A packaging bag-loading robot device

Abstract

This invention relates to the field of bag-loading robot technology, and more particularly to a packaging bag-loading robot device, comprising a square column that drives the gripping arm and the cutting arm to rotate, two cutting blades being rotatably connected between the two cutting arms via a connecting rod, and the connecting rod being driven to rotate by a cylinder mounted on one of the cutting arms, the gripping arm and the cutting arm being slidably connected to the square column, and a connecting plate being fixedly connected between the gripping arm and the cutting arm on the same side; the connecting rod is a telescopic rod; a distance adjustment component is provided between the two gripping arms to adjust the distance between the two gripping arms; the distance adjustment component includes a transmission mechanism and a mounting mechanism. This invention can quickly adjust the distance between the two gripping arms for different widths of packaging bags, and after adjustment, the two grippers can still simultaneously clamp both ends of the packaging bag opening, and the lateral distance between the grippers and the cutting blades will not change, ensuring that the function of the cutting blades will not be impaired due to the adjustment of the gripping arm distance.

Description

Technical Field

[0001] This invention relates to the field of bag-loading robot technology, specifically to a packaging bag-loading robot device. Background Technology

[0002] Currently, there are two methods for loading packaging bags: manual loading and automatic loading. Due to the inefficiency and other shortcomings of manual loading, it has been gradually phased out, and more and more packaging equipment adopts automatic loading for packaging bag loading operations.

[0003] A bagging robot, disclosed in CN109878809A, includes a frame and two bases mounted on the frame, connected by a connecting shaft. It also includes a bag insertion mechanism, a bag clamping mechanism, and a bagging drive mechanism. The bag insertion mechanism comprises a blade rotating arm, a blade shaft, a blade, a blade cylinder, and a small shaft for the blade cylinder. The bag clamping mechanism includes a rotating arm, an arm connecting shaft, a support plate, a bag clamping cylinder, and upper and lower gear bag clamps. The bagging drive mechanism includes a servo motor, a left coupling, a right coupling, a bearing housing, a rotating shaft, a sensor plate, a proximity switch, and a proximity switch mounting plate. The servo motor drives the rotating shaft to rotate, which in turn drives the blade rotating arm and the rotating arm to rotate. The blade at the lower end of the rotating arm moves under the drive of the blade cylinder, and the upper and lower gear bag clamps clamp the bag under the drive of the bag clamping cylinder. This invention has a simple structure and reasonable design, can accurately control the bagging time and position, and has a high bagging success rate.

[0004] While the aforementioned bagging robot can perform bagging operations, in actual production, different packaging needs require the use of bags of varying widths. The current bagging robot faces significant challenges in width adjustment. Specifically, firstly, the distance between the two gripping arms needs to be adjusted to ensure the clamps at the ends of the gripping arms can smoothly clamp the bag. Secondly, the distance between the two inserters needs to be adaptively adjusted to ensure they can be smoothly inserted into the bag opening. This overall adjustment process is time-consuming and labor-intensive. More importantly, this method of adjusting the distance between the two gripping arms and the two inserters cannot guarantee that the midpoint of the line connecting the two gripping arms aligns with the midpoint of the bag's width. If they are not aligned, the distances between the two clamps and the two ends of the bag in the width direction will differ, resulting in the two clamps being unable to clamp the bag simultaneously. For example, after one clamp clamps the bag, the other clamp may be unable to hold it due to excessive distance. Summary of the Invention

[0005] The purpose of this invention is to provide a packaging bag-loading robot device to solve the problems mentioned in the background art. The packaging bag-loading robot device possesses the characteristics of a packaging bag-loading robot device.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a packaging bag-loading robot device, comprising a square column that drives the gripping arm and the knife arm to rotate, two inserts being rotatably connected between the two knife arms via a connecting rod, and the connecting rod being driven to rotate by a cylinder mounted on one of the knife arms, the gripping arm and the knife arm being slidably connected to the square column, and a connecting plate being fixedly connected between the gripping arm and the knife arm on the same side;

