Ton bag feeding mechanism

Abstract

The invention relates to a ton bag feeding mechanism, and belongs to the field of packaging of ton bags. Comprising a space moving mechanical arm, a lifting rope gripper and a bag storage frame, a bag storage bottom plate and four sets of bag storage columns are arranged on the bag storage frame, cross-shaped grooves are formed in the bag storage columns, a plurality of ton bags are laid on the bag storage frame after being folded to be flat, ton bag openings are spread in the same direction, and four sets of lifting ropes of ton bag belts are embedded into rope grooves in the same direction of the cross-shaped grooves; the rope lifting grippers are arranged at the executing end of the space moving mechanical arm, the four sets of rope lifting grippers are arranged on the two sides of the executing frame respectively, gripper moving mechanisms are arranged between the rope lifting grippers and the executing frame, and the distance between the two rope lifting grippers on the same side is adjusted through the gripper moving mechanisms. And the front end of the lifting rope gripper is embedded into the gripper groove in the other direction of the cross groove to grab the lifting rope. The ton bags are fed through the single mechanical arm, so that the use of the mechanical arm is reduced, and the interference of filling equipment during field operation is avoided; the executing end of the bag feeding mechanism of the device has the functions of grabbing a ton bag lifting rope and opening a bag opening, and multiple actions can be completed through one executing mechanism.

Description

Technical Field

[0001] The invention relates to a ton bag loading mechanism and belongs to the ton bag packaging field. Background Art

[0002] Ton bags are usually filled with powder or granular materials, which will raise dust at the filling and packaging site, resulting in a harsh environment.

[0003] At present, the market is using robotic arms to bag ton bags to reduce manual access to the filling site. Due to the problem of clamps, the robotic arm bagging usually requires multiple groups to cooperate to grab the bag mouth and lifting rope of the ton bag respectively, and then transfer the ton bag to the filling equipment for filling.

[0004] Since there are many gripping positions, interference between multiple robotic arms may occur. Therefore, it is necessary to reduce the number of robotic arms working simultaneously and add multiple actuators to the end effector to reduce interference and improve the efficiency of grabbing and transferring ton bags at the end. Summary of the invention

[0005] The invention provides a ton bag loading mechanism, which solves the problem of grabbing and loading ton bags at one time and improves the loading efficiency.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is: comprising a space mobile mechanical arm, a rope lifting gripper and a bag storage rack, the bag storage rack is provided with a bag storage bottom plate and four groups of bag storage columns, the bag storage columns are provided with a cross groove, a plurality of ton bags are folded flat and laid on the bag storage rack, the ton bag openings are spread in the same direction, and the four groups of lifting ropes of the ton bag belt are embedded in the rope grooves in the same direction of the cross groove; The execution end of the space mobile robot arm is provided with the rope lifting gripper, and the rope lifting gripper is divided into four groups. The four groups of rope lifting grippers are arranged on both sides of the execution frame. A gripper moving mechanism is arranged between the rope lifting gripper and the execution frame. The distance between the two rope lifting grippers on the same side is adjusted by the gripper moving mechanism. The front end of the rope lifting gripper is embedded in the gripper groove in the other direction of the cross groove to grab the rope.

[0007] According to the ton bag loading mechanism, the execution frame includes an execution fixing part connected to the mechanical arm and two symmetrical execution arms, a gripper moving mechanism is provided on the outer side of the execution arm, and two side-by-side gripper moving mechanisms are provided on the execution arm on each side, and the two rope lifting grippers move on the same center line driven by the gripper moving mechanism; a bag opening moving drive is provided on the inner side of the execution arm, and a bag opening opening mechanism is installed between the execution arms on both sides.

[0008] According to the ton bag loading mechanism, each rope lifting gripper is provided with a corresponding gripper moving mechanism, the gripper moving mechanism includes semicircular tracks arranged on the upper and lower sides of the actuator arm, gripper moving rollers, and a gripper moving cylinder. There are four groups of gripper moving rollers on the rope lifting gripper, with two groups arranged at the same height. The upper roller cooperates with the upper semicircular track, and the lower roller cooperates with the lower track. The cylinder body of the gripper moving cylinder is fixed to the actuator arm, and the piston rod is connected to the rope lifting gripper.

