A robotic packaging machine

Abstract

The present invention discloses a robot packaging machine, which includes a mechanical foot pressure telescopic cylinder and a support frame fixed on its shaft head. An electric motor gear transmission mechanism and a group of mechanical arms are installed on the shoulder base at the top of the support frame; a feeding bin located on the front side of the support frame, a feeding pressure telescopic cylinder and a feeding cylinder body installed at the top and bottom openings of the feeding bin, and a weighing and metering instrument arranged below the feeding cylinder body; a bag mouth bandaging pressure telescopic cylinder located between the feeding cylinder body and the weighing and metering instrument, a rocker arm pressure rotary cylinder located on one side of the robot, and a rocker arm rod. A pair of pliers hand assemblies are installed at the end of the rocker arm rod. The present invention can realize the whole process of automatic packaging, including bag grasping, bag splitting, bag sleeving, feeding, weighing and metering, bag mouth bandaging, clamping packaging and transferring packaging; through the design of the electric motor gear transmission mechanism of the present invention, the driving power transmission is more convenient, efficient and low-energy-consuming; the present invention has low manufacturing cost, accurate weighing and metering, convenient operation control, high efficiency, energy conservation and emission reduction.

Description

Technical Field

[0001] The present invention relates to the field of packaging machinery, and particularly to a robotic packaging machine. Background Art

[0002] In the fields of chemical industry, agriculture, etc., there are mostly powder materials. 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 general equipment in the existing packaging industry, with the characteristics of wide application, large packaging volume, high efficiency, etc. However, when the existing material packaging machines are applied to the packaging of powder materials, there are the following defects: the bending transmission power of the robotic arm is complex, the energy consumption is high, and the accuracy of the bending degree control is poor; dust will be generated during the packaging process of powder materials, causing occupational hazards and polluting the environment. Summary of the Invention

[0004] The present invention provides a robotic packaging machine, which can solve the above problems existing when the existing material packaging machines are applied to the packaging of powder materials.

[0005] To solve the above technical problems, the present invention provides a robotic packaging machine, which is characterized by comprising:

[0006] A mechanical foot pressure telescopic cylinder and a support frame fixed on its shaft head, on the shoulder base at the top of the support frame, a motor gear transmission mechanism and a group of robotic arms are installed, and the robotic arms are symmetrically installed at both ends of the motor gear transmission mechanism;

[0007] A feeding bin located in front of the support frame, a feeding pressure telescopic cylinder installed on the top of the feeding bin, a feeding cylinder sleeved at the bottom opening of the feeding bin, and a weighing and metering instrument arranged below the feeding cylinder;

[0008] A bag mouth bandaging pressure telescopic cylinder located between the feeding cylinder and the weighing and metering instrument, a rocker arm pressure rotating cylinder located on one side of the robot, and a rocker arm rod connected to its shaft head, and a pair of pliers hand assemblies are installed at the end of the rocker arm rod;

[0009] The motor gear transmission mechanism includes a motor installed on the shoulder base, a shoulder connecting shaft horizontally installed on the shoulder base, a driving gear sleeved and installed in the middle of the shoulder connecting shaft, a left-arm assisting gear and a right-arm assisting gear sleeved and installed at 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; both ends of the left-arm connecting shaft are respectively connected to a left-arm moving gear and a left robotic arm, and both ends of the right-arm connecting shaft are respectively connected to a right-arm moving gear and a right robotic arm; the driving gear on the motor shaft head is engaged and connected with the driving gear, and the left-arm moving gear and the right-arm moving gear are respectively engaged and connected with the left-arm assisting gear and the right-arm assisting gear in the opposite direction to drive the robotic arms to lift synchronously.