[0007] The connecting rod is a telescopic rod;

[0008] A distance adjustment component is provided between the two clamping arms to adjust the distance between the two clamping arms;

[0009] The adjustable distance assembly includes a transmission mechanism and an installation mechanism. The transmission mechanism includes a fixed cylinder, a gear rotatably connected inside the fixed cylinder, and two racks slidably connected to the fixed cylinder. The two racks are parallel to each other and both mesh with the gear. The fixed cylinder is fixedly connected to the square column through the installation mechanism.

[0010] The adjusting assembly further includes a locking mechanism and an unlocking mechanism. The locking mechanism is used to lock the rack, and the unlocking mechanism is used to release the locking mechanism from the rack.

[0011] Preferably, the gear is rotatably connected inside the fixed cylinder via a rotating shaft coaxially arranged therewith, and one end of the rotating shaft is fixedly connected to a hexagonal prism coaxially arranged therewith.

[0012] Preferably, the locking mechanism includes a slide cylinder fixedly connected to the fixed cylinder, a slider slidably connected inside the slide cylinder, a compression spring that pushes the slider toward the rack, teeth fixed on the end face of the slider near the rack, and a plurality of toothed grooves opened on the side of the rack near the slider. The teeth are engaged inside the toothed grooves under the elastic force of the compression spring. A top cover is fixedly installed at the end of the slide cylinder away from the fixed cylinder, and the compression spring is connected between the top cover and the slider.

[0013] Preferably, the unlocking mechanism includes an L-shaped rod and an inclined plate. The L-shaped rod includes an integrally connected vertical section and a horizontal section. The inclined plate is located at the end of the hexagonal column away from the pivot and is fixedly connected to the bottom end of the vertical section. The vertical section is slidably connected to the fixed cylinder through a guide tube.

[0014] The unlocking mechanism also includes a first waist-shaped hole on the side of the slide cylinder and a second waist-shaped hole on the slider. The end of the horizontal segment away from the vertical segment passes through the inner bottom end of the first waist-shaped hole and extends to the inner top end of the second waist-shaped hole.

[0015] Preferably, the unlocking mechanism further includes a protective cover and a tube fixed on the protective cover, wherein the L-shaped rod and the hexagonal column are both located inside the protective cover, and the tube is coaxially arranged with the rotating shaft.

[0016] Preferably, the upper surface of the slider has an insertion hole, a guide sleeve is embedded in the top of the insertion hole, a guide rod is slidably inserted into the guide sleeve, and the compression spring is sleeved on the guide rod.

[0017] Preferably, the adjusting assembly further includes a housing mechanism, which includes an outer cylinder and an inner cylinder. The outer cylinder is slidably sleeved on the outside of the inner cylinder. The outer cylinder and the inner cylinder are respectively fixed on two clamping arms. The transmission mechanism is disposed in the cavity formed by the outer cylinder and the inner cylinder.

[0018] Both the outer and inner cylinders have a second strip-shaped hole on one side, which is arranged along the length of the rack, and the insertion tube passes through the two second strip-shaped holes.

[0019] Preferably, the installation mechanism includes a fixedly connected mounting plate and a mounting sleeve. The mounting sleeve is fixedly fitted onto the square column. The other side of both the outer cylinder and the inner cylinder is provided with a first strip-shaped hole arranged along the length direction of the rack. A perforated column is fixedly connected between the mounting plate and the fixed cylinder, and the perforated column passes through the two first strip-shaped holes.

