Stacking robot system with weighing, bottoming and bagging

Abstract

This invention discloses a palletizing robot system with weighing, bottom sewing, and bag sorting functions. The key technical features include a frame comprising a bottom sewing device, a first conveyor belt connected to the bottom sewing device, a weighing conveyor belt connected to the end of the first conveyor belt, and a bag sorting conveyor belt connected to the weighing conveyor belt. The bag sorting conveyor belt is lower than the weighing conveyor belt and has a folding baffle. The bag sorting conveyor belt is connected to a receiving frame, which has spaced receiving rails. A robotic arm is located on one side of the frame to grip the bags on the receiving rails and perform palletizing. The robotic arm includes a robotic arm and a robotic claw, achieving efficient and orderly palletizing of the bags after bottom sewing.

Description

Technical Field

[0001] This invention relates to a bag-stacking robot, and more specifically, to a palletizing robot system with weighing, bottom sewing, and bag sorting functions. Background Technology

[0002] After the bottom of the woven bags and composite bags are sewn together on the bag-making machine, they need to be stacked on a pallet and then transported together after the stacking is completed.

[0003] The patent document with application number CN201420805931.4 and patent name "Automatic Inner Bag, Glue Spraying, and Bottom Sealing Machine for Woven Bags" was found. Its description states that "after the glue spraying is completed, the glue spraying head 14 exits the woven bag, and the bag pressing mechanism on the glue spraying device 2 presses the inner and outer bag openings together to make them stick. The pressed bag is transported to the end by the moving chain 13. The bottom sealing device 3 performs edge sealing, sewing, and edge cutting operations on the bottom of the woven bag, and then sends it out through the final conveyor belt on the frame 1 to complete the entire operation process."

[0004] After the bags are sewn to the bottom, they are conveyed by a conveyor belt, and the stacking of the bags is done by workers.

[0005] For example, a Chinese patent document with patent number CN202222227766.6 was found, the patent title of which is a resin packaging bag, and its appendix... Figure 2 According to the embodiment in the instruction manual, "both ends of the protective strip 3 extend along the width direction of the bag body 1 to form a lifting part 5, and the lifting part 5 is a part of the protective strip 3."

[0006] Due to the extension of the lifting parts on both sides, the high speed of the bag making machine, the large number of bags, the high labor intensity of the workers, and the high error rate of the workers in stacking, the bags are not stacked neatly, and wrinkles and loose bags will appear when stacked on the pallet, which seriously affects the stacking efficiency. Summary of the Invention

[0007] The purpose of this invention is to provide a palletizing robot system with weighing, bottom sewing, and bag sorting functions, so as to achieve efficient and orderly palletizing of bags after bottom sewing.

[0008] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0009] A palletizing robot system with weighing, bottom sewing, and bag sorting functions includes a frame, a bottom sewing device, a first conveyor belt, a weighing conveyor belt connected to the end of the first conveyor belt, a bag sorting conveyor belt connected to the weighing conveyor belt, the bag sorting conveyor belt being lower than the weighing conveyor belt, and a folding baffle on the bag sorting conveyor belt; a receiving frame connected to the bag sorting conveyor belt, the receiving frame having spaced receiving rails; and a robotic arm on one side of the frame for gripping bags on the receiving rails and palletizing them, the robotic arm including a robotic arm and a robotic claw.

[0010] Preferably, the end of the weighing conveyor belt is provided with a vertical baffle, and the frame is provided with a first cylinder to drive the vertical baffle; the frame is provided with an air blowing component, which is directed toward the upper surface of the weighing conveyor belt.

[0011] Preferably, the bag-sorting conveyor belt is provided with side baffles on both sides, and a front baffle is provided at the front end of the bag-sorting conveyor belt, with a folding baffle located behind the front baffle.

[0012] Preferably, the frame is equipped with a main motor that drives the folding baffle to rotate.

[0013] Preferably, the robotic arm has at least five linkage axes; the robotic gripper includes a front limit plate and a rear limit plate, and the robotic gripper is equipped with a front cylinder for driving the front limit plate and a rear cylinder for driving the rear limit plate.

