Multi-rooted bag sling loading manipulator

Abstract

The application provides a one-time multi-root bag sling loading manipulator, which comprises a horizontal moving mechanism, a belt positioning mechanism and a rotary sling clamping mechanism. The horizontal moving mechanism comprises an X-axis linear driving mechanism and a Y-axis linear driving mechanism which is drivingly connected to the X-axis linear driving mechanism. The belt positioning mechanism comprises a first Z-axis linear driving mechanism which is drivingly connected to the Y-axis linear driving mechanism and a belt mechanism which is drivingly connected to the first Z-axis linear driving mechanism. The rotary sling clamping mechanism comprises a second Z-axis linear driving mechanism which is slidingly connected to the Y-axis linear driving mechanism, a rotary support beam which is drivingly connected to the second Z-axis linear driving mechanism, a rotary wheel which is rotationally connected to the rotary support beam and a plurality of clamping mechanisms which are arranged on the rotary wheel around the rotary center of the rotary wheel. The automatic loading and positioning of the sling are realized, the labor input is reduced, and the production efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic sewing equipment for flexible freight bags, and particularly relates to a mechanical arm for feeding multiple flexible freight bag lifting straps at one time. BACKGROUND

[0002] A flexible freight bag is a flexible transport packaging container, which is mainly used for transporting bulk powder materials and has the characteristics of large volume, light weight, and convenient loading and unloading. When the flexible freight bag is manufactured, lifting straps need to be sewn on the four sides of the flexible freight bag. The bottom of the flexible freight bag has one end of the lifting strap pre-sewn, and the other end of the lifting strap needs to be sewn on the side wall of the bag. At present, in the sewing process of the lifting strap of the flexible freight bag, a worker needs to position the other end of the lifting strap at the required sewing position on the bag body, and then a sewing machine sews the other end of the lifting strap on the bag body. The worker needs to move back and forth, which wastes manpower, has a high labor intensity, and reduces production efficiency. SUMMARY

[0003] The present application provides a mechanical arm for feeding multiple flexible freight bag lifting straps at one time, which can realize automatic feeding and positioning of the lifting strap, reduce manpower investment, and improve production efficiency.

[0004] To solve the above technical problems, the present application provides a mechanical arm for feeding multiple flexible freight bag lifting straps at one time, which comprises a horizontal moving mechanism, a strap positioning mechanism, and a rotary lifting strap clamping mechanism. The horizontal moving mechanism comprises an X-axis linear drive mechanism and a Y-axis linear drive mechanism driven and connected to the X-axis linear drive mechanism. The strap positioning mechanism comprises a first Z-axis linear drive mechanism driven and connected to the Y-axis linear drive mechanism and a strap pulling mechanism driven and connected to the first Z-axis linear drive mechanism. The rotary lifting strap clamping mechanism comprises a second Z-axis linear drive mechanism slidingly connected to the Y-axis linear drive mechanism, a rotary support beam driven and connected to the second Z-axis linear drive mechanism, a rotating wheel rotatably connected to the rotary support beam, and a plurality of belt clamping mechanisms arranged on the rotating wheel around the center of the rotating wheel.

[0005] Preferably, the strap pulling mechanism comprises a first X-axis drive cylinder driven and connected to the first Z-axis linear drive mechanism and a first clamping device driven and connected to the first X-axis drive cylinder.

[0006] Preferably, the belt clamping mechanism comprises a telescopic drive cylinder fixedly connected to the rotating wheel and a second clamping device driven and connected to the telescopic drive cylinder.

[0007] Preferably, the first clamping device comprises a mounting seat driven and connected to the first X-axis drive cylinder, a Y-axis drive cylinder fixedly connected to the mounting seat, a first roller rotatably connected to the mounting seat, and a second roller driven and connected to the Y-axis drive cylinder, wherein the first roller and the second roller are arranged side by side.

[0008] Preferably, the rotary sling clamping mechanism comprises four sling clamping mechanisms, the slewing wheel comprises a connecting plate rotatably connected to one end of the rotary support beam, four connecting rods fixedly connected to four sides of the connecting plate respectively, and a support plate fixedly connected to the top end of the connecting rods, a telescopic drive cylinder is fixedly connected to the support plate, and the second clamping device comprises a finger cylinder drivingly connected to the telescopic drive cylinder and a clamping arm mounted on the two clamping jaws of the finger cylinder.