[0020] Preferably, both ends of the square column are rotatably mounted with connecting seats, and one of the connecting seats is equipped with a servo motor for driving the square column to rotate.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. This invention allows the gripping arm and the cutting arm to be slidably connected to a square column, and then, in conjunction with an adjustment component, enables the robotic arm to quickly adjust the distance between the two gripping arms according to the different widths of the packaging bag during actual use. Moreover, during adjustment, the two gripping arms can move closer or further away simultaneously, meaning the midpoint of the line connecting the two gripping arms will not change. This midpoint will always be aligned with the midpoint in the width direction of the packaging bag. This ensures that after adjustment, the two grippers can still simultaneously clamp both ends of the packaging bag opening. Furthermore, the connecting plate is fixedly connected to the gripping arm and the cutting arm on the same side, so the lateral distance between the grippers and the cutting blades will not change during adjustment. In other words, as long as the two grippers can simultaneously clamp both ends of the packaging bag opening, the two cutting blades can be smoothly inserted into the bag opening, ensuring that the function of the cutting blades will not be impaired due to the adjustment of the gripping arm distance.

[0023] 2. The present invention uses a locking mechanism to keep the teeth and tooth grooves engaged when no external force is applied by the elastic force of the compression spring. This restricts the movement of the rack, preventing the rack from moving and thus preventing the gear from rotating. This locks the entire transmission mechanism and prevents the gear from rotating during the operation of the robotic arm.

[0024] 3. The present invention connects the L-shaped rod and the slider by setting an L-shaped rod and an inclined plate, and cooperating with the first waist-shaped hole and the second waist-shaped hole. Thus, when the hexagonal sleeve is inserted into the tube, the locking mechanism can be released from locking the rack. After the hexagonal sleeve is pulled out, the locking mechanism can immediately restore the locking of the rack. The overall structure is ingenious and reasonable, and the operation is convenient, which helps to improve the efficiency of adjusting the distance between the two clamping arms. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the adjustable distance component of the present invention;

[0027] Figure 3 This is a schematic diagram of the installation mechanism of the present invention;

[0028] Figure 4 This is a cross-sectional structural diagram of the outer shell mechanism of the present invention;

[0029] Figure 5 This is a schematic diagram of the transmission mechanism of the present invention;

[0030] Figure 6 This is a partial structural schematic diagram of the transmission mechanism of the present invention;

[0031] Figure 7 For the present invention Figure 6 Enlarged structural diagram at point A in the middle;

[0032] Figure 8 This is a cross-sectional view of the slide tube of the present invention;

[0033] Figure 9 This is a cross-sectional view of the slider of the present invention;

[0034] Figure 10 This is a front view schematic diagram of the outer shell mechanism of the present invention;

[0035] Figure 11 This is a partial front view of the outer shell mechanism of the present invention.

[0036] Figure 12 This is a rear view schematic diagram of the outer shell mechanism of the present invention;

[0037] Figure 13 This is a rear view partial structural schematic diagram of the outer shell mechanism of the present invention.

[0038] In the picture:

[0039] 11. Connecting seat; 12. Square column; 13. Servo motor; 14. Clamping arm; 141. Fixture; 15. Tool arm; 151. Connecting rod; 152. Inserting tool; 153. Cylinder;

[0040] The pitch adjustment component includes:

[0041] 21. Transmission mechanism; 211. Fixed cylinder; 212. Gear; 213. Rack; 214. Rotating shaft; 215. Hexagonal prism;

[0042] 22. Mounting mechanism; 221. Mounting plate; 222. Mounting sleeve; 223. Perforated post;

[0043] 23. Connecting plate;

[0044] 24. Locking mechanism; 241. Slide cylinder; 242. Top cover; 243. Slider; 244. Tooth; 245. Tooth groove; 246. Compression spring; 247. Guide rod; 248. Guide sleeve; 249. Insertion hole;

[0045] 25. Unlocking mechanism; 251. L-shaped rod; 2511. Vertical section; 2512. Horizontal section; 2513. Guide tube; 252. Inclined plate; 253. First oblong hole; 254. Second oblong hole; 255. Protective cover; 256. Insertion tube;

[0046] 26. Outer shell mechanism; 261. Outer cylinder; 262. Inner cylinder; 263. First strip hole; 264. Second strip hole. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] Please see Figure 1-13 The present invention provides a technical solution:

