Clamping plate type encasement manipulator for two-row and multi-column brick-shaped particle bags

Abstract

A clamping plate type encasement manipulator for two-row and multi-column brick type particle bags comprises a frame body, a vertical fixed clamping plate is arranged in the center of the lower end of the frame body in the X direction, a long rubber lining plate is arranged on the lower portion of the fixed clamping plate, and row and multi-column movable clamping plates are symmetrically arranged on the left side and the right side of the fixed clamping plate in the X direction. A short rubber lining plate is arranged on the lower portion of the inner side of the movable clamping plate, the middle of the inner side of the movable clamping plate is connected with a cylinder rod of a bag clamping air cylinder, a cylinder body of the bag clamping air cylinder is connected with the fixed clamping plate, and a clamping plate support is arranged on the upper portion of the inner side of the movable clamping plate. The front end and the rear end of the frame body are each provided with two sets of vertically-arranged suction cup air cylinders, the lower ends of cylinder rods of the suction cup air cylinders are connected with suction cup supporting plates, vertically-downward vacuum suction cups are arranged on the outer sides of the suction cup supporting plates, and vertically-downward detection rods are arranged on the inner sides of the suction cup supporting plates. Reliable clamping and boxing of two rows and multiple columns of brick-shaped particle material bags are achieved.

Description

Technical Field

[0001] The invention relates to a clamping plate type case packing robot for two-row and multi-column brick-shaped granular material bags, belonging to the field of packaging machinery. Background Art

[0002] Patent document CN215207293U discloses a multi-row brick stacking robot gripper mechanism, which uses the larger friction force on the brick surface to cooperate with the cylinder to drive the clamping plate to press the bricks between the two side clamping plates for clamping work. This technical solution is very effective in clamping such as Figure 1 The brick-shaped particle bag A shown in the figure has some shortcomings: first, the surface of the brick-shaped particle bag A is a plastic film, and its friction coefficient is very small, so the clamping plate will fall off when clamping the brick-shaped particle bag A; second, the clamping force of the clamping plate cannot be too large when clamping the brick-shaped particle bag A, because too large a clamping force will damage its brick-shaped appearance, thus causing failure to clamp multiple rows of brick-shaped particle bags A. Therefore, if you want to place the following in the box each time, Figure 1 The packing requirements of the two rows and three columns of brick-shaped particle bags A shown are not met by the prior art solutions. Summary of the invention

[0003] In order to solve the problem that the existing clamping technology cannot reliably clamp the brick-shaped granular material bag A, the present invention provides a clamping plate type packing robot for two rows and multiple columns of brick-shaped granular material bags, which includes a frame 1, a vertical fixed clamping plate 8 is arranged at the center position of the lower end of the frame 1 along the X direction, and a long rubber lining plate 7 is arranged at the lower part of the left and right surfaces of the fixed clamping plate 8. A row of multiple columns of movable clamping plates 5 are symmetrically arranged on the left and right sides of the fixed clamping plate 8 along the X direction. The number of columns of the movable clamping plates 5 is the same as the number of columns of the brick-shaped granular material bags A to be clamped, a short rubber lining plate 11 is arranged at the lower part of the inner surface of the movable clamping plate 5, the middle part of the inner side of the movable clamping plate 5 is connected to the cylinder rod of the bag clamping cylinder 6, the cylinder body of the bag clamping cylinder 6 is connected to the fixed clamping plate 8, and a clamping plate bracket 4 is arranged on the upper part of the inner side of the movable clamping plate 5, and the upper end of the clamping plate bracket 4 is connected to the lower end of the slider 3 The slider 3 slides left and right along the linear guide 2, and the linear guide 2 is fixed to the lower end of the frame 1. When the cylinder rod of the bag clamping cylinder 6 is retracted, the outermost width of the movable clamping plates 5 on the left and right sides is not less than the Y-direction width of the frame 1. The upper end of the frame 1 is provided with a mounting frame 15 connected to the external packing mechanism. The upper end of the frame 1 is also provided with a bag clamping pressure reducing valve 14. The bag clamping pressure reducing valve 14 controls the air intake pressure of the bag clamping cylinder 6. The front and rear ends of the frame 1 are provided with two groups of vertically arranged suction cup cylinders 13. The lower end of the cylinder rod of the suction cup cylinder 13 is connected to the suction cup support plate 10. The outer end of the suction cup support plate 10 is provided with a vertically downward vacuum suction cup 12, and the inner end of the suction cup support plate 10 is provided with a vertically downward detection rod 9. The lower end surface of the detection rod 9 is lower than the lower end surface of the vacuum suction cup 12 in a free state.

