A ton bag packing machine bag feeding manipulator

Abstract

The application discloses a bag feeding manipulator of ton bag packaging machine, which comprises a gripper frame, a bag suction cylinder capable of adjusting posture by pitching is installed on one frame edge of the Y direction of the gripper frame, a connecting frame is connected to a piston rod of the bag suction cylinder, a bag opening clamping jaw assembly and a plurality of suction cups are installed on the connecting frame, and a sling clamping jaw assembly is rotatably installed at the bottom of each corner position of the gripper frame. The application can realize automatic grabbing of empty bags and can meet the requirements of unmanned automatic production of industrial bulk ton packaging.

Description

Technical Field

[0001] This invention relates to robotic arms, specifically a bag-feeding robotic arm for a ton bag packaging machine. Background Technology

[0002] Ton bag packaging machines are essential for the packaging and transportation of large quantities of bulk materials in the chemical, building materials, environmental protection, and new materials industries. Currently, in industrial enterprises, the handling and hanging of ton bag packaging bags is done manually. This results in poor working conditions due to the odors emitted by the bulk materials, the harmful dust generated during the filling process, the high-intensity labor, and the waste of human resources, coupled with low packaging efficiency. Summary of the Invention

[0003] This invention provides a bag-feeding robot for ton bag packaging machines, which solves the problems of odor emitted by loose materials, dust pollution during the filling process that harms the human body, poor working environment, high-intensity labor, waste of human resources, and low packaging efficiency associated with existing manual methods.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A bag-feeding robot for a ton bag packaging machine is characterized by comprising a gripper frame, a suction cylinder with adjustable tilt and pitch installed on the top of one side of the gripper frame in the Y direction, a connecting frame connected to the piston rod of the suction cylinder, at least one bag mouth gripper assembly and several suction cups installed on the connecting frame, lifting strap gripper assemblies rotatably installed at the bottom of the four corners of the gripper frame, and servo motors installed at the top of the four corners of the gripper frame corresponding to the position of each lifting strap gripper assembly, the servo motors driving the corresponding lifting strap gripper assembly to rotate as a whole.

[0005] Furthermore, the bag opening gripper assembly includes a bag opening gripper seat, a bag opening gripper, and a bag opening gripper cylinder. The bag opening gripper seat is mounted on the connecting frame, the bag opening gripper cylinder is mounted on the Y-direction side of the bag opening gripper seat, and the bag opening gripper is located on the X-direction side of the bag opening gripper seat. The gripper body is rotatably connected to the bag opening gripper seat via a rotating shaft, and the piston rod of the bag opening gripper cylinder is rotatably connected to one end of the bag opening gripper.

[0006] Furthermore, the sling gripper assembly includes a housing, a sling gripper cylinder, and a pair of sling grippers. The sling gripper cylinder is located inside the housing. The servo motor is connected to the housing. The gripper bodies of the two sling grippers are rotatably connected to the opening of the housing via rotating shafts. The piston rod of the sling gripper cylinder is rotatably connected to one end of each of the two sling grippers.

[0007] Compared with the prior art, the advantages of the present invention are: This invention provides a ton bag packaging robot that can automatically grab empty bags, meet the requirements of unmanned automated production of industrial bulk ton bag packaging, and completely solve the problems of odor emitted by bulk materials, dust during the filling process causing harm to the human body, poor working environment, high-intensity labor, waste of human resources, and low packaging efficiency. Attached Figure Description

[0008] Figure 1 This is a right view of the structure of an embodiment of the present invention.

[0009] Figure 2 This is a front view of the structure of an embodiment of the present invention.

[0010] Figure 3 This is a top view of the structure of an embodiment of the present invention. Detailed Implementation

[0011] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0012] like Figure 1 , Figure 2 , Figure 3 As shown, this embodiment discloses a bag-feeding robot for a ton bag packaging machine, including a horizontal gripper frame 1. The front frame of the gripper frame 1 is used to connect to the robot wrist. A rotating support 2 is rotatably mounted on the top of the rear frame of the gripper frame 1. The rotating support 2 is vertical. A suction cylinder 3, initially horizontal, is fixed to the front side of the rotating support 2. The piston rod of the suction cylinder 3 is horizontally forward. A drive cylinder 4 is also rotatably mounted on the top of the rear frame of the gripper frame 1. The piston rod of the drive cylinder 4 is rotatably connected to the rear side of the rotating support 2. Thus, the rotating support 2 can be driven to tilt and rotate by the drive cylinder 4, thereby causing the suction cylinder 3 to tilt and rotate.