[0049] A packaging bag-loading robot includes a square column 12 that drives a gripping arm 14 and a cutting arm 15 to rotate. Two inserts 152 are rotatably connected between the two cutting arms 15 via a connecting rod 151, which is driven to rotate by a cylinder 153 mounted on one of the cutting arms 15. The square column 12 is driven to rotate by a servo motor 13, and two connecting seats 11 are rotatably connected to the square column 12. The gripping arm 14 is equipped with a clamp 141 for clamping the packaging bag. The robot has a bag-feeding station and a bag-clamping station, such as... Figure 1As shown, the robotic arm is currently in the bag-filling position, and the inserter 152 is also in the bag-inserting position to support the bag opening for easy bag filling. In actual operation, the connecting seat 11 is installed in a suitable position. When it is necessary to clamp a packaging bag located in the opening position, firstly, as shown... Figure 1 As shown, cylinder 153 is currently in the extended state. Therefore, cylinder 153 needs to be activated first to retract, thus disengaging the inserter 152 from the bag insertion station. Then, servo motor 13 is activated to drive the square column 12 to rotate. Since the clamping arm 14 and the blade arm 15 are both connected to the square column 12, they will also rotate along with the square column 12, causing the entire robotic arm to rotate from the bag-adding station to the bag-clamping station. During this process, the horizontal opening of the packaging bag at the opening position is also opened by the vacuum suction cup. Then, the clamp 141 clamps both ends of the packaging bag opening, the cylinder 153 extends again, and drives the inserter 152 to insert into the opened packaging bag opening. That is, the inserter 152 is back in the bag insertion position. At this time, the clamp 141 has clamped the packaging bag, and the inserter 152 is also inserted into the packaging bag opening. Therefore, the servo motor 13 can be used to drive the square column 12 to rotate in the opposite direction, that is, to return to the position as shown. Figure 1 The bagging station shown above is all existing technology and will not be described further here.

[0050] like Figure 1 As shown, both the clamping arm 14 and the cutting arm 15 are slidably connected to the square column 12. In this embodiment, both the clamping arm 14 and the cutting arm 15 can be slidably connected to the square column 12 via a linear slide rail. A connecting plate 23 is fixedly connected between the clamping arm 14 and the cutting arm 15 on the same side. Figure 1 As shown, there are two clamping arms 14 and two cutting arms 15. The two clamping arms 14 are arranged symmetrically with the axial midpoint of the square column 12 as the center. Similarly, the two cutting arms 15 are also arranged symmetrically with the axial midpoint of the square column 12 as the center. Moreover, the two inserting blades 152 are also arranged symmetrically with the axial midpoint of the square column 12 as the center. Therefore, the clamping arms 14 and cutting arms 15 on the same side refer to the clamping arms 14 and cutting arms 15 located at one end of the two ends of the square column 12. The function of the connecting plate 23 is to fix the clamping arms 14 and cutting arms 15 on the same side to each other, so as to realize the synchronous movement of the clamping arms 14 and cutting arms 15 on the same side.

[0051] The connecting rod 151 is a telescopic rod. This telescopic rod can be square, which can achieve the telescopic function, making it convenient to adjust the distance between the two inserts 152. The square structure can also prevent relative rotation between the rod tube and the rod shaft.

[0052] like Figure 1As shown, a distance adjustment assembly for adjusting the distance between the two clamping arms 14 is provided between them; specifically, as shown... Figure 4 and Figure 5 As shown, the distance adjustment assembly includes a transmission mechanism 21 and a mounting mechanism 22. The transmission mechanism 21 includes a fixed cylinder 211, a gear 212 rotatably connected inside the fixed cylinder 211, and two racks 213 slidably connected to the fixed cylinder 211. The two racks 213 are parallel to each other and both mesh with the gear 212. Rotating the gear 212 can cause the two racks 213 to move in opposite directions. For example, when one rack 213 moves to the left, the other rack 213 moves to the right, and the displacement of the two racks 213 is the same. This allows for the adjustment of the distance between the two clamping arms 14. Moreover, during the adjustment process, the midpoint of the line connecting the two clamping arms 14 will not change. This midpoint is always aligned with the midpoint in the width direction of the packaging bag. The fixed cylinder 211 is fixedly connected to the square post 12 through the mounting mechanism 22 to ensure that the position of the fixed cylinder 211 does not change during the adjustment process.