[0014] Preferably, the mechanical gripper includes a left limiting plate and a right limiting plate. The mechanical gripper is equipped with a double-headed synchronous cylinder. The left limiting plate and the right limiting plate are respectively connected to both sides of the double-headed synchronous cylinder. The left limiting plate, the right limiting plate, the front limiting plate and the rear limiting plate are arranged around each other.

[0015] Preferably, both the left and right limiting plates are equipped with slanted blades that push the protruding end of the bag body, and both the left and right limiting plates are equipped with transverse cylinders that drive the slanted blades.

[0016] Preferably, the mechanical gripper includes a flipping gripper body, which includes multiple gripper bars and a drive unit for flipping the gripper bars. The gripper bars are L-shaped and are arranged on both sides of the left and right limiting plates.

[0017] Preferably, the mechanical gripper is equipped with an inner pressure plate that presses the upper surface of the bag body, and the mechanical gripper is equipped with an upper cylinder that drives the inner pressure plate to move up and down, and the gripper bar and the inner pressure plate press the bag body up and down.

[0018] Preferably, the mechanical gripper is equipped with a double-headed synchronous cylinder. Vertical blocks are fixed at both ends of the double-headed synchronous cylinder, and a transverse cylinder is fixed to the vertical blocks. The piston rod of the transverse cylinder is hinged to a vertically suspended oblique blade. The upper end of the oblique blade is provided with a guide rod protruding from the piston rod of the transverse cylinder. A limit strip is fixed to the vertical block. The length direction of the limit strip is the same as the direction of the piston rod in the transverse cylinder. When the transverse cylinder extends, the guide rod abuts against the limit strip to drive the oblique blade to rotate to a horizontal position. When the transverse cylinder retracts, the guide rod and the limit strip separate to realize the vertical suspension of the oblique blade.

[0019] In summary, the present invention has the following beneficial effects:

[0020] (1) After the bottom of the bag is sewn, the load-bearing method is used to determine whether the bag is qualified. Then, after the bags are stacked on the bag sorting conveyor belt, the bags are stacked by the robot arm, which realizes the automation of bottom sewing, bag sorting and stacking, making the stacking of bags more efficient and accurate.

[0021] (2) The weighing conveyor belt judges the bag body. If the bag body has no bottom sewn, the weight is relatively light. Under the partition, the air blows inside to ensure that all stacked bags have bottom sewn.

[0022] (3) The four-sided partitions of the bag conveyor belt are to ensure that the bags can be accurately stacked together, so that the subsequent palletizing can be more accurate and orderly.

[0023] (4) The left limit plate, right limit plate, front limit plate and rear limit plate position the four sides of the sorted bag, and then the flipped claw grabs the bottom of the bag and uses the inner pressure plate to squeeze the top of the bag to prevent the bag from falling when the robot moves.

[0024] (5) The slanted blade pushes the bag with the protruding lifting parts on both sides, so that the bag is stacked at a slight angle. Because the bag with the protruding lifting parts on both sides has a large weight at the bottom, the stability of the stacked bags is poor if they are stacked flat. The slightly tilted method is used to flatten the center of gravity of the stacked bags, making the stacking of bags more stable.

[0025] (6) The slanted knife adopts a rotating pushing mode. When the slanted knife is vertical, it activates the limiting function on both sides of the bag body. When the slanted knife is horizontal, it is pushed to tilt and push the lifting part of the bag body. This realizes the function of the slanted knife replacing the limiting plates on both sides. This design eliminates the need for a set of left and right limiting plates on both sides of the mechanical claw.

[0026] The left and right limit plates are fixed vertically downwards and extend downwards beyond the length of the claw body. Therefore, when the bags are stacked and lowered, the left and right limit plates are prone to squeezing the upper surface of the already stacked bags next to them, making it difficult for the mechanical claw to lower the bags into the transport tray.

