Ton bag loading mechanism and method

Abstract

This invention relates to a ton bag loading mechanism and method, belonging to the category of packaging bag loading equipment. The ton bag loading mechanism of this invention includes a fixed frame, a movable suspension, a needle-punched suction cup, and bag-loading grippers. The movable suspension is mounted on a track of the fixed frame, and the bag-loading grippers are mounted on the movable suspension via a multi-stage drive. The movable suspension is mounted on the track of the fixed frame and is movable. There are four sets of bag-loading grippers, respectively located at the four corners of the movable suspension. Each bag-loading gripper includes two symmetrically arranged swing plates, a primary rotary drive, a suspension, a secondary rotary drive, a vertical drive, and a lateral drive. The front ends of the swing plates are concave, and the front ends of the two swing plates swing and close to hook the ton bag lifting rope. The rear of the swing plates is hinged to the gripper frame, and the upper part of the gripper frame is connected to the rotating end of the primary rotary drive. The gripper arm extends laterally to provide a swing drive, which is connected to the upper part of the swing plates via a connecting rod. This invention automates ton bag loading mechanically, reducing the difficulty of manual bag loading.

Description

Technical Field

[0001] This invention relates to a method for loading ton bags into a ton bag loading mechanism, and belongs to the category of packaging bag loading equipment. Background Technology

[0002] Mega-bags are currently used for filling powdered materials. Due to their large size, the filling equipment is several meters high. Normally, hanging mega-bags requires being at a height. Since there are no suitable standing points around the filling equipment, manual bag hanging has now been replaced.

[0003] Currently, ton bags and their hanging bags are handled by bag-loading robots. In order to avoid the complexity of the filling equipment environment, multi-degree-of-freedom robots are needed, and more complex operation algorithms are required for ton bag hanging operations.

[0004] The current powder filling environment is harsh, and conventional robotic arms are prone to dust problems, resulting in a high failure rate of equipment operation. Summary of the Invention

[0005] This invention provides a bag-loading mechanism and method for ton bags, solving the problem of mechanical automation in ton bag loading.

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

[0007] The present invention provides a bag loading mechanism for ton bags, comprising a fixed frame, a movable suspension, a needle suction cup, and a bag loading gripper. The movable suspension is mounted on the track of the fixed frame, and the bag loading gripper is mounted on the movable suspension via a multi-stage drive. The movable suspension is mounted on the track of the fixed frame and is movable.

[0008] The upper bag gripper consists of four sets, which are respectively set at the four corners of the mobile suspension;

[0009] The upper bag gripper includes two symmetrically arranged swing plates, a primary rotary drive, a suspension, a secondary rotary drive, a vertical drive, and a lateral drive. The front end of the swing plates is concave, and the front ends of the two swing plates swing and close to hook the ton bag lifting rope. The rear part of the swing plates is hinged to the gripper frame, and the upper part of the gripper frame is connected to the rotating end of the primary rotary drive. The gripper arm extends to the side to set the swing drive, which is connected to the upper part of the swing plates through a connecting rod. The movement of the swing drive drives the two swing plates to swing open and close. A needle suction cup is set between the two swing plates. When the swing plates are open, the needles and suction cups of the needle suction cup are lower than the lower position of the swing plates. When the swing plates are closed, there is space between the needles and suction cups of the needle suction cup and the swing plates to store the ton bag lifting rope.

[0010] The fixed end of the first-stage rotary drive is fixed to the end of the cantilever, the inner end of the cantilever is fixed to the rotary end of the second-stage rotary drive, the fixed end of the second-stage rotary drive is fixed to the moving end of the vertical drive, the fixed end of the vertical drive is fixed to the moving end of the lateral drive, and the fixed end of the lateral drive is fixed to the four corners of the movable suspension; the movable suspension includes a lateral rod and a longitudinal rod, the ends of the two longitudinal rods are connected to the lateral rod, the end of the lateral rod is provided with a positioning sleeve, the position of the positioning sleeve at the end of the lateral rod is adjustable, the fixed end of the lateral drive is installed on the positioning sleeve, and the position of the positioning sleeve on the lateral rod is adjusted to adjust the distance between the grippers.

[0011] The movable suspension is provided with support rails above and below, and the support rails extend to one side; it is also provided with an adjustment frame, and the lower part of the adjustment frame is provided with support wheels that cooperate with the support rails. Each support rail is provided with three sets of support wheels, with support wheels that cooperate with the upper support rail and the lower support rail.