[0053] In the above scheme, by sliding the gripping arm 14 and the blade arm 15 onto the square column 12, and then cooperating with the distance adjustment component, the entire robot arm can quickly adjust the distance between the two gripping arms 14 according to the different widths of the packaging bag during actual use. Moreover, during adjustment, the two gripping arms 14 can move closer or further away simultaneously, that is, the midpoint of the line connecting the two gripping arms 14 will not change. This midpoint position is always aligned with the midpoint in the width direction of the packaging bag. In this way, after adjustment, the two clamps 141 can still simultaneously clamp both ends of the packaging bag opening. Furthermore, the connecting plate 23 is fixedly connected to the same side. The clamping arm 14 and the blade arm 15 are designed so that the lateral distance between the clamp 141 and the blade 152 will not change during the adjustment process. In other words, as long as the two clamps 141 can clamp the two ends of the bag opening at the same time, the two blades 152 can be smoothly inserted into the bag opening, ensuring that the function of the blades 152 will not be affected by the adjustment of the clamping arm 14 spacing. At the same time, the structural design of the transmission mechanism 21 makes the lateral distance between the two clamping arms 14 shorten as a whole when the spacing of the clamping arms 14 is reduced, without any lateral protrusion. This helps to reduce the size of the entire device and is suitable for use in small space environments.

[0054] like Figure 6 As shown, the adjustable distance assembly also includes a locking mechanism 24 and an unlocking mechanism 25. The locking mechanism 24 is used to lock the rack 213, and the unlocking mechanism 25 is used to release the locking state of the rack 213 by the locking mechanism 24.

[0055] like Figure 7As shown, gear 212 is rotatably connected to the inside of fixed cylinder 211 via a rotating shaft 214 coaxially arranged therewith. One end of the rotating shaft 214 is fixedly connected to a hexagonal prism 215 coaxially arranged therewith. When it is necessary to rotate gear 212, a hexagonal sleeve adapted to the hexagonal prism 215 can be placed on the hexagonal prism 215. Then, by rotating the sleeve, the hexagonal prism 215 and the rotating shaft 214 are driven to rotate, thereby causing gear 212 to rotate.

[0056] like Figure 6 , Figure 8 and Figure 9 As shown, the locking mechanism 24 includes a sliding cylinder 241 fixedly connected to the fixed cylinder 211, a slider 243 slidably connected inside the sliding cylinder 241, a compression spring 246 that pushes the slider 243 toward the rack 213, teeth 244 fixed on the end face of the slider 243 near the rack 213, and several grooves 245 formed on the side of the rack 213 near the slider 243. The teeth 244 engage with the grooves 245 under the elastic force of the compression spring 246, thereby positioning the rack 213 and preventing it from slipping. A top cover 242 is fixedly installed at the end of the sliding cylinder 241 away from the fixed cylinder 211. The compression spring 246 is connected between the top cover 242 and the slider 243. The top cover 242 supports the compression spring 246, ensuring that the elastic force generated by the compressed spring 246 can fully act on the slider 243. In the above scheme, the slider 243 can be adopted as follows: Figure 8 The rectangular block structure shown prevents the slider 243 from rotating inside the slide cylinder 241, meaning the slider 243 can only slide up and down, thus ensuring the alignment between the teeth 244 and the grooves 245.

