plate is installed on the front end surface of the crossbeam, the bent plate is connected to the left side plate and the right side plate by a reinforcing plate, a motor mounting seat is installed on the crossbeam, a motor is installed on the motor mounting seat, a driving wheel is installed on the output shaft end of the motor, a driven wheel is installed on the end of the rotating shaft below the driving wheel, the driving wheel and the driven wheel are connected by a transmission chain, the output shaft end of the motor and the driving wheel are fixedly installed by a tensioning sleeve, the two ends of the rotating shaft are rotatably installed on the left side plate and the right side plate by bearings, and the rotating shaft and the driven wheel are fixedly connected by a tensioning sleeve.

[0007] The bending arm includes an upper and lower arm plates, the rear ends of the upper and lower arm plates are respectively connected and fixed by connecting pieces to form a hollow cavity, the connecting piece is a structural piece with a hole at the rear end of the front groove-shaped piece, and the rear end of the connecting piece is rotatably installed on the corresponding connecting seat through the second rotating shaft, the connecting seat is an L-shaped groove-shaped piece, the front end of which is equipped with a clamping cylinder tail seat, the rear end of which is connected to the bending arm, and the tail seat of the swivel arm cylinder is installed in the groove at the rear end of the connecting seat, the swivel arm cylinder is installed on the tail seat of the swivel arm cylinder through the tail seat shaft, the protruding end of the piston rod of the swivel arm cylinder is connected to the upper and lower arm plates through the cylinder head shaft, and the swivel arm cylinder drives the connecting piece at the rear end of the bending arm to rotate around the second rotating shaft on the connecting seat.

[0008] The splint includes a front splint and a rear splint, and the front splint and the rear splint are respectively installed on the inner side of the front end of the bending arm, and the rear ends of the front splint and the rear splint are respectively rotatably installed on the front ends of the upper and lower arm plates through swing pins one and two, and the rear ends of the front splint and the rear splint are respectively connected through connecting plates, and the opening and closing of the front splint and the rear splint are driven by the clamping cylinder behind them, and the rear end of the clamping cylinder is fixedly installed on the tail seat of the clamping cylinder.

[0009] A connecting arm is installed on the inner side of the left connecting seat, and the outer side of the front end portion of the connecting arm is connected to the right connecting seat by a cross beam, and ear plates are respectively installed on the inner sides of the front ends of the two connecting seats, and the ear plates are connected and fixed by a front panel, and the front ends of the ear plates are connected by a bag-supporting shaft, and the bag-supporting shaft is driven by the bag-supporting flipping cylinder behind it, and the piston rod end of the bag-supporting flipping cylinder is connected to the bag-supporting shaft by a second connecting piece, and the rear end of the bag-supporting flipping cylinder is installed on the cross-groove beam through a cylinder seat, and the cross-groove beam is installed between the rear ends of the two bent arms, and two left bag-supporting plates and right bag-supporting plates arranged at intervals are installed on the bag-supporting shaft.

[0010] The rear ends of the left bag supporting plate and the right bag supporting plate are respectively installed with an upper belly plate and a lower belly plate, the bottom ends of the upper belly plate and the lower belly plate are respectively fixed on the shaft sleeves, and a fixed shaft matching the shaft sleeve is installed on the bag supporting shaft, and the rotation of the shaft sleeve on the fixed shaft is driven by a bag supporting cylinder, and the cylinder body end of the bag supporting cylinder is fixedly installed on the end of the bag supporting shaft through a cylinder seat, and the protruding ends of the piston rods of the bag supporting cylinders are respectively connected to the lower belly plates on the corresponding sides through cylinder head seats, and the cylinder body end of the bag supporting cylinder is fixed to the bag supporting shaft through a cylinder tail seat.

[0011] A fisheye joint is installed at the front end of the cylinder guide rod of the swing arm cylinder, and is connected to the upper and lower arm plates on the clamping arm through the cylinder head shaft via the fisheye joint. The rear end of the clamping claw cylinder is connected to the upper and lower arm plates on the clamping arm through the tailstock pin shaft, and a "Y"-shaped joint is installed at the front end of the guide rod of the home claw cylinder, and is connected to the rear clamping plate through the cylinder head pin shaft via the "Y"-shaped joint.