[0009] Preferably, the X-axis linear drive mechanism comprises an X-axis sliding seat, an X-axis sliding plate slidingly connected to the X-axis sliding seat, and a first drive motor arranged on the X-axis sliding plate, a first rack is arranged on the X-axis sliding seat in the X-axis direction, and a first gear is arranged on the output shaft of the first drive motor and is in meshing connection with the first rack; the Y-axis linear drive mechanism comprises a Y-axis sliding seat fixedly connected to the X-axis sliding plate, a first Y-axis sliding plate slidingly connected to the Y-axis sliding seat, and a second drive motor arranged on the first Y-axis sliding plate, a second rack is arranged on the Y-axis sliding seat in the Y-axis direction, and a second gear is arranged on the output shaft of the second drive motor and is in meshing connection with the second rack; the first Z-axis linear drive mechanism comprises a first Z-axis sliding plate slidingly connected to the first Y-axis sliding plate and a third drive motor arranged on the first Y-axis sliding plate, a third rack is arranged on the first Z-axis sliding plate in the Z-axis direction, and a third gear is arranged on the output shaft of the third drive motor and is in meshing connection with the third rack; the second Z-axis linear drive mechanism comprises a second Y-axis sliding plate slidingly connected to the Y-axis sliding seat, a second Z-axis sliding plate slidingly connected to the second Y-axis sliding plate, and a fourth drive motor arranged on the second Y-axis sliding plate, a transmission plate is arranged on the second Z-axis sliding plate, the transmission plate is provided with a synchronous gear in the Z-axis direction, a synchronous wheel matched with the synchronous gear is arranged on the output shaft of the fourth drive motor, and the synchronous wheel and the synchronous gear are drivingly connected through a synchronous belt.

[0010] Preferably, the X-axis linear drive mechanism further comprises support feet symmetrically arranged on both sides of the bottom of the X-axis sliding seat.

[0011] The beneficial effects of this invention are as follows: This invention provides a multi-strap loading robot for FIBCs (Flexible Intermediate Bulk Containers). To facilitate the positioning of FIBCs, the FIBC can be fitted onto a FIBC positioning fixture to achieve a laterally open state. The FIBC can also be rotated axially. Rotating the FIBC facilitates the sewing of the strap ends on all four sides. The strap ends are manually held and clamped onto a clamping mechanism. A second Z-axis linear drive mechanism drives a rotary wheel to move up and down, positioning it at the front of the bottom of the FIBC. By adjusting the Y-axis position of the second Z-axis linear drive mechanism on the Y-axis linear drive mechanism, the distance between the rotary wheel and the bottom of the FIBC can be adjusted. The strap positioning mechanism and the rotary strap clamping mechanism can move left and right under the drive of the X-axis linear drive mechanism. By setting multiple sewing stations and allowing the strap positioning mechanism and the rotary strap clamping mechanism to... The movement between different sewing stations allows for the continuous processing of multiple FIBCs. The strap positioning mechanism can move back and forth under the drive of the Y-axis linear drive mechanism, which can drive the strap mechanism to move in the X and Y axes. The first Z-axis linear drive mechanism can drive the strap mechanism to move up and down, allowing the strap mechanism to take the end of the strap from the clamping mechanism and place the end of the strap on the FIBC body where it needs to be sewn. The sewing machine can then sew the end of the strap to the bag body. By rotating the FIBC, the straps on all four sides of the bag body can be sewn continuously. Before all four straps are sewn to the bag body, the rotating wheel will be pulled to rotate along with the straps because the strap mechanism and clamping mechanism are holding the straps. This facilitates the sewing of the straps on all four sides of the bag body, realizing automatic feeding and positioning of the straps, reducing manual labor input, and effectively improving production efficiency. Attached Figure Description

[0012] Figure 1 A schematic diagram illustrating the external structure of the present invention is shown.

[0013] Figure 2 The right view of the present invention is shown as an example.

[0014] Figure 3 A front view of the invention is shown.

[0015] Figure 4 The present invention is illustrated. Figure 1 A magnified schematic diagram of part A in the middle.

[0016] Figure 5 The present invention is illustrated. Figure 1 A magnified schematic diagram of part B in the middle section.

[0017] Figure 6 The present invention is illustrated. Figure 1 A magnified schematic diagram of a portion of the C section.

[0018] Figure 7The application is illustrated Figure 3 Partial enlarged structural schematic view of middle D part.

