A rope tying robot before the ton bag is rolled into a roll

Abstract

The present invention relates to a tethered manipulator before a ton bag is wound into a roll, and belongs to the field of mechanical automation. The technical solution adopted by the present invention is: the tethered manipulator before the ton bag is wound into a roll is characterized in that it includes a moving arm, a main rope mechanical gripper, a main rope toggle gripper and an auxiliary rope toggle gripper; the main rope mechanical gripper includes a pair of grippers at the front end, a hollow main arm, a gripper driving cylinder for driving the gripper to tighten, and a rotating motor for driving the main rope gripper to rotate, a pair of grippers are hingedly arranged at the front end of the hollow main arm through multiple groups of connecting rods, and multiple groups of connecting rods are simultaneously hingedly connected to the front end of the extension rod of the gripper driving cylinder, the gripper driving cylinder is arranged inside the hollow main arm, and the rear end of the hollow main arm is connected to the rotating motor. The advantage of the present invention is that multiple operating actions are set on a set of mobile manipulators, reducing the interference problem caused by the separate operation of multiple manipulators. The number of manipulators and tethered ropes of ton bags matches, simplifying the number of manipulators.

Description

Technical Field

[0001] The invention relates to a rope-system manipulator before a ton bag is rolled into a roll, and belongs to the field of mechanical automation. Background Art

[0002] "Tonnage bag roll and its winding method", application number -202210044107.0 is a device for tying the lifting ropes of ton bags together through ropes to facilitate winding into rolls. When the ton bags are filled and loaded, the secondary rope is pulled out to release the main rope, and then the ton bags are hung under the filling machine to realize the bag filling operation on the assembly line.

[0003] In order to facilitate the winding of ton bags, they need to be connected with ropes. It is difficult to tie the ropes manually. The use of automated equipment can improve the efficiency of tying ropes.

[0004] Currently, the tethering equipment is not simple enough, and the sizes and specifications of various devices in the tethering process need to be repeatedly designed to avoid interference. Summary of the invention

[0005] The invention provides a rope tying manipulator before a ton bag is rolled into a roll, so as to realize the mechanization of rope lifting and tying of the ton bag.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] The present invention provides a rope-system manipulator before the ton bag is rolled into a roll, which is characterized by:

[0008] It includes a moving arm, a main rope mechanical gripper, a main rope toggle gripper and a secondary rope toggle gripper;

[0009] The main rope mechanical gripper includes a pair of grippers at the front end, a hollow main arm, a gripper driving cylinder for driving the grippers to tighten, and a rotating motor for driving the main rope gripper to rotate. The pair of grippers are hingedly arranged at the front end of the hollow main arm through multiple sets of connecting rods, and the multiple sets of connecting rods are simultaneously hingedly connected to the front end of the extension rod of the gripper driving cylinder. The gripper driving cylinder is arranged inside the hollow main arm, and the rear end of the hollow main arm is connected to the rotating motor.

[0010] The main rope toggle gripper includes a finger at the front end, a toggle main arm, a finger driving cylinder and a telescopic cylinder. The toggle main arm is a hollow structure with a through slot at the front end. The front end of the finger is bent inward. A hinge shaft is provided at one end of the finger extending toward the toggle main arm. The hinge shaft is arranged on one side of the through slot. A tension spring is connected to the outside of the hinge shaft of the finger. The other end of the tension spring is connected to the toggle main arm. The tension spring pulls the finger. The other end of the finger forms an opening structure with the toggle main arm. The finger driving cylinder is arranged in the toggle main arm. A steel wire rope is connected to the front end of the extension rod of the finger driving cylinder. The other end of the steel wire rope is connected to the finger. The finger driving cylinder drives the steel wire rope and then pulls the finger to close the opening structure formed with the toggle main arm. The rear end of the toggle main arm is connected to the end of the extension rod of the telescopic cylinder.

