Bagging manipulator and bagging machine

Abstract

The invention discloses a bagging manipulator and a bagging machine, belongs to the field of edible mushroom production equipment, and aims to solve the problem of low production efficiency due to manual filling of mushroom bags. The bagging manipulator comprises an arm support, a transverse movement driving device drives the arm support to horizontally reciprocate, one end of the mechanical arm is rotatably connected to one side of the arm support, a speed reducer is arranged on the arm support, the steering motor drives the mechanical arm to swing in a pitching mode through the speed reducer, and the bag opening guide rail is arranged in the length direction of the mechanical arm. The first bag opening claw and the second bag opening claw slide on the bag opening guide rails through sliding blocks correspondingly, a rotating air cylinder is arranged on the mechanical arm, the rotating connecting lug is connected with the output end of the rotating air cylinder, and the first bag opening claw and the second bag opening claw are hinged to the two circumferential sides of the rotating connecting lug through fisheye bearing pull rods correspondingly. The first bag opening claw and the second bag opening claw are close to or away from each other. According to the bagging machine, automatic bag supplying and bagging of fungus bags can be achieved, the automation degree is high, and the production efficiency is greatly improved.

Description

Technical Field

[0001] The invention belongs to the field of edible fungus production equipment, and in particular relates to a bagging manipulator and a bagging machine. Background Art

[0002] When edible fungi are produced on a large scale, they are mostly cultivated in mushroom bags. As the cultivation place of edible fungi, the mushroom bags mostly contain main ingredients such as sawdust, bran, edible gypsum powder, etc. The above materials are mixed in a certain ratio, sterilized and humidified before being filled. They are filled in polyethylene plastic bags. After the filled mushroom bags are tied, they are punched and holes are evenly made around the mushroom bags. During actual cultivation, the edible fungus strains are injected into the mushroom bags, and then cultivated. The appropriate temperature and humidity are controlled. Mycelium will be produced in the mushroom bags in a short time, and finished mushrooms will grow from the holes.

[0003] In order to prevent foreign bacteria from growing in the mushroom bags, the general mushroom bags have a usage period of about one month. Therefore, general mushroom cultivation requires timely storage of more mushroom bags to meet the cultivation needs. When preparing mushroom bags in the prior art, the sterilized raw materials are introduced into the filling machine through a stirring mechanism, and then filled manually. The filled mushroom bags are manually bundled, and then subsequent production is carried out. Therefore, the production efficiency in the prior art is not efficient and cannot meet the large-scale mushroom production needs. Summary of the invention

[0004] The purpose of the present invention is to provide a bagging robot and a bagging machine to solve the problem of low production efficiency caused by manual filling of mushroom bags. The technical solution adopted by the present invention is as follows:

[0005] A bagging manipulator comprises an arm support and a mechanical arm, wherein a lateral movement driving device drives the arm support to reciprocate horizontally, one end of the mechanical arm is rotatably connected to one side of the arm support, a reducer is arranged on the arm support, an output end of a steering motor is connected to an input end of the reducer, and the output end of the reducer drives the mechanical arm to pitch and swing perpendicular to the moving direction of the arm support, a bag-holding guide rail is arranged along the length direction of the mechanical arm, two bag-holding sliders are respectively slidably matched with the bag-holding guide rails, a first bag-holding claw and a second bag-holding claw are connected to the two bag-holding sliders in a one-to-one correspondence, a rotating cylinder is arranged on the mechanical arm, a rotating ear is connected to the output end of the rotating cylinder, the rotating ear is located on the extension line of the bag-holding guide rail, the first bag-holding claw and the second bag-holding claw are respectively hinged to the circumferential sides of the rotating ear through a fisheye bearing pull rod, when the output end of the rotating cylinder moves, the first bag-holding claw and the second bag-holding claw are close to or away from each other, an optical fiber sensor is arranged on the mechanical arm, a drag chain is arranged along the moving direction of the driving arm support, and a wire of the steering motor and an air supply pipe of the rotating cylinder are penetrated in the drag chain.

[0006] Furthermore, the transverse driving device includes a transverse motor and a transverse guide rail group. A transverse slider group is provided on the arm support. The transverse slider group slides with the horizontally arranged transverse guide rail group. The transverse motor is fixed on the arm support. A transverse gear is provided on the output shaft of the transverse motor. The transverse gear is meshed with the transverse rack. The transverse rack is parallel to the transverse guide rail group. The wires of the transverse motor are passed through the drag chain.

