Robot packaging machine

Abstract

The robot packaging machine comprises a mechanical foot pressure telescopic cylinder and a supporting frame fixed to a shaft head of the mechanical foot pressure telescopic cylinder, and a motor gear transmission mechanism and a set of mechanical arms are installed on a shoulder base at the top end of the supporting frame; the feeding bin is located on the front side of the supporting frame, the feeding pressure telescopic cylinder and the feeding barrel are installed on the top and a bottom opening of the feeding bin, and the weighing meter is arranged below the feeding barrel. The binding bag opening pressure telescopic cylinder is located between the feeding barrel and the weighing meter, the rocker arm pressure rotating cylinder and the rocker arm rod are located on one side of the robot, and the pliers hand assembly is installed at the end of the rocker arm rod. The full-process automatic packaging of bag grabbing, bag breaking, bag sleeving, feeding, weighing and metering, bag opening binding, clamping packaging and transferring packaging can be achieved; through the design of a motor gear transmission mechanism, driving power transmission is simpler, more convenient, more efficient and lower in energy consumption; the device is low in manufacturing cost, accurate in weighing measurement, convenient to operate and control, high in efficiency, energy-saving and emission-reducing.

Description

Technical Field

[0001] The present invention relates to the field of packaging machinery, in particular to a robot packaging machine. Background Art

[0002] In the fields of chemical industry, agriculture, etc., powder materials are mostly present. With the development and progress of technology, the packaging of powder materials has gradually transitioned from manual packaging to machine packaging.

[0003] Material packaging machines are common equipment in the existing packaging industry, with wide applications, large packaging volume, and high efficiency. However, when used in powder material packaging, existing material packaging machines have the following defects: the mechanical arm bending transmission power is complex, energy consumption is high, and the accuracy of bending control is poor; dust is generated during the powder material packaging process, causing occupational hazards and polluting the environment. Summary of the invention

[0004] The present invention provides a robot packaging machine, which can solve the above-mentioned problems existing when the existing material packaging machine is used for powder material packaging.

[0005] In order to solve the above technical problems, the present invention provides a robot packaging machine, which is characterized by comprising: A mechanical foot pressure telescopic cylinder and a support frame fixed on its shaft head, a motor gear transmission mechanism and a set of mechanical arms are installed on the shoulder base at the top of the support frame, and the mechanical arms are symmetrically installed at both ends of the motor gear transmission mechanism; A feeding bin located at the front side of the support frame, a feeding pressure telescopic cylinder installed on the top of the feeding bin, a feeding cylinder sleeved at the bottom of the feeding bin, and a weighing meter arranged below the feeding cylinder; A bag mouth pressure telescopic cylinder located between the feeding cylinder and the weighing meter, a rocker pressure rotary cylinder located on one side of the robot and a rocker lever connected to its shaft head, and a pliers hand assembly is installed at the end of the rocker lever; The motor gear transmission mechanism includes a motor installed on the shoulder base, a shoulder connecting shaft installed horizontally on the shoulder base, a driving gear sleeved on the middle of the shoulder connecting shaft, and a left arm auxiliary gear and a right arm auxiliary gear sleeved on both ends of the shoulder connecting shaft; it also includes a left arm connecting shaft and a right arm connecting shaft installed on both sides of the shoulder base; the two ends of the left arm connecting shaft are respectively connected to the left arm movement gear and the left mechanical arm, and the two ends of the right arm connecting shaft are respectively connected to the right arm movement gear and the right mechanical arm; the driving gear on the motor shaft head is meshed with the driving gear, and the left arm movement gear and the right arm movement gear are respectively meshed with the left arm auxiliary gear and the right arm auxiliary gear in reverse, driving the mechanical arm to rise and fall synchronously.

[0006] In a preferred embodiment of the present invention, the driving gear and the active gear are spur gears, the left arm auxiliary gear and the right arm auxiliary gear are helical cylindrical gears, and the left arm movement gear and the right arm movement gear are helical gears. The right arm auxiliary gear engages with the right arm movement gear in the positive direction; the left arm auxiliary gear engages with the left arm movement gear in the negative direction.

[0007] In a preferred embodiment of the present invention, the robot arm comprises an upper arm rod, a forearm rod, a wrist universal joint and a robot hand which are connected in sequence; the top ends of the two upper arm rods are connected to the corresponding left arm connecting shaft and right arm connecting shaft; The middle part of the upper arm is bent at a fixed angle of 108°; the upper arm and the forearm are connected by an elbow with a fixed angle of 135°; the palm surface of the manipulator is evenly distributed with suction micropores, and the packaging bag is grasped and opened by vacuum negative pressure suction; In a preferred embodiment of the present invention, the upper arm, forearm, elbow and manipulator are all hollow structures; vacuum interfaces are provided on the upper arm and forearm and on the back of the manipulator; The vacuum interface on the upper arm is connected to the vacuum source through a switch valve, and the vacuum interface on the forearm and the back of the manipulator are connected through a gas pipeline, so that an air flow channel is formed between the upper arm, elbow, forearm, gas pipeline and manipulator, and the air flow channel is connected to a vacuum gauge.