[0010] In a preferred embodiment of the present invention, the driving gear and the driving gear are straight-tooth circular disc gears, the left-arm assisting gear and the right-arm assisting gear are helical-tooth cylindrical gears, and the left-arm moving gear and the right-arm moving gear are helical-tooth circular disc gears;

[0011] The right-arm assisting gear is engaged with the right-arm moving gear in the positive direction; the left-arm assisting gear is engaged with the left-arm moving gear in the opposite direction.

[0012] In a preferred embodiment of the present invention, the robotic arm includes an upper arm rod, a forearm rod, a wrist universal joint, and a robotic hand connected in sequence; the tops of the two upper arm rods are connected to the corresponding left-arm connecting shaft and right-arm connecting shaft;

[0013] The middle of the upper arm rod is bent at a fixed angle of 108°; the upper arm rod and the forearm rod are connected by an elbow with a fixed angle of 135°; suction micropores are evenly distributed on the palm surface of the robotic hand, and the packaging bag is grabbed and opened by vacuum negative pressure suction;

[0014] In a preferred embodiment of the present invention, the upper arm rod, the forearm rod, the elbow, and the robotic hand are all hollow structures; vacuum interfaces are opened on the upper arm rod and the forearm rod and on the back of the robotic hand;

[0015] The vacuum interface on the upper arm rod is connected to a vacuum source through a switching valve, and the vacuum interfaces on the forearm rod and the back of the robotic hand are connected through a gas pipeline, so that an air flow channel is formed among the upper arm rod, the elbow, the forearm rod, the gas pipeline, and the robotic hand, and the air flow channel is connected to a vacuum gauge.

[0016] 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 thereof is an open end, through holes are opened on the shaft wall thereof, and the powder material in the feeding bin flows into the packaging bag through the feeding shaft.

[0017] In a preferred embodiment of the present invention, a dust removal cloth bag is provided on the inner wall surface of the feeding cylinder body;

[0018] On one side of the upper part of the cylinder wall of the feeding cylinder body, there is a dust removal suction port, which is provided with a dust removal suction valve connected to a vacuum source. On the other side, there is a pneumatic hammer, and the pneumatic hammer is connected to a compressed air source pulse valve through a ventilation pipe.

[0019] In a preferred embodiment of the present invention, a tightening signal belt is sleeved around the middle and lower part of the outer wall of the feeding cylinder body. The tightening signal belt is a hollow rubber belt, one end of which is a closed end, and the other end is connected to a pressure sensor. The robotic arm holds the feeding cylinder body tightly, squeezing the air inside the tightening signal belt to generate a pressure tightening signal.

[0020] In a preferred embodiment of the present invention, the pliers hand assembly includes a pliers hand body, a straight rod, and a pliers hand pressure rotating cylinder;

[0021] Inside the two handles of the pliers hand body, there are inner groove slide rails arranged oppositely. The two ends of the straight rod are respectively slidably installed in the inner groove slide rails; the pliers hand pressure rotating cylinder is vertically installed, and its shaft head is connected to the middle part of the straight rod to drive the straight rod to move along the inner groove slide rail;

[0022] When the pliers hand pressure rotating cylinder rotates forward 90°, it drives the straight rod to be perpendicular to the handle, spreading the two handles apart, and the pliers are closed;

[0023] When the pliers hand pressure rotating cylinder rotates backward 90°, it drives the straight rod to be parallel to the handle, merging the two handles, and the pliers are opened.

[0024] In a preferred embodiment of the present invention, the robotic packaging machine further includes a control instrument and a load weight and feeding shaft contraction linkage. The control instrument is connected to the mechanical foot pressure telescopic cylinder, the motor, the feeding pressure telescopic cylinder, the bag mouth binding pressure telescopic cylinder, the weighing and metering instrument, the rocker arm pressure rotating cylinder, the pneumatic hammer, the vacuum gauge, the dust removal suction valve, the pliers hand pressure rotating cylinder, and the pressure sensor and the load weight and feeding shaft contraction linkage; the load weight and feeding shaft contraction linkage is connected to the feeding pressure telescopic cylinder, the weighing and metering instrument, and the control instrument.