[0007] Furthermore, a first arc-shaped piece is provided on the first bag-holding claw, and a second arc-shaped piece is provided on the second bag-holding claw. When the outer arc surfaces of the first arc-shaped piece and the second arc-shaped piece open the mushroom bag, the area between the inner arc surfaces of the first arc-shaped piece and the second arc-shaped piece is larger than the diameter area of ​​the discharge port of the raw material filling machine.

[0008] The present invention also proposes a bagging machine, comprising a frame, a bagging manipulator, a bag supply device and a bag taking device, wherein the bag taking device is fixed on the frame, the bag supply device is connected to the bag taking device, the bagging manipulator is the above-mentioned bagging manipulator, the lateral guide rail group and the lateral rack are fixed on the frame, the arm support slides in a direction close to or away from the bag taking device, a vacuum pump is provided on the frame, and a plurality of adjustable feet are provided at the bottom of the frame;

[0009] The bag taking device comprises a bag taking frame, a bag taking suction cup and a bag opening suction cup. The bag taking frame is provided with a vertically arranged bag taking guide rail group, and the suction cup base is provided with a bag taking slider group. The bag taking slider group and the upper part of the bag taking guide rail group are slidably matched. The slide cylinder is fixed on the suction cup base. The slider of the slide cylinder slides in the direction of approaching or moving away from the bagging manipulator. The upper suction cup frame is connected with the slider of the slide cylinder. The bag taking suction cup is connected with the upper suction cup frame. The bag taking suction cup is a hollow component. A plurality of suction holes are provided on the lower side wall of the bag taking suction cup. The inner cavity of the bag taking suction cup is connected to the vacuum pump through a corrugated hose. The suction cup base is connected to the output end of the bag taking lifting device. A bag opening suction cup is provided on the side of the bag taking frame close to the bagging manipulator. The bag opening suction cup is a hollow component. A plurality of suction holes are provided on the upper side wall of the bag opening suction cup. The inner cavity of the bag opening suction cup is connected to the vacuum pump through a corrugated hose.

[0010] The bag supply device includes a bag supply rack, a bag supply box and a lifting sliding rack. The bag supply rack is connected to the bag taking rack. The bag supply box is a hollow component with an upper opening. The bag supply box is arranged on the bag supply rack. The lower side wall of the bag supply box and the bag supply rack are provided with avoidance openings that penetrate up and down. The vertical contour of the lifting material bag component is adapted to the avoidance opening. The lifting material bag component is connected to the lifting sliding rack. A bag supply slider group is provided on the lifting sliding rack. The bag supply slider group is slidably matched with the lower part of the bag taking guide rail group. The electric push rod is fixed on the bag taking rack. The piston rod of the electric push rod is upwardly connected to the lifting material bag component. When the slider of the slide cylinder is retracted, the upper opening of the bag supply box is vertically aligned with the bag taking suction cup. A plurality of mushroom bags are stacked on the lifting material bag component. The bag opening of the mushroom bag is placed toward the bagging robot. The bag taking suction cup sucks up the mushroom bag. When the slider of the slide cylinder is extended, the bag opening of the sucked mushroom bag is above the bag opening suction cup.

[0011] Furthermore, a bag length adjustment baffle is provided in the bag supply box, one end of two adjustment screws are respectively connected to one side end surface of the bag length adjustment baffle, the two adjustment screws respectively penetrate the side wall of the bag supply box away from the bagging robot, and are fixed by nuts.

[0012] Furthermore, the bag opening suction cup is connected to one end of the lower suction cup frame, the other end of the lower suction cup frame extends into the bag retrieval frame and is connected to the lifting slider, the lifting slider is slidably matched with an adjacent guide rail in the bag retrieval guide rail group, and a lifting cylinder is provided on the bag retrieval frame, the piston rod of the lifting cylinder is vertically arranged and connected to the lower suction cup frame.

[0013] Furthermore, the lower suction cup frame includes a horizontal connecting plate and a vertical connecting plate. The horizontal connecting plate is provided with a transversely opened oblong hole, and the vertical connecting plate is provided with a vertically opened oblong hole. The oblong holes on the horizontal connecting plate and the oblong holes on the vertical connecting plate are matched by bolts.