[0011] The auxiliary rope toggle gripper and the main rope toggle gripper have the same structure. The rotating motor of the main rope mechanical gripper, the cylinder body of the telescopic cylinder of the main rope toggle gripper and the cylinder body of the telescopic cylinder of the auxiliary rope toggle gripper are fixed on the moving end of the moving arm at the same time.

[0012] According to the rope-tying manipulator before the ton bag is rolled into a roll, the gripper is in the shape of a triangular plate, the two short sides of the triangular plate are in relative contact, and the contacting sides are provided with a concave, and the concave of the two triangular plates forms a hole.

[0013] According to the roping manipulator before the ton bag is rolled into a roll, the connecting rod includes four connecting rods hingedly connected to the gripper, wherein one group of the four connecting rods is replaced by the other end side of the gripper, and the connecting rods on the outside and rear sides of the four connecting rods are V-shaped connecting rods. The four-linkage utilizes a part of the V-shaped connecting rod, and the V-shaped connecting rod on the rear side extends toward the hollow main arm and is fixedly connected to the hollow main arm. The V-shaped connecting rod on the outside extends toward the direction between the two grippers and is hinged with a short rod. The short rod connecting the two grippers is hingedly connected to the two ends of the driving rod respectively, and the middle of the driving rod is perpendicular to the extension rod of the gripper driving cylinder and is connected to it. The limit connecting rod is hingedly connected between the inner hinge points of the V-shaped connecting rod on the rear side connected to the two grippers.

[0014] According to the roping robot before the ton bag is rolled into a roll, the hollow main arm is a rectangular hollow structure, and a symmetrical rear V-shaped connecting rod extends from the front end, and the rear V-shaped connecting rod is integrally connected to the hollow main arm.

[0015] According to the rope-tying robot before the ton bag is rolled into a roll, the gripper driving cylinder is arranged in the hollow main arm, the cylinder body of the gripper driving cylinder is fixed to the rear end of the hollow main arm, the length direction of the hollow main arm is consistent with the movement direction of the extension rod of the gripper driving cylinder, the rear end of the hollow main arm is fixed to the fixed plate, the rotating motor is fixed to the fixed plate, and the output shaft of the rotating motor is coaxial with the extension rod of the rope-tying cylinder.

[0016] According to the rope-tying robot before the ton bag is wound into a roll, the finger is L-shaped, and the end on one side is provided with the bend, the bend faces the main arm of the finger, the other end of the L-shape of the finger is connected to the wire rope, and the hinge point of the finger is close to the side of the part connected to the wire rope.

[0017] According to the rope-tying manipulator before the ton bag is rolled into a roll, the moving arm includes a vertical cylinder and a two-degree-of-freedom moving vehicle. The fixed plate property is set to be fixed to the end of the extended rod. The two-degree-of-freedom moving vehicle includes a longitudinal moving frame and a transverse moving frame. The bottom of the longitudinal moving frame is provided with moving wheels, and the moving wheels move along the longitudinal track. A transverse moving groove is opened in the middle of the longitudinal moving frame. The transverse moving frame is arranged in the middle of the longitudinal moving frame and is above the transverse moving groove. The cylinder body of the vertical cylinder is fixed to the transverse moving frame and downward at the position passing through the transverse moving groove. Slide rails are provided on both sides of the transverse moving groove. A slider is provided at the bottom of the transverse moving frame to move on the slide rails.

[0018] According to the tethering manipulator before the ton bag is rolled into a roll, a pair of longitudinal tracks are arranged on a frame, the frame is a suspended three-dimensional frame, and the middle position of the frame is the operating space of the tethering manipulator.

[0019] According to the rope-tying robot before the ton bag is rolled into a roll, a longitudinal driving cylinder is provided between the frame and the longitudinal moving frame, the cylinder body of the longitudinal driving cylinder is fixed on the frame, and the extension rod of the longitudinal driving cylinder is connected to the longitudinal moving frame; a transverse driving cylinder is provided between the longitudinal moving frame and the transverse moving frame.