[0008] In a preferred embodiment of the present invention, the feeding shaft of the feeding pressure telescopic cylinder extends into the feeding bin, the feeding shaft is a hollow shaft, the bottom end of which is an open end, and a through hole is opened on the shaft wall, and the powder material in the feeding bin flows into the packaging bag through the feeding shaft.

[0009] In a preferred embodiment of the present invention, a dust removal bag is provided on the inner wall surface of the feeding cylinder; A dust removal air suction port is arranged on one side of the upper wall of the feeding cylinder, on which there is a dust removal air suction valve connected to a vacuum source, and an air hammer is arranged on the other side, and the air hammer is connected to a compressed air source pulse valve through a ventilation pipe.

[0010] In a preferred embodiment of the present invention, a circle of clamping signal belt is sleeved on the lower middle part of the outer wall of the feeding cylinder, and the clamping signal belt is a hollow rubber belt, one end of which is a closed end, and the other end is connected to the pressure sensor. The mechanical arm clamps the feeding cylinder, squeezes the air in the clamping signal belt, and generates a pressure clamping signal.

[0011] In a preferred embodiment of the present invention, the pliers hand assembly comprises a pliers hand body, a straight rod and a pliers hand pressure rotating cylinder; The two handles of the pliers body are provided with inner groove slide rails arranged opposite to each other, and the two ends of the straight rod are respectively slidably installed in the inner groove slide rails; the pliers pressure rotary cylinder is vertically installed, and its shaft head is connected to the middle part of the support rod to drive the support rod to move along the inner groove slide rail; The pliers hand pressure rotary cylinder rotates 90° forward to drive the straight rod to be perpendicular to the handles, so that the two handles are spread apart and the pliers are clamped closed; The pliers hand pressure rotating cylinder rotates 90 degrees in the opposite direction, drives the straight rod to be parallel to the handle, merges the two handles, and spreads the pliers apart.

[0012] In a preferred embodiment of the present invention, the robot packaging machine also includes a controller and a load-bearing and feeding shaft retraction linkage, and the controller is connected to the mechanical foot pressure telescopic cylinder, motor, feeding pressure telescopic cylinder, bag mouth pressure telescopic cylinder, weighing meter, rocker arm pressure rotary cylinder, air hammer, vacuum gauge, dust removal suction valve, pliers hand pressure rotary cylinder and pressure sensor and the load-bearing and feeding shaft retraction linkage; the load-bearing and feeding shaft retraction linkage is connected to the feeding pressure telescopic cylinder, weighing meter and controller.

[0013] In a preferred embodiment of the present invention, the weighing meter is connected to the feeding pressure telescopic cylinder through the controller and the load-carrying weight and feeding shaft contraction linkage; When the control instrument receives the pressure clamping signal and the zero load signal sent by the weighing meter, it sends a signal to start the feeding pressure telescopic cylinder and the load and feeding shaft contraction linkage, and the feeding shaft reaches the maximum extension; The weight of the packaging bag monitored by the weighing meter is inversely proportional to the amount of contraction of the feeding shaft, and the load weight and feeding shaft contraction linkage device controls the contraction of the feeding shaft of the feeding pressure telescopic cylinder according to the load weight signal monitored by the weighing meter; When the controller receives the full-load signal sent by the weighing meter, the controller sends a signal to close the feeding pressure telescopic cylinder, and the feeding shaft retracts until the through hole thereon is higher than the feeding port of the feeding bin.