[0014] Furthermore, the bag picking and lifting device includes a lifting motor, which is fixed on the top of the bag picking frame, a driving pulley is sleeved on the output shaft of the lifting motor, and a driven pulley is rotatably arranged in the middle of the bag picking frame. The driving pulley and the driven pulley are connected by a synchronous belt, and the suction cup base is connected to a point on the synchronous belt through a clamp.

[0015] Furthermore, a photoelectric switch is provided on the bag taking rack. When the height of the mushroom bag is lower than the photoelectric switch, the electric push rod pushes the lifting bag upward. When the mushroom bag reaches the supply bag height, the mushroom bag triggers the photoelectric switch, and the photoelectric switch controls the electric push rod to stop extending.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The bagging machine of the present invention can realize automatic bag supply of mushroom bags through the bag supplying device, and the bag taking device can realize bag taking and open the bag mouth of the mushroom bag through negative pressure suction. The bagging robot can take away the mushroom bag with the opened bag mouth and put it on the discharge port of the raw material filling machine, thereby realizing automatic bag supply and bagging of mushroom bags, with a high degree of automation, and greatly improving the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the bagging robot;

[0019] Figure 2 It is a schematic diagram of the structure of the robotic arm;

[0020] Figure 3 This is a schematic diagram of the robotic arm from another perspective;

[0021] Figure 4 This is a schematic diagram of the bagging robot from another perspective;

[0022] Figure 5 This is a schematic diagram of the state of the bagging machine before it works;

[0023] Figure 6 This is a schematic diagram of the bag taking state of the bag taking suction cup of the bagging machine;

[0024] Figure 7 This is a schematic diagram of the state when the bagging robot grabs the mushroom bag;

[0025] Figure 8 This is a side view of the bagging robot grabbing the mushroom bag;

[0026] Fig. 9 It is a connection diagram of the bag taking device and the bag supply device;

[0027] Fig.10 is a schematic diagram showing the connection between the bag taking device and the bag supply device from another perspective;

[0028] Fig.11 It is a schematic diagram of the structure of the bag taking device;

[0029] Fig.12 It is a structural schematic diagram of a bag supply device;

[0030] Fig.13 It is a schematic structural diagram of the bag supply device from another perspective.

[0031] In the figure, 1. frame, 11. adjustable feet, 12. vacuum pump, 2. bagging manipulator, 21. transverse guide rail group, 22. transverse rack, 23. arm support, 24. transverse gear, 25. transverse motor, 26. first bag holding claw, 27. second bag holding claw, 28. mechanical arm, 29. rotating ear, 210. steering motor, 211. reducer, 212. transverse slider group, 213. fisheye bearing pull rod, 214. bag holding rail, 215. rotating cylinder, 216. first arc piece, 217. second arc piece, 3. bag taking device, 31. Bag taking frame, 32. driven pulley, 33. bag taking suction cup, 34. upper suction cup frame, 35. suction cup base, 36. bag taking slider group, 37. bag taking guide rail group, 38. lifting motor, 39. driving pulley, 310. slide cylinder, 311. bag opening suction cup, 312. vertical bar connecting plate, 313. horizontal bar connecting plate, 314. lifting cylinder, 4. bag supply device, 41. bag supply box, 42. lifting bag parts, 43. bag supply frame, 44. electric push rod, 45. lifting sliding frame, 46. bag supply slider group, 47. bag length adjustment baffle, 48. adjustment screw. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0033] The connection mentioned in the present invention is divided into fixed connection and detachable connection. The fixed connection is a non-detachable connection including but not limited to conventional fixed connection methods such as folding connection, rivet connection, bonding connection and welding connection. The detachable connection includes but not limited to conventional detachable methods such as bolt connection, snap connection, pin connection and hinge connection. When the specific connection method is not clearly defined, it is assumed that at least one connection method can be found in the existing connection methods to achieve the function, and those skilled in the art can choose according to their needs. For example: welding connection is selected for fixed connection, and bolt connection is selected for detachable connection.

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings. The following embodiments are provided to explain the present invention, but the present invention is not limited to the following embodiments.