[0012] A bag clamping plate is installed on the side of the front splint and the rear splint, and three through holes are arranged on the main body of the front splint and the rear splint, the holes on the long sides are connected to the clamping claw cylinder, the holes at the end of the short sides are connected to one end of the connecting plate by a short shaft, and the holes at the middle corner are connected to the upper and lower arm plates of the clamping arm by a second rotating pin, the connecting plate has a waist-shaped shape with mounting holes at both ends, one end of the mounting hole is connected to the rear splint, and the other end of the mounting hole is connected to the tail hole of the front splint by a short shaft; the front splint has an "L"-shaped shape, with two through holes on its main body, the hole at the tail end is connected to the connecting plate by a short shaft, and the middle hole is connected to the upper and lower arm plates of the clamping arm by a rotating pin one, and a bag clamping plate is installed on the side of the front splint.

[0013] The piston rod end of the bag-supporting and flipping cylinder is equipped with a fisheye joint and connected to the second connector by the fisheye joint. The second connector is fixed to the bag-supporting shaft. The two ends of the bag-supporting shaft are connected to the ear plates. The bottoms of the rear and front plates are fixed to the bag-supporting shaft by pins and bearings. The cylinder seat is installed on the rear side of the bag-supporting shaft, and the bag-supporting cylinder is installed on it.

[0014] The cylinder guide rod end of the bag-supporting cylinder is equipped with a fisheye joint and is connected to the cylinder head seat on the bag-supporting plate through the fisheye joint. The tail of the other bag-supporting cylinder is connected to the cylinder tail seat on the right bag-supporting plate. The cylinder guide rod end of the other bag-supporting cylinder is equipped with a fisheye joint and is connected to the cylinder head seat on the right bag-supporting plate through the fisheye joint.

[0015] The principle is that, through the design of the bag feeding mechanism in the present application, a bionic mechanical arm structure is adopted, which integrates bag moving, bag clamping and bag feeding, has the function of smoothing bags, simplifies the equipment structure, and installs a reversible clamping mechanism and a bag supporting mechanism through the mounting frame. The clamping mechanism clamps the two sides of the bag mouth coming from the bag feeding mechanism. After clamping, the arm cylinder drives the phase box to rotate, and then the bag is opened by the existing bag opening mechanism externally arranged above. After opening the bag, the bag mouth is opened by the bag supporting mechanism. After opening, the filling station can be reached directly by flipping. The specific process is: when the material bag moves to the bag opening position in a horizontal state, the clamping plate of the clamping mechanism clamps the material On both sides of the bag, at this time, the bag opening mechanism of the bag feeding mechanism clamps the upper and lower sides of the material bag and then opens the material bag mouth. At this time, the guide rod of the rotating arm cylinder extends out to rotate the clamping arms toward each other to provide the space required for bag opening. When the material bag is opened, the bag supporting plate of the bag supporting mechanism extends into the bag mouth of the material bag under the action of the bag supporting cylinder, and supports the material bag into an open state; then, the bag feeding mechanism rotates counterclockwise to rotate the material bag 90 degrees and feeds the opening into the filling port to complete the bag feeding process. The whole process is simple to operate, does not require a large number of shifting and handover processes, simplifies the operation steps, improves work efficiency, reduces errors and stability in the handover process, and meets the requirements of batch processing and production.

[0016] The advantages of the present invention are:

[0017] The present invention has a reasonable structural design and adopts a bionic mechanical arm structure, integrating bag moving, bag clamping and bag delivery, and has a bag smoothing function, which simplifies the equipment structure, does not require a large number of shifting and handover processes, simplifies the operating steps, improves work efficiency, reduces errors and stability in the handover process, and meets the requirements of batch processing and production. Description of the drawings:

[0018] Figure 1 It is the front view of the present invention;

[0019] Figure 2 It is a right side view of the present invention;

[0020] Figure 3 It is a left side view of the present invention;

[0021] Figure 4 A top view of the present invention;

[0022] Figure 5 It is a bottom view of the present invention;

[0023] Figure 6 It is a rear view of the present invention;

[0024] Figure 7 This is an axonometric diagram of the present invention;

[0025] Figure 8It is a partial axonometric schematic diagram of the present invention;

[0026] Fig. 9 Axonometric diagram after the right side "upper and lower arm plates" are removed;

[0027] Fig.10 This is a top view diagram after the "upper and lower arm plates" on the right side are removed;

[0028] Fig.11 This is a partial axonometric diagram of the "splint";

[0029] Fig.12 It is a partial axonometric diagram of the "splint" from two perspectives: left and right.

[0030] Fig.13 It is the working diagram of the bag feeding mechanism;

[0031] Fig.14 This is a partial axonometric diagram of the "clamp arm".