[0020] The advantage of the present invention is that a plurality of operating actions are arranged on a group of mobile manipulators, thereby reducing the interference problem caused by the separate operations of a plurality of manipulators.

[0021] The number of manipulators and tethers for big bags matches, which simplifies the number of manipulators;

[0022] The spatial movement of the manipulator is achieved through a multi-degree-of-freedom trolley, which improves the movement efficiency and accuracy. Compared with the original multi-cylinder push, the roller movement has high accuracy, reduces the error operation rate, and improves the stability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of the integrated manipulator of the present invention.

[0024] Figure 2 This is a diagram of the main rope grab mechanism of the present invention.

[0025] Figure 3 This is a structural diagram of the auxiliary rope toggle gripper and the main rope toggle gripper of the present invention.

[0026] Figure 4 yes Figure 3A cross-sectional view of .

[0027] Figure 5 This is a diagram of the installation of the integrated manipulator of the present invention on a frame.

[0028] Figure 6 is a top view of the integrated manipulator of the present invention on the frame,

[0029] Reference numerals:

[0030] 1 main rope mechanical gripper, 11 gripper, 12 hollow main arm, 13 gripper driving cylinder, 14 rotating motor, 15 connecting rod, 2 main rope toggle gripper, 21 finger, 22 toggle main arm, 23 finger driving cylinder, 24 telescopic cylinder, 25 spring, 26 wire rope, 3 auxiliary rope toggle gripper 4 vertical cylinder 5 two-degree-of-freedom moving vehicle, 51 longitudinal moving frame 52 transverse moving frame 53 transverse moving groove 54 longitudinal driving cylinder 55 transverse driving cylinder 6 fixed plate 7 frame. DETAILED DESCRIPTION

[0031] The specific structure of the present invention is further described below.

[0032] The present invention discloses a rope-system manipulator for a ton bag before it is rolled into a roll, comprising a moving arm, a main rope mechanical gripper 1, a main rope shifting gripper 2 and a secondary rope shifting gripper 3.

[0033] The main rope mechanical gripper 1 is used to grab the main tether, the main rope shifting gripper 2 is used to shift the main tether, and the auxiliary rope shifting gripper 3 is used to shift the auxiliary tether. The mobile arm drives the main rope mechanical gripper 1, the main rope shifting gripper 2 and the auxiliary rope shifting gripper 3 to move.

[0034] Each mechanism is described in detail. The main rope mechanical gripper 1 includes a pair of grippers at the front end, a hollow main arm, a gripper driving cylinder for driving the gripper to tighten, and a rotating motor for driving the main rope gripper to rotate. A pair of grippers are hinged at the front end of the hollow main arm through multiple sets of connecting rods, and the multiple sets of connecting rods are simultaneously hingedly connected to the front end of the extending rod of the gripper driving cylinder. The gripper driving cylinder is arranged inside the hollow main arm, and the rear end of the hollow main arm is connected to the rotating motor.

[0035] The main rope mechanical gripper 1 is used to grab the main rope of the ton bag lifting rope, and then rotate it to a certain angle. In this process, the gripper structure realizes the grabbing of the main tether, and the gripper driving cylinder drives the main tether to pass through the lifting rope of the ton bag, forming a double-strand state of the main tether, and then the motor is turned to drive the main rope mechanical gripper 1 to rotate 270 degrees for the insertion of the secondary double-strand main tether. The grabbing, telescopic and rotating mechanisms are set on the same manipulator, realizing a multi-action integrated structure setting, and the speed of grabbing the main tether is fast.