[0025] In a preferred embodiment of the present invention, the weighing and metering instrument is linked and controlled with the feeding pressure telescopic cylinder through the control instrument and the load weight and feeding shaft contraction linkage;

[0026] When the control instrument receives the pressure tightening signal and the zero load signal sent by the weighing and metering instrument, it sends a signal to start the feeding pressure telescopic cylinder and the load weight and feeding shaft contraction linkage, and the feeding shaft reaches the maximum extended amount;

[0027] 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;

[0028] 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.

[0029] 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

[0030] 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;

[0031] Figure 2 yes Figure 1 An enlarged structural diagram of the pliers hand assembly in the middle frame portion;

[0032] 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;

[0033] 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;

[0034] Figure 5 is a schematic diagram of the wrapping structure of the mechanical arm and the gear transmission mechanism;

[0035] Figure 6 is a schematic structural diagram of the shoulder support base;

[0036] Figure 7 is a structural schematic diagram of the feeding packaging assembly;

[0037] Figure 8 It is a three-dimensional structural schematic diagram of a robot packaging machine in a stopped state according to the present invention;

[0038] Figure 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;

[0039] Figure 10It is a three-dimensional structural schematic diagram of a robot packaging machine of the present invention in the state of opening the bag mouth;

[0040] Figure 11 It is a three-dimensional structural schematic diagram of a robot packaging machine of the present invention in the state of lifting the packaging bag to cover the feeding sleeve;

[0041] The markings of each component in the drawings are as follows:

[0042] 100. Robot component;

[0043] 110. Support frame, 111. Support rod, 112. Auxiliary rod, 113. Shoulder base, 1131. Motor support, 1132. Shoulder shaft bearing seat support, 1133. Moving shaft bearing support;

[0044] 120. Mechanical foot pressure telescopic cylinder;

[0045] 130. Motor gear transmission mechanism, 131. Motor, 132. Shoulder connecting shaft, 133. Driving gear, 134. Left arm assisting gear, 135. Right arm assisting gear, 136. Left arm moving gear, 137. Right arm moving gear, 138. Left arm connecting shaft, 139. Right arm connecting shaft;

[0046] 140. Mechanical arm, 141. Upper arm rod, 142. Forearm rod, 143. Wrist universal joint, 144. Manipulator, 145. Vacuum interface, 146. Pressure gauge;

[0047] 200. Feeding and packaging component, 210. Feeding pressure telescopic cylinder, 211. Feeding shaft, 212. Through hole, 220. Feeding bin, 221. Feeding port, 230. Feeding cylinder body, 231. Suction port, 240. Weighing and metering instrument;

[0048] 300. Packaging bag bandaging and transferring component, 310. Bandaging bag mouth pressure telescopic cylinder, 320. Rocker arm pressure rotating cylinder, 330. Rocker arm rod, 340. Pliers hand body, 350. Straight rod, 360. Pliers hand pressure rotating cylinder;

[0049] 400. Controller; 500. Packaging bag. Detailed implementation manners

[0050] The following elaborates on the preferred embodiments of the present invention in conjunction with the drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making the protection scope of the present invention more clearly defined.

[0051] Embodiment 1

[0052] The present invention discloses a robot packaging machine, comprising: a robot component 100, a feeding and packaging component 200, a packaging bag bandaging and transferring component 300, and a controller 400.

[0053] Among them, the robot component 100 includes a support frame 110, a mechanical foot pressure telescopic cylinder 120, a motor gear transmission mechanism 130, and a group of robotic arms 140.

[0054] The support frame 110 includes a support rod 111, an auxiliary rod 112, and a shoulder base 113. The shoulder base 113 is horizontally arranged, and the top end of the support rod 111 is vertically connected to the middle of the shoulder base 113; the auxiliary rods 112 are symmetrically arranged on both sides of the support rod 111, with their bottom ends connected to the support rod 111 and their top ends connected to the bottom surface of the shoulder base 113.