[0009] According to the ton bag loading mechanism, the rope lifting gripper includes a gripper frame, a screw lifting mechanism, a gripper lifting part, a gripper plate and a gripper cylinder. The gripper moving roller is arranged on the rear side of the gripper frame, and the screw of the screw lifting mechanism is vertically installed on the front side. The driving motor of the screw lifting mechanism is installed on the top of the gripper frame. The driving motor drives the screw to rotate. A screw nut is arranged on the screw to install the gripper lifting part. The gripper lifting part is connected to the gripper plate through a pin shaft. The gripper lifting part is provided with a gripper limiter located below the position of the gripper plate pin shaft. The gripper limiter limits the gripper plate to the lowest swing level. The front end of the gripper plate is bent downward by ninety degrees. A gripper cylinder is arranged at the lower part of the gripper plate. An extrusion plate is arranged at the front end of the gripper cylinder and faces the bent part. A gripper lifting guide shaft parallel to the screw is also provided and fixed on the gripper frame. The gripper lifting part has an opening passing through the gripper lifting guide shaft.

[0010] According to the ton bag loading mechanism, both sides of the bag opening mechanism are arranged at the middle position of the execution frame through the bag opening moving drive, and the bag opening structure includes two groups of symmetrical support plates, bag opening suction cups, bag opening swing frames and bag opening moving frames; the support plates are provided with support plate drives, and the support plates are arranged at the front end of the bag opening swing frame, the bag opening swing frame is hinged to the front end of the bag opening moving frame, and a swing drive is provided between the bag opening moving frame and the bag opening swing frame, and the bag opening suction cup is arranged at the lower part of the bag opening moving frame through the bag opening lifting mechanism.

[0011] According to the ton bag loading mechanism, the bag mouth moving drive includes an embedded track cylinder, a bagging moving wheel and a bagging moving drive arranged on the inner side of the execution arm. The bagging moving drive is arranged on the execution frame, and the bagging moving wheels are arranged on both sides of the bag mouth moving frame. The moving end of the bagging moving drive is connected to the bag mouth moving frame, and the bagging moving wheels move in the embedded track cylinder.

[0012] According to the ton bag loading mechanism, the bag mouth moving frame is U-shaped, and bag lifting frames are arranged at the lower parts of both sides. A lifting guide mechanism and a bag lifting cylinder are arranged between the bag mouth moving frame and the bag lifting frame, and the bag moving wheels are arranged on the outer side of the bag lifting frame.

[0013] According to the ton bag loading mechanism, the bag opening mechanism is arranged within the U-shaped space of the bag opening moving frame; fine-tuning moving wheels are arranged on both sides, a fine-tuning moving track is arranged on the U-shaped inner side of the bag opening moving frame, and a fine-tuning moving cylinder is arranged between the bag opening mechanism and the bag opening moving frame.

[0014] According to the ton bag loading mechanism, the bag mouth suction cup is provided with a suction cup lifting cylinder and a suction cup lifting guide, the suction cup frame is arranged at the bottom of the suction cup lifting cylinder and the suction cup lifting guide, the suction cup frame extends forward and the bag mouth suction cup is arranged at the bottom of the front end, and the bag mouth suction cup is at least two groups.

