A pushing mechanism for a bagging robot for a covered container

Abstract

The present invention provides a push mechanism for a bagging robot for covered containers. The mechanism comprises a frame within which are mounted a synchronous belt assembly, a finger assembly, a bag-lifting assembly, and a sensing assembly. The synchronous belt assembly and the finger assembly are interlaced, and the bag-lifting assembly is positioned below the synchronous belt assembly and the finger assembly. The combination of the synchronous belt assembly, the finger assembly, and the bag-lifting assembly allows a soft bag to be dropped to a designated location. When the finger is withdrawn, the bag is supported by a push plate, preventing distortion or other changes in shape. The bag's free fall distance is only the height of the finger, preventing deviation. The entire mechanism is simple and compact, requiring minimal space, and can reach the top floor.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation, and in particular to a pushing mechanism for a bagging robot for a covered container. Background Art

[0002] In the existing technology, the top container is loaded by intelligent equipment and can only be loaded with hard boxes (boxes). Its structure is: a "robot arm" goes deep into the rear door of the container and continuously stacks each box in the box.

[0003] Currently, open-top containers can be loaded and unloaded using flexible rope robots, suitable for both soft bags and hard boxes. The structure is as follows: the vehicle to be loaded is parked between four truss columns. The tops of the four truss columns feature flexible rope guides, and suction cups are located at the intersection of the four traction ropes. The retraction and extension of the flexible ropes enable the suction cups to follow a specific trajectory. The suction and deflation of the suction cups continuously stack bags or boxes within the vehicle.

[0004] No matter which of the above solutions is used, it is impossible to stack bags in a covered container.

[0005] Some research and development has been conducted in this direction, but these mechanisms have failed to address three major issues: ① A suitable gripping mechanism has not been developed. Small suction cups lack sufficient suction, large suction cups lack space, and small suction cups with strong suction easily tear the bags. ② Empty layers: The bulky packaging equipment takes up too much space and cannot reach the top, resulting in an empty layer of bags at the top. ③ Bags are soft and come in all shapes when stacked, making it easy for unfilled areas to form.

[0006] Therefore, there is an urgent need for a pushing mechanism for a covered container bagging robot that can solve the above problems. Summary of the Invention

[0007] The purpose of the present invention is to provide a pushing mechanism for a bagging robot for a covered container, so as to solve the problems existing in the above-mentioned prior art.

[0008] To achieve the above object, the present invention provides the following solutions:

[0009] The present invention provides a pushing mechanism for a bagging robot for a covered container, which is used for conveying bags packed with soft products. The mechanism comprises a frame, in which a synchronous belt assembly, a finger assembly, a bag-top assembly and a sensing assembly are installed. The synchronous belt assembly is used to convey the bag to the front section of the finger assembly and trigger the sensing assembly; the finger assembly is used to support the bag to a specified position by extending; the bag-top assembly is used to support the rear end of the bag to prevent it from being withdrawn as the finger assembly is withdrawn; the synchronous belt assembly and the finger assembly are arranged in an interlaced manner, and the bag-top assembly is arranged at the bottom of the synchronous belt assembly and the finger assembly.

[0010] Preferably, the frame includes side panels parallel to each other, a support frame is provided between the side panels, the support frame can support the finger assembly to achieve reciprocating linear motion, and the lower part of the support frame is provided with a channel for the synchronous belt assembly to pass through.

[0011] Preferably, a synchronous belt drive device and a finger drive device are provided on the end side of the frame, and the two are vertically installed in the middle of the mutually parallel side plates. The synchronous belt drive device is transmission connected to the synchronous belt assembly, and the finger drive device is transmission connected to the finger assembly; the other end of the synchronous belt drive device is a stationary roller, and the synchronous belt passes around the drive device and the stationary roller to constitute the synchronous belt assembly.

[0012] Preferably, a bag-supporting beam is provided at the rear end of the frame.

[0013] Preferably, an electric cylinder guard plate is provided on the top of the side plate, and a detection hole is opened on the electric cylinder guard plate.

[0014] Preferably, the synchronous belt assembly includes a driving synchronous pulley and a driven synchronous pulley, the driving synchronous pulley is transmission-connected to the synchronous belt driving device, a synchronous belt is tensioned between the driving synchronous pulley and the driven synchronous pulley, and a block is provided on the outside of the synchronous belt.

[0015] Preferably, the finger assembly includes a finger, which is slidably arranged on a finger support through a support groove, the bottom of the finger is transmission-connected to the finger drive device through a gear, the front end of the finger is a finger connecting beam, baffles are provided on both sides of the finger connecting beam, and a limit block is provided at the rear end of the finger.