[0014] The beneficial effects of the present invention are as follows: a robot packaging machine of the present invention can realize the whole process of automated packaging including bag grabbing, bag breaking, bagging, feeding, weighing and metering, bag wrapping, clamping and packaging and transfer packaging; the present invention makes the driving power transmission more simple, efficient and low-energy through the design of the motor gear transmission mechanism; the robot packaging machine of the present invention has a simple structure, low manufacturing cost, accurate weighing and metering, convenient operation and control, high efficiency, and energy saving and emission reduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of a robot packaging machine in a bag sucking state according to the present invention; Figure 2 yes Figure 1 An enlarged structural diagram of the pliers hand assembly in the middle frame portion; Figure 3 is a schematic diagram of a top view of the structure of the pliers hand body with the opening end in an open state; Figure 4 is a schematic diagram of a top view of the structure of the pliers hand body with the opening end in a closed state; Figure 5 is a schematic diagram of the wrapping structure of the mechanical arm and the gear transmission mechanism; Figure 6 is a schematic structural diagram of the shoulder support base; Figure 7 is a structural schematic diagram of the feeding packaging assembly; Figure 8 It is a three-dimensional structural schematic diagram of a robot packaging machine in a stopped state according to the present invention; Fig. 9 It is a three-dimensional structural schematic diagram of a robot packaging machine of the present invention in a state of two-hand clapping; Fig.10 It is a three-dimensional structural schematic diagram of a robot packaging machine of the present invention in a state of opening a bag; Fig.11 It is a three-dimensional structural schematic diagram of a robot packaging machine of the present invention in a state where a packaging bag is lifted and covered with a feeding sleeve; The markings of the components in the accompanying drawings are as follows: 100. Robot components; 110. Support frame, 111. Support rod, 112. Auxiliary rod, 113. Shoulder base, 1131. Motor bracket, 1132. Shoulder shaft bearing seat bracket, 1133. Motion shaft bearing bracket; 120. Mechanical foot pressure telescopic cylinder; 130. Motor gear transmission mechanism, 131. Motor, 132. Shoulder connecting shaft, 133. Driving gear, 134. Left arm auxiliary gear, 135. Right arm auxiliary gear, 136. Left arm movement gear, 137. Right arm movement gear, 138. Left arm connecting shaft, 139. Right arm connecting shaft; 140. Robotic arm, 141. Upper arm rod, 142. Forearm rod, 143. Wrist universal joint, 144. Robotic hand, 145. Vacuum interface, 146. Pressure gauge; 200. feeding packaging assembly, 210. feeding pressure telescopic cylinder, 211. feeding shaft, 212. through hole, 220. feeding bin, 221. feeding port, 230. feeding cylinder, 231. air inlet, 240. weighing meter; 300. Packaging bag wrapping transfer assembly, 310. Wrapping bag opening pressure telescopic cylinder, 320. Rocker arm pressure rotating cylinder, 330. Rocker arm rod, 340. Pliers hand body, 350. Support rod, 360. Pliers hand pressure rotating cylinder; 400. Controller; 500. Packaging bag. DETAILED DESCRIPTION

[0016] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention. Example 1

[0017] The present invention discloses a robot packaging machine, comprising: a robot component 100, a feeding packaging component 200, a packaging bag wrapping and transferring component 300 and a controller 400.

[0018] The robot assembly 100 includes a support frame 110 , a mechanical foot pressure telescopic cylinder 120 , a motor gear transmission mechanism 130 and a group of mechanical arms 140 .

[0019] The support frame 110 includes a support rod 111, an auxiliary rod 112 and a shoulder base 113. The shoulder base 113 is arranged horizontally, and the top end of the support rod 111 is vertically connected to the middle of the shoulder base 113; the auxiliary rod 112 is symmetrically arranged on both sides of the support rod 111, and its bottom end is connected to the support rod 111, and the top end is connected to the bottom surface of the shoulder base 113.

[0020] The support frame 110 is connected to the shaft head of the mechanical foot pressure telescopic cylinder 120 through the bottom end of the support rod 111, and the motor gear transmission mechanism 130 is installed and supported through the shoulder base 113. A group of mechanical arms 140 are symmetrically installed at both ends of the motor gear transmission mechanism 130, thereby forming the main structure of the robot standing on one foot.

[0021] Specifically, a motor bracket 1131 is provided on one side of the middle portion of the shoulder base 113 , and a symmetrically designed shoulder axis bearing seat bracket 1132 and a symmetrically designed motion axis bearing bracket 1133 are also provided.

[0022] The motor gear transmission mechanism 130 includes a motor 131, a shoulder connecting shaft 132, a driving gear 133, a left arm auxiliary gear 134, a right arm auxiliary gear 135, a left arm movement gear 136, a right arm movement gear 137, a left arm connecting shaft 138 and a right arm connecting shaft 139.

[0023] The motor 131 is mounted on the motor bracket 1131, and a driving gear is mounted on the shaft head of the power output shaft thereof, wherein the driving gear is a spur gear.

[0024] The shoulder connecting shaft 132 is rotatably mounted on the shoulder base 113 through the shoulder shaft bearing bracket 1132. The center hole of the driving gear 133 is sleeved and fixed in the middle of the shoulder connecting shaft 132. The left arm auxiliary gear 134 and the right arm auxiliary gear 135 are helical cylindrical gears, which are sleeved and fixed at both ends of the shoulder connecting shaft 132 respectively. The left arm connecting shaft 138 and the right arm connecting shaft 139 are rotationally symmetrically mounted at both ends of the shoulder base 113 respectively through the motion shaft bearing bracket 1133. The left arm motion gear 136 and the right arm motion gear 137 are helical circular gears, which are sleeved and fixed at one end of the left arm connecting shaft 138 and the right arm connecting shaft 139 respectively, and are respectively engaged and connected with the corresponding left arm auxiliary gear 134 and the right arm auxiliary gear 135 in reverse. The top ends of the group of mechanical arms 140 are respectively fixed at the other ends of the left arm connecting shaft 138 and the right arm connecting shaft 139. When the motor 131 rotates forward, the two mechanical arms 140 are driven to swing downward at the same time. When the motor 131 rotates reversely, the two mechanical arms 140 are driven to lift upward at the same time.