[0057] like Figure 8 and Figure 9 As shown, the upper surface of the slider 243 has an insertion hole 249, which is a blind hole. A guide sleeve 248 is embedded in the top of the insertion hole 249. A guide rod 247 is slidably inserted into the guide sleeve 248. A compression spring 246 is sleeved on the guide rod 247. When the teeth 244 and the groove 245 are in the meshing state, the distance between the bottom end of the guide rod 247 and the bottom surface of the insertion hole 249 is greater than the vertical height of the teeth 244. Thus, during the process of the teeth 244 completely withdrawing from the groove 245, the bottom end of the guide rod 247 will not contact the bottom surface of the insertion hole 249.

[0058] In the above scheme, the number of locking mechanisms 24 is not specifically limited. For example, there can be one locking mechanism 24 or two locking mechanisms 24, with the two locking mechanisms 24 locking the two racks 213 respectively.

[0059] By using the locking mechanism 24, the compression spring 246 keeps the teeth 244 and the tooth groove 245 engaged when there is no external force, thereby limiting the movement of the rack 213. Since the rack 213 cannot move, the gear 212 cannot rotate, thus locking the entire transmission mechanism 21 and preventing the gear 212 from rotating during the operation of the robot.

[0060] like Figures 6 to 9 As shown, the unlocking mechanism 25 includes an L-shaped rod 251 and an inclined plate 252. The L-shaped rod 251 includes a vertical section 2511 and a horizontal section 2512 integrally connected. The inclined plate 252 is located at the end of the hexagonal column 215 away from the pivot 214 and is fixedly connected to the bottom end of the vertical section 2511. Specifically, as shown... Figure 7 As shown, from the upper end to the lower end of the inclined plate 252, the distance between the inclined plate 252 and the hexagonal prism 215 gradually decreases. The vertical section 2511 is slidably connected to the fixed cylinder 211 through the guide tube 2513. The function of the guide tube 2513 is to limit the sliding direction of the vertical section 2511, so that the vertical section 2511 can only slide in a straight line up and down. The unlocking mechanism 25 also includes a first waist-shaped hole 253 opened on the side of the slide cylinder 241 and a second waist-shaped hole 254 opened on the slider 243. The first waist-shaped hole 253 and the second waist-shaped hole 254 are both vertically arranged. The end of the horizontal section 2512 away from the vertical section 2511 passes through the inner bottom end of the first waist-shaped hole 253 and extends to the inner top end of the second waist-shaped hole 254.

[0061] like Figure 6 and Figure 7 As shown, the unlocking mechanism 25 also includes a protective cover 255 and an insertion tube 256 fixed on the protective cover 255. The L-shaped rod 251 and the hexagonal column 215 are both located inside the protective cover 255, so as to use the protective cover 255 to isolate the L-shaped rod 251 from the external environment and prevent the L-shaped rod 251 from being affected by external forces in the external environment. The insertion tube 256 is coaxially arranged with the rotating shaft 214.

[0062] During the actual unlocking process, the hexagonal sleeve is inserted into the insertion tube 256 and pushed deeper into the insertion tube 256 until it contacts the inclined plate 252. The pushing force on the hexagonal sleeve is then directly transmitted to the inclined plate 252. A portion of this force is converted into an upward pushing force, which pushes the inclined plate 252 and the vertical section 2511 upwards until the inclined plate 252 completely avoids the front end of the hexagonal post 215. Afterwards, the hexagonal sleeve is rotated to fit onto the hexagonal post 215. During this process, the upward movement of the vertical section 2511 causes the horizontal section 2512 to move upwards simultaneously. Since the horizontal section 2512 is inserted into the inner top of the second oblong hole 254, the upward movement of the horizontal section 2512 pushes the slider 243 upwards, thus... As the tooth 244 gradually withdraws from the inside of the tooth groove 245, and the hexagonal sleeve is fitted onto the hexagonal post 215, the tooth 244 also completely withdraws from the inside of the tooth groove 245. At this time, the compression spring 246 contracts, which releases the locking function of the locking mechanism 24 on the rack 213. Then, the gear 212 can be rotated by the hexagonal sleeve, thereby adjusting the position of the two racks 213, that is, adjusting the distance between the two clamping arms 14. After the adjustment is completed, the hexagonal sleeve is pulled out directly. Under the elastic force of the compression spring 246, the tooth 244 and the tooth groove 245 re-engage, realizing the locking of the rack 213. In addition, the compression of the inner top wall of the second waist-shaped hole 254 on the horizontal section 2512 will also cause the horizontal section 2512 to move down, that is, the vertical section 2511 and the inclined plate 252 move down, until the inclined plate 252 blocks the front end of the hexagonal post 215 again.