[0032] Reference numerals:

[0033] 1. Mounting frame; 100. Bend plate; 101. Crossbeam; 102. Left side plate; 103. Right side plate; 104. Reinforcement plate; 105. Motor mounting seat; 106. Motor; 107. Driving wheel; 108. Transmission chain; 109. Driven wheel; 110. Rotating shaft; 111. Bearing; 112. Tensioning sleeve; 2. Clamping arm; 200. Upper and lower arm plates; 201. Connecting piece; 202. Connecting seat; 203. Rotating shaft 2; 204. Tensioning sleeve 2; 205. Tail stock shaft; 206. Rotating arm cylinder; 207. Cylinder head shaft; 208. Clamping claw cylinder; 209. Tail stock pin shaft; 210. Cylinder head pin shaft; 211. Clamping bag plate; 2 12. Rear splint; 213. Front splint; 214. Connecting plate; 215. Turn pin 2; 216. Turn pin 1; 217. Short shaft; 218. Bag-supporting turning cylinder; 219. Bag-supporting rotating shaft; 220. Connecting piece 2; 221. Left bag-supporting plate; 222. Cylinder seat 1; 223. Bag-supporting cylinder; 224. Bending arm; 225. Connecting arm; 226. Front panel; 227. Crossbeam; 228. Ear plate; 229. Turn arm cylinder tail seat; 230. Gripping jaw cylinder tail seat; 22101. Upper belly plate; 22102. Lower belly plate; 22103. Cylinder head seat; 231. Right bag-supporting plate; Cylinder seat 232. Cross-groove beam 233. Specific implementation method:

[0034] See attached picture.

[0035] A bionic mechanical arm type bag feeding mechanism with bag-smoothing function comprises a mounting frame 1, the bottom end of the mounting frame 1 is provided with two flippable bent arms 224 through a horizontal and vertical rotating shaft 110, and the two bent arms 224 are respectively located on both sides of the mounting frame 1, and the front ends of the bent arms 224 are respectively provided with clamping mechanisms for clamping and fixing bag openings on both sides, and the clamping mechanism comprises a clamping arm 2, and the front ends of the clamping arm 2 are respectively provided with clamping plates for clamping both sides of the material bag, and the clamping action of the clamping plates is The operation is driven by the clamping claw cylinder 208. After the clamping plate is clamped, the arm cylinder 206 drives the clamping arms 2 to rotate toward each other to make way for the bag opening mechanism. A reversible bag-holding mechanism is installed between the two clamping arms 2 through the bag-holding rotating shaft 219. The reversal of the bag-holding mechanism is driven by the bag-holding reversing cylinder 218. The bag-holding mechanism includes two left bag-holding plates 221 and right bag-holding plates 231 arranged in parallel. The bag-holding actions of the left bag-holding plates 221 and the right bag-holding plates 231 are driven by the corresponding bag-holding cylinders 223 respectively.

[0036] Furthermore, the mounting frame 1 includes a crossbeam 101, a left side plate 102 and a right side plate 103 are mounted on both sides of the crossbeam 101, a bent plate 100 is mounted on the front end surface of the crossbeam 101, the bent plate 100 is connected to the left side plate 102 and the right side plate 103 via a reinforcing plate 104, a motor mounting seat 105 is mounted on the crossbeam 101, a motor 106 is mounted on the motor mounting seat 105, a driving wheel 107 is mounted on the output shaft end of the motor 106, a driven wheel 109 is mounted on the end of the rotating shaft below the driving wheel 107, the driving wheel 107 and the driven wheel 109 are connected to each other through a transmission chain 108, the output shaft end of the motor and the driving wheel 107 are fixedly mounted via a tensioning sleeve 112, both ends of the rotating shaft 110 are rotatably mounted on the left side plate 102 and the right side plate 103 via bearings 111, and the rotating shaft 110 and the driven wheel 109 are fixedly connected via a tensioning sleeve 204.

[0037] Furthermore, the bending arm 224 includes an upper and lower arm plate 200, and the rear ends of the upper and lower arm plates 200 are respectively connected and fixed by connecting members 201 to form a hollow cavity. The connecting member 201 is a structural member with a hole at the rear end of the front groove-shaped member. The rear end of the connecting member 201 is rotatably installed on the corresponding connecting seat 202 through the second rotating shaft 203. The connecting seat 202 is an L-shaped groove-shaped member, and a clamping cylinder tail seat 230 is installed at its front end, and its rear end is connected to the bending arm 224, and a swivel arm cylinder tail seat 229 is installed in the groove at the rear end of the connecting seat 202. A swivel arm cylinder 206 is installed on the swivel arm cylinder tail seat 229 through the tail seat shaft 205. The protruding end of the piston rod of the swivel arm cylinder 206 is connected to the upper and lower arm plates 200 through the cylinder head shaft 207. The swivel arm cylinder 206 drives the connecting member 201 at the rear end of the bending arm 224 to rotate around the second rotating shaft 203 on the connecting seat 202. A fisheye joint is installed at the front end of the cylinder guide rod of the swing arm cylinder 206, and is connected to the upper and lower arm plates 200 on the clamping arm 2 via a cylinder head shaft 207 using the fisheye joint. The rear end of the clamping claw cylinder 208 is connected to the upper and lower arm plates 200 on the clamping arm 2 via a tailstock pin shaft 209, and a "Y"-shaped joint is installed at the front end of the guide rod of the home claw cylinder, and is connected to the rear clamping plate 212 via a cylinder head pin shaft 210 using the "Y"-shaped joint.