[0025] The driving gear and the active gear are spur gears, and the left arm auxiliary gear and the right arm auxiliary gear are, Specifically, the transmission mode of the motor gear transmission mechanism is: the motor 131 rotates, and its driving gear drives the active gear 133 to rotate, and the active gear 133 drives the shoulder connecting shaft 132, the left arm auxiliary gear 134 and the right arm auxiliary gear 135 to rotate; under the condition that the left arm auxiliary gear 134 and the right arm auxiliary gear 135 are engaged and connected with the corresponding left arm movement gear 136 and the right arm movement gear 137 in opposite directions, the left and right mechanical arms are driven to swing up and down synchronously through the left arm connecting shaft 138 and the right arm connecting shaft 139 respectively, that is: when the motor 131 rotates forward, the two mechanical arms swing down synchronously, and when the motor 131 rotates reversely, the two mechanical arms lift up synchronously.

[0026] The design of the motor gear transmission mechanism 130 has the following advantages: through a single start and gear transmission, the driving power is stable, the failure rate is low, and the energy consumption is low; the driving gear (large gear) is first driven by the small gear connected to the motor, and then the left arm movement gear and the right arm movement gear (large gear) are driven by the left auxiliary gear and the right driving gear (small gear), which plays a role of speed reduction drive. Through the reverse bite connection design, the two mechanical arms can be driven to rise and fall synchronously, making the driving power transmission simpler and more efficient.

[0027] Specifically, a group of mechanical arms 140 includes a left mechanical arm and a right mechanical arm. Each of the mechanical arms includes an upper arm rod 141, a forearm rod 142, a wrist universal joint 143 and a mechanical hand 144 connected in sequence; the top ends of the two upper arm rods 141 are connected to the corresponding double-arm connecting shafts.

[0028] The middle part of the upper arm 141 is bent at a fixed angle of 108°; the upper arm 141 and the forearm 142 are connected by an elbow with a fixed angle of 135°, so that the bending direction of the robot arm is fixed, simplifying the difficulty and complexity of the bending control of the robot arm, so that the lifting and lowering action of the robot arm can be controlled by only one motor, effectively saving energy. The wrist universal joint 143 can improve the flexibility of the robot arm 144, so that the two manipulators of the robot arm can accurately hold the feeding barrel, and improve the accuracy of bag taking, bag opening and holding operations. The design of the robot arm improves the packaging accuracy and packaging efficiency of the robot packaging machine.

[0029] The upper arm 141, the forearm 142, the elbow and the manipulator 144 are all hollow structures; vacuum interfaces 145 are provided on the upper arm 141 and the forearm 142 as well as on the back of the manipulator 144; the vacuum interface on the upper arm 141 is connected to the vacuum source through a switch valve, and the vacuum interfaces on the forearm 142 and the back of the manipulator 144 are connected through a gas pipeline, so that an air flow channel is formed between the upper arm, the elbow, the forearm, the gas pipeline and the manipulator. Suction micropores are evenly distributed on the palm surface of the manipulator 144, and the packaging bag is grasped and opened by vacuum negative pressure suction.

[0030] The upper arm 141 is also connected to a pressure gauge 146 , which is connected to the hollow portion of the upper arm 141 for real-time monitoring of the negative pressure value therein.

[0031] Specifically, the feeding packaging assembly 200 includes a feeding pressure telescopic cylinder 210 , a feeding bin 220 , a feeding cylinder 230 and a weighing meter 240 .

[0032] The feeding bin 220 is a conical structure fixed on a support column. An inclined feed port 221 is provided at the top of one side of the feeding bin 220, and a discharge port is provided at the bottom. The feeding cylinder 230 has a larger diameter than the discharge port of the feeding bin 220, and is sleeved outside the discharge port of the feeding bin 220.

[0033] The feeding pressure telescopic cylinder 210 is installed above the top, and its feeding shaft 211 extends into the feeding bin 220. When the feeding shaft 211 is fully extended, its bottom end is flush with the lower edge of the discharge port of the feeding bin 220.

[0034] Specifically, the feeding shaft 211 is a hollow shaft, a through hole 212 is formed on the shaft wall, and the bottom end is an open end, and the powder material in the feeding bin 220 first enters the feeding shaft 211 through the through hole 212, and then flows downward through the bottom end into the packaging bag 500. This feeding packaging method can prevent the powder material from raising dust.

[0035] Furthermore, a dust bag is provided on the inner wall surface of the feeding cylinder 230 to further prevent the powder dust from polluting the environment during the feeding process.