[0035] Embodiment 1: Figure 1 to Figure 4As shown, a bagging manipulator includes an arm support 23 and a mechanical arm 28, a lateral driving device drives the arm support 23 to move horizontally back and forth, one end of the mechanical arm 28 is rotatably connected to one side of the arm support 23, a reducer 211 is provided on the arm support 23, the output end of the steering motor 210 is connected to the input end of the reducer 211, the output end of the reducer 211 drives the mechanical arm 28 to pitch and swing perpendicular to the moving direction of the arm support 23, a bag holding guide rail 214 is arranged along the length direction of the mechanical arm 28, two bag holding sliders are respectively slidably matched with the bag holding guide rail 214, a first bag holding claw 26 and a second bag holding claw 27 are connected to the two bag holding claws The sliders are connected one by one, a rotating cylinder 215 is provided on the mechanical arm 28, a rotating ear 29 is connected to the output end of the rotating cylinder 215, the rotating ear 29 is located on the extension line of the bag-holding guide rail 214, the first bag-holding claw 26 and the second bag-holding claw 27 are respectively hinged to the circumferential sides of the rotating ear 29 through the fisheye bearing pull rod 213, when the output end of the rotating cylinder 215 moves, the first bag-holding claw 26 and the second bag-holding claw 27 move closer or farther away, an optical fiber sensor is provided on the mechanical arm 28, and a drag chain is arranged along the moving direction of the driving arm support 23, and the wire of the steering motor 210 and the air supply pipe of the rotating cylinder 215 are passed through the drag chain.

[0036] During operation, first, the bag taking device opens the bag opening of the mushroom bag, the steering motor 210 drives the mechanical arm 28 to tilt up, and the rotating cylinder 215 drives the first bag holding claw 26 and the second bag holding claw 27 to approach, so that the first bag holding claw 26 and the second bag holding claw 27 are aligned with the bag opening of the mushroom bag. Secondly, the transverse driving device drives the arm support 23 to move toward the bag taking device until the first bag holding claw 26 and the second bag holding claw 27 are respectively inserted into the bag opening of the mushroom bag. Thirdly, the rotating cylinder 215 drives the first bag holding claw 26 and the second bag holding claw 27 to move away from each other, and the first bag holding claw 26 and the second bag holding claw 27 open the bag opening of the mushroom bag. Then, the transverse driving device drives the arm support 23 to slide away from the bag taking device, and the mechanical After the arm 28 leaves the range of the bag taking device, the steering motor 210 drives the mechanical arm 28 to bend down, so that the bag opening of the mushroom bag faces the discharge port of the raw material feeding device. Finally, the lateral driving device drives the arm support 23 to continue to slide away from the bag taking device 3, and puts the mushroom bag on the discharge port of the raw material filling machine. The raw material is squeezed into the mushroom bag, so that the mushroom bag is pushed out and gradually separates from the discharge port of the raw material filling machine. When the optical fiber sensor recognizes that the mushroom bag is separated from the discharge port of the raw material filling machine, the optical fiber sensor sends a signal to control the rotating cylinder 215 to drive the first bag holding claw 26 and the second bag holding claw 27 to move further away. At the same time, the steering motor 210 drives the mechanical arm 28 to tilt up, and the mushroom bag bagging and filling is completed. The bagging robot of the present invention can realize the automatic bagging and filling of the mushroom bag by cooperating with the bag supply device, with a high degree of automation, which can greatly improve the production efficiency of the mushroom bag and reduce labor costs.

[0037] The transverse driving device includes a transverse motor 25 and a transverse guide rail group 21. A transverse slider group 212 is provided on the arm support 23. The transverse slider group 212 is slidably matched with the horizontally arranged transverse guide rail group 21. The transverse motor 25 is fixed on the arm support 23. A transverse gear 24 is provided on the output shaft of the transverse motor 25. The transverse gear 24 is meshed with the transverse rack 22. The transverse rack 22 is parallel to the transverse guide rail group 21. The wires of the transverse motor 25 are passed through the drag chain.

[0038] The first bag-holding claw 26 is provided with a first arc-shaped piece 216, and the second bag-holding claw 27 is provided with a second arc-shaped piece 217. When the outer arc surfaces of the first arc-shaped piece 216 and the second arc-shaped piece 217 hold the mushroom bag open, the area between the inner arc surfaces of the first arc-shaped piece 216 and the second arc-shaped piece 217 is larger than the diameter area of ​​the discharge port of the raw material filling machine.