[0027] This design eliminates the left and right limiting plates, and the slanted blade rotates horizontally to be stored after being limited, effectively improving the occurrence of this defect. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the robot system in the embodiment;

[0029] Figure 2 This is a schematic diagram of the bag conveyor belt in the embodiment;

[0030] Figure 3 This is a schematic diagram of the robotic arm in the embodiment;

[0031] Figure 4 This is a schematic diagram of the mechanical gripper in the embodiment;

[0032] Figure 5 This is a schematic diagram of the claw body opening in the embodiment;

[0033] Figure 6 This is a schematic diagram of the oblique blade pushing open the bag body in the embodiment;

[0034] Figure 7 This is a schematic diagram of the oblique blade suspended from the barrier in the embodiment;

[0035] Figure 8 This is a schematic diagram of the slanted blade rotation structure in the embodiment;

[0036] Figure 9 This is a schematic diagram of the oblique push of the blade in the embodiment;

[0037] Figure 10 This is a schematic diagram of the mechanical gripper in the embodiment;

[0038] Figure 11 This is a schematic diagram of the mechanical claw gripping the bag in the embodiment;

[0039] Figure 12 This is a schematic diagram of the robotic gripper placing the bag at the palletizing position in the embodiment.

[0040] In the picture:

[0041] 1. Frame; 11. Intermediate conveyor belt;

[0042] 2. Bottom-sewing device; 21. First conveyor belt;

[0043] 3. Weighing conveyor belt; 31. Vertical baffle; 32. First cylinder; 33. Air blowing component;

[0044] 4. Bag conveyor belt; 41. Folding baffle; 42. Main motor; 43. Side baffle; 44. Front baffle;

[0045] 5. Support frame; 51. Support rail;

[0046] 6. Robotic arm;

[0047] 61. Robotic arm; 611. First motor; 612. Second motor; 613. Third motor; 614. Fourth motor; 615. Fifth motor;

[0048] 62. Mechanical gripper;

[0049] 621. Left limit plate; 622. Right limit plate; 623. Double-headed synchronous cylinder;

[0050] 71. Front limit plate; 72. Rear limit plate; 73. Front cylinder; 74. Rear cylinder;

[0051] 8. Angled cutter; 81. Horizontal cylinder;

[0052] 91. Claw lever; 92. Drive component;

[0053] 101. Inner pressure plate; 102. Upper cylinder;

[0054] 201. External pressure plate;

[0055] 301. Bag body;

[0056] 401. Vertical block; 402. Guide rod; 403. Limiting strip. Detailed Implementation

[0057] The present invention will be further described in detail below with reference to the accompanying drawings.

[0058] Example 1: A palletizing robot system with weighing, bottom sewing, and bag sorting functions, referring to... Figure 1 The machine includes a frame 1, which includes a bottom sewing device 2. The bottom sewing device 2 is used to sew the bag body 301 and the sealing strip at the bottom of the bag body 301, so as to sew the bottom of the bag body 301. After the bottom is sewn, the bag body 301 is sorted and stacked for later shipment.

[0059] The bottom sewing device 2 has a first conveyor belt 21 at its outlet. The bag body 301 sewn by the bottom sewing device 2 slides onto the first conveyor belt 21 and is conveyed to the weighing conveyor belt 3 at the end by the first conveyor belt 21. The weighing conveyor belt 3 is slightly lower than the first conveyor belt 21, and the height difference between the two can be 1-2 cm.

[0060] The weighing conveyor belt 3 weighs the bag 301. The weighing conveyor belt 3 includes a conveyor belt and an electronic scale, with the conveyor belt mounted on the electronic scale. The end of the weighing conveyor belt 3 is provided with a vertical baffle 31. The frame 1 is provided with a first cylinder 32 that drives the vertical baffle 31. The frame 1 is provided with an air blowing component 33, which is an air nozzle that is tilted downwards to face the upper surface of the weighing conveyor belt 3.

[0061] The working principle of the weighing conveyor belt 3 is that the vertical baffle 31 blocks the bag body 301, so that the bag body 301 is positioned and weighed on the weighing conveyor belt 3; if the weighing result is the same as the set value, the vertical baffle 31 moves down under the action of the first cylinder 32, and the bag body 301 enters the next intermediate conveyor belt 11.

[0062] If the weighing result is less than the set value, it means that the bottom of the bag 301 has not been sewn. Then the air blowing component 33 blows air to blow the bag 301 away from the weighing conveyor belt 3.

[0063] After passing through the intermediate conveyor belt, the bag body 301 enters the bag sorting conveyor belt 4, which is located at the end of the intermediate conveyor belt.