[0055] 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 robotic arms 140 are symmetrically installed at both ends of the motor gear transmission mechanism 130, thus forming a single-foot standing robot main body structure.

[0056] Specifically, one side of the middle of the shoulder base 113 is provided with a motor bracket 1131, and also with symmetrically designed shoulder shaft bearing seat brackets 1132 and symmetrically designed motion shaft bearing brackets 1133.

[0057] The motor gear transmission mechanism 130 includes a motor 131, a shoulder connecting shaft 132, a driving gear 133, a left arm assisting gear 134, a right arm assisting gear 135, a left arm motion gear 136, a right arm motion gear 137, a left arm connecting shaft 138, and a right arm connecting shaft 139.

[0058] The motor 131 is installed on the motor bracket 1131, and a driving gear is installed on the shaft head of its power output shaft. The driving gear is a straight-tooth circular disc gear.

[0059] The shoulder connecting shaft 132 is rotatably mounted on the shoulder base 113 through a shoulder shaft bearing seat bracket 1132. The central hole of the driving gear 133 is sleeved and fixed on the middle part of the shoulder connecting shaft 132. The left-arm assisting gear 134 and the right-arm assisting gear 135 are helical cylindrical gears and are respectively sleeved and fixed at both ends of the shoulder connecting shaft 132. The left-arm connecting shaft 138 and the right-arm connecting shaft 139 are symmetrically and rotatably mounted at both ends of the shoulder base 113 through the motion shaft bearing brackets 1133 respectively. The left-arm motion gear 136 and the right-arm motion gear 137 are helical disc gears and are respectively sleeved and fixed at one end of the left-arm connecting shaft 138 and the right-arm connecting shaft 139, and are respectively meshed and connected in the reverse direction with the corresponding left-arm assisting gear 134 and right-arm assisting gear 135. The tops of the group of robotic 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, it drives the two robotic arms 140 to swing downward simultaneously. When the motor 131 rotates in reverse, it drives the two robotic arms 140 to lift upward simultaneously.

[0060] The driving gear and the driving gear are straight-tooth disc gears, and the left-arm assisting gear and the right-arm assisting gear are

[0061] Specifically, the transmission mode of the motor gear transmission mechanism is as follows: When the motor 131 rotates, its driving gear drives the driving gear 133 to rotate. The driving gear 133 drives the shoulder connecting shaft 132, the left-arm assisting gear 134 and the right-arm assisting gear 135 to rotate. Under the condition that the left-arm assisting gear 134 and the right-arm assisting gear 135 are meshed and connected with the corresponding left-arm motion gear 136 and right-arm motion gear 137 in the opposite direction, they respectively drive the left and right robotic arms to swing up and down synchronously through the left-arm connecting shaft 138 and the right-arm connecting shaft 139, that is: when the motor 131 rotates forward, the two robotic arms swing downward synchronously; when the motor 131 rotates in reverse, the two robotic arms lift upward synchronously.

[0062] The design of the above-mentioned motor gear transmission mechanism 130 has the following advantages: Through a single motor and gear transmission, the driving power is both stable, has a low failure rate, and low energy consumption. First, the small gear connected to the motor drives the driving gear (large gear), and then the left assisting gear and the right driving gear (small gears) drive the left-arm motion gear and the right-arm motion gear (large gears), playing a role of reducing speed for driving. Through the reverse meshing connection design, it realizes driving the two robotic arms to lift and lower synchronously, making the transmission of the driving power more simple and efficient.

[0063] Specifically, a set of robotic arms 140 includes a left robotic arm and a right robotic arm. Each of the robotic arms includes an upper arm rod 141, a forearm rod 142, a wrist universal joint 143, and a robotic hand 144 that are connected in sequence; the tops of the two upper arm rods 141 are connected to the corresponding double-arm connection shafts.