[0013] A connecting frame is fixedly connected to the piston rod end of the suction cylinder 3. Bag mouth gripper assemblies 5 are respectively installed at the left and right ends of the front frame of the connecting frame. Each bag mouth gripper assembly 5 includes a bag mouth gripper seat 51, a bag mouth gripper 52, and a bag mouth gripper cylinder 53. The bag mouth gripper seat 53 is fixedly installed at the corresponding position on the connecting frame. The bag mouth gripper cylinder 53 is fixed to the left or right side of the bag mouth gripper seat 53. The bag mouth gripper 52 is located on the front side of the bag mouth gripper seat 51, and the gripper body of the bag mouth gripper 52 is rotatably connected to the front side of the bag mouth gripper seat 51 via a rotating shaft. The piston rod of the bag mouth gripper cylinder 53 is rotatably connected to the end of the bag mouth gripper 52. Thus, the bag mouth gripper 52 can be rotated by the bag mouth gripper cylinder 53, engaging with the front side of the bag mouth gripper seat 51 to form a gripping opening. Multiple suction cups 6 are fixedly arranged horizontally between the two bag mouth gripper assemblies 5 on the front frame of the connecting frame.

[0014] The gripper frame 1 has sling gripper assemblies 7 at the bottom of each of its four corners, and servo motors 8 are installed at the top of each of its four corners corresponding to the position of each sling gripper assembly. Each sling gripper assembly 7 includes a vertical housing 71, a sling gripper cylinder 72, and a pair of sling grippers 73. The sling gripper cylinder 72 is vertically fixed inside the housing 71. The output shaft of the servo motor 8 passes vertically downward through the corresponding position of the gripper frame 1 and is connected to the upper end of the housing 71. The lower end of the housing 71 is the opening. The middle of the gripper body of each of the two sling grippers 73 is rotatably connected to the opening of the housing 71 through a rotating shaft. The lower ends of the two sling grippers 73 protrude from the opening of the housing 71. The piston rod of the sling gripper cylinder 72 is vertically downward and fixedly connected to a connecting plate. The upper ends of the two sling grippers 73 are rotatably connected to two opposite sides of the connecting plate through rotating shafts. Thus, the two sling grippers 73 can be driven to open and close by the sling gripper cylinder 72, and the two sling grippers 73 form a clamping opening.

[0015] During operation, the drive cylinder 4 lifts, pushing the suction cylinder 3 to tilt and rotate 90° to a vertical position. The suction cylinder 3 lifts, causing the suction cup 6 to suck up the mouth of the ton bag. The suction cylinder 3 retracts and lifts the mouth of the ton bag, and the bag mouth gripper cylinder 63 drives the bag mouth gripper 52 to clamp the mouth of the ton bag.

[0016] The lifting gripper cylinder 72 lifts and opens the lifting gripper 73. The servo motor 8 drives the lifting gripper assembly 7 to rotate, so that the lifting gripper 73 is aligned with the lifting strap of the ton bag. Then the lifting gripper cylinder 72 retracts, and the lifting gripper 73 clamps the lifting strap of the ton bag.

[0017] The drive cylinder 4 retracts, causing the suction cylinder 3 to be in a horizontal position, with the ton bag opening facing upwards, and the robot delivers the ton bag to the ton bag machine's discharge port.

[0018] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. These embodiments are merely descriptions of preferred embodiments and are not intended to limit the scope or concept of the invention. The specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. Such combinations, as long as they do not violate the spirit of the present invention, should also be considered as part of this disclosure. To avoid unnecessary repetition, the present invention will not further describe the various possible combinations.

[0019] This invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this invention and without departing from the design idea of ​​this invention, all modifications and improvements made by those skilled in the art to the technical solutions of this invention should fall within the protection scope of this invention. The technical content for which protection is sought in this invention has been fully described in the claims.

Claims

1. A bag-feeding robot for a ton bag packaging machine, characterized in that, The gripper frame includes a bag suction cylinder with adjustable tilt on the top of one side of the gripper frame in the Y direction. The piston rod of the bag suction cylinder is connected to a connecting frame, which is equipped with at least one bag mouth gripper assembly and several suction cups. Sling gripper assemblies are rotatably installed at the bottom of the four corners of the gripper frame. Servo motors are installed at the top of the four corners of the gripper frame corresponding to each sling gripper assembly, and the servo motors drive the corresponding sling gripper assembly to rotate as a whole. The bag opening gripper assembly includes a bag opening gripper base, a bag opening gripper, and a bag opening gripper cylinder. The bag opening gripper base is mounted on a connecting frame. The bag opening gripper cylinder is mounted on the Y-direction side of the bag opening gripper base. The bag opening gripper is located on the X-direction side of the bag opening gripper base. The gripper body is rotatably connected to the bag opening gripper base via a rotating shaft, and the piston rod of the bag opening gripper cylinder is rotatably connected to one end of the bag opening gripper. The sling gripper assembly includes a housing, a sling gripper cylinder, and a pair of sling grippers. The sling gripper cylinder is located inside the housing. The servo motor is connected to the housing. The gripper bodies of the two sling grippers are rotatably connected to the opening of the housing via a rotating shaft. The piston rod of the sling gripper cylinder is rotatably connected to one end of each of the two sling grippers.

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