[0016] Preferably, the top bag assembly includes an electric cylinder, the power end of the electric cylinder is connected to the roller through a fork hinge, the roller can be slidably limited in the slide groove of the connecting rod 2, the connecting rod 2 is hinged to the push rod and the base, the push rod and the base are also hinged to the connecting rod 1, the connecting rod 2, the push rod, the base and the connecting rod 1 form a parallelogram structure, a guard plate is provided above the push rod, and a push plate is provided at the front end of the push rod.

[0017] Preferably, the sensing component includes an encoder and a photoelectric switch.

[0018] The present invention also provides a pushing method for the pushing mechanism of a top container bagging robot. The entire pushing process is divided into the following steps: 1. The bag is supported by the bag support beam and, due to its certain conveying speed, is brought to the pushing mechanism by the block of the synchronous belt; 2. The bag is dragged by the synchronous belt and slides along the finger assembly, the electric cylinder guard plate, and the baffles on both sides of the finger connecting beam until the photoelectric switch feedback signal indicates that the bag has passed point A; 3. The fingers are activated, and the bag reaches a preset position under the support of the fingers and the drag of the synchronous belt. The bag-lifting assembly is activated to support the rear end of the bag through the push plate; 4. The fingers are withdrawn, the bag falls, and when the bag and fingers are completely out of contact, the bag-lifting assembly is activated again and the connecting rod is retracted; 5. All fingers are withdrawn.

[0019] Compared with the prior art, the present invention has achieved the following beneficial technical effects:

[0020] The present invention provides a push mechanism for a bagging robot for a covered container, comprising a frame, within which are mounted a synchronous belt assembly, a finger assembly, a bag-lifting assembly, and a sensing assembly. The synchronous belt assembly and the finger assembly are interlaced, and the bag-lifting assembly is disposed at the bottom of the synchronous belt assembly and the finger assembly. The combination of the synchronous belt assembly, the finger assembly, and the bag-lifting assembly allows a soft bag to fall to a designated location, and when the finger is withdrawn, the bag is supported by a push plate, preventing distortion or other changes in shape. The bag's free fall distance is a minimum of only the height of the finger, and a maximum of no more than the overall height of the mechanism, encompassing the outer circle of the synchronous belt baffle's motion trajectory. Therefore, no deviation occurs. The entire mechanism is relatively simple and compact, requiring minimal height, and can reach the top floor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of the structure of a pushing mechanism for a bagging robot for a covered container provided by the present invention;

[0023] Figure 2 A schematic diagram of the frame structure of a pushing mechanism of a bagging robot for covered containers provided by the present invention;

[0024] Figure 3A schematic structural diagram of a synchronous belt assembly in a pushing mechanism of a bagging robot for covered containers provided by the present invention;

[0025] Figure 4 This is a schematic structural diagram of a finger assembly in a pushing mechanism of a bagging robot for covered containers provided by the present invention;

[0026] Figure 5 A top view of a finger assembly in a pushing mechanism of a bagging robot for a covered container provided by the present invention;

[0027] Figure 6 A schematic structural diagram of a bag-lifting component in a pushing mechanism of a bag-filling robot for a covered container provided by the present invention;

[0028] Figure 7 This is a diagram showing the operating state of a pushing mechanism for a bagging robot for a covered container provided by the present invention;

[0029] Figure 8 This is a flow chart of a pushing method for a pushing mechanism of a covered container bagging robot provided by the present invention. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] The purpose of the present invention is to provide a pushing mechanism for a bagging robot for a covered container, so as to solve the problems existing in the prior art.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Example 1:

[0034] This embodiment provides a pushing mechanism for a bagging robot for a covered container, which is used for conveying bags containing soft products, such as Figure 1 As shown, it includes a frame 1, in which a synchronous belt assembly 2, a finger assembly 3, a top bag assembly 4 and a sensing assembly are installed. The synchronous belt assembly 2 and the finger assembly 3 are arranged alternately, and the top bag assembly 4 is arranged at the bottom of the synchronous belt assembly 2 and the finger assembly 3.

[0035] Among them, the synchronous belt assembly 2 is used to transport the bag to the front end of the finger assembly 3 and trigger the sensing assembly; the finger assembly 3 is used to support the bag to the specified position through an extending movement; the bag-supporting assembly 4 is used to support the rear end of the bag to prevent it from being withdrawn as the finger assembly 3 is withdrawn.

[0036] Specifically, if Figure 2 As shown, the frame 1 includes side panels 11 parallel to each other, and a support frame 12 is provided between the side panels 11, which serves as a bracket for fixing the fingers and a connecting rod mechanism for the top bag assembly. The lower part of the support frame 12 is provided with a channel for the synchronous belt assembly to pass through.