[0036] The top side of the feeding cylinder 230 is also provided with an air suction port 231 connected to the vacuum source, and the other side is provided with an air hammer (not shown). The air suction port 231 is connected to the vacuum source solenoid valve, which helps to speed up the feeding speed and achieve the purpose of vacuum packaging; the air hammer is connected to the compressed air source pulse valve through a ventilation pipe.

[0037] A circle of clamping signal belt is sleeved on the middle and lower part of the outer wall of the feeding cylinder 230. The clamping signal belt is a hollow rubber belt, one end of which is a closed end, and the other end is connected to the pressure sensor. The pressure sensor is arranged in the controller 400.

[0038] When the manipulators 144 of the two manipulator arms 140 hold the feeding barrel 230 tightly, they hold and squeeze the holding signal belt, and the air in the hollow cavity of the holding signal belt is squeezed out to generate pressure. The pressure sensor will obtain a pressure signal, which is the holding signal.

[0039] The weighing meter 240 is installed below the feeding cylinder 230 to support and measure the weight of the packaging bag. The weighing meter 240 is connected to the control device 400.

[0040] The packaging bag wrapping and transfer assembly 300 includes a wrapping bag opening pressure telescopic cylinder 310 , a rocker arm pressure rotating cylinder 320 , a rocker arm rod 330 , a pliers hand body 340 , a support rod 350 and a pliers hand pressure rotating cylinder 360 .

[0041] The bag opening pressure telescopic cylinder 310 is located between the feeding cylinder 230 and the weighing meter 240 and is used to tighten the bag opening of the packaging bag.

[0042] The rocker pressure rotary cylinder 320 is located on one side of the robot assembly 100 , one end of the rocker arm 330 is horizontally connected to the shaft head of the rocker pressure rotary cylinder 320 , and the other end thereof is installed with the pliers hand body 340 , and the pliers hand body 340 has a pliers mouth end and a handle end.

[0043] Specifically, the pliers hand body 340 is installed on the upper end of the rocker arm 330 and is arranged vertically with the rocker arm 330 , with the pliers mouth end thereof facing the robot assembly 100 .

[0044] The two handles at the handle end of the pliers hand body 340 have inner groove slide rails arranged opposite to each other, and the two ends of the support rod 350 are respectively slidably installed in the inner groove slide rails; the pliers hand pressure rotating cylinder 360 is vertically installed, and its shaft head is connected to the middle part of the support rod 350, driving the support rod 350 to move along the inner groove slide rail to open or close the pliers mouth end.

[0045] Specifically, the rotation amplitude of the pliers hand pressure rotating cylinder 360 is 90 degrees. When the pliers hand pressure rotating cylinder 360 rotates 90 degrees in the forward direction, the driving support rod 350 is perpendicular to the handle, the two handles are opened, the mouth ends of the pliers are clamped and closed, the bag mouth is clamped, and the bag mouth is rotated under the action of the rocker arm pressure rotating cylinder 320 to take away the bag. When the pliers hand pressure rotating cylinder 360 rotates 90 degrees in the reverse direction, the driving support rod 350 is parallel to the handle, the two handles are merged, the mouth ends of the pliers are opened, and the bag is released.

[0046] The weighing meter 240, the feeding pressure telescopic cylinder 210 and the bag wrapping mouth pressure telescopic cylinder 310 are all connected to the control device 400 by signal, and the weighing meter 240 is connected to the feeding pressure telescopic cylinder 210 and the bag wrapping mouth pressure telescopic cylinder 310 through the control device 400 for linkage control.

[0047] Specifically, the weight of the material in the packaging bag measured by the weighing meter 240 is inversely proportional to the telescopic length of the feeding shaft 211 of the feeding pressure telescopic cylinder 210, and is positively correlated with the opening and closing of the switch valve of the bag wrapping mouth pressure telescopic cylinder 310.

[0048] Before the weighing meter 240 measures that the weight of the material in the packaging bag reaches the set maximum amount, the pressure telescopic cylinder 310 for the bag-wrapping mouth is in a closed state. When the weighing meter 240 measures that the weight of the material in the packaging bag reaches the set maximum amount, a full load signal is sent to the control instrument 400, and the control instrument 400 drives the pressure telescopic cylinder 310 for the bag-wrapping mouth to be open to tighten the bag mouth. As the weight of the material in the packaging bag measured by the weighing meter 240 gradually increases, the feeding shaft 211 gradually shrinks and rises under the drive of the feeding pressure telescopic cylinder 210, until the weighing meter 240 measures that the weight of the material in the packaging bag reaches the set weight, the through hole on the feeding shaft 211 rises precisely to above the material surface in the feeding bin 220, and no more feeding is performed, which has the effect of precise measurement.

[0049] In addition, the rocker arm 320 is a hollow rod, in which a pressure source pipeline and a control signal line connected to the pliers hand pressure rotating cylinder 360 are inserted. The pressure source pipeline is such as a hydraulic oil hose or a compressed air hose, which is determined by whether the pliers hand pressure rotating cylinder 360 is a hydraulic cylinder or a pneumatic cylinder, making the pipeline design neater.