[0012] It also includes a lifting frame, a fixed frame is a rectangular frame, the inner side of the four corner columns serves as a lifting rail, the lifting frame is set in the middle of the fixed frame, the four corners of the lifting frame are set with lifting guide wheels that cooperate with the lifting guide rails, each lifting guide rail is equipped with two lifting guide wheels, a lifting drive mechanism is set between the lifting frame and the fixed frame, the lifting drive is a rack and pinion transmission mechanism or a winch mechanism, and the adjustment frame is set on the lifting frame and moves up and down with the lifting frame;

[0013] The lifting frame is a rectangular frame with adjustment rails on two parallel sides. The adjustment frame is also a rectangular frame, smaller in size than the lifting frame, and has adjustment wheels on both sides. The adjustment wheels move on the adjustment rails to adjust the position on the lifting frame.

[0014] The fixed frame is set on one side of the ton bag filling machine. The movable suspension can move a maximum distance to the outside of the fixed frame under the support of the support rail, down to below the filling port of the ton bag filling machine. The outer periphery of the filling port of the ton bag filling machine is provided with a ton bag lifting rope fixing gripper. The side of the movable suspension is provided with a concave shape for the ton bag lifting rope fixing gripper to pass through.

[0015] According to the aforementioned bag loading mechanism, the swing drive is a gripper cylinder, and the cylinder body of the gripper cylinder is fixed to the gripper frame.

[0016] Above, a push plate is set at the front end of the piston rod of the gripper cylinder. The connecting rod includes a toggle shaft and a push rod. The push rod is hinged to both sides of the push plate. The front end of the push rod is vertical and hinged to the toggle shaft. The swing shaft is hinged to the middle position of the swing plate.

[0017] According to the ton bag loading mechanism, the swing plate is shaped like a spoon, with the concave end as the bottom end, and the spoon-shaped handle end is hinged to the gripper frame.

[0018] According to the aforementioned ton bag loading mechanism, the ton bag storage platform is provided in the lower middle of the fixed frame, the lifting ropes of the ton bags are stacked on the top layer, the lifting ropes of the ton bags are provided with color recognition areas, and a visual recognition camera is also provided. The visual recognition camera identifies the position of the lifting ropes of the ton bags and transmits the identified position information to the loading gripper.

[0019] The present invention provides a method for loading ton bags according to the ton bag loading mechanism, which includes the following steps: identifying the position of the ton bag lifting rope, and moving the loading gripper above the position of the ton bag lifting rope under multi-stage drive.

[0020] The gripper cylinder of the upper bag gripper drives the two swing plates to open, and the lifting frame drives the moving suspension to descend to the ton bag lifting rope;

[0021] The needle suction cup needles and lifts the ton bag lifting rope, the gripper cylinder drives the swing plate to close, hooks the ton bag lifting rope, and the needle suction cup fails.

[0022] Driven by the support wheels, the support rail moves toward the ton bag filling machine, and the moving suspension moves to below the ton bag filling machine;

[0023] The ton bag lifting rope fixing grip passes through the side recess of the movable suspension to clamp the ton bag lifting rope. The grip cylinder of the upper bag turning hand drives the swing plate to open and avoids the ton bag lifting rope fixing grip under multi-stage drive.

[0024] The support rail of the moving suspension corresponds to the support wheel driving the moving suspension back, and continues to hook the next ton bag lifting rope to pick up the upper bag.

[0025] The advantage of this invention is that it automates the loading of ton bags through machinery, reducing the difficulty of manual bag loading.

[0026] Mechanical bag loading is highly efficient and suitable for filling machine heights. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0028] Figure 2 This is a side view of the present invention.

[0029] Figure 3 This is another side view of the invention.

[0030] Figure 4 This is a structural diagram of the movable suspension of the present invention.

[0031] Figure 5 The movable suspension side of the present invention Figure 1 ,

[0032] Figure 6 The movable suspension side of the present invention Figure 2 ,

[0033] Figure 7 This is a schematic diagram of the movable suspension swing plate of the present invention not being deployed.

[0034] Figure 8 This is a schematic diagram of the movable suspension swing plate of the present invention being opened.