[0037] Furthermore, a synchronous belt drive device and a finger drive device are provided on the end side of the frame, and the two are vertically installed in the middle of the parallel side plates 11. The synchronous belt drive device is transmission-connected to the synchronous belt assembly 2, and the finger drive device is transmission-connected to the finger assembly 3; the other end of the synchronous belt drive device is a stationary roller 17, and the synchronous belt passes around the drive device and the stationary roller 17 to form a synchronous belt assembly 2.

[0038] Furthermore, a bag-supporting beam 16 is provided at the rear end of the frame 1, the function of which is to support the bag before the bag moves to be dragged up by the block on the synchronous belt.

[0039] Furthermore, an electric cylinder guard plate 19 is provided on the top of the side panel 11, and space is reserved at the front end for the connecting rod mechanism to rise. A detection hole is opened on the electric cylinder guard plate 19 so that the photoelectric switch below it can detect whether the bag is dragged to position A by the synchronous belt.

[0040] Further, if Figure 3 As shown, the synchronous belt assembly 2 includes a driving synchronous pulley 21 and a driven synchronous pulley 22. The driving synchronous pulley 21 is connected to the synchronous belt drive device 14 by transmission. The driving synchronous pulley is fixed to the synchronous belt drive device by a hexagon socket head screw, and the driven synchronous pulley is fixed to the stationary drum by a bearing and a retaining spring. A synchronous belt 23 is tensioned between the driving synchronous pulley 21 and the driven synchronous pulley 22. A block 24 is provided on the outside of the synchronous belt 23 to increase the friction between the bag and the synchronous belt.

[0041] Further, if Figure 4 and 5As shown, the finger assembly 3 includes a finger 31, which is slidably arranged on a finger support 33 through a support groove 32. The finger support 33 is fixed to the support 12 by a bolt. The support groove 32 does not run through the entire finger 31, but ends at the boundary point of the finger retraction, thereby limiting the limit position of the retraction of the finger 31. The bottom of the finger 31 is connected to the finger drive device 15 through a gear 34. There are teeth under the finger 31, which is equivalent to the form of a rack. Through the gear rack transmission and the gear meshing, the gear is fixed to the finger drive device through a hexagonal flat-end fastening screw. On the top, in order to make the transmission smooth and the fixed points staggered with each other, the front end of the finger 31 is a finger connecting beam 35, the purpose of which is to increase the carrying capacity of the finger assembly. Baffles 36 are provided on both sides of the finger connecting beam 35 to ensure that when the finger is in the retracted state, the space for the connecting rod mechanism to rise is covered, and a limit block 37 is provided at the rear end of the finger 31. When the finger is extended to the longest position, the limit block blocks the transverse ribs of the finger support to limit the extreme position of the finger extension. When the finger 31 is fully retracted, there is a certain gap between the finger connecting beam 35 and the synchronous belt assembly 2 to ensure that the block can pass smoothly under the continuous operation of the synchronous belt.

[0042] Further, if Figure 6 As shown, the bag-lifting assembly 4 includes an electric cylinder 41. The power end of the electric cylinder 41 is connected to a roller 43 via a fork hinge 42. The roller 43 is slidably restrained within a slot 45 of a second connecting rod 44. The second connecting rod 44 is hinged to a push rod 46 and a base 47. The push rod 46 and base 47 are further hinged to a first connecting rod 48. The second connecting rod 44, the push rod 46, the base 47, and the first connecting rod 48 form a parallelogram structure. A guard plate 49 is located above the push rod 46, and a push plate 410 is located at the front end of the push rod 46. The base 47 is fixed to the support member 12, and the bottom of the electric cylinder 41 is fixed to the inside of the side panel 11. When the electric cylinder 41 is pushed forward, the roller 43 is pushed forward in the slot 45, the connecting rod structure rises, and the push plate 410 is able to support the bag. The connecting rod mechanism has bearings at each connection point to ensure smooth operation.

[0043] Further, if Figure 2 As shown, the sensing component includes an encoder 5 and a photoelectric switch 6. The encoder is used to record the number of rotations of the finger drive device, so as to determine the start and stop of the finger when it moves to the specified position, mainly including four points: when the bag passes point A, the finger drive device starts to rotate and the finger moves forward; when the bag is pushed to the specified position, the finger drive device rotates in the opposite direction and the finger moves backward; when the finger and the bag are separated, the finger drive device stops rotating, the electric cylinder runs, and the finger drive device continues to rotate in the opposite direction after the connecting rod is retracted; when the finger drive device rotates in the opposite direction to the initial position, it stops rotating, and one push is completed.