[0019] Explanation of reference numerals: horizontal moving mechanism 10, X-axis linear driving mechanism 11, X-axis slide 110, X-axis slide plate 111, first driving motor 112, first rack 113, first gear 114, support leg 115, Y-axis linear driving mechanism 12, Y-axis slide 120, first Y-axis slide plate 121, second driving motor 122, second rack 123, second gear 124, pull belt positioning mechanism 20, first Z-axis linear driving mechanism 21, first Z-axis slide plate 210, third driving motor 211, third rack 212, third gear 213, pull belt mechanism 22, first X-axis driving cylinder 220, first clamping device 221, mounting seat 222, Y-axis driving cylinder 223, first roller 224, second roller 225, rotary sling clamping mechanism 30, second Z-axis linear driving mechanism 31, second Y-axis slide plate 310, second Z-axis slide plate 311, fourth driving motor 312, transmission plate 313, synchronous tooth 314, synchronous wheel 315, rotary support beam 32, swivel wheel 33, connecting plate 330, connecting rod 331, support plate 332, clamping belt mechanism 34, telescopic driving cylinder 340, second clamping device 341, finger cylinder 342, clamping arm 343. DETAILED DESCRIPTION

[0020] To make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are some but not all of the embodiments of the present disclosure.

[0021] Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present disclosure.

[0022] Reference Figures 1-7 .

[0023] The application provides a multi-rooted bag sling loading manipulator, which comprises a horizontal moving mechanism 10, a belt positioning mechanism 20 and a rotary sling clamping mechanism 30.

[0024] The working principle is as follows: in order to facilitate the positioning of the bag, the bag is sleeved on the bag positioning jig to realize the transverse opening state of the bag, and the bag can be axially rotated, the four sides of the bag are conveniently sewn with the tail end of the sling, the tail end of the sling is manually held and clamped on the clamping mechanism 34, the rotary wheel 33 is driven to move up and down by the second Z-axis linear driving mechanism 31, so that the rotary wheel 33 is located in front of the bottom of the bag, the distance between the rotary wheel 33 and the bottom of the bag is adjusted by adjusting the Y-axis position of the second Z-axis linear driving mechanism 31 on the Y-axis linear driving mechanism 12, the belt positioning mechanism 20 and the rotary sling clamping mechanism 30 are driven to move left and right by the X-axis linear driving mechanism 11, a plurality of sewing stations are arranged, and the belt positioning mechanism 20 and the rotary sling clamping mechanism 30 are moved between different sewing stations, so that a plurality of bags can be continuously processed, the belt positioning mechanism 20 is driven to move forward and backward by the Y-axis linear driving mechanism 12, the belt positioning mechanism 22 is driven to move in the X-axis and Y-axis directions, the first Z-axis linear driving mechanism 21 is driven to move up and down, so that the tail end of the sling is clamped on the clamping mechanism 34 and placed on the position of the bag body to be sewn, and the tail end of the sling is sewn on the bag body by the sewing machine, the four sides of the bag body are continuously sewn with the sling by rotating the bag, when the four slings are not all sewn on the bag body, the slings are clamped on the belt positioning mechanism 22 and the clamping mechanism 34, the rotary wheel 33 is pulled and rotated when the bag is rotated, the four sides of the bag body are conveniently sewn with the sling, the automatic loading and positioning of the sling are realized, the labor input is reduced, and the production efficiency is effectively improved.

[0025] Based on the above embodiment, the pulling belt mechanism 22 comprises a first X-axial driving cylinder 220 connected to the first Z-axial linear driving mechanism 21, and a first clamping device 221 connected to the first X-axial driving cylinder 220. The first clamping device 221 clamps the tail end of the sling, and the first clamping device 221 is driven to move up and down by the first Z-axial linear driving mechanism 21, to move left and right by the first X-axial driving cylinder 220, and to move forward and backward by the Y-axial linear driving mechanism 12, so that the first clamping device 221 places the sling at the position to be sewn on the bag body.

[0026] Based on the above embodiment, the pulling belt mechanism 22 comprises a first X-axial driving cylinder 220 connected to the first Z-axial linear driving mechanism 21, and a first clamping device 221 connected to the first X-axial driving cylinder 220. The first clamping device 221 clamps the tail end of the sling, and the first clamping device 221 is driven to move up and down by the first Z-axial linear driving mechanism 21, to move left and right by the first X-axial driving cylinder 220, and to move forward and backward by the Y-axial linear driving mechanism 12, so that the first clamping device 221 places the sling at the position to be sewn on the bag body.