[0038] Furthermore, the splint includes a front splint 213 and a rear splint 212, and the front splint 213 and the rear splint 212 are respectively installed on the inner side of the front end of the bending arm, and the rear ends of the front splint 213 and the rear splint 212 are respectively rotatably installed on the front ends of the upper and lower arm plates through a turn pin 1 216 and a turn pin 215, and the rear ends of the front splint 213 and the rear splint 212 are respectively connected through a connecting plate 214, and the opening and closing of the front splint 213 and the rear splint 212 are driven by the clamping cylinder 208 behind them, and the rear end of the clamping cylinder 208 is fixedly installed on the clamping cylinder tail seat 230. A fisheye joint is installed at the end of the piston rod of the bag-supporting and flipping cylinder and is connected to the second connector 220 by the fisheye joint. The second connector 220 is fixed to the bag-supporting shaft (219). Both ends of the bag-supporting shaft (219) are connected to the ear plates (228). The bottoms of the rear clamping plate (212) and the front clamping plate 213 are fixed to the bag-supporting shaft 219 by pins and bearings. The cylinder seat 222 is installed at the rear side of the bag-supporting shaft 219, and the bag-supporting cylinder 233 is installed thereon.

[0039] Furthermore, a connecting arm 225 is installed on the inner side of the left connecting seat 202, and the outer side of the front end portion of the connecting arm 225 is connected to the right connecting seat 202 through a cross beam 227. Ear plates 228 are respectively installed on the inner sides of the front ends of the two connecting seats 202. The ear plates 228 are connected and fixed by a front panel 226. The front ends of the ear plates 228 are connected by a bag-supporting shaft 219. The bag-supporting shaft 219 is driven by a bag-supporting flipping cylinder 218 behind it. The piston rod end of the bag-supporting flipping cylinder 218 is connected to the bag-supporting shaft 219 through a connecting piece 220. The rear end of the bag-supporting flipping cylinder 218 is installed on the cross-groove beam 233 through a cylinder seat 232. The cross-groove beam 233 is installed between the rear ends of the two bent arms 224. The bag-supporting shaft 219 is installed with two spaced-apart left bag-supporting plates 221 and right bag-supporting plates 231. The rear ends of the left bag supporting plate 221 and the right bag supporting plate 231 are respectively installed with an upper belly plate 22101 and a lower belly plate 22102, the bottom ends of the upper belly plate 22101 and the lower belly plate 22102 are respectively fixed on the shaft sleeves, and a fixed shaft matching the shaft sleeve is installed on the bag supporting shaft 219. The rotation of the shaft sleeve on the fixed shaft is driven by the bag supporting cylinder 223. The cylinder body end of the bag supporting cylinder 223 is fixedly installed on the end of the bag supporting shaft 219 through a cylinder seat 222, and the protruding ends of the piston rods of the bag supporting cylinders 223 are respectively connected with the lower belly plates 22102 on the corresponding sides through cylinder head seats 22103.

[0040] Furthermore, a bag clamping plate 211 is installed on the side of the front splint 213 and the rear splint 212, and three through holes are set on the body of the front splint 213 and the rear splint 212. The holes on the long sides are connected to the clamping claw cylinder 208, and the holes at the end of the short sides are connected to one end of the connecting plate 214 by a short shaft 217. The hole at the middle corner is connected to the upper and lower arm plates 200 of the clamping arm 2 by a turn pin 215. The connecting plate 214 has a waist-shaped shape with mounting holes at both ends. One end of the mounting hole is connected to the rear splint 212, and the mounting hole at the other end is connected to the tail hole of the front splint 213 by a short shaft 217; the front splint 213 has an "L"-shaped shape, and there are two through holes on its body. The hole at the tail end is connected to the connecting plate 214 by a short shaft 217, and the middle hole is connected to the upper and lower arm plates 200 of the clamping arm 2 by a turn pin 216. The side of the front splint 213 is installed with a bag clamping plate 211.