[0044] The working principle of the pushing mechanism for a bagging robot for a covered container provided by the present invention is as follows: Figure 7and 8 As shown, first, the bag, supported by the bag support beam and driven by the synchronous belt's stopper, reaches the push mechanism due to the conveying speed. Second, the bag, dragged by the synchronous belt, slides along the finger assembly, the cylinder guard, and the stoppers on both sides of the finger connecting beam until the photoelectric switch signals that the bag has passed point A. Third, the fingers activate, and the bag, supported by the fingers and pulled by the synchronous belt, reaches the preset position. The bag-lifting assembly activates, using the push plate to support the rear end of the bag. Fourth, the fingers withdraw, and the bag falls. When the bag and fingers are completely free of contact, the bag-lifting assembly activates again, and the connecting rod retracts. Fifth, all fingers withdraw.

[0045] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation methods and application scope. For example, installing a servo motor on the side panel and installing a drive shaft between the two servo motors can replace the electric roller; for example, using a rolling friction workpiece such as a needle plate to reduce the friction between the finger support and the finger; for example, increasing or reducing the number of synchronous belt assemblies and finger assemblies; for example, swapping the position of the synchronous belt drive roller and the stationary roller, etc. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A pushing mechanism for a bagging robot for a covered container, characterized by: The device is used for conveying bags containing soft products, and comprises a frame, wherein a synchronous belt assembly, a finger assembly, a bag-lifting assembly and a sensing assembly are installed in the frame. The synchronous belt assembly is used to convey the bag to the front section of the finger assembly and trigger the sensing assembly. The finger assembly is used to support the bag to a specified position by extending the finger assembly. The bag-lifting assembly is used to support the rear end of the bag to prevent it from being withdrawn as the finger assembly is withdrawn. The synchronous belt assembly and the finger assembly are arranged in an interlaced manner, and the bag-lifting assembly is arranged at the bottom of the synchronous belt assembly and the finger assembly. The frame includes parallel side panels, a support frame is provided between the side panels, the support frame can support the finger assembly to achieve reciprocating linear motion, and a channel for the synchronous belt assembly to pass through is provided at the lower portion of the support frame; The end side of the frame is provided with a synchronous belt drive device and a finger drive device, which are vertically installed in the middle of the mutually parallel side plates. The synchronous belt drive device is transmission-connected to the synchronous belt assembly, and the finger drive device is transmission-connected to the finger assembly; the other end of the synchronous belt drive device is a stationary roller, and the synchronous belt passes around the drive device and the stationary roller to form the synchronous belt assembly; The synchronous belt assembly includes a driving synchronous belt pulley and a driven synchronous belt pulley, the driving synchronous belt pulley is in transmission connection with the synchronous belt driving device, a synchronous belt is tensioned between the driving synchronous belt pulley and the driven synchronous belt pulley, and a stopper is provided on the outer side of the synchronous belt; The finger assembly includes a finger, which is slidably arranged on a finger support member through a support groove, and the bottom of the finger is transmission-connected to the finger drive device through a gear. The front end of the finger is a finger connecting beam, and baffles are provided on both sides of the finger connecting beam. The rear end of the finger is provided with a limit block; The lifting assembly includes an electric cylinder, the power end of the electric cylinder is connected to the roller through a fork hinge, the roller is slidably limited in the slide groove of the second connecting rod, the second connecting rod is hinged with the push rod and the base, the push rod and the base are also hinged with the first connecting rod, the second connecting rod, the push rod, the base and the first connecting rod form a parallelogram structure, a guard plate is provided above the push rod, and a push plate is provided at the front end of the push rod; The entire pushing process is divided into the following steps:

1. The bag is supported by the bag-supporting beam and is brought to the pushing mechanism by the block of the synchronous belt due to its certain conveying speed; 2. The bag is dragged by the synchronous belt to slide on the finger assembly, electric cylinder guard plate, and baffles on both sides of the finger connecting beam until the photoelectric switch feedback signal indicates that the bag has passed point A; 3. The fingers are started, and the bag reaches the preset position under the support of the fingers and the drag of the synchronous belt. The bag-lifting assembly is started to support the rear end of the bag through the push plate; 4. The fingers are retracted and the bag falls. The shortest distance the bag falls freely is the same as the height of the fingers. When the bag and the fingers are completely out of contact, the bag-lifting assembly is started again and the connecting rod is retracted; 5. All fingers are retracted.

2. The pushing mechanism for a bagging robot for a covered container according to claim 1, characterized in that: The rear end of the frame is provided with a bag supporting beam.

3. The pushing mechanism for a bagging robot for a covered container according to claim 1, characterized in that: An electric cylinder guard plate is provided on the top of the side plate, and a detection hole is opened on the electric cylinder guard plate.

4. The pushing mechanism for a bagging robot for a covered container according to claim 1, characterized in that: The sensing component includes an encoder and a photoelectric switch.

Images