[0039] Embodiment 2: Figures 1 to 13 As shown, a bagging machine comprises a frame 1, a bagging manipulator 2, a bag supply device 4 and a bag taking device 3, the bag taking device 3 is fixed on the frame 1, the bag supply device 4 is connected to the bag taking device 3, the bagging manipulator 2 is the bagging manipulator described in Example 1, the transverse guide rail group 21 and the transverse rack 22 are fixed on the frame 1, the arm support 23 slides in the direction of approaching or moving away from the bag taking device 3, the frame 1 is provided with a vacuum pump 12, and the bottom of the frame 1 is provided with a plurality of adjustable feet 11 to facilitate the leveling of the equipment;

[0040] The bag taking device 3 includes a bag taking frame 31, a bag taking suction cup 33 and a bag opening suction cup 311. The bag taking frame 31 is provided with a vertically arranged bag taking guide rail group 37. The suction cup base 35 is provided with a bag taking slider group 36. The bag taking slider group 36 is slidably matched with the upper part of the bag taking guide rail group 37. The slide cylinder 310 is fixed on the suction cup base 35. The slider of the slide cylinder 310 slides in the direction of approaching or moving away from the bagging manipulator 2. The upper suction cup frame 34 is connected to the slider of the slide cylinder 310. The bag taking suction cup 33 is connected to the upper suction cup frame 34 is connected, the bag taking suction cup 33 is a hollow component, a plurality of suction holes are opened on the lower side wall of the bag taking suction cup 33, the inner cavity of the bag taking suction cup 33 is connected to the vacuum pump 12 through a corrugated hose, the suction cup base 35 is connected to the output end of the bag taking lifting device, and a bag opening suction cup 311 is provided on the side of the bag taking frame 31 close to the bagging manipulator 2, the bag opening suction cup 311 is a hollow component, a plurality of suction holes are opened on the upper side wall of the bag opening suction cup 311, and the inner cavity of the bag opening suction cup 311 is connected to the vacuum pump 12 through a corrugated hose;

[0041] The bag supply device 4 includes a bag supply rack 43, a bag supply box 41 and a lifting slide rack 45. The bag supply rack 43 is connected to the bag taking rack 31. The bag supply box 41 is a hollow component with an upper opening. The bag supply box 41 is arranged on the bag supply rack 43. The lower side wall of the bag supply box 41 and the bag supply rack 43 are provided with a vertically through-going avoidance opening. The vertical profile of the lifting material bag component 42 is adapted to the avoidance opening. The lifting material bag component 42 is connected to the lifting slide rack 45. The lifting slide rack 45 is provided with a bag supply slider group 46. The bag supply slider group 46 is connected to the bag taking guide rail. The lower part of the group 37 is slidably matched, the electric push rod 44 is fixed on the bag taking frame 31, and the piston rod of the electric push rod 44 is upwardly connected to the lifting bag component 42. When the slider of the slide cylinder 310 is retracted, the upper opening of the bag supply box 41 is vertically aligned with the bag taking suction cup 33, and a plurality of mushroom bags are stacked on the lifting bag component 42. The bag opening of the mushroom bag is placed toward the bagging robot 2, and the bag taking suction cup 33 sucks up the mushroom bag. When the slider of the slide cylinder 310 is extended, the bag opening of the sucked mushroom bag is above the bag opening suction cup 311.

[0042] During operation, first, the electric push rod 44 pushes the lifting bag member 42 upwards to make several mushroom bags reach the bag supply height, and the bag taking lifting device drives the bag taking suction cup 33 to slide down, and the bag taking suction cup 33 probes into the bag supply box 41 and sucks up the top mushroom bag. Then, the bag taking lifting device drives the bag taking suction cup 33 to slide up, and the bag taking suction cup 33 attracts the mushroom bag to leave the bag supply box 41. The slider of the slide cylinder 310 extends toward the bagging manipulator 2, so that the bag mouth end of the sucked mushroom bag moves to above the bag opening suction cup 311, and finally the bag taking lifting device The bag taking suction cup 33 is driven to slide down and abut against the bag opening suction cup 311 and then separate, and the two sides of the bag opening of the mushroom bag can be sucked and opened by the air suction force. At this point, one bag taking is completed. The bagging machine of the present invention realizes automatic bag supply of the mushroom bag through the bag supplying device 4, and the bag taking device 3 can realize bag taking and open the bag opening of the mushroom bag through negative pressure suction. The bagging robot 2 can take away the mushroom bag with the opened bag opening and put it on the discharge port of the raw material filling machine, so as to realize automatic bag supply and bagging of the mushroom bag, with a high degree of automation, which greatly improves the production efficiency.