[0041] The cylinder guide rod end of the bag-supporting cylinder 233 is installed with a fisheye joint and is connected to the cylinder head seat (22103) on the bag-supporting plate (221) through the fisheye joint. The tail of the other bag-supporting cylinder (233) is connected to the cylinder tail seat (23102) on the right bag-supporting plate (231). The cylinder guide rod end of the other bag-supporting cylinder 233 is installed with a fisheye joint and is connected to the cylinder head seat on the right bag-supporting plate 231 through the fisheye joint.

[0042] The present invention will be further described below with reference to the accompanying drawings:

[0043] like Figures 1 to 7 As shown, this embodiment is a bag feeding mechanism, including a mounting frame 1 and a clamping arm 2. The mounting frame 1 includes a bent plate 100, a crossbeam 101, a left side plate 102, a right side plate 103, a reinforcing plate 104, a motor mounting seat 105, etc. The bent plate 100 is an "L"-shaped device installed in the front middle position of the mounting frame. The crossbeam 101 is horizontally placed on the rear side of the bent plate. The left side plate 102 is placed on the left side of the bag feeding mechanism and is perpendicular to the bent plate and the crossbeam. The right side plate 103 is placed on the right side of the bag feeding mechanism and is perpendicular to the bent plate and the crossbeam. The reinforcing plate 104 is placed between the left and right side plates and is respectively perpendicular to the left and right side plates and the bent plate. The motor mounting seat 105 is a frame structure installed on the outside of the left side plate 102 by bolts.

[0044] Furthermore, if Figures 1 to 7 As shown, the motor 106 passes through the left side plate 102 and is fixed on the motor mounting seat 105. A driving wheel 107 is installed on the output shaft of the motor 106 by a tension sleeve 112. A transmission chain 108 is installed on the driving wheel 107. The other end of the transmission chain 108 is connected to a driven wheel 109. The driven wheel 109 is installed on the left end of the rotating shaft 110. The rotating shaft 110 is fixed to the left and right side plates by bearings 111.

[0045] like Figures 1 to 9 As shown, the clamping arm 2 in the present invention has two of them, which are respectively placed on both sides of the bag feeding mechanism. It includes upper and lower arm plates 200, connecting parts 201, connecting seat 202, left bag supporting plate 221, bent arm 224, connecting arm 225, front panel 226, cross beam 227, ear plate 228, rotating arm cylinder tail seat 229, clamping claw cylinder tail seat 230, right bag supporting plate 231, cylinder seat 232, and transverse groove beam 233. The rear ends of the upper and lower arm plates 200 are separated by connecting parts 201 to form a cavity. The connecting part 201 is a structural part with a hole at the rear end of the front groove-shaped part. The connecting seat 202 is an "L"-shaped groove-shaped part with a clamping claw cylinder tail seat 230 at the front end, and the rear end is connected to the bent arm 224. The rotating arm cylinder tail seat 229 is installed in the groove at the rear end. As shown Fig.11The left and right support pocket plates 221 and 231 are groove-shaped plates, with upper webs 22101 on the upper side and lower webs 22102 on the lower side. A cylinder head seat 22103 is provided on the rear side of the upper web 22101 of the left support pocket plate 221. A cylinder head seat 22103 is provided on the outer side of the lower web of the right support pocket plate 231. The bent arm 224 is an "L"-shaped member with a mounting hole at the rear end, and the two bent arms 224 are separated by a transverse groove beam 233. The connecting arm 225 is located on the left side of the clamping arm, placed on the inner side of the left connecting seat 202, and its left side is connected to the connecting seat 202, and its right side is connected to the cross beam 227. The front panel 226 is a plate, the left side of which is connected to the connecting arm 225, and the inner side is horizontally connected to the cross beam 227, and its two ends are respectively provided with ear plates 228. The cross beam 227 is a groove-shaped part, and the left end is connected to the connecting arm 225, and the right end is connected to the connecting seat 202. The swing arm cylinder tail seat 229 is placed in the rear end groove of the connecting seat 202 on the right side of the clamp arm, and its appearance is a fork-shaped part with a mounting hole on the protruding part. The clamping claw cylinder tail seat 230 is a groove-shaped part with holes, and its left end is connected to the ear plate 228, and the rear side is connected to the front end of the connecting seat 202. The cylinder seat 232 is an "L"-shaped fork-shaped part installed on the lower left side of the cross groove beam 233. The cross groove beam 233 is placed between the two curved arms 224, and its two ends are connected to the curved arms 224.