[0035] Figure label:

[0036] 1. Moving suspension; 11. Lateral bar; 12. Longitudinal bar; 13. Positioning sleeve; 14. Support rail; 15. Support wheel; 16. Adjusting frame; 17. Adjusting wheel; 2. Needle suction cup; 3. Upper bag gripper; 31. Swing plate; 32. First-level rotary drive; 33. Gripper frame; 34. Second-level rotary drive; 35. Vertical drive; 36. Lateral drive; 37, 38. Swing drive; 39. Cantilever; 4. Fixed frame; 41. Lifting frame; 42. Lifting rail; 43. Lifting guide wheel; 44. Ton bag storage platform; 5. Linkage; 51. Push plate; 52. Push rod; 53. Actuating shaft; 6. Ton bag lifting rope fixing gripper; 7. Filling port. Implementation

[0037] The specific details of this invention will be further explained below:

[0038] The present invention provides a bag loading mechanism for ton bags, comprising a fixed frame 4, a movable suspension 1, a needle suction cup 2, and a bag loading gripper 3. The movable suspension 1 is mounted on the track of the fixed frame 4, and the bag loading gripper 3 is mounted on the movable suspension 1 via a multi-stage drive. The movable suspension 1 is mounted on the track of the fixed frame 4 and is movable.

[0039] The upper bag gripper 3 consists of four groups, which are respectively set at the four corners of the movable suspension 1;

[0040] The upper bag gripper 3 includes two symmetrically arranged swing plates 31, a first-stage rotary drive, a suspension, a second-stage rotary drive, a vertical drive, and a horizontal drive. The front end of the swing plates 31 is concave. The front ends of the two swing plates 31 swing and close to hook the ton bag lifting rope. The rear part of the swing plates 31 is hinged to the gripper frame. The upper part of the gripper frame is connected to the rotating end of the first-stage rotary drive. The gripper frame extends to the side to set the swing drive. The swing drive is connected to the upper part of the swing plates 31 through the connecting rod 5. The movement of the swing drive drives the two swing plates 31 to swing open and close. The needle suction cup 2 is set between the two swing plates 31. When the swing plates 31 are open, the needles and suction cups of the needle suction cup 2 are lower than the low position of the swing plates 31. When the swing plates 31 are closed, there is space between the needles and suction cups of the needle suction cup 2 and the swing plates 31 to store the ton bag lifting rope.

[0041] The fixed end of the first-stage rotary drive is fixed to the end of the cantilever, the inner end of the cantilever is fixed to the rotary end of the second-stage rotary drive, the fixed end of the second-stage rotary drive is fixed to the moving end of the vertical drive, the fixed end of the vertical drive is fixed to the moving end of the lateral drive, and the fixed end of the lateral drive is fixed to the four corners of the movable suspension 1.

[0042] The movable suspension 1 includes a lateral rod and a longitudinal rod. The ends of the two longitudinal rods are connected to the lateral rod. A positioning sleeve is provided at the end of the lateral rod. The position of the positioning sleeve at the end of the lateral rod is adjustable. The fixed end of the lateral drive is installed on the positioning sleeve. The position of the positioning sleeve on the lateral rod is adjusted to adjust the distance between the grippers.

[0043] The swing drive is a gripper cylinder. The cylinder body of the gripper cylinder is fixed to the gripper frame. A push plate is provided at the front end of the piston rod of the gripper cylinder. The connecting rod 5 includes a deflecting shaft and a push rod. The push rod is hinged to both sides of the push plate. The front end of the push rod is vertical and hinged to the deflecting shaft. The deflecting shaft is hinged to the middle position of the swing plate 31. The swing plate 31 is spoon-shaped, with the concave end as the bottom end. The spoon-shaped handle end is hinged to the gripper frame.

[0044] The movable suspension 1 is provided with support rails above and below, and the support rails extend to one side; it is also provided with an adjustment frame, and the lower part of the adjustment frame is provided with support wheels that cooperate with the support rails. Each support rail is provided with three sets of support wheels, with support wheels that cooperate with the upper support rail and the lower support rail.

[0045] Furthermore, it also includes a lifting frame. The fixed frame 4 is a rectangular frame with the inner sides of the four corner columns serving as lifting rails. The lifting frame is set in the middle of the fixed frame 4. The four corners of the lifting frame are equipped with lifting guide wheels that cooperate with the lifting guide rails. Each lifting guide rail is equipped with two lifting guide wheels. A lifting drive mechanism is set between the lifting frame and the fixed frame 4. This lifting drive is a rack and pinion transmission mechanism or a winch mechanism. The adjustment frame is set on the lifting frame and moves up and down with the lifting frame.