[0043] Figure 5 A schematic diagram of the state before the present invention works is given, in which the mechanical arm 28 is in a horizontal state of leaning down, the arm support 23 is in a position away from the bag taking device 3, the slider of the slide cylinder 310 is in a retracted state, the bag taking suction cup 33 is located above the bag supply box 41, and the bag opening suction cup 311 is in a downward sliding state. Figure 6 A schematic diagram of the bag taking state of the bag taking suction cup 33 is given. The electric push rod 44 pushes the lifting bag member 42 upward to make several mushroom bags reach the supply bag height. The bag taking suction cup 33 slides down into the bag supply box 41 and sucks up the uppermost mushroom bag. Figure 7A schematic diagram of the state of the bagging manipulator 2 when grabbing a mushroom bag is given. The bag-taking suction cup 33 sucks up a mushroom bag (the mushroom bag is not drawn), and the slider of the slide cylinder 310 extends so that the bag mouth of the sucked mushroom bag is above the bag opening suction cup 311. The bag-taking lifting device drives the bag-taking suction cup 33 to slide down and abut against the bag opening suction cup 311 and then separate. The two sides of the bag mouth of the mushroom bag can be attracted by the air suction force and opened. The robot arm 28 is tilted up and in an upright state. The rotating cylinder 215 drives the first bag-holding claw 26 and the second bag-holding claw 27 to approach, and the transverse motor 25 drives the bagging manipulator 2 to move toward the bag-taking device 3, and the first bag-holding claw 26 and the second bag-holding claw 27 can be inserted into the bag mouth of the mushroom bag.

[0044] A bag length adjustment baffle 47 is provided in the bag supply box 41, and one end of two adjustment screws 48 are respectively connected to one side end surface of the bag length adjustment baffle 47, and the two adjustment screws 48 respectively penetrate the side wall of the bag supply box 41 away from the bagging manipulator 2 and are fixed by nuts. By changing the fixed position of the adjustment screws 48, the position of the bag length adjustment baffle 47 in the bag supply box 41 can be adjusted to suit mushroom bags of different lengths.

[0045] The bag opening suction cup 311 is connected to one end of the lower suction cup frame, the other end of the lower suction cup frame extends into the bag taking frame 31 and is connected to the lifting slider, the lifting slider is slidably matched with an adjacent guide rail in the bag taking guide rail group 37, and a lifting cylinder 314 is provided on the bag taking frame 31, the piston rod of the lifting cylinder 314 is vertically arranged and connected to the lower suction cup frame. The extension and retraction of the piston rod of the lifting cylinder 314 can control the lifting and lowering of the bag opening suction cup 311. When the mushroom bag sucked up by the bag taking suction cup 33 is to be opened, the piston rod of the lifting cylinder 314 drives the bag opening suction cup 311 to rise, so that the height of the bag opening suction cup 311 exceeds the upper edge of the bag supply box 41. When the bagging robot 2 takes away the mushroom bag opened by the bag taking suction cup 33, the piston rod of the lifting cylinder 314 drives the bag opening suction cup 311 to descend. Configuring the bag opening suction cup 311 to be liftable can reduce the lifting height of the bag taking suction cup 33 and the tilting height of the bagging robot 2, thereby reducing the overall height of the equipment.

[0046] The lower suction cup frame includes a horizontal connecting plate 313 and a vertical connecting plate 312. The horizontal connecting plate 313 is provided with a horizontally opened oblong hole, and the vertical connecting plate 312 is provided with a vertically opened oblong hole. The oblong holes on the horizontal connecting plate 313 and the oblong holes on the vertical connecting plate 312 are matched by bolts. The lower suction cup frame is composed of the horizontal connecting plate 313 and the vertical connecting plate 312 with oblong holes, and the position of the bag opening suction cup 311 can be slightly adjusted, which is convenient for assembly and debugging.

[0047] The bag taking and lifting device includes a lifting motor 38, which is fixed on the top of the bag taking frame 31, a driving pulley 39 is sleeved on the output shaft of the lifting motor 38, and a driven pulley 32 is rotatably arranged in the middle of the bag taking frame 31, the driving pulley 39 and the driven pulley 32 are connected by a synchronous belt, and the suction cup base 35 is connected to a point on the synchronous belt through a clamp.