[0036] The main rope toggling gripper 2 includes a toggling finger at the front end, a toggling main arm, a toggling finger driving cylinder and a telescopic cylinder. The toggling main arm is a hollow structure with a through groove at the front end. The front end of the toggling finger is bent inward, and a hinge shaft is provided at one end of the toggling finger extending in the direction of the toggling main arm. The hinge shaft is arranged on one side of the through groove. A tension spring is connected to the outside of the hinge shaft of the toggling finger, and the other end of the tension spring is connected to the toggling main arm. The tension spring pulls the toggling finger, and the other end of the toggling finger forms an opening structure with the toggling main arm. The finger driving cylinder is arranged in the toggling main arm, and a steel wire rope is connected to the front end of the extension rod of the finger driving cylinder, and the other end of the steel wire rope is connected to the toggling finger. The finger driving cylinder drives the steel wire rope and then pulls the toggling finger to close the opening structure formed with the toggling main arm, and the rear end of the toggling main arm is connected to the extension rod end of the telescopic cylinder.

[0037] The main rope pulling gripper 2 is used to grab the main tether above the double main tether to form a secondary main tether structure. The main tether is subsequently tightened or the main tether is tightened after the double auxiliary rope is inserted.

[0038] The main rope drives the telescopic cylinder of the grabber 2 to drive the front end forward through the double-strand main tether structure. After approaching the main tether, the main tether is grabbed by the swing of the finger, and then the telescopic cylinder drives it back, and the main tether forms a secondary double-strand tether.

[0039] The auxiliary rope toggle gripper 3 has the same structure as the main rope toggle gripper 2. The rotating motor of the main rope mechanical gripper 1, the cylinder body of the telescopic cylinder of the main rope toggle gripper 2 and the cylinder body of the telescopic cylinder of the auxiliary rope toggle gripper 3 are fixed to the moving end of the moving arm at the same time. The auxiliary rope toggle gripper 3 is used to grab the auxiliary rope to form a double strand and insert it into the secondary double strand main tether. The main tether is tightened in the next step.

[0040] Further explanation of the structure of the mechanical gripper, wherein the gripper is in the shape of a triangular plate, the two short sides of the triangular plate are in contact with each other, and the contact side is provided with an indentation, and the indentations of the two triangular plates form a hole. The connecting rod includes four connecting rods hingedly connected to the gripper, wherein one group of the four connecting rods is replaced by the other end side of the gripper, and the connecting rods on the outside and rear side of the four connecting rods are V-shaped connecting rods, and the four connecting rods utilize a part of the V-shaped connecting rod, the rear V-shaped connecting rod extends toward the hollow main arm and is fixedly connected to the hollow main arm, the outer V-shaped connecting rod extends toward the direction between the two grippers, and is hinged with a short rod, and the short rods connected to the two grippers are respectively hingedly connected to the two ends of the driving rod, the middle of the driving rod is perpendicular to the extension rod of the gripper driving cylinder and is connected thereto, and the limit connecting rods are hingedly connected between the inner hinge points of the rear V-shaped connecting rods connected to the two grippers. The gripper driving cylinder drives the two grippers to move toward the middle to clamp the main tether.

[0041] The hollow main arm is a rectangular hollow structure, with a symmetrical rear V-shaped connecting rod extending from the front end, and the rear V-shaped connecting rod is connected to the hollow main arm as a whole. Through the power drive cavity structure of the hollow main arm, the power structure is built-in to improve the reliability of the product. Avoid failures caused by dust accumulation due to external exposure.

[0042] The gripper driving cylinder is arranged in the hollow main arm, and the cylinder body of the gripper driving cylinder is fixed to the rear end of the hollow main arm. The length direction of the hollow main arm is consistent with the movement direction of the extension rod of the gripper driving cylinder. The rear end of the hollow main arm is fixed to the fixed plate, and the rotating motor is fixed to the fixed plate. The output shaft of the rotating motor is coaxial with the extension rod of the rope driving cylinder.

[0043] The finger is L-shaped, with the bend set at one end, the bend facing the finger main arm, the other end of the L-shaped finger is connected to the wire rope, and the hinge point of the finger is close to the side of the part connected to the wire rope.