[0064] The bag-sorting conveyor belt 4 has side baffles 43 on both sides, a front baffle 44 at the front end, and a folding baffle 41 located behind the front baffle 44. The frame 1 is equipped with a main motor 42 that drives the folding baffle 41 to rotate.

[0065] The bag sorting conveyor belt 4 is lower than the middle conveyor belt. After the bag body 301 falls onto the bag sorting conveyor belt 4, it is sorted. The sorting method is to form a rectangular frame by the side baffles 43 on both sides, as well as the front baffle 44 and the folding baffle 41. After the bag body 301 falls into the rectangular frame, it is sorted and stacked.

[0066] In other embodiments, a cylinder can be provided in the side baffle 43 and the front baffle 44 so that the side baffle 43 and the front baffle 44 can be adjusted in front and back positions to further achieve the purpose of neatly stacking the bag body 301.

[0067] Once the stacked bags 301 reach a predetermined number, for example, when five bags 301 are stacked on the bag conveyor belt 4, the folding baffle 41 rotates and opens under the action of the main motor 42, and the bags 301 are conveyed into the receiving frame 5 at the rear. In other embodiments, the folding baffle 41 can also be driven by a cylinder or a hydraulic cylinder to achieve folding or vertical opening and closing, the purpose of which is to control the opening and closing of the partition at the rear end of the bag conveyor belt 4.

[0068] Reference Figures 1-2 The bag conveyor belt 4 is connected to a receiving frame 5. The receiving frame 5 is provided with spaced receiving rails 51. The multiple receiving rails 51 are spaced apart to facilitate the insertion and gripping of the mechanical claw 62. Figure 4 As can be seen, the claw 91 of the mechanical claw 62 is L-shaped, and there are multiple claw 91s. The claw 91s extend into the receiving rail 51 at intervals to facilitate gripping the bag body 301.

[0069] In this design, the heights of the bottom sewing device 2, the weighing conveyor belt 3, the bag sorting conveyor belt 4, and the receiving frame 5 are successively reduced so that the front bag 301 can smoothly enter the rear conveying device.

[0070] Reference Figures 1-6 and Figures 10-12 A robotic arm 6 is provided on one side of the frame 1 to grip and receive the bag 301 on the receiving rail 51 and to perform palletizing. The robotic arm 6 includes a robotic arm 61 and a robotic claw 62. The robotic arm 6 uses the multi-dimensional rotation of the robotic arm 61 to adjust its position, so as to place the bag 301 from the receiving rail 5 to one side for palletizing. The robotic claw 62 is used to grip and place the bag 301.

[0071] The robotic arm 61 has five linkage axes, which are driven and controlled by the first motor 611, the second motor 612, the third motor 613, the fourth motor 614 and the fifth motor 615 respectively, so as to realize the multi-angle position adjustment of the robotic arm 61.

[0072] The machine organizes the stacked bags 301 along four horizontal surfaces, and its structure is as follows:

[0073] The mechanical claw 62 includes a left limiting plate 621 and a right limiting plate 622. The mechanical claw 62 is equipped with a double-headed synchronous cylinder 623. Vertical blocks 401 are fixed on both sides of the double-headed synchronous cylinder 623. The left limiting plate 621 and the right limiting plate 622 are respectively connected to the vertical blocks 401 on both sides of the double-headed synchronous cylinder 623. The mechanical claw 62 includes a front limiting plate 71 and a rear limiting plate 72. The mechanical claw 62 is equipped with a front cylinder 73 that drives the front limiting plate 71 and a rear cylinder 74 that drives the rear limiting plate 72. The left limiting plate 621, the right limiting plate 622, the front limiting plate 71 and the rear limiting plate 72 are arranged in a rectangular four-sided arrangement. Due to the extension and retraction control of the double-headed synchronous cylinder 623, the front cylinder 73 and the rear cylinder 74, the bag body 301 can be neatly stacked together by compression on all four sides.