[0046] Furthermore, if Figures 1 to 7 As shown, the clamp arm 2 is fixed to the rotating shaft 110 by a tensioning sleeve 204 through the hole of the bent arm 224. The rear end of the swing arm cylinder 206 is connected to the swing arm cylinder tail seat 229 by a tail seat shaft 205, and the front end of the cylinder guide rod is installed with a fisheye joint, and is connected to the upper and lower arm plates 200 on the clamp arm 2 by a cylinder head shaft 207 through the fisheye joint. The rear end of the clamping claw cylinder 208 is connected to the upper and lower arm plates 200 on the clamp arm 2 by a tail seat pin shaft 209. The front end of the cylinder guide rod is installed with a "Y" type joint, and is connected to the rear clamp plate 212 by a cylinder head pin shaft 210 through a "Y" type joint. A clamping bag plate 211 is installed on the side of the rear clamp plate 212. The clamping plate 212 is provided with three through holes on its body. The hole on its long side is connected to the clamping claw cylinder 208, the hole at the end of its short side is connected to one end of the connecting plate 214 by a short shaft 217, and the hole at the middle corner is connected to the upper and lower arm plates 200 of the clamping arm 2 by a rotating shaft 215. The connecting plate 214 is waist-shaped with mounting holes at both ends. One end of the mounting hole is connected to the rear clamping plate 212, and the other end of the mounting hole is connected to the tail hole of the front clamping plate 213 by a short shaft 217. The front clamping plate 213 is "L"-shaped in shape, with two through holes on its body. The hole at the tail end is connected to the connecting plate 214 by a short shaft 217, and the middle hole is connected to the upper and lower arm plates 200 of the clamping arm 2 by a rotating pin 216. The side of the front clamping plate 213 is installed with a clamping bag plate 211.

[0047] Furthermore, if Figures 1 to 12As shown, the tail of the bag-supporting and flipping cylinder 218 is connected to the second cylinder seat 232, and the end of the cylinder guide rod is installed with a fisheye joint and connected to the second connector 220 by the fisheye joint. The second connector 220 is fixed to the bag-supporting rotating shaft 219. Both ends of the bag-supporting rotating shaft 219 are connected to the ear plate 228. The bottoms of the left bag-supporting plate 221 and the right bag-supporting plate 231 are fixed to the bag-supporting rotating shaft 219 by pins and bearings.

[0048] Further, if Fig.11 and Fig.12 As shown, the cylinder seat 1 222 is installed at the rear side of the bag support shaft 219, and the bag support cylinder 223 is installed thereon. The cylinder guide rod end of the bag support cylinder 233 is installed with a fisheye joint and is connected to the cylinder head seat 22103 on the left bag support plate 221 through the fisheye joint. The tail of the other bag support cylinder 223 is connected to the cylinder tail seat 222 on the right bag support plate 231. The cylinder guide rod end of the other bag support cylinder 223 is installed with a fisheye joint and is connected to the cylinder head seat 222 on the right bag support plate 231 through the fisheye joint.

[0049] See also Figures 1 to 14 As shown, the working method of a bionic manipulator with bag-rolling function in this embodiment is as follows:

[0050] Step 1: The initial position of the bag feeding mechanism is: the guide rod of the bag-supporting and flipping cylinder extends, pushing the connecting plate and the rotating shaft to rotate counterclockwise to turn the clamping plate and the front clamping plate to the initial state of the clamping plate;

[0051] Step 2: When the material bag moves to Fig.13 When the bag is in the position, the clamping plates of the bag feeding mechanism clamp the two sides of the material bag, and the bag opening mechanism opens the material bag. At this time, the guide rod of the rotating arm cylinder extends to drive the two clamping arms to rotate toward each other to give the material bag the space it needs when opening the bag mouth.

[0052] Step 3: When the bag opening is opened, the guide rod of the bag flipping cylinder shrinks, pushing the connecting plate and the rotating shaft to rotate clockwise to turn the clamping plate and the front clamping plate to insert the clamping plate into the bag opening;

[0053] Step 4: After completing the above actions, the clamp arm drives the driving wheel to rotate counterclockwise under the drive of the motor, and the driving wheel drives the driven wheel to rotate counterclockwise through the transmission chain, and the driven wheel drives the clamp arm to turn 90 degrees counterclockwise to enter the canning position;

[0054] Step 5: After the canning is completed, the material bag is handed over to the canning mechanism. At this time, the clamp arm drives the driving wheel to rotate clockwise under the drive of the motor, and drives the driven wheel to rotate clockwise through the transmission chain to move the clamp arm to the initial position to deliver the next material bag.

[0055] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the invention or exceed the scope defined by the claims, they are all within the protection scope of the present invention.