[0046] The lifting frame is a rectangular frame with adjustment rails on two parallel sides. The adjustment frame is also a rectangular frame, smaller than the lifting frame, and has adjustment wheels on both sides. The adjustment wheels move on the adjustment rails to adjust the position on the lifting frame.

[0047] The fixed frame 4 is set on one side of the ton bag filling machine. The movable suspension 1 can move a maximum distance to the outside of the fixed frame 4 under the support of the support rail to below the filling port of the ton bag filling machine. The outer periphery of the filling port of the ton bag filling machine is provided with a ton bag lifting rope fixing gripper. The side of the movable suspension 1 is provided with a concave shape for the ton bag lifting rope fixing gripper to pass through.

[0048] The lower center of the fixed frame 4 is equipped with a ton bag storage platform. The lifting ropes of the ton bags are stacked on the top layer. The lifting ropes of the ton bags are equipped with color recognition areas and a visual recognition camera. The visual recognition camera identifies the position of the lifting ropes of the ton bags and transmits the identified position information to the upper bag gripper 3.

[0049] The ton bag loading method according to any of the ton bag loading mechanisms includes the following steps: identifying the position of the ton bag lifting rope, and moving the loading gripper 3 above the position of the ton bag lifting rope under the multi-stage drive.

[0050] The gripper cylinder of the upper bag gripper 3 drives the two swing plates 31 to open, and the lifting frame drives the moving suspension 1 to descend to the ton bag lifting rope.

[0051] When the needle suction cup 2 needles and lifts the ton bag lifting rope, the gripper cylinder drives the swing plate 31 to close, hooking the ton bag lifting rope, and the needle suction cup 2 becomes ineffective.

[0052] Driven by the support wheel, the support rail moves toward the ton bag filling machine, and the moving suspension 1 moves to below the ton bag filling machine;

[0053] The ton bag lifting rope fixing grip passes through the side recess of the movable suspension 1 to clamp the ton bag lifting rope. The grip cylinder of the upper bag turning hand drives the swing plate 31 to open and avoids the ton bag lifting rope fixing grip under multi-stage drive.

[0054] The support rail of the movable suspension 1 corresponds to the support wheel driving the movable suspension 1 back, and continues to hook the next ton bag lifting rope to pick up the bag.