[0063] In the above scheme, the L-shaped rod 251 and the inclined plate 252 are set, and the L-shaped rod 251 and the slider 243 are connected by the first waist-shaped hole 253 and the second waist-shaped hole 254. Thus, during the process of inserting the hexagonal sleeve into the insertion tube 256, the locking mechanism 24 can be released from locking the rack 213. After the hexagonal sleeve is pulled out, the locking mechanism 24 can immediately restore the locking of the rack 213. The overall structure is cleverly and reasonably designed, and the operation is convenient. It is conducive to improving the efficiency of adjusting the distance between the two clamping arms 14.

[0064] like Figures 2 to 4As shown, the adjustable distance assembly also includes a housing mechanism 26, which includes an outer cylinder 261 and an inner cylinder 262. The outer cylinder 261 is slidably sleeved on the outside of the inner cylinder 262, forming a rectangular telescopic cylinder structure. The connecting rod 151 mentioned above can also adopt a similar rectangular telescopic cylinder structure. The outer cylinder 261 and the inner cylinder 262 are respectively fixed on two clamping arms 14. When the distance between the two clamping arms 14 changes, the length of the rectangular telescopic cylinder structure formed by the outer cylinder 261 and the inner cylinder 262 will also change adaptively. The transmission mechanism 21 is set in the cavity formed by the outer cylinder 261 and the inner cylinder 262, which can effectively protect the transmission mechanism 21, prevent the transmission mechanism 21 from being damaged, and also improve the overall aesthetics; Figure 2 , Figure 10 and Figure 11 As shown, a second strip-shaped hole 264 is provided on one side of both the outer cylinder 261 and the inner cylinder 262, which is arranged along the length direction of the rack 213. The two second strip-shaped holes 264 partially overlap, and the insertion tube 256 extends to the outside of the outer shell mechanism 26 after passing through the overlapping part of the two second strip-shaped holes 264, so that the hexagonal sleeve can be inserted into the interior of the outer shell mechanism 26 through the insertion tube 256.

[0065] like Figure 3 , Figure 12 and Figure 13 As shown, the installation mechanism 22 includes a fixedly connected mounting plate 221 and mounting sleeve 222. The mounting sleeve 222 is fixedly sleeved on the square column 12 by bolts or other structures. The other side of the outer cylinder 261 and the inner cylinder 262 are provided with a first strip hole 263 arranged along the length direction of the rack 213. There is an overlapping part between the two first strip holes 263. A perforated column 223 is fixedly connected between the mounting plate 221 and the fixed cylinder 211. The perforated column 223 passes through the overlapping part of the two first strip holes 263.

[0066] In the above scheme, the outer shell mechanism 26, with its interlocking outer cylinder 261 and inner cylinder 262, can effectively protect the transmission mechanism 21 and improve the overall aesthetics. Furthermore, the insertion tube 256 can easily insert the hexagonal sleeve into the inner shell mechanism 26, and the insertion tube 256, together with the perforated post 223, also has the function of limiting the maximum and minimum extension length of the outer cylinder 261 and inner cylinder 262, thus preventing the outer cylinder 261 and inner cylinder 262 from becoming disengaged.