[0027] Based on the above embodiment, the first clamping device 221 comprises a mounting seat 222 connected to the first X-axial driving cylinder 220, a Y-axial driving cylinder 223 fixedly connected to the mounting seat 222, a first roller 224 rotatably connected to the mounting seat 222, and a second roller 225 connected to the Y-axial driving cylinder 223, wherein the first roller 224 and the second roller 225 are arranged side by side. The first clamping device 221 is driven to move left and right by the first X-axial driving cylinder 220, and when the tail end of the sling extends between the first roller 224 and the second roller 225, the second roller 225 is driven by the Y-axial driving cylinder 223 to abut against the first roller 224, so that the tail end of the sling is clamped between the first roller 224 and the second roller 225, thereby realizing the clamping function of the pulling belt mechanism 22 on the sling.

[0028] Based on the above embodiment, the rotary sling clamping mechanism 30 comprises four clamping mechanisms 34, the slewing wheel 33 comprises a connecting plate 330 rotatably connected to one end of the rotary support beam 32, four connecting rods 331 fixedly connected to four sides of the connecting plate 330 respectively, a support plate 332 fixedly connected to the top end of the connecting rod 331, and a telescopic drive cylinder 340 fixedly connected to the support plate 332. The second clamping device 341 comprises a finger cylinder 342 drivingly connected to the telescopic drive cylinder 340 and clamping arms 343 mounted on two clamping jaws of the finger cylinder 342. The slewing wheel 33 has good structural strength, and the four clamping mechanisms 34 can clamp one tail end of a sling respectively. When the two clamping arms 343 are opened by driving the finger cylinder 342, the tail end of the sling can be placed between the two clamping arms 343. Then, when the two clamping arms 343 are closed by driving the finger cylinder 342, the sling can be clamped on the clamping mechanism 34.

[0029] Based on the above embodiment, the X-axis linear driving mechanism 11 comprises an X-axis sliding base 110, an X-axis sliding plate 111 slidably connected to the X-axis sliding base 110, and a first driving motor 112 arranged on the X-axis sliding plate 111. A first rack 113 is arranged on the X-axis sliding base 110 along the X-axis direction. A first gear 114 is arranged on the output shaft of the first driving motor 112 and is in meshing connection with the first rack 113. The Y-axis linear driving mechanism 12 comprises a Y-axis sliding base 120 fixedly connected to the X-axis sliding plate 111, a first Y-axis sliding plate 121 slidably connected to the Y-axis sliding base 120, and a second driving motor 122 arranged on the first Y-axis sliding plate 121. A second rack 123 is arranged on the Y-axis sliding base 120 along the Y-axis direction. A second gear 124 is arranged on the output shaft of the second driving motor 122 and is in meshing connection with the second rack 123. The first Z-axis linear driving mechanism 21 comprises a first Z-axis sliding plate 210 slidably connected to the first Y-axis sliding plate 121, and a third driving motor 211 arranged on the first Y-axis sliding plate 121. A third rack 212 is arranged on the first Z-axis sliding plate 210 along the Z-axis direction. A third gear 213 is arranged on the output shaft of the third driving motor 211 and is in meshing connection with the third rack 212. The second Z-axis linear driving mechanism 31 comprises a second Y-axis sliding plate 310 slidably connected to the Y-axis sliding base 120, a second Z-axis sliding plate 311 slidably connected to the second Y-axis sliding plate 310, and a fourth driving motor 312 arranged on the second Y-axis sliding plate 310. A transmission plate 313 is arranged on the second Z-axis sliding plate 311. A synchronous gear 314 is arranged on the transmission plate 313 along the Z-axis direction. A synchronous wheel 315 matching with the synchronous gear 314 is arranged on the output shaft of the fourth driving motor 312. The synchronous wheel 315 and the synchronous gear 314 are in transmission connection through a synchronous belt. Specifically, since the first gear 114 is in meshing connection with the first rack 113, when the first driving motor 112 works, it will drive the X-axis sliding plate 111 to move left and right on the X-axis sliding base 110, thereby driving the pull belt positioning mechanism 20 and the rotary hanging belt clamping mechanism 30 to move left and right. Since the second gear 124 is in meshing connection with the second rack 123, when the second driving motor 122 works, it will drive the first Y-axis sliding plate 121 to move forward and backward on the Y-axis sliding base 120, thereby driving the pull belt positioning mechanism 20 to move forward and backward. Since the third gear 213 is in meshing connection with the third rack 212, when the third driving motor 211 works, it will drive the first Z-axis sliding plate 210 to move up and down on the first Y-axis sliding plate 121, thereby driving the pull belt mechanism 22 to move up and down. Since the synchronous wheel 315 and the synchronous gear 314 are in transmission connection through the synchronous belt, when the fourth driving motor 312 works, it will drive the second Z-axis sliding plate 311 to move up and down on the second Y-axis sliding plate 310, thereby driving the rotating wheel 33 to move up and down.