[0064] The middle part of the upper arm rod 141 is bent at a fixed angle of 108°; the upper arm rod 141 and the forearm rod 142 are connected by an elbow with a fixed angle of 135°, so that the bending direction of the robotic arm is fixed, simplifying the difficulty and complexity of the bending control of the robotic arm, enabling the lifting action of the robotic arm to be controlled by only one motor, and effectively saving energy consumption. The wrist universal joint 143 can improve the flexibility of the robotic hand 144, enabling the two robotic hands of the robotic arm to accurately hold the feeding cylinder tightly, and improving the accuracy of bag picking, bag opening, and holding operations. The design of this robotic arm improves the packaging accuracy and packaging efficiency of the robotic packaging machine.

[0065] The upper arm rod 141, the forearm rod 142, the elbow, and the robotic hand 144 are all of hollow structure; vacuum interfaces 145 are provided on the upper arm rod 141, the forearm rod 142, and the back surface of the robotic hand 144; the vacuum interface on the upper arm rod 141 is connected to a vacuum source through a switching valve, and the vacuum interfaces on the back surfaces of the forearm rod 142 and the robotic hand 144 are connected through a gas pipeline, so as to form an air flow channel among the upper arm rod, the elbow, the forearm rod, the gas pipeline, and the robotic hand. Suction micropores are evenly distributed on the palm surface of the robotic hand 144, and the packaging bag is grabbed and opened by vacuum negative pressure suction.

[0066] A pressure gauge 146 is also connected to the upper arm rod 141, and the pressure gauge 146 is communicated with the hollow part inside the upper arm rod 141 for real-time monitoring of the negative pressure value therein.

[0067] Specifically, the feeding and packaging assembly 200 includes a feeding pressure telescopic cylinder 210, a feeding bin 220, a feeding cylinder 230, and a weighing and metering instrument 240.

[0068] The feeding bin 220 is of a conical structure and is fixed on a support column. An inclined feeding port 221 is provided at the top of one side of the feeding bin 220, and a discharge port is provided at its bottom. The caliber of the feeding cylinder 230 is larger than the discharge port of the feeding bin 220, and the feeding cylinder 230 is sleeved outside the discharge port of the feeding bin 220.

[0069] The feeding pressure telescopic cylinder 210 is installed above the top of the feeding bin 220, and its feeding shaft 211 extends into the feeding bin 220. When the feeding shaft 211 fully extends, its bottom end is flush with the lower edge of the discharge port of the feeding bin 220.

[0070] Specifically, the feeding shaft 211 is a hollow shaft. Through holes 212 are provided on its shaft wall, and its bottom end is an open end. The powder material in the feeding bin 220 first enters the feeding shaft 211 through the through holes 212, and then flows downward into the packaging bag 500 through its bottom end. This feeding and packaging method can prevent the powder material from generating dust.

[0071] Furthermore, a dust removal cloth bag is provided on the inner wall surface of the feeding cylinder body 230 to further prevent the powder from generating dust and polluting the environment during the feeding process.

[0072] An air suction port 231 connected to a vacuum source is also provided on one side of the top of the feeding cylinder body 230, and an air hammer (not shown) is provided on the other side. The air suction port 231 is connected to a vacuum source solenoid valve, which helps to accelerate the feeding speed and achieve the purpose of vacuum packaging; the air hammer is connected to a compressed air source pulse valve through an air pipe.

[0073] A tightening signal belt is sleeved on the middle and lower part of the outer wall of the feeding cylinder body 230. The tightening signal belt is a hollow rubber belt, one end of which is a closed end, and the other end is connected to a pressure sensor. The pressure sensor is arranged in the controller 400.

[0074] When the manipulators 144 of the two robotic arms 140 tightly hold the feeding cylinder body 230, the tightening signal belt is tightly squeezed, and the air in the hollow cavity of the tightening signal belt is squeezed out, generating pressure. The pressure sensor will obtain a pressure signal, and this pressure signal is the tightening signal.