[0044] The movable arm includes a vertical cylinder, a two-degree-of-freedom moving vehicle 5, and a fixed plate property setting fixed to the end of the extending rod. The two-degree-of-freedom moving vehicle 5 includes a longitudinal moving frame and a transverse moving frame. The bottom of the longitudinal moving frame is provided with a moving wheel, and the moving wheel moves along the longitudinal track. A transverse moving groove is opened in the middle of the longitudinal moving frame. The transverse moving frame is arranged in the middle of the longitudinal moving frame and is above the transverse moving groove. The cylinder body of the vertical cylinder is fixed to the transverse moving frame and downward at the position passing through the transverse moving groove. Slide rails are provided on both sides of the transverse moving groove. A slider is provided at the bottom of the transverse moving frame to move on the slide rails.

[0045] A pair of longitudinal rails are arranged on the frame 7, which is a suspended three-dimensional frame, and the middle position of the frame 7 is the operating space of the tethered manipulator. A longitudinal driving cylinder is arranged between the frame 7 and the longitudinal moving frame, and the cylinder body of the longitudinal driving cylinder is fixed on the frame 7, and the extension rod of the longitudinal driving cylinder is connected to the longitudinal moving frame; a transverse driving cylinder is arranged between the longitudinal moving frame and the transverse moving frame.

[0046] The movable arm structure drives the gripper to move freely in space with good reliability.

[0047] The present invention sets multiple operating actions on a group of mobile manipulators, reducing the interference problem caused by the separate operation of multiple manipulators. The number of manipulators and tethers of ton bags matches, simplifying the number of manipulators; the spatial movement of the manipulator is realized by a multi-degree-of-freedom trolley, which improves the movement efficiency and accuracy. Compared with the original multi-cylinder push, the roller movement has high accuracy, reduces the error operation rate, and improves the stability of the tether.

Claims

1. A rope-tying manipulator for a ton bag before it is rolled into a roll, characterized in that: It comprises a movable arm, a main rope mechanical gripper (1) and a main rope toggle gripper (2); The main rope mechanical gripper (1) comprises a pair of grippers at the front end, a hollow main arm, a gripper drive cylinder for driving the grippers to tighten, and a rotary motor for driving the main rope gripper to rotate, the pair of grippers being hingedly arranged at the front end of the hollow main arm via a plurality of connecting rods, the plurality of connecting rods being hingedly connected to the front end of the extension rod of the gripper drive cylinder at the same time, the gripper drive cylinder being arranged inside the hollow main arm, and the rear end of the hollow main arm being connected to the rotary motor; The main rope toggle gripper (2) comprises a finger at the front end, a toggle main arm, a finger driving cylinder and a telescopic cylinder. The toggle main arm is a hollow structure with a through slot at the front end. The front end of the finger is bent inward. One end of the finger is extended in the direction of the toggle main arm and a hinge shaft is arranged. The hinge shaft is arranged on one side of the through slot. A tension spring is connected to the outer side of the hinge shaft of the finger. The other end of the tension spring is connected to the toggle main arm. The tension spring pulls the finger. The other end of the finger forms an opening structure with the toggle main arm. The finger driving cylinder is arranged in the toggle main arm. The front end of the extension rod of the finger driving cylinder is connected to a steel wire rope. The other end of the steel wire rope is connected to the finger. The finger driving cylinder drives the steel wire rope and then pulls the finger to close the opening structure formed with the toggle main arm. The rear end of the toggle main arm is connected to the end of the extension rod of the telescopic cylinder. The invention also comprises an auxiliary rope toggling gripper (3), the auxiliary rope toggling gripper (3) and the main rope toggling gripper (2) having the same structure, the rotating motor of the main rope mechanical gripper (1), the cylinder body of the telescopic cylinder of the main rope toggling gripper (2) and the cylinder body of the telescopic cylinder of the auxiliary rope toggling gripper (3) are fixed to the moving end of the moving arm at the same time.