[0015] The advantages of the present invention are: Ton-bag loading is achieved through a single robotic arm, which reduces the use of robotic arms and avoids interference with filling equipment during on-site operations; the execution end of the bag loading mechanism of this device has the functions of grabbing the lifting rope of the ton-bag and supporting the bag opening, so that one actuator can complete multiple actions; this device realizes the automation and high efficiency of ton-bag loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention, Figure 2 This is a view of the upper bag structure of the present invention. Figure 3 is a top view of the upper bag structure of the present invention, Figure 4 This is a structural diagram of the gripper and the execution frame of the present invention. Figure 5 It is a structural diagram of the rope lifting handle of the present invention; Figure 6 This is a diagram of the bag opening mechanism of the present invention. Figure 7 This is a partial diagram of the fine-tuning structure of the bag opening mechanism of the present invention. Figure numerals: 1, space mobile mechanical arm, 2, bag storage rack, 21, bag storage column, 22, cross slot, 3, execution rack, 31 execution arm, 4, rope grab, 41, grab rack, 42, screw lifting mechanism, 43 grab lifting part, 44, grab plate, 45 grab cylinder, 46, grab lifting guide shaft, 5, grab moving mechanism, 51, semicircular track, 52, grab moving roller, 53, grab moving cylinder, 6, bag opening opening mechanism, 61, support plate, 62 bag opening moving rack, 63 bag opening swing rack, 64, support plate drive, 65, swing drive, 66, fine-tuning moving track, 67, fine-tuning moving cylinder, 68, fine-tuning moving wheel, 7 , bag mouth moving drive, 71, embedded track, 72, bagging moving wheel, 73, bagging moving drive, 8, bagging lifting frame, 81, lifting guide mechanism, 82, bagging lifting cylinder, 9 bag mouth suction cup, 91 suction cup frame 92, suction cup lifting cylinder 93 suction cup lifting guide. DETAILED DESCRIPTION

[0017] The specific contents of the present invention are described in detail below: The ton bag loading mechanism of the present invention comprises a spatial mobile mechanical arm 1, a lifting rope gripper 4 and a bag storage rack 2, the bag storage rack 2 is provided with a bag storage bottom plate and four groups of bag storage columns 21, the bag storage columns 21 are provided with a cross groove 22, a plurality of ton bags are folded into a flat surface and laid on the bag storage rack 2, the ton bag openings are spread in the same direction, and the four groups of lifting ropes of the ton bag belt are embedded in the rope grooves in the same direction of the cross groove 22.

[0018] The execution end of the specific space mobile robot 1 is provided with the rope lifting gripper 4, which is divided into four groups. The four groups of rope lifting grippers 4 are arranged on both sides of the execution frame 3. A gripper moving mechanism 5 is arranged between the rope lifting gripper 4 and the execution frame 3. The distance between the two rope lifting grippers 4 on the same side is adjusted by the gripper moving mechanism 5. The front end of the rope lifting gripper 4 is embedded in the gripper groove in the other direction of the cross groove 22 to grab the rope lifting. The space mobile robot 1 drives the rope lifting gripper at the execution end to grab the four groups of rope lifting of the ton bag on the bag storage rack.

[0019] In this device, the execution frame is as follows Figure 2-4 In the embodiment, the execution frame 3 includes an execution fixing part connected to the robot arm and two symmetrical execution The arm 31 is provided with a gripper moving mechanism 5 on the outside of the execution arm 31. Two side-by-side gripper moving mechanisms 5 are provided on the execution arm 31 on each side. The two rope grippers 4 move on the same center line under the drive of the gripper moving mechanism 5. The inner side of the execution arm 31 is provided with a bag opening moving drive 7. The bag opening opening mechanism 6 is installed between the execution arms 31 on both sides. The bag opening opening mechanism 6 opens the bag opening of the ton bag, and the bag opening moving drive 7 drives the ton bag to move to the lower part of the filling machine for filling.

[0020] Specifically, each rope lifting gripper 4 is provided with a set of gripper moving mechanism 5, which includes semicircular tracks 51 arranged on the upper and lower sides of the execution arm 31, gripper moving rollers 52, and gripper moving cylinders 53. There are four sets of gripper moving rollers 52 on the rope lifting gripper 4, two sets of which are arranged at the same height, the upper roller cooperates with the upper semicircular track 51, and the lower roller cooperates with the lower track. The cylinder body of the gripper moving cylinder 53 is fixed to the execution arm 31, and the piston rod is connected to the rope lifting gripper 4. The gripper moving cylinder 53 pushes the rope lifting gripper 4 to move on the semicircular track 51 to fine-tune the specific position when grabbing the rope lifting.