[0056] In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0057] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bionic mechanical arm type bag feeding mechanism with bag smoothing function, characterized in that: The invention comprises a mounting frame (1), wherein the bottom end of the mounting frame (1) is provided with two flippable bent arms (224) via a horizontal and vertical rotating shaft (110), and the two bent arms (224) are respectively located on two sides of the mounting frame (1), and the front ends of the bent arms (224) are respectively provided with clamping mechanisms for clamping and fixing bag openings on both sides, and the clamping mechanisms comprise clamping arms (2), and the front ends of the clamping arms (2) are respectively provided with clamping plates for clamping two sides of a material bag, and the clamping action of the clamping plates is performed by a clamping claw cylinder (208). The clamping plate is driven by the arm rotating cylinder (206) to drive the clamping arms (2) to rotate towards each other to make way for the bag opening mechanism after clamping. A reversible bag-holding mechanism is installed between the two clamping arms (2) via a bag-holding rotating shaft (219). The reversal of the bag-holding mechanism is driven by a bag-holding reversing cylinder (218). The bag-holding mechanism comprises a left bag-holding plate (221) and a right bag-holding plate (231) arranged in parallel. The bag-holding actions of the left bag-holding plate (221) and the right bag-holding plate (231) are driven by corresponding bag-holding cylinders (223) respectively. The mounting frame (1) comprises a crossbeam (101), a left side plate (102) and a right side plate (103) are mounted on both sides of the crossbeam (101), a bent plate (100) is mounted on the front end surface of the crossbeam (101), the bent plate (100) is connected to the left side plate (102) and the right side plate (103) via a reinforcing plate (104), a motor mounting seat (105) is mounted on the crossbeam (101), a motor (106) is mounted on the motor mounting seat (105), and an output shaft end of the motor (106) is mounted A driving wheel (107) is provided, a driven wheel (109) is installed at the end of the rotating shaft below the driving wheel (107), the driving wheel (107) and the driven wheel (109) are connected to each other via a transmission chain (108), the output shaft end of the motor and the driving wheel (107) are fixedly installed via a tension sleeve (112), both ends of the rotating shaft (110) are rotatably installed on the left side plate (102) and the right side plate (103) via bearings (111), and the rotating shaft (110) and the driven wheel (109) are fixedly connected via a second tension sleeve (204); The bending arm (224) comprises an upper and lower arm plate (200), the rear ends of the upper and lower arm plates (200) are respectively connected and fixed by a connecting piece (201) to form a hollow cavity, the connecting piece (201) is a structural member with a hole at the rear end of the front groove-shaped member, the rear end of the connecting piece (201) is respectively rotatably mounted on a corresponding connecting seat (202) via a second rotating shaft (203), the connecting seat (202) is an L-shaped groove-shaped member, the front end of which is mounted with a clamping claw cylinder tail seat (230), and the rear end of which is The connecting seat (202) is connected to the bending arm (224), and a swivel arm cylinder tail seat (229) is installed in a groove at the rear end of the connecting seat (202). A swivel arm cylinder (206) is installed on the swivel arm cylinder tail seat (229) via a tail seat shaft (205). The extended end of the piston rod of the swivel arm cylinder (206) is connected to the upper and lower arm plates (200) via a cylinder head shaft (207). The swivel arm cylinder (206) drives the connecting piece (201) at the rear end of the bending arm (224) to rotate around the second rotating shaft (203) on the connecting seat (202).

2. The bionic mechanical arm type bag conveying mechanism with bag-smoothing function according to claim 1 is characterized in that: The splint includes a front splint (213) and a rear splint (212), wherein the front splint (213) and the rear splint (212) are respectively mounted on the inner side of the front end of the bending arm, and the rear ends of the front splint (213) and the rear splint (212) are respectively rotatably mounted on the front ends of the upper and lower arm plates via a first rotating pin (216) and a second rotating pin (215), and the rear ends of the front splint (213) and the rear splint (212) are respectively connected via a connecting plate (214), and the opening and closing of the front splint (213) and the rear splint (212) are driven by a clamping cylinder (208) at the rear thereof, and the rear end of the clamping cylinder (208) is fixedly mounted on a tail seat (230) of the clamping cylinder.