[0074] After the bag body is 301 shaped, it is picked up, with the following structure:

[0075] The mechanical gripper 62 includes a flipping gripper body, which includes multiple gripper bars 91 and a drive unit 92 that drives the gripper bars 91 to flip. The gripper bars 91 are L-shaped and are arranged on both sides of the left limiting plate 621 and the right limiting plate 622. Four gripper bars 91 are provided on one side. The drive unit 92 is a power cylinder hinged to the main body of the mechanical gripper 62. The four gripper bars 91 on one side are fixed by a crossbar, which is rotatably connected to the gripper bars 91 of the mechanical gripper 62. The piston rod of the power cylinder is hinged to the crossbar, so the extension and retraction of the power cylinder can control the rotation of the gripper body in the vertical direction, thereby realizing the opening of the gripper bars 91 and the adjustment of the gripper body's position below the bag body 301.

[0076] After the claw bar 91 extends under the bag body 301, the short part of the L-shaped claw bar 91 lifts up the bag body 301.

[0077] After the bag body 301 is lifted by the claw bar 91, the bag body 301 is tilted by the oblique cutter 8.

[0078] The left limiting plate 621 and the right limiting plate 622 are each equipped with a slanted blade 8 that pushes the protruding end of the bag body 301. The left limiting plate 621 and the right limiting plate 622 fix the transverse cylinder 81 that drives the slanted blade 8. The piston rod of the transverse cylinder 81 is fixed to the slanted blade 8.

[0079] After the oblique blade 8 extends, the blade pushes the protrusions on both sides of the bag body 301, causing the stacked bag bodies 301 to be arranged at an angle.

[0080] After tilting, the bag 301 is pressed down by the upper inner pressure plate 101 to fix the bag 301 by squeezing it up and down. Then the robotic arm 61 rotates and places the bag 301 to one side for stacking.

[0081] The mechanical claw 62 is equipped with an inner pressure plate 101 that presses the upper surface of the bag body 301. The mechanical claw 62 is equipped with an upper cylinder 102 that drives the inner pressure plate 101 to move up and down. The claw rod 91 and the inner pressure plate 101 press the bag body 301 up and down.

[0082] The working steps of the robotic gripper 62 are as follows:

[0083] Step 1: The left limiting plate 621, right limiting plate 622, front limiting plate 71 and rear limiting plate 72 align the stacked bags 301.

[0084] Step 2: The claw bar 91 lifts the bag body 301 from below, and then the front limit plate 71 and the rear limit plate 72 move away from the bag body 301.

[0085] Step 3: Extend the slanted blade 8 to push the bag body 301 to be tilted.

[0086] Step 4: The inner pressure plate 101 is pressed down to cooperate with the claw bar 91 to clamp the bag body 301 from top to bottom;

[0087] Step 5: The robotic arm 61 rotates to transfer the bag 301 to one side for stacking.

[0088] Example 2 differs from Example 1 in that, referring to... Figures 7-9 The dual-head synchronous cylinder 623 has vertical blocks 401 fixed at both ends. The vertical blocks 401 are not fixed with the left limit plate 621 and the right limit plate 622.

[0089] A horizontal cylinder 81 is fixed to the vertical block 401. The piston rod of the horizontal cylinder 81 is hinged to a vertically suspended oblique blade 8, which can rotate around the end of the piston rod. Under the action of gravity, the blade tip of the oblique blade 8 points vertically downward. In other embodiments, a torsion spring can also be provided at the hinge of the piston rod, and the blade tip of the oblique blade 8 points vertically downward under the elastic force of the torsion spring.

[0090] The vertical oblique blade 8 replaces the left limit plate 621 and the right limit plate 622.

[0091] As you can see, the oblique blade 8 points vertically downwards. Figure 7 In the middle, the slanted blade 8 serves to separate the two sides of the bag.

[0092] Reference Figures 7-8 The upper end of the oblique blade 8 is provided with a guide rod 402 that protrudes from the piston rod of the transverse cylinder 81;

[0093] The guide rod 402 and the oblique cutter 8 are fixed, and the oblique cutter 8 and the guide rod 402 are located on both sides of the hinge point, and a rotating shaft is inserted into the hinge point.

[0094] The vertical block 401 is fixed with a limiting strip 403, which is a long strip of metal. The length direction of the limiting strip 403 is the same as the piston rod direction of the transverse cylinder 81. The upward protruding guide rod 402 is laterally blocked by the limiting strip 403.