[0021] Furthermore, the rope lifting gripper 4 includes a gripper frame 41, a screw lifting mechanism 42, a gripper lifting part 43, a gripper plate 44 and a gripper cylinder 45. The gripper moving roller 52 is arranged on the rear side of the gripper frame 41. The gripper moving roller 52 moves on a semicircular track to adjust the position of the lifting handle.

[0022] A lead screw of a lead screw lifting mechanism 42 is vertically installed on the front side of the gripper frame 41. A driving motor of the lead screw lifting mechanism 42 is installed on the top of the gripper frame 41. The driving motor drives the lead screw to rotate. A lead screw nut is provided on the lead screw to install a gripper lifting part 43. The gripper lifting part 43 is connected to a gripper plate 44 through a pin shaft. The gripper lifting part 43 is provided with a gripper limiter located below the position of the gripper plate 44 on which the pin shaft is installed. The gripper limiter limits the gripper plate 44 from swinging to the lowest level. The front end of the gripper plate 44 is bent downward by ninety degrees. A gripper cylinder 45 is provided at the lower part of the gripper plate 44. An extrusion plate is provided at the front end of the gripper cylinder 45 and faces the bent portion. A gripper lifting guide shaft 46 parallel to the lead screw is also provided and fixed on the gripper frame 41. A hole in the gripper lifting part 43 passes through the gripper lifting guide shaft 46.

[0023] When the lifting handle is close to the bag storage position, the screw lifting mechanism 42 drives the gripper lifting part 43 downward, the gripper plate is embedded in the cross slot, the 90-degree bend at the front end is consistent with the height of the uppermost lifting rope, and the gripper cylinder 45 is started to lift and clamp. The four sets of lifting rope grippers grab the four sets of lifting ropes corresponding to the ton bag.

[0024] The bag mouth moving drive 7 includes an embedded track cylinder 71, a bagging moving wheel 72 and a bagging moving drive arranged inside the execution arm 31. The bagging moving drive is arranged on the execution frame 3, and the bagging moving wheel 72 is arranged on both sides of the bag mouth moving frame 62. The moving end of the bagging moving drive is connected to the bag mouth moving frame 62, and the bagging moving wheel 72 moves in the embedded track cylinder 71. The bag mouth moving drive 7 drives the bag mouth opening mechanism 6 to move forward and backward in the execution frame to approach the filling machine.

[0025] The two sides of the bag opening opening mechanism 6 are arranged at the middle position of the execution frame 3 through the bag opening moving drive 7. The bag opening opening structure includes two groups of symmetrical support plates, a bag opening swing frame 63 and a bag opening moving frame 62; the support plate is provided with a support plate drive 64, and the support plate is arranged at the front end of the bag opening swing frame 63. The bag opening swing frame 63 is hinged to the front end of the bag opening moving frame 62, and a swing drive is provided between the bag opening moving frame 62 and the bag opening swing frame 63. The bag opening suction cup 9 is arranged at the lower part of the bag opening moving frame 62 through the bag opening lifting mechanism.

[0026] Specifically, the bag mouth moving frame 62 is U-shaped, and the bag lifting frames 8 are arranged at the lower part of both sides. A lifting guide mechanism 81 and a bag lifting cylinder 82 are arranged between the bag mouth moving frame 62 and the bag lifting frame 8, and the bag lifting wheel 72 is arranged on the outer side of the bag lifting frame. The bag mouth opening mechanism 6 is arranged in the U-shaped space of the bag mouth moving frame 62; the bag mouth opening mechanism 6 is arranged; the fine-tuning moving wheels are arranged on both sides, the fine-tuning moving track is arranged on the inner side of the U shape of the bag mouth moving frame 62, and the fine-tuning moving cylinder is arranged between the bag mouth opening mechanism 6 and the bag mouth moving frame 62.

[0027] The bag mouth suction cup is provided with a suction cup lifting cylinder and a suction cup lifting guide, the suction cup frame is arranged at the bottom of the suction cup lifting cylinder and the suction cup lifting guide, the suction cup frame extends forward and the bag mouth suction cup is arranged at the bottom of the front end, and the bag mouth suction cup is at least two groups.