[0004] The working principle of the present invention is: A. The bag clamping cylinders 6 are all in the extended state, the suction cup cylinders 13 are all in the retracted state, and the brick-shaped granular material bags A are pre-organized into two rows and three columns through the previous process, with a gap between the two rows required for the fixed clamping plate 8. The manipulator descends to the grouping and bag taking position, and each bag clamping cylinder 6 simultaneously drives the movable clamping plate 5 to slide and close along the linear guide rail 2 toward the fixed clamping plate 8, so that the brick-shaped granular material bag A is clamped between the long rubber lining plate 7 and the short rubber lining plate 11 at the same time. By setting the output pressure of the bag clamping pressure reducing valve 14, the clamping plate can clamp the brick-shaped granular material bag A without destroying its brick-shaped appearance; B. The manipulator clamps the brick-shaped granular bag A and moves to the top of the box, then descends to the designated layer position in the box. The bag clamping cylinder 6 first unloads its clamping force but keeps the bag clamping cylinder 6 immobile, and drops the brick-shaped granular bag A into the designated position in the box. Then the manipulator rises and leaves the box, and the bag clamping cylinder 6 extends to return the movable clamping plate 5 to the initial state. C. Repeat the above clamping and packing actions until the box is filled with a layer of brick-shaped granular material bags A; D. After each layer of packing is completed, the robot moves to the top of the layer partition B. The suction cup cylinder 13 drives the vacuum suction cup 12 and the detection rod 9 to descend at the same time. The detection rod 9 first contacts the layer partition B and sends a signal of being in position. After the robot completes the descending positioning, the vacuum suction cup 12 establishes a vacuum to absorb the layer partition B. Then the robot rises and moves the layer partition B to the top of the box. After the robot descends an appropriate distance, the vacuum suction cup 12 unloads the force and places the layer partition B into the box. The suction cup cylinder 13 retracts to return the vacuum suction cup 12 to its initial state.

[0005] The beneficial effects of the present invention are: A. By using the fixed clamping plate 8 in the middle and the movable clamping plates 5 on the left and right sides, as well as the rubber lining plates arranged on the clamping plate surfaces, the left and right sides of each row of brick-shaped granular material bags A are reliably clamped by the clamping plates, and the larger friction coefficient of the rubber lining plates is utilized so that the brick-shaped granular material bags A can be reliably lifted without falling; B. Use the bag clamping pressure reducing valve 14 to control the clamping force of the bag clamping cylinder 6, so that the clamping plate can clamp the brick-shaped granular material bag A without destroying its brick-shaped appearance; C. Since the number of rows of the movable clamping plates 5 is the same as the number of rows of the brick-shaped granular material bags A to be clamped, each brick-shaped granular material bag A is clamped by a separate bag clamping cylinder 6, thereby automatically adapting to the changes in the external dimensions of the brick-shaped granular material bag A, thereby improving the reliability of the equipment; D. By utilizing the vacuum suction cups 12 disposed at the front and rear ends, the clamping plate packing robot can simultaneously pack the brick-shaped granular material bags A and place the interlayer partitions B, thus simplifying the equipment structure and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1It is a schematic diagram of a pre-assembled brick-shaped granular material bag A that needs to be clamped.

[0007] Figure 2 It is a three-dimensional axonometric view of the present invention.

[0008] Figure 3 It is the front view of the present invention.

[0009] Figure 4 It is a front view of the present invention in a state of clamping a brick-shaped particle bag A.

[0010] Figure 5 It is a left view of the present invention in a state of clamping a brick-shaped particle bag A.