[0048] A photoelectric switch is provided on the bag taking frame 31. When the height of the mushroom bag is lower than the photoelectric switch, the electric push rod 44 pushes the lifting bag member 42 upward. When the mushroom bag reaches the supply bag height, the mushroom bag triggers the photoelectric switch, and the photoelectric switch controls the electric push rod 44 to stop extending.

[0049] The above embodiments are merely exemplary descriptions of the present invention and do not limit its protection scope. Those skilled in the art may also make partial changes thereto, which are within the protection scope of the present invention as long as they do not exceed the spirit of the present invention.

Claims

1. A bagging robot, characterized in that: The invention comprises an arm support (23) and a mechanical arm (28), wherein a transverse driving device drives the arm support (23) to move horizontally back and forth, one end of the mechanical arm (28) is rotatably connected to one side of the arm support (23), a reducer (211) is provided on the arm support (23), an output end of a steering motor (210) is connected to an input end of the reducer (211), and the output end of the reducer (211) drives the mechanical arm (28) to pitch and swing perpendicular to the moving direction of the arm support (23), a bag-holding guide rail (214) is arranged along the length direction of the mechanical arm (28), two bag-holding sliders are respectively slidably matched with the bag-holding guide rail (214), and a first bag-holding claw (26) and a second bag-holding claw (27) correspond one-to-one to the two bag-holding sliders. The mechanical arm (28) is connected, a rotary cylinder (215) is provided on the mechanical arm (28), a rotary ear (29) is connected to the output end of the rotary cylinder (215), the rotary ear (29) is located on the extension line of the bag-supporting guide rail (214), the first bag-supporting claw (26) and the second bag-supporting claw (27) are respectively hinged to the circumferential sides of the rotary ear (29) through the fisheye bearing pull rod (213), when the output end of the rotary cylinder (215) is actuated, the first bag-supporting claw (26) and the second bag-supporting claw (27) are moved closer or farther away, an optical fiber sensor is provided on the mechanical arm (28), a drag chain is arranged along the moving direction of the driving arm support (23), and the wire of the steering motor (210) and the air supply pipe of the rotary cylinder (215) are passed through the drag chain.

2. A bagging robot according to claim 1, characterized in that: The transverse driving device comprises a transverse motor (25) and a transverse guide rail group (21); a transverse slider group (212) is provided on the arm support (23); the transverse slider group (212) is slidably matched with the horizontally arranged transverse guide rail group (21); the transverse motor (25) is fixed on the arm support (23); a transverse gear (24) is provided on the output shaft of the transverse motor (25); the transverse gear (24) is meshed with the transverse rack (22); the transverse rack (22) is parallel to the transverse guide rail group (21); and the wire of the transverse motor (25) is passed through the drag chain.

3. A bagging robot according to claim 1 or 2, characterized in that: The first bag-holding claw (26) is provided with a first arc-shaped piece (216), and the second bag-holding claw (27) is provided with a second arc-shaped piece (217). When the outer arc surfaces of the first arc-shaped piece (216) and the second arc-shaped piece (217) hold open the mushroom bag, the area between the inner arc surfaces of the first arc-shaped piece (216) and the second arc-shaped piece (217) is larger than the diameter area of ​​the discharge port of the raw material filling machine.