[0050] The controller 400 can be installed at the head of the robot assembly 100, and the mechanical foot pressure telescopic cylinder 120, the motor 131, the feeding pressure telescopic cylinder 210, the bag mouth pressure telescopic cylinder 310, the weighing meter 240, the rocker arm pressure rotating cylinder 320 and the pliers hand pressure rotating cylinder 360 are all connected to the controller 400 by signal. In this embodiment, each power cylinder is a hydraulic cylinder.

[0051] The robot packaging machine also includes a load-bearing and feeding shaft retraction linkage (not shown), and the controller 400 is connected to the mechanical foot pressure telescopic cylinder 120, the motor 131, the feeding pressure telescopic cylinder 210, the bag mouth pressure telescopic cylinder 310, the weighing meter 240, the rocker arm pressure rotating cylinder 320, the pliers hand pressure rotating cylinder 360, the pressure sensor and the load-bearing and feeding shaft retraction linkage.

[0052] Specifically, the weighing meter is connected to the feeding pressure telescopic cylinder through the controller and the load-carrying weight and feeding shaft contraction linkage; When the controller receives the pressure clamping signal and the zero load signal sent by the weighing meter, it sends a signal to start the feeding pressure telescopic cylinder and the load and feeding shaft contraction linkage, and the feeding shaft reaches the maximum extension amount, ensuring the maximum initial feeding flow rate and improving efficiency; The weight of the packaging bag monitored by the weighing meter is inversely proportional to the amount of contraction of the feeding shaft, and the load weight and feeding shaft contraction linkage device controls the contraction of the feeding shaft of the feeding pressure telescopic cylinder according to the load weight signal monitored by the weighing meter; When the controller receives the full-load signal sent by the weighing meter, the controller sends a signal to close the feeding pressure telescopic cylinder, and the feeding shaft retracts until the through hole thereon is higher than the feeding port of the feeding bin.

[0053] This linkage control design achieves the dual goals of accurate quantitative feeding and overflow protection during the powder material packaging process through real-time matching of the weighing meter signal with the feeding shaft movement. This process forms a closed-loop feedback and realizes adaptive adjustment.

[0054] The working principle or packaging steps of the robot packaging machine of the present invention are: Grab the bag and clap your hands steps: start the motor 131 to rotate forward and open the vacuum valve on the vacuum interface of the upper arm on the right side. At this time, the two robotic arms swing downward synchronously, and the right robotic arm generates vacuum negative pressure. During the downward swing of the two robotic arms, the right robotic arm contacts the packaging bag pile and grabs the bag under the action of vacuum negative pressure suction. At this time, the negative pressure in the right robotic arm is ≥0.2MPa. The two robotic arms continue to swing down until they clap their hands. When the clapping resistance makes the motor current reach the set negative value, the motor stops rotating forward.

[0055] Bag breaking and bagging steps: in the previous step, the negative pressure value signal in the right robotic arm + the motor forward stop signal opens the vacuum valve on the vacuum interface of the left upper arm. At this time, the vacuum negative pressure of the left robotic arm reaches ≥0.2MPa, and the pressure value signal in the left robotic arm + the left arm vacuum valve full-open signal starts the motor 131 to reverse. At this time, the two robotic arms suck the bag skin and break the bag. When the bag is completely broken open, the current of the breaking resistance motor reaches the negative set value, and the motor 131 stops reversing. The reverse stop signal of the motor 131 + the bag no-load signal starts the cylinder shaft of the mechanical foot pressure telescopic cylinder 120 to extend. At this time, the robot stands, and the two robotic arms lift the bag to cover the feeding cylinder 230.

[0056] The steps of holding the bag mouth, dust removal with air hammer and vacuum suction: in the previous step, the mechanical full pressure telescopic cylinder shaft extends to complete the signal to start the motor 131 to rotate forward, so that the mechanical arm swings down, and the two manipulators hold the feeding cylinder 230 tightly. The resistance of the holding cylinder makes the motor current reach the negative set value, and the motor 131 stops rotating forward. At this time, the two manipulators hold the feeding cylinder 230 tightly, so that the holding signal band on the feeding cylinder 230 is squeezed, and the air in the signal band is squeezed. The air pressure is transmitted to the pressure sensor, and the sensor pressure setting value forms a holding signal. The holding signal first starts the pulse valve air hammer to vibrate and remove dust, and then opens the suction valve on the suction port 231 to suction air with vacuum.