[0011] Figure 6 It is a schematic diagram of the absorption layer partition plate of the present invention in state B. DETAILED DESCRIPTION

[0012] The specific implementation of the present invention is shown in Figure 1 to Figure 6 A plywood packing robot for two rows and multiple columns of brick-shaped granular material bags, comprising a frame 1, a vertical fixed plywood 8 is arranged at the center position of the lower end of the frame 1 along the X direction, a long rubber lining 7 is arranged at the lower part of the left and right surfaces of the fixed plywood 8, a row of three columns of movable plywood 5 are symmetrically arranged on the left and right sides of the fixed plywood 8 along the X direction, a short rubber lining 11 is arranged at the lower part of the inner surface of the movable plywood 5, the middle part of the inner side of the movable plywood 5 is connected with the cylinder rod of the bag clamping cylinder 6, the cylinder body of the bag clamping cylinder 6 is connected with the fixed plywood 8, a plywood bracket 4 is arranged at the upper part of the inner side of the movable plywood 5, the upper end of the plywood bracket 4 is connected with the lower end of the slider 3, the slider 3 slides left and right along the linear guide 2, and the linear guide 2 is fixed to the lower end of the frame 1, When the cylinder rod of the bag clamping cylinder 6 is retracted, the outermost width of the movable clamping plates 5 on the left and right sides is not less than the Y-direction width of the frame 1. The upper end of the frame 1 is provided with a mounting frame 15 connected to the external packing mechanism. The upper end of the frame 1 is also provided with a bag clamping pressure reducing valve 14. The bag clamping pressure reducing valve 14 controls the air intake pressure of the bag clamping cylinder 6. The front and rear ends of the frame 1 are provided with two groups of vertically arranged suction cup cylinders 13. The lower end of the cylinder rod of the suction cup cylinder 13 is connected to the suction cup support plate 10. The outer end of the suction cup support plate 10 is provided with a vertically downward vacuum suction cup 12, and the inner end of the suction cup support plate 10 is provided with a vertically downward detection rod 9. The lower end surface of the detection rod 9 is lower than the lower end surface of the vacuum suction cup 12 in a free state.

Claims

1. A clamping plate type packing robot for two rows and multiple columns of brick-shaped granular bags, comprising a frame (1), characterized in that: A vertical fixed clamp (8) is arranged at the center position of the lower end of the frame (1) along the X direction, and a long rubber lining (7) is arranged at the lower part of the left and right surfaces of the fixed clamp (8). A row and multiple columns of movable clamps (5) are symmetrically arranged on the left and right sides of the fixed clamp (8) along the X direction, and the number of columns of the movable clamps (5) is the same as the number of columns of the brick-shaped granular material bags (A) to be clamped. A short rubber lining (11) is arranged at the lower part of the inner surface of the movable clamp (5). The middle part of the inner side of the movable clamp (5) is connected to the cylinder rod of the bag clamping cylinder (6), and the cylinder body of the bag clamping cylinder (6) is connected to the fixed clamp (8). A clamp bracket (4) is arranged at the upper part of the inner side of the movable clamp (5), and the upper end of the clamp bracket (4) is connected to the lower end of the slider (3). The slider (3) slides left and right along the linear guide rail (2), and the linear guide rail (2) is fixed to the lower end of the frame (1). When the cylinder rod of the bag clamping cylinder (6) is retracted, the outermost width of the movable clamping plates (5) on the left and right sides is not less than the Y-direction width of the frame (1); the upper end of the frame (1) is provided with a mounting frame (15) connected to an external packaging mechanism; the upper end of the frame (1) is also provided with a bag clamping pressure reducing valve (14); the bag clamping pressure reducing valve (14) controls the air intake pressure of the bag clamping cylinder (6); the front and rear ends of the frame (1) are provided with two groups of vertically arranged suction cup cylinders (13); the lower end of the cylinder rod of the suction cup cylinder (13) is connected to the suction cup support plate (10); the outer end of the suction cup support plate (10) is provided with a vertically downward vacuum suction cup (12); the inner end of the suction cup support plate (10) is provided with a vertically downward detection rod (9); the lower end surface of the detection rod (9) is lower than the lower end surface of the vacuum suction cup (12) in a free state.

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