4. A bagging machine, characterized in that: It comprises a frame (1), a bagging robot (2), a bag supply device (4) and a bag taking device (3), wherein the bag taking device (3) is fixed on the frame (1), the bag supply device (4) is connected to the bag taking device (3), the bagging robot (2) is the bagging robot according to any one of claims 1 to 3, the transverse guide rail group (21) and the transverse rack (22) are fixed on the frame (1), the arm support (23) slides in a direction approaching or moving away from the bag taking device (3), the frame (1) is provided with a vacuum pump (12), and the bottom of the frame (1) is provided with a plurality of adjustable feet (11); The bag taking device (3) comprises a bag taking frame (31), a bag taking suction cup (33) and a bag opening suction cup (311). The bag taking frame (31) is provided with a bag taking guide rail group (37) arranged vertically. The suction cup base (35) is provided with a bag taking slider group (36). The bag taking slider group (36) is slidably matched with the upper part of the bag taking guide rail group (37). The slide cylinder (310) is fixed on the suction cup base (35). The slider of the slide cylinder (310) slides in a direction approaching or moving away from the bagging manipulator (2). The upper suction cup frame (34) is connected with the slider of the slide cylinder (310). The bag taking suction cup (33) is connected with the upper suction cup base (35). The bag taking suction cup (33) is connected to an upper suction cup frame (34), the bag taking suction cup (33) is a hollow component, a plurality of suction holes are opened on the lower side wall of the bag taking suction cup (33), the inner cavity of the bag taking suction cup (33) is connected to the vacuum pump (12) through a corrugated hose, the suction cup base (35) is connected to the output end of the bag taking lifting device, a bag opening suction cup (311) is provided on the bag taking frame (31) on the side close to the bagging manipulator (2), the bag opening suction cup (311) is a hollow component, a plurality of suction holes are opened on the upper side wall of the bag opening suction cup (311), and the inner cavity of the bag opening suction cup (311) is connected to the vacuum pump (12) through a corrugated hose; The bag supply device (4) comprises a bag supply rack (43), a bag supply box (41) and a lifting sliding rack (45). The bag supply rack (43) is connected to the bag taking rack (31). The bag supply box (41) is a hollow component with an upper opening. The bag supply box (41) is arranged on the bag supply rack (43). The lower side wall of the bag supply box (41) and the bag supply rack (43) are provided with a vertically penetrating avoidance opening. The vertical profile of the lifting bag component (42) is matched with the avoidance opening. The lifting bag component (42) is connected to the lifting sliding rack (45). The lifting sliding rack (45) is provided with a bag supply slider group (46). The bag supply slider group (46) is connected to the bag supply slider group (46). The lower part of the bag taking guide rail group (37) is slidably matched, the electric push rod (44) is fixed on the bag taking frame (31), and the piston rod of the electric push rod (44) is connected to the lifting bag component (42) upward. When the slider of the slide cylinder (310) is retracted, the upper opening of the bag supply box (41) is vertically aligned with the bag taking suction cup (33), and a plurality of mushroom bags are stacked and placed on the lifting bag component (42). The bag opening of the mushroom bag is placed toward the bagging manipulator (2), and the bag taking suction cup (33) sucks up the mushroom bag. When the slider of the slide cylinder (310) is extended, the bag opening of the sucked mushroom bag is above the bag opening suction cup (311).

5. A bagging robot and bagging machine according to claim 4, characterized in that: A bag length adjustment baffle (47) is arranged in the bag supply box (41), one end of two adjustment screws (48) are respectively connected to one side end surface of the bag length adjustment baffle (47), and the two adjustment screws (48) respectively penetrate the side wall of the bag supply box (41) away from the bagging manipulator (2) and are fixed by nuts.

6. A bagging robot and bagging machine according to claim 4, characterized in that: The bag opening suction cup (311) is connected to one end of the lower suction cup frame, and the other end of the lower suction cup frame extends into the bag taking frame (31) and is connected to a lifting slider, and the lifting slider is slidably matched with an adjacent guide rail in the bag taking guide rail group (37). A lifting cylinder (314) is provided on the bag taking frame (31), and a piston rod of the lifting cylinder (314) is vertically arranged and connected to the lower suction cup frame.

7. A bagging robot and bagging machine according to claim 6, characterized in that: The lower suction cup frame comprises a horizontal connecting plate (313) and a vertical connecting plate (312); the horizontal connecting plate (313) is provided with a transversely opened oblong hole, and the vertical connecting plate (312) is provided with a vertically opened oblong hole; the oblong holes on the horizontal connecting plate (313) and the oblong holes on the vertical connecting plate (312) are matched by bolts.

8. The bagging robot and bagging machine according to claim 4, characterized in that: The bag taking and lifting device comprises a lifting motor (38), the lifting motor (38) is fixed on the top of the bag taking frame (31), a driving pulley (39) is sleeved on the output shaft of the lifting motor (38), a driven pulley (32) is rotatably arranged in the middle of the bag taking frame (31), the driving pulley (39) and the driven pulley (32) are connected by a synchronous belt, and a suction cup base (35) is connected to a point on the synchronous belt by a clamping head.

9. A bagging robot and bagging machine according to any one of claims 4 to 8, characterized in that: A photoelectric switch is provided on the bag taking frame (31). When the height of the mushroom bag is lower than the photoelectric switch, the electric push rod (44) pushes the lifting bag member (42) upwards. When the mushroom bag reaches the supply bag height, the mushroom bag triggers the photoelectric switch, and the photoelectric switch controls the electric push rod (44) to stop extending.

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