[0057] Feeding and weighing metering steps: The full opening signal of the air intake valve in the previous step starts the feeding shaft 211 of the feeding pressure telescopic cylinder 210 at the top of the feeding bin 220 to extend into the packaging bag. At this time, the powder in the feeding bin flows into the packaging bag from the through hole 212 on the feeding shaft 211 and flows into the packaging bag from the opening at the bottom of the feeding shaft 211. The signal of the completion of the extension of the feeding shaft 211 starts the load and feeding shaft contraction linkage. The linkage obtains the information of the gradual increase of the load and instructs the feeding shaft 211 to gradually contract. When the load reaches the set full load, the feeding shaft 211 is contracted and the feeding and weighing metering are completed.

[0058] Steps for wrapping the bag opening and forking the bag opening with the pliers: the full load signal of the previous step + the feeding shaft contraction completion signal closes the suction valve, and at the same time starts the forward rotation of the rotating shaft of the rocker arm pressure rotary cylinder 320. The rotating shaft rotates forward to 170° or 160° contact. The contact signal first closes the vacuum valves on the two mechanical arms, and the contact signal then simultaneously starts the extension of the pressure telescopic cylinder shaft of the bag opening and the reversal of the motor. At this time, the shift rod on the telescopic cylinder shaft of the bag opening blocks the packaging bag opening into the fork of the pliers, the motor reverses, and the two mechanical arms are lifted to the barrier. The resistance of the barrier makes the motor current reach the negative set value, and the motor stops reversing.

[0059] Packaging transfer steps by clamping: In the previous step, the rocker arm rotates 180° forward and the signal is in place + the pressure telescopic cylinder of the bag wrapping mouth extends to the position and starts the pressure rotary cylinder of the clamp hand to rotate 90° forward from 360°. At this time, the clamp hand clamps the bag opening, and the pressure rotary cylinder of the clamp hand rotates 90° forward and the signal is in place, which starts the rocker arm pressure rotary cylinder to rotate 180° in the opposite direction from 320°. The signal of rotating 180° in the opposite direction and the contraction of the pressure telescopic cylinder of the bag wrapping mouth and the pressure rotary cylinder of the clamp hand to rotate 90° in the opposite direction are simultaneously started. At this time, the clamp hand releases the package and the package is taken away manually. The packaging is completed in one step.

[0060] Secondary packaging steps: In the previous step, the pliers hand pressure rotating cylinder reverses 90° to complete the signal to start the motor to rotate forward, and at the same time, the vacuum valve on the vacuum interface of the upper arm on the right is opened, and the packaging is repeated according to the first packaging sequence until the weighing meter shows that the packaging bag has not reached full load, that is, the full load signal cannot be obtained, and the next step after full load cannot be started. The robot packaging machine pauses until the feeding shaft starts feeding, and the weighing meter obtains the load information again and resumes operation.

[0061] The structural design of the present invention realizes the automation of the whole process of bag grabbing, bag breaking, bagging, feeding, weighing and metering, bag bandaging, clamping packaging and transferring packaging. By simplifying the joint structural parts of the robot and adopting a single motor to drive the mechanical arm, a pressure station can be used to drive the telescopic and rotating cylinders, and a vacuum station can assist the mechanical arm, so that the robot's operating movements are more flexible, accurate, and quick to switch. The robot packaging machine of the present invention has a simple structure, low manufacturing cost, accurate weighing and metering, convenient operation and control, high efficiency, and energy saving and emission reduction.

[0062] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A robotic packaging machine, characterized in that: include: A mechanical foot pressure telescopic cylinder and a support frame fixed on its shaft head, a motor gear transmission mechanism and a set of mechanical arms are installed on the shoulder base at the top of the support frame, and the mechanical arms are symmetrically installed at both ends of the motor gear transmission mechanism; A feeding bin located at the front side of the support frame, a feeding pressure telescopic cylinder installed on the top of the feeding bin, a feeding cylinder sleeved at the bottom of the feeding bin, and a weighing meter arranged below the feeding cylinder; A bag mouth pressure telescopic cylinder located between the feeding cylinder and the weighing meter, a rocker pressure rotary cylinder located on one side of the robot and a rocker lever connected to its shaft head, and a pliers hand assembly is installed at the end of the rocker lever; The motor gear transmission mechanism includes a motor installed on the shoulder base, a shoulder connecting shaft installed horizontally on the shoulder base, a driving gear sleeved on the middle of the shoulder connecting shaft, and a left arm auxiliary gear and a right arm auxiliary gear sleeved on both ends of the shoulder connecting shaft; it also includes a left arm connecting shaft and a right arm connecting shaft installed on both sides of the shoulder base; the two ends of the left arm connecting shaft are respectively connected to the left arm movement gear and the left mechanical arm, and the two ends of the right arm connecting shaft are respectively connected to the right arm movement gear and the right mechanical arm; the driving gear on the motor shaft head is meshed with the driving gear, and the left arm movement gear and the right arm movement gear are respectively meshed with the left arm auxiliary gear and the right arm auxiliary gear in reverse, driving the mechanical arm to rise and fall synchronously.