[0028] Working process: spread the ton bags horizontally on the bag storage bottom plate in turn, and hang four bags on four bag storage columns respectively. Move the execution end to the bag storage position and adjust it to the specified height through the spatial mobile robot arm 1. At this time, the lifting gripper is located at the inner position, and the bag opening mechanism 6 is located at the front end bag opening position. The screw transmission pairs on the four lifting grippers drive the gripper plates to move downward separately. When the gripper plates touch the ton bag lifting rope, the gripper plates stop descending through the touch switch on the gripper plates, and the ton bag lifting rope is clamped by the gripper cylinder.

[0029] The suction cup is driven to descend and suck the bag mouth by the bag mouth suction cup lifting cylinder. After sucking the bag mouth, the bag mouth suction cup rises, and the lower end of the bag mouth naturally droops and the bag mouth opens. The support plate is sent into the bag mouth by the fine-tuning moving cylinder in the bag mouth opening mechanism 6, and the support plate is used to open the bag mouth outward by the support plate drive 64. After controlling the ton bag lifting rope and the bag mouth, the bag mouth moving drive 7 drives the bag mouth opening mechanism 6 to move to the ton bag filling station. During the movement, the lifting gripper is lowered to the lowest end, the bag mouth opening mechanism 6 moves to the front end, and the bag mouth swing frame of the bag mouth opening mechanism 6 is flipped to a horizontal position to lift the height, and then the four bags are hung on the hook, and the ton bag bag mouth is fixed to the discharge port position. At this time, the support plate drive 64 drives the two support plates to approach, and lifts them out of the bag mouth and separates them from the ton bag. The bag mouth moving drive 7 drives the bag mouth opening mechanism 6 to retract, and the lifting gripper hangs the lifting rope on the hook structure of the filling station. The spatial mobile robot arm 1 drives the entire mechanism to withdraw and complete the ton bag loading operation.

Claims

1. A ton bag loading mechanism, characterized in that: The invention comprises a spatial mobile mechanical arm (1), a rope lifting gripper (4) and a bag storage rack (2); the bag storage rack (2) is provided with a bag storage bottom plate and four groups of bag storage columns (21); the bag storage columns (21) are provided with a cross groove (22); a plurality of ton bags are folded flat and laid on the bag storage rack (2), with the openings of the ton bags spread in the same direction; and four groups of lifting ropes of the ton bag belt are embedded in rope grooves in the same direction of the cross groove (22); The execution end of the spatial mobile robot arm (1) is provided with the rope lifting gripper (4), which is divided into four groups. The four groups of rope lifting grippers (4) are arranged on both sides of the execution frame (3). A gripper moving mechanism (5) is provided between the rope lifting grippers (4) and the execution frame (3). The distance between the two rope lifting grippers (4) on the same side is adjusted by the gripper moving mechanism (5). The front end of the rope lifting gripper (4) is embedded in the gripper groove in the other direction of the cross groove (22) to grab the rope.

2. The ton bag loading mechanism according to claim 1 is characterized in that: The execution frame (3) comprises an execution fixing portion connected to the mechanical arm and two symmetrical execution arms (31), the execution arms (31) are provided with a gripper moving mechanism (5) on the outside, and the execution arms (31) on each side are provided with two side-by-side gripper moving mechanisms (5), and the two rope lifting grippers (4) are driven by the gripper moving mechanisms (5) to move on the same center line; A bag opening moving drive (7) is provided inside the execution arm (31), and a bag opening opening mechanism (6) is installed between the execution arms (31) on both sides.

3. The ton bag loading mechanism according to claim 2 is characterized in that: Each rope lifting gripper (4) is provided with a corresponding gripper moving mechanism (5), the gripper moving mechanism (5) comprising semicircular tracks (51) arranged on the upper and lower sides of the actuator arm (31), gripper moving rollers (52), and a gripper moving cylinder (53). The rope lifting gripper (4) is provided with four groups of gripper moving rollers (52), two groups of which are arranged at the same height, the upper roller cooperates with the upper semicircular track (51), and the lower roller cooperates with the lower track. The cylinder body of the gripper moving cylinder (53) is fixed to the actuator arm (31), and the piston rod is connected to the rope lifting gripper (4).