3. The bionic mechanical arm type bag conveying mechanism with bag-smoothing function according to claim 2 is characterized in that: A connecting arm (225) is installed on the inner side of the left connecting seat (202), and the outer side of the front end of the connecting arm (225) is connected to the right connecting seat (202) via a second crossbeam (227). Ear plates (228) are installed on the inner sides of the front ends of the two connecting seats (202), and the ear plates (228) are connected and fixed via a front panel (226). The front ends of the ear plates (228) are connected via a bag support shaft (219), and the bag support shaft (219) is connected by its The bag-supporting and flipping cylinder (218) at the rear is driven, and the piston rod end of the bag-supporting and flipping cylinder (218) is connected to the bag-supporting rotating shaft (219) via a second connecting piece (220). The rear end of the bag-supporting and flipping cylinder (218) is installed on a transverse groove beam (233) via a second cylinder seat (232). The transverse groove beam (233) is installed between the rear ends of the two curved arms (224). The bag-supporting rotating shaft (219) is installed with two spaced-apart left bag-supporting plates (221) and right bag-supporting plates (231).

4. The bionic mechanical arm type bag conveying mechanism with bag-stroking function according to claim 3 is characterized in that: An upper belly plate (22101) and a lower belly plate (22102) are respectively installed at the rear ends of the left bag supporting plate (221) and the right bag supporting plate (231); the bottom ends of the upper belly plate (22101) and the lower belly plate (22102) are respectively fixed on the shaft sleeves; a fixed shaft matching the shaft sleeve is installed on the bag supporting shaft (219); the rotation of the shaft sleeve on the fixed shaft is driven by the bag supporting cylinder (223); the cylinder body end of the bag supporting cylinder (223) is fixedly installed on the end of the bag supporting shaft (219) through a cylinder seat 1 (222); and the extended ends of the piston rods of the bag supporting cylinders (223) are respectively connected to the lower belly plates (22102) on the corresponding sides through cylinder head seats (22103).

5. The bionic mechanical arm type bag conveying mechanism with bag-smoothing function according to claim 1 is characterized in that: A fisheye joint is installed at the front end of the cylinder guide rod of the swing arm cylinder (206), and is connected to the upper and lower arm plates (200) on the clamping arm (2) through a cylinder head shaft (207) via the fisheye joint. The rear end of the clamping claw cylinder (208) is connected to the upper and lower arm plates (200) on the clamping arm (2) through a tailstock pin shaft (209), and a "Y"-shaped joint is installed at the front end of the guide rod of the clamping claw cylinder, and is connected to the rear clamping plate (212) through a cylinder head pin shaft (210) via the "Y"-shaped joint.

6. The bionic mechanical arm type bag conveying mechanism with bag-stroking function according to claim 2 is characterized in that: The front clamping plate (213) and the rear clamping plate (212) are provided with a bag clamping plate (211) on their sides. The front clamping plate (213) and the rear clamping plate (212) are provided with three through holes on their main bodies. The holes on their long sides are connected to the clamping claw cylinder (208). The holes on their short side ends are connected to one end of the connecting plate (214) by a short shaft (217). The holes at their middle corners are connected to the upper and lower arm plates (200) of the clamping arm (2) by a second rotating pin (215). The connecting plate (214) has a waist-shaped shape. The front clamp (213) has mounting holes at both ends, one end of the mounting hole is connected to the rear clamp (212), and the other end of the mounting hole is connected to the tail hole of the front clamp (213) by a short shaft (217); the front clamp (213) has an "L" shape, and has two through holes on its body, the tail end hole is connected to the connecting plate (214) by a short shaft (217), and the middle hole is connected to the upper and lower arm plates (200) of the clamp arm (2) by a rotating pin (216), and a bag clamp plate (211) is installed on the side of the front clamp (213).

7. The bionic mechanical arm type bag conveying mechanism with bag smoothing function according to claim 3 is characterized by: A fisheye joint is installed at the end of the piston rod of the bag-supporting and flipping cylinder and is connected to the second connecting piece (220) by the fisheye joint. The second connecting piece (220) is fixed to the bag-supporting rotating shaft (219). Both ends of the bag-supporting rotating shaft (219) are connected to the ear plates (228). The bottoms of the rear clamping plate (212) and the front clamping plate (213) are fixed to the bag-supporting rotating shaft (219) by pins and bearings.

8. The bionic mechanical arm type bag conveying mechanism with bag smoothing function according to claim 4 is characterized in that: The cylinder guide rod end of the bag-supporting cylinder (223) is installed with a fisheye joint and is connected to the cylinder head seat (22103) on the left bag-supporting plate (221) through the fisheye joint. The tail of the other bag-supporting cylinder (223) is connected to the cylinder tail seat (23102) on the right bag-supporting plate (231). The cylinder guide rod end of the bag-supporting cylinder (223) is installed with a fisheye joint and is connected to the cylinder head seat on the right bag-supporting plate (231) through the fisheye joint.

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