[0030] Based on the above embodiment, the X-axis linear drive mechanism 11 further comprises support feet 115 symmetrically arranged on both sides of the bottom of the X-axis sliding seat 110, facilitating the installation and fixation of the upper loading mechanical hand, forming a gantry type structure, and facilitating the arrangement of a sewing station under the lower side of the upper loading mechanical hand.

[0031] The above embodiments only describe the preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements of the technical solutions of the present application made by ordinary engineering technicians in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A multi-rooted bag sling loading manipulator, characterized in that, The horizontal moving mechanism comprises an X-axis linear drive mechanism and a Y-axis linear drive mechanism drivenly connected to the X-axis linear drive mechanism; the pull belt positioning mechanism comprises a first Z-axis linear drive mechanism drivenly connected to the Y-axis linear drive mechanism and a pull belt mechanism drivenly connected to the first Z-axis linear drive mechanism; the rotary sling clamping mechanism comprises a second Z-axis linear drive mechanism slidingly connected to the Y-axis linear drive mechanism, a rotary support beam drivenly connected to the second Z-axis linear drive mechanism, a slewing wheel rotatably connected to the rotary support beam, and a plurality of clamping mechanisms arranged on the slewing wheel around the slewing center of the slewing wheel; the pull belt mechanism comprises a first X-axis drive cylinder drivenly connected to the first Z-axis linear drive mechanism and a first clamping device drivenly connected to the first X-axis drive cylinder; the clamping mechanism comprises a telescopic drive cylinder fixedly connected to the slewing wheel and a second clamping device drivenly connected to the telescopic drive cylinder; the rotary sling clamping mechanism comprises four clamping mechanisms, the slewing wheel comprises a connecting plate rotatably connected to one end of the rotary support beam, four connecting rods fixedly connected to four sides of the connecting plate respectively, and a support plate fixedly connected to the top end of the connecting rods, the telescopic drive cylinder is fixedly connected to the support plate, and the second clamping device comprises a finger cylinder drivenly connected to the telescopic drive cylinder and a clamping arm mounted on two clamping jaws of the finger cylinder.

2. A one-time multi-strand bag sling loading robot according to claim 1, characterized in that, The first clamping device comprises a mounting seat drivenly connected to the first X-axis drive cylinder, a Y-axis drive cylinder fixedly connected to the mounting seat, a first roller rotatably connected to the mounting seat, and a second roller drivenly connected to the Y-axis drive cylinder, and the first roller and the second roller are arranged side by side.

3. A one-time multi-strand bag sling loading robot according to claim 1, characterized in that, The X-axis linear drive mechanism comprises an X-axis sliding base, an X-axis sliding plate slidably connected to the X-axis sliding base, and a first drive motor arranged on the X-axis sliding plate; a first gear rack is arranged on the X-axis sliding base along the X-axis direction; and a first gear is arranged on the output shaft of the first drive motor and is in meshing connection with the first gear rack.

4. A one-time multi-strand bag sling loading robot according to claim 3, characterized in that, The Y-axis linear drive mechanism comprises a Y-axis sliding base fixedly connected to the X-axis sliding plate, a first Y-axis sliding plate slidably connected to the Y-axis sliding base, and a second drive motor arranged on the first Y-axis sliding plate; a second gear rack is arranged on the Y-axis sliding base along the Y-axis direction; and a second gear is arranged on the output shaft of the second drive motor and is in meshing connection with the second gear rack. The first Z-axis linear drive mechanism comprises a first Z-axis sliding plate slidably connected to the first Y-axis sliding plate and a third drive motor arranged on the first Y-axis sliding plate; a third gear rack is arranged on the first Z-axis sliding plate along the Z-axis direction; and a third gear is arranged on the output shaft of the third drive motor and is in meshing connection with the third gear rack. The second Z-axis linear drive mechanism comprises a second Y-axis sliding plate slidably connected to the Y-axis sliding base, a second Z-axis sliding plate slidably connected to the second Y-axis sliding plate, and a fourth drive motor arranged on the second Y-axis sliding plate; a transmission plate is arranged on the second Z-axis sliding plate; the transmission plate is provided with a synchronous gear along the Z-axis direction; a synchronous wheel matched with the synchronous gear is arranged on the output shaft of the fourth drive motor; and the synchronous wheel and the synchronous gear are in transmission connection through a synchronous belt. The X-axis linear drive mechanism further comprises support feet symmetrically arranged on both sides of the bottom of the X-axis sliding base.

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