2. A robotic packaging machine according to claim 1, characterized in that: The driving gear and the active gear are spur gears, the left arm auxiliary gear and the right arm auxiliary gear are helical cylindrical gears, and the left arm movement gear and the right arm movement gear are helical gears; The right arm auxiliary gear engages with the right arm movement gear in the positive direction; the left arm auxiliary gear engages with the left arm movement gear in the negative direction.

3. The robot packaging machine according to claim 1, characterized in that: The robot arm comprises an upper arm rod, a forearm rod, a wrist universal joint and a robot hand which are connected in sequence; the top ends of the two upper arm rods are connected to the corresponding left arm connecting shaft and right arm connecting shaft; The middle part of the upper arm is bent at a fixed angle of 108°; the upper arm and the forearm are connected by an elbow with a fixed angle of 135°; suction micropores are evenly distributed on the palm surface of the manipulator, and the packaging bag is grasped and opened by vacuum negative pressure suction.

4. A robotic packaging machine according to claim 3, characterized in that: The upper arm, forearm, elbow and manipulator are all hollow structures; vacuum interfaces are provided on the upper arm and forearm as well as on the back of the manipulator; The vacuum interface on the upper arm is connected to the vacuum source through a switch valve, and the vacuum interface on the forearm and the back of the manipulator are connected through a gas pipeline, so that an air flow channel is formed between the upper arm, elbow, forearm, gas pipeline and manipulator, and the air flow channel is connected to a vacuum gauge.

5. The robot packaging machine according to claim 1, characterized in that: The feeding shaft of the feeding pressure telescopic cylinder extends into the feeding bin. The feeding shaft is a hollow shaft with an open bottom end and a through hole on the shaft wall. The powder material in the feeding bin flows into the packaging bag through the feeding shaft.

6. A robotic packaging machine according to claim 4, characterized in that: The inner wall surface of the feeding cylinder is provided with a dust removal bag; A dust removal air suction port is arranged on one side of the upper wall of the feeding cylinder, on which there is a dust removal air suction valve connected to a vacuum source, and an air hammer is arranged on the other side, and the air hammer is connected to a compressed air source pulse valve through a ventilation pipe.

7. A robotic packaging machine according to claim 6, characterized in that: A circle of clamping signal belt is sleeved on the lower middle part of the outer wall of the feeding cylinder. The clamping signal belt is a hollow rubber belt, one end of which is a closed end, and the other end is connected to the pressure sensor. The mechanical arm clamps the feeding cylinder, squeezes the air in the clamping signal belt, and generates a pressure clamping signal.

8. The robot packaging machine according to claim 7, characterized in that: The pliers hand assembly comprises a pliers hand body, a straight rod and a pliers hand pressure rotating cylinder; The two handles of the pliers body are provided with inner groove slide rails arranged opposite to each other, and the two ends of the straight rod are respectively slidably installed in the inner groove slide rails; the pliers pressure rotary cylinder is vertically installed, and its shaft head is connected to the middle part of the support rod to drive the support rod to move along the inner groove slide rail; The pliers hand pressure rotary cylinder rotates 90° forward to drive the straight rod to be perpendicular to the handles, so that the two handles are spread apart and the pliers are clamped closed; The pliers hand pressure rotating cylinder rotates 90 degrees in the opposite direction, drives the straight rod to be parallel to the handle, merges the two handles, and spreads the pliers apart.

9. The robot packaging machine according to claim 8, characterized in that: The robot packaging machine also includes a controller and a load-bearing and feeding shaft contraction linkage. The controller is connected to the mechanical foot pressure telescopic cylinder, motor, feeding pressure telescopic cylinder, bag mouth pressure telescopic cylinder, weighing meter, rocker arm pressure rotating cylinder, air hammer, vacuum gauge, dust removal suction valve, pliers hand pressure rotating cylinder and pressure sensor and the load-bearing and feeding shaft contraction linkage; the load-bearing and feeding shaft contraction linkage is connected to the feeding pressure telescopic cylinder, weighing meter and controller.

10. A robotic packaging machine according to claim 9, characterized in that: The weighing meter is connected to the feeding pressure telescopic cylinder through the controller and the load and feeding shaft contraction linkage; When the control instrument receives the pressure clamping signal and the zero load signal sent by the weighing meter, it sends a signal to start the feeding pressure telescopic cylinder and the load and feeding shaft contraction linkage, and the feeding shaft reaches the maximum extension; The weight of the packaging bag monitored by the weighing meter is inversely proportional to the amount of contraction of the feeding shaft, and the load weight and feeding shaft contraction linkage device controls the contraction of the feeding shaft of the feeding pressure telescopic cylinder according to the load weight signal monitored by the weighing meter; When the controller receives the full-load signal sent by the weighing meter, the controller sends a signal to close the feeding pressure telescopic cylinder, and the feeding shaft retracts until the through hole thereon is higher than the feeding port of the feeding bin.

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