[0075] The weighing and metering instrument 240 is installed below the feeding cylinder body 230 and is used to support and measure the weight of the packaging bag. The weighing and metering instrument 240 is connected to the controller 400.

[0076] The packaging bag bandaging and transferring assembly 300 includes a bag mouth bandaging pressure telescopic cylinder 310, a rocker arm pressure rotating cylinder 320, a rocker arm rod 330, a pliers hand body 340, a straight rod 350, and a pliers hand pressure rotating cylinder 360.

[0077] The bag mouth bandaging pressure telescopic cylinder 310 is located between the feeding cylinder body 230 and the weighing and metering instrument 240 and is used to tighten the bag mouth of the packaging bag.

[0078] The rocker arm pressure rotating cylinder 320 is located on one side of the robot assembly 100. One end of the rocker arm rod 330 is horizontally connected to the shaft head of the rocker arm pressure rotating cylinder 320, and the other end is installed with the pliers hand body 340. The pliers hand body 340 has a pliers mouth end and a handle end.

[0079] Specifically, the pliers hand body 340 is installed on the upper end of the end of the rocker arm 330 and is arranged perpendicular to the rocker arm 330, with its pliers mouth end facing the robot assembly 100.

[0080] The two handles at the handle end of the pliers hand body 340 are provided with inner groove slide rails arranged oppositely, and the two ends of the straight 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 of the straight rod 350 to drive the straight rod 350 to move along the inner groove slide rail to open or close the pliers mouth end.

[0081] Specifically, the rotation amplitude of the pliers hand pressure rotating cylinder 360 is 90 degrees. When the pliers hand pressure rotating cylinder 360 rotates forward by 90 degrees, it drives the straight rod 350 to be perpendicular to the handle, the two handles are opened, the pliers mouth end is clamped, the bag mouth of the packaging bag is clamped, and under the action of the rocker arm pressure rotating cylinder 320, it rotates to take away the packaging bag. When the pliers hand pressure rotating cylinder 360 rotates backward by 90 degrees, it drives the straight rod 350 to be parallel to the handle, the two handles are combined, and the pliers mouth end is opened to release the packaging bag.

[0082] The weighing and metering instrument 240, the feeding pressure telescopic cylinder 210, and the bag mouth bandaging pressure telescopic cylinder 310 are all signal-connected to the controller 400, and the weighing and metering instrument 240 is respectively connected to the feeding pressure telescopic cylinder 210 and the bag mouth bandaging pressure telescopic cylinder 310 through the controller 400 for linkage control connection.

[0083] Specifically, the weight of the material in the packaging bag measured by the weighing and metering instrument 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 switching valve of the bag mouth bandaging pressure telescopic cylinder 310.

[0084] Before the weighing and metering instrument 240 detects that the weight of the material in the packaging bag reaches the set maximum amount, the bag mouth bandaging pressure telescopic cylinder 310 is in a closed state. When the weighing and metering instrument 240 measures that the weight of the material in the packaging bag reaches the set maximum amount, it sends a full-load signal to the controller 400, and the controller 400 drives the bag mouth bandaging pressure telescopic cylinder 310 to be opened to tie the bag mouth of the packaging bag tightly. And as the weight of the material in the packaging bag measured by the weighing and metering instrument 240 gradually increases, the feeding shaft 211 gradually contracts and rises under the drive of the feeding pressure telescopic cylinder 210 until the weighing and metering instrument 240 measures that the weight of the material in the packaging bag reaches the set weight, and the through hole on the feeding shaft 211 accurately rises above the material surface in the feeding bin 220 and stops feeding, achieving the effect of accurate metering.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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;

[0089] 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;

[0090] 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;

[0091] 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.

[0092] 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.