2. The roping manipulator for the ton bag before winding into a roll according to claim 1 is characterized in that: The gripper is in the shape of a triangular plate, the two short sides of the triangular plate are in contact with each other, and the contacting side is provided with a concave, and the concave of the two triangular plates forms a hole.

3. The roping manipulator for the ton bag before winding into a roll according to claim 1 is characterized in that: The connecting rod includes four connecting rods hingedly connected to the gripper, wherein one group of the four connecting rods is replaced by the other end side of the gripper, and the connecting rods on the outer side and the rear side of the four connecting rods are V-shaped connecting rods. The four-link rod utilizes a part of the V-shaped connecting rod, and the V-shaped connecting rod on the rear side extends toward the hollow main arm and is fixedly connected to the hollow main arm, and the V-shaped connecting rod on the outer side extends toward the direction between the two grippers and is hinged with a short rod. The short rod connecting the two grippers is hingedly connected to the two ends of the driving rod respectively, and the middle of the driving rod is perpendicular to the extension rod of the gripper driving cylinder and is connected to it, and the limit connecting rod is hingedly connected between the inner hinge points of the V-shaped connecting rod on the rear side connected to the two grippers.

4. The roping manipulator for the ton bag before winding into a roll according to claim 1 is characterized in that: The hollow main arm is a rectangular hollow structure, and a symmetrical rear V-shaped connecting rod extends from the front end, and the rear V-shaped connecting rod is integrally connected to the hollow main arm.

5. The roping manipulator for the ton bag before winding into a roll according to claim 3 is characterized in that: The gripper driving cylinder is arranged in the hollow main arm, and the cylinder body of the gripper driving cylinder is fixed to the rear end of the hollow main arm. The length direction of the hollow main arm is consistent with the movement direction of the extension rod of the gripper driving cylinder. The rear end of the hollow main arm is fixed to the fixed plate, and the rotating motor is fixed to the fixed plate. The output shaft of the rotating motor is coaxial with the extension rod of the rope driving cylinder.

6. The roping manipulator for the ton bag before winding into a roll according to claim 1 is characterized in that: The finger is L-shaped, with the bend set at one end, the bend facing the finger main arm, the other end of the L-shaped finger is connected to the wire rope, and the hinge point of the finger is close to the side of the part connected to the wire rope.

7. The roping manipulator for the ton bag before winding into a roll according to claim 1 is characterized in that: The movable arm comprises a vertical cylinder and a two-degree-of-freedom movable vehicle (5), a fixed plate having a fixed property arranged at the end of the extended rod, the two-degree-of-freedom movable vehicle (5) comprising a longitudinal movable frame and a transverse movable frame, a movable wheel is arranged at the bottom of the longitudinal movable frame, the movable wheel moves along the longitudinal track, a transverse movable groove is opened in the middle of the longitudinal movable frame, the transverse movable frame is arranged in the middle of the longitudinal movable frame and is located above the transverse movable groove, the cylinder body of the vertical cylinder is fixed to the transverse movable frame and is downwardly directed at a position passing through the transverse movable groove, slide rails are arranged on both sides of the transverse movable groove, and a slider is arranged at the bottom of the transverse movable frame to move on the slide rails.

8. The roping manipulator for the ton bag before winding into a roll according to claim 6 is characterized in that: A pair of longitudinal rails are arranged on the frame (7); the frame (7) is a suspended three-dimensional frame; the middle position of the frame (7) is an operating space for the tethered manipulator.

9. The roping manipulator for the ton bag before winding into a roll according to claim 6 is characterized in that: A longitudinal drive cylinder is provided between the frame (7) and the longitudinal movable frame, a cylinder body of the longitudinal drive cylinder is fixed on the frame (7), and an extension rod of the longitudinal drive cylinder is connected to the longitudinal movable frame; and a transverse drive cylinder is provided between the longitudinal movable frame and the transverse movable frame.

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