Claims

1. A ton bag on bag mechanism, comprising a fixed frame (4), a moving suspension frame (1), a needle suction disc (2) and a bag on bag gripper (3), characterized in that The moving suspension frame (1) is arranged on the track of the fixed frame (4), and the bag on bag gripper (3) is arranged on the moving suspension frame (1) through multi-stage driving, and the moving suspension frame (1) is arranged on the track of the fixed frame (4) and is movable; The bag on bag gripper (3) is four groups, which are arranged at four corners of the moving suspension frame (1) respectively; The bag on bag gripper (3) comprises two symmetrical swing plates (31), a first rotary drive, a suspension frame, a second rotary drive, a vertical drive and a horizontal drive, the front end of the swing plate (31) is concave, the front end of the two swing plates (31) swings to close the ton bag lifting rope, the rear part of the swing plate (31) is hinged to the gripper frame, the upper part of the gripper frame is connected to the rotating end of the first rotary drive, the gripper frame extends to the side to arrange the swing drive, the swing drive is connected to the upper part of the swing plate (31) through the connecting rod (5), the movement of the swing drive drives the two swing plates (31) to swing open and close, the needle suction disc (2) is arranged between the two swing plates (31), when the swing plate (31) is opened, the needle and the suction disc of the needle suction disc (2) are lower than the low position of the swing plate (31), when the swing plate (31) is closed, the needle and the suction disc of the needle suction disc (2) are kept a space with the swing plate (31) to store the ton bag lifting rope; The fixed end of the first rotary drive is fixed to the end of the suspension arm, the inner side end of the suspension arm is fixed to the rotating end of the second rotary drive, the fixed end of the second rotary drive is fixed to the movement end of the vertical drive, the fixed end of the vertical drive is fixed to the movement end of the horizontal drive, and the fixed end of the horizontal drive is fixed to the four corners of the moving suspension frame (1); The moving suspension frame (1) comprises a horizontal rod and a longitudinal rod, the ends of the two longitudinal rods are connected to the horizontal rod, the end of the horizontal rod is provided with a positioning sleeve, the positioning sleeve is adjustable in position at the end of the horizontal rod, and the fixed end of the horizontal drive is mounted on the positioning sleeve; adjust the position of the positioning sleeve on the horizontal rod to adjust the distance between the grippers; The upper and lower parts of the moving suspension frame (1) are respectively provided with support rails, and the support rails extend to one side; further provided with an adjusting frame, the lower part of the adjusting frame is provided with a support wheel matched with the support rail, and three groups of support wheels are arranged on each support rail in correspondence with the support rails; Further comprising a lifting frame, the fixed frame (4) is a rectangular frame, the inner side of the four corner columns serves as a lifting rail, the lifting frame is arranged in the middle of the fixed frame (4), the four corners of the lifting frame are provided with lifting guide wheels matched with the lifting guide rails, two lifting guide wheels are matched with each lifting guide rail, and a lifting drive mechanism is arranged between the lifting frame and the fixed frame (4), the lifting drive is a rack and pinion transmission mechanism or a winch mechanism, and the adjusting frame is arranged on the lifting frame and lifts with the lifting frame; The lifting frame is a rectangular frame, two parallel sides of the lifting frame are provided with adjusting rails, the adjusting frame is a rectangular frame, the size of the adjusting frame is smaller than that of the lifting frame, and adjusting wheels are arranged on two sides of the adjusting frame; the adjusting wheels move on the adjusting rails to adjust the position on the lifting frame. The fixed frame (4) is arranged on one side of the ton bag filling machine, and the movable suspension frame (1) is supported by the support rail to move to the outside of the fixed frame (4) to the position below the filling port of the ton bag filling machine, the periphery of the filling port of the ton bag filling machine is provided with a ton bag lifting rope fixed gripper, and the side of the movable suspension frame (1) is provided with a concave portion for the ton bag lifting rope fixed gripper to pass through.

2. The bag-on-tote apparatus of claim 1, wherein, The swing drive is a gripper cylinder, the cylinder body of the gripper cylinder is fixed to the gripper frame, the front end of the piston rod of the gripper cylinder is provided with a push plate, the connecting rod (5) includes a shifting shaft and a push rod, the two sides of the push plate are hingedly connected to the push rod, the front end of the push rod is vertically and hingedly connected to the shifting shaft, and the shifting shaft is hingedly connected to the middle position of the swing plate (31).

3. The bag-on-tote apparatus of claim 1, wherein, The swing plate (31) is in the shape of a spoon, the concave end is the bottom end, and the spoon-shaped handle end is hingedly connected to the gripper frame.

4. The bag-on-tote apparatus of claim 1, wherein, The middle of the fixed frame (4) is provided with a ton bag storage platform, the lifting ropes of the ton bags are stacked together on the uppermost layer, the lifting ropes of the ton bags are provided with a color identification area, and a visual identification camera is further arranged, the visual identification camera identifies the position of the lifting ropes of the ton bags and transmits the identified position information to the bag lifting gripper (3).

5. The method of bagging a bag according to any one of claims 1 to 4, wherein, The method comprises the following steps: 1) identifying the position of the ton bag lifting rope, and moving the bag lifting gripper (3) above the position of the ton bag lifting rope under the driving of the multi-stage drive; 2) the gripper cylinder of the bag lifting gripper (3) drives the two swing plates (31) to open, the lifting frame drives the movable suspension frame (1) to descend to the position of the ton bag lifting rope; 3) the ton bag lifting rope is lifted by the needle suction cup (2) and the ton bag lifting rope is hooked by the gripper cylinder driving the swing plate (31) to close, and the needle suction cup (2) is disabled; 4) the support rail drives the wheels to move to the side of the ton bag filling machine, and the movable suspension frame (1) moves to the position below the ton bag filling machine; 5) the ton bag lifting rope fixed gripper passes through the concave portion on the side of the movable suspension frame (1), the ton bag lifting rope is clamped, and the swing plate (31) of the bag lifting gripper is opened under the driving of the multi-stage drive to avoid the ton bag lifting rope fixed gripper; 6) the support rail of the movable suspension frame (1) drives the movable suspension frame (1) to return, and the next ton bag lifting rope is hooked and lifted.

Images