[0067] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A packaging bag-loading robot device, comprising a square column that drives the gripping arm and the cutting arm to rotate, two inserting blades being rotatably connected between the two cutting arms via a connecting rod, and the connecting rod being driven to rotate by a cylinder mounted on one of the cutting arms, characterized in that, Both the clamping arm and the cutting arm are slidably connected to the square column, and a connecting plate is fixedly connected between the clamping arm and the cutting arm on the same side. The connecting rod is a telescopic rod; A distance adjustment component is provided between the two clamping arms to adjust the distance between the two clamping arms; The adjustable distance assembly includes a transmission mechanism and an installation mechanism. The transmission mechanism includes a fixed cylinder, a gear rotatably connected inside the fixed cylinder, and two racks slidably connected to the fixed cylinder. The two racks are parallel to each other and both mesh with the gear. The fixed cylinder is fixedly connected to the square column through the installation mechanism. The adjusting assembly further includes a locking mechanism and an unlocking mechanism. The locking mechanism is used to lock the rack, and the unlocking mechanism is used to release the locking mechanism from the rack. The gear is rotatably connected to the inside of the fixed cylinder via a rotating shaft coaxially arranged therewith, and a hexagonal prism coaxially arranged therewith is fixedly connected to one end of the rotating shaft; The locking mechanism includes a slide cylinder that is fixedly connected to the fixed cylinder, a slider that is slidably connected inside the slide cylinder, a compression spring that pushes the slider toward the rack, teeth fixed on the side of the slider near the rack, and several tooth grooves opened on the side of the rack near the slider. The teeth are engaged in the tooth grooves under the elastic force of the compression spring. A top cover is fixedly installed on the end of the slide cylinder away from the fixed cylinder, and the compression spring is connected between the top cover and the slider. The unlocking mechanism includes an L-shaped rod and an inclined plate. The L-shaped rod includes a vertical section and a horizontal section that are integrally connected. The inclined plate is located at the end of the hexagonal column away from the pivot and is fixedly connected to the bottom end of the vertical section. The vertical section is slidably connected to the fixed cylinder through a guide tube. The unlocking mechanism also includes a first waist-shaped hole on the side of the slide cylinder and a second waist-shaped hole on the slider. The end of the horizontal segment away from the vertical segment passes through the inner bottom end of the first waist-shaped hole and extends to the inner top end of the second waist-shaped hole. The unlocking mechanism also includes a protective cover and a tube fixed on the protective cover. The L-shaped rod and the hexagonal column are both located inside the protective cover, and the tube is coaxially arranged with the rotating shaft. The distance adjustment assembly also includes a housing mechanism, which includes an outer cylinder and an inner cylinder. The outer cylinder is slidably sleeved on the outside of the inner cylinder. The outer cylinder and the inner cylinder are respectively fixed on two clamping arms. The transmission mechanism is disposed in the cavity formed by the outer cylinder and the inner cylinder. Both the outer and inner cylinders have a second strip-shaped hole on one side, which is arranged along the length of the rack, and the insertion tube passes through the two second strip-shaped holes.

2. The packaging bag-loading robot device according to claim 1, characterized in that: The upper surface of the slider has an insertion hole, and a guide sleeve is embedded in the top of the insertion hole. A guide rod is slidably inserted into the inside of the guide sleeve, and the compression spring is sleeved on the guide rod.

3. The packaging bag-loading robot device according to claim 1, characterized in that: The installation mechanism includes a fixedly connected mounting plate and mounting sleeve. The mounting sleeve is fixedly fitted onto the square column. The other side of both the outer cylinder and the inner cylinder is provided with a first strip-shaped hole arranged along the length of the rack. A perforated column is fixedly connected between the mounting plate and the fixed cylinder, and the perforated column passes through the two first strip-shaped holes.

4. The packaging bag-loading robot device according to claim 1, characterized in that: Both ends of the square column are rotatably mounted with connecting seats, and one of the connecting seats is equipped with a servo motor for driving the square column to rotate.

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