[0095] When the guide rod 402 is horizontal, it will be embedded in the relief groove of the piston rod in the transverse cylinder 81.

[0096] The working principle is:

[0097] When the transverse cylinder 81 extends, the vertically jacked guide rod 402 moves and comes into contact with the limit bar 403. Due to the obstruction of the limit bar 403, the guide rod 402 and the oblique blade 8 rotate together around the hinge point until the oblique blade 8 is in a horizontal position. Then, the transverse cylinder 81 continues to extend, and the guide rod 402 continues to move laterally while maintaining the obstruction relationship with the limit bar 403, thus achieving the purpose of pushing the oblique blade 8 laterally.

[0098] When the transverse cylinder 81 retracts, the guide rod 402 and the limit strip 403 separate, and the two lose their barrier constraint. Under the action of gravity, the oblique blade 8 remains vertically suspended.

[0099] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A palletizing robot system with weighing, bottom sewing, and bag sorting functions, comprising a frame (1), the frame (1) including a bottom sewing device (2), the bottom sewing device (2) being provided with a first conveyor belt (21), characterized in that: The first conveyor belt (21) is connected to a weighing conveyor belt (3) at its end. The weighing conveyor belt (3) is connected to a bag sorting conveyor belt (4). The bag sorting conveyor belt (4) is lower than the weighing conveyor belt (3). The bag sorting conveyor belt (4) is equipped with a folding baffle (41). The bag conveyor belt (4) is connected to a receiving frame (5), and the receiving frame (5) is provided with spaced receiving rails (51); A robotic arm (6) is provided on one side of the frame (1) to grasp the bag (301) on the receiving rail (51) and realize the stacking. The robotic arm (6) includes a robotic arm (61) and a robotic claw (62). The robotic arm (61) is provided with at least five linkage axes; the robotic gripper (62) includes a front limit plate (71) and a rear limit plate (72), and the robotic gripper (62) is provided with a front cylinder (73) for driving the front limit plate (71) and a rear cylinder (74) for driving the rear limit plate (72); The mechanical gripper (62) is equipped with a double-headed synchronous cylinder (623). Vertical blocks (401) are fixed at both ends of the double-headed synchronous cylinder (623). A transverse cylinder (81) is fixed to the vertical blocks (401). A vertically suspended oblique blade (8) is hinged to the piston rod of the transverse cylinder (81). A guide rod (402) protruding from the piston rod in the transverse cylinder (81) is provided at the upper end of the oblique blade (8). The guide rod (402) and the oblique blade (8) are fixed, and the oblique blade (8) and the guide rod (402) are located on both sides of the hinge point, and a rotating shaft is inserted at the hinge point; The vertical block (401) is fixed with a limit strip (403), and the length direction of the limit strip (403) is the same as the piston rod direction of the horizontal cylinder (81); The upward-protruding guide rod (402) and the limiting strip (403) are laterally separated; When the guide rod (402) is horizontal, the guide rod (402) will be embedded in the relief groove of the piston rod in the transverse cylinder (81); When the transverse cylinder (81) extends, the guide rod (402) abuts against the limit bar (403) to drive the slant knife (8) to rotate to the horizontal position; When the transverse cylinder (81) retracts, the guide rod (402) and the limit bar (403) separate to achieve vertical suspension of the oblique blade (8).

2. The palletizing robot system with weighing, bottom sewing, and bag sorting functions according to claim 1, characterized in that: The weighing conveyor belt (3) has a vertical baffle (31) at its end, and the frame (1) has a first cylinder (32) for driving the vertical baffle (31); the frame (1) has an air blowing component (33) facing the upper surface of the weighing conveyor belt (3).

3. The palletizing robot system with weighing, bottom sewing, and bag sorting functions according to claim 1, characterized in that: [The system's functions are described in the original text, but the translation is incomplete.] The bag conveyor belt (4) has side baffles (43) on both sides, and the bag sorting conveyor belt (4) has a front baffle (44) at the front end. The folding baffle (41) is located behind the front baffle (44).

4. The palletizing robot system with weighing, bottom sewing, and bag sorting functions according to claim 3, characterized in that: The frame (1) is equipped with a main motor (42) that drives the folding baffle (41) to rotate.

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