4. The ton bag loading mechanism according to claim 3 is characterized in that: The rope lifting gripper (4) comprises a gripper frame (41), a screw lifting mechanism (42), a gripper lifting part (43), a gripper plate (44) and a gripper cylinder (45). The gripper moving roller (52) is arranged on the rear side of the gripper frame (41), and a screw of the screw lifting mechanism (42) is vertically installed on the front side. The driving motor of the screw lifting mechanism (42) is installed on the top of the gripper frame (41). The driving motor drives the screw to rotate. A screw nut is arranged on the screw to install the gripper lifting part (43). The gripper lifting part (43) is connected to the gripper through a pin shaft. The gripper lifting part (43) is provided with a gripper limiter located below the position of the gripper plate (44) pin shaft, the gripper limiter restricts the gripper plate (44) from swinging to the horizontal position at the lowest level, the front end of the gripper plate (44) is bent downward by ninety degrees, a gripper cylinder (45) is provided at the lower part of the gripper plate (44), an extrusion plate is provided at the front end of the gripper cylinder (45) and faces the bent part, and a gripper lifting guide shaft (46) with a parallel screw is fixed on the gripper frame (41), and the gripper lifting part (43) has an opening passing through the gripper lifting guide shaft (46).

5. The ton bag loading mechanism according to claim 2 is characterized in that: The two sides of the bag opening opening mechanism (6) are arranged at the middle position of the execution frame (3) through the bag opening moving drive (7), and the bag opening opening structure comprises two groups of symmetrical support plates, bag opening suction cups (9), a bag opening swing frame (63) and a bag opening moving frame (62); the support plate is provided with a support plate drive (64), the support plate is arranged at the front end of the bag opening swing frame (63), the bag opening swing frame (63) is hinged to the front end of the bag opening moving frame (62), a swing drive is arranged between the bag opening moving frame (62) and the bag opening swing frame (63), and the bag opening suction cup (9) is arranged at the lower part of the bag opening moving frame (62) through the bag opening lifting mechanism.

6. The ton bag loading mechanism according to claim 5 is characterized in that: The bag mouth moving drive (7) comprises an embedded track cylinder (71) arranged on the inner side of the execution arm (31), a bagging moving wheel (72) and a bagging moving drive. The bagging moving drive is arranged on the execution frame (3), the bagging moving wheels (72) are arranged on both sides of the bag mouth moving frame (62), the moving end of the bagging moving drive is connected to the bag mouth moving frame (62), and the bagging moving wheel (72) moves in the embedded track cylinder (71).

7. The ton bag loading mechanism according to claim 6 is characterized in that: The bag opening moving frame (62) is U-shaped, and bag lifting frames (8) are arranged at the lower parts of both sides. Bagging Lifting Rack (8) Between settings Lifting guide mechanism (81) and a bag lifting cylinder (82), the bag lifting cylinder having the bag moving wheel (72) arranged on the outer side thereof.

8. The ton bag loading mechanism according to claim 7 is characterized in that: The bag opening opening mechanism (6) is arranged within the U-shaped space of the bag opening moving frame (62); fine-tuning moving wheels are arranged on both sides of the bag opening opening mechanism (6); a fine-tuning moving track is arranged on the inner side of the U-shape of the bag opening moving frame (62); and a fine-tuning moving cylinder is arranged between the bag opening opening mechanism (6) and the bag opening moving frame (62).

9. The ton bag loading mechanism according to claim 7 is characterized in that: The bag mouth suction cup is provided with a suction cup lifting cylinder and a suction cup lifting guide, the suction cup frame is arranged at the bottom of the suction cup lifting cylinder and the suction cup lifting guide, the suction cup frame extends forward and the bag mouth suction cup is arranged at the bottom of the front end, and the bag mouth suction cup is at least two groups.

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