[0093] The working principle or packaging steps of the robot packaging machine of the present invention are:

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] Steps of tying the bag mouth and using the pliers hand to hold the bag mouth: The full-load signal of the previous step + the signal indicating the completion of the contraction of the feeding shaft closes the suction valve. At the same time, the rotating shaft of the rocker arm pressure rotating cylinder 320 rotates forward. When the rotating shaft rotates forward to the 170° or 160° contact point, the contact signal first closes the vacuum valves on the two robotic arms, and then simultaneously starts the extension of the tying bag mouth pressure telescopic cylinder shaft and the reverse rotation of the motor. At this time, the lever on the tying bag mouth telescopic cylinder shaft blocks the bag mouth of the packaging bag into the fork of the pliers hand. The motor rotates in reverse, and the two robotic arms lift to the blocking position. The resistance of the block causes the motor current to reach the negative set value, and the reverse rotation of the motor stops.

[0099] Steps of clamping the package and transferring the package: The signal indicating that the rocker arm rotates forward 180° in place in the previous step + the signal indicating that the tying bag mouth pressure telescopic cylinder extends in place starts the forward rotation of the pliers hand pressure rotating cylinder 360 by 90°. At this time, the pliers hand clamps the bag mouth of the packaging bag. The signal indicating that the pliers hand pressure rotating cylinder rotates forward 90° in place starts the reverse rotation of the rocker arm pressure rotating cylinder 320 by 180°. The signal indicating that the reverse rotation is 180° in place simultaneously starts the contraction of the tying bag mouth pressure telescopic cylinder and the reverse rotation of the pliers hand pressure rotating cylinder by 90°. At this time, the pliers hand releases the package, and the package is taken away manually, and the primary packaging is completed.

[0100] Steps of secondary packaging: The signal indicating that the pliers hand pressure rotating cylinder rotates in reverse 90° in the previous step starts the forward rotation of the motor. At the same time, the vacuum valve on the vacuum interface of the right upper arm rod is opened, and the packaging is cycled according to the steps of the first packaging sequence until the weighing and metering instrument shows that the packaging bag never reaches full load, that is, the full-load signal cannot be obtained, and the subsequent steps after full load cannot be started. The robotic packaging machine pauses until the feeding shaft starts feeding, and the weighing and metering instrument obtains the load information again and resumes operation.

[0101] The structural design of the present invention realizes the full-process automation of bag grasping, bag splitting, bag sleeving, feeding, weighing and metering, tying the bag mouth, clamping the package and transferring the package. By simplifying the structural parts of each joint of the robot and using a single motor to drive the robotic arm, a pressure station can be used to drive each telescopic and rotating cylinder, and a vacuum station can assist the robotic hand, making the operating actions of the robot more flexible, precise, and agile in switching. The robotic packaging machine of the present invention has a simple structure, low manufacturing cost, accurate weighing and metering, convenient operation control, high efficiency, energy saving and emission reduction.

[0102] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally 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, so as to drive the mechanical arm to rise and fall synchronously; 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 motion gear in the positive direction; the left arm auxiliary gear engages with the left arm motion gear in the negative direction; 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; 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 first enters the feeding shaft through the through hole and then flows downward through the bottom end of the feeding shaft into the packaging bag.

2. A robotic packaging machine according to claim 1, 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.

3. A robotic packaging machine according to claim 2, characterized in that: The inner wall surface of the feeding cylinder is provided with a dust removal bag; A dust removal air intake port is arranged on one side of the upper wall of the feeding cylinder, and a dust removal air intake port is provided with a dust removal air intake valve connected to a vacuum source. 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.

4. A robotic packaging machine according to claim 1, 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.

5. A robotic packaging machine according to claim 4, 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 straight rod to drive the straight rod to move along the inner groove slide rails; 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.

6. A robotic packaging machine according to claim 5, 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.

7. A robotic packaging machine according to claim 6, 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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