A bag lifting and steering mechanism

Abstract

A bag grabbing lifting and steering mechanism includes a bracket, a movable seat and a first driving mechanism for driving the movable seat to move up and down, a grabbing arm rotatably provided on the movable seat, a suction cup provided at the movable end of the grabbing arm, a rocker arm that rotates synchronously with the grabbing arm provided at one end of the grabbing arm, a guide shaft provided on the rocker arm, and a guide groove provided on the bracket to cooperate with the guide shaft. The present invention drives the movable seat up and down by only one driving mechanism, and can realize that the grabbing arm can also rotate by the cooperation of the guide shaft and the guide groove while the movable seat moves, thereby eliminating a set of driving mechanisms, reducing the overall space occupied by the equipment, and lowering the equipment cost; the rocker arm is driven to rotate by the rigid cooperation of the guide shaft and the guide groove, which has higher rigidity and can drive a heavier needle-type suction cup to rotate quickly, meeting the need for rapid bag loading of the equipment, eliminating the trouble of setting up multiple sets of bag loading mechanisms, and saving manpower and financial resources.

Description

Technical Field

[0001] The invention relates to the technical field of filling equipment, in particular to a bag grabbing, lifting and steering mechanism. Background Art

[0002] In a bag filling line, bags are stacked horizontally when being fed. A bag-grabbing mechanism is required to pick up the bags one by one and turn them from a horizontal angle to a vertical angle. The bag-grabbing mechanism's actions include rotational movement (turning the bags from horizontal to vertical) and translational movement (lifting the bags upward). Currently, the bag-grabbing mechanism uses two drive systems to achieve these actions: two motor + synchronous belt combinations are provided. One motor + synchronous belt system drives the grab arm up and down (the grab arm and the other motor + synchronous belt system are located in the linear motion section of the synchronous belt), while the other motor + synchronous belt system drives the grab arm in rotation (the grab arm is located in the steering section of the synchronous belt).

[0003] The above bag grabbing process still has the following areas for optimization:

[0004] 1. Setting up two sets of drives to cooperate with each other not only takes up more space, but also makes maintenance more difficult, increasing the cost of installation and maintenance;

[0005] 2. The inertia generated by the grab arm and the packaging bag during rotation is relatively large, and the rigidity of the rotation part of the grab arm is required to be high. However, the rigidity of the grab arm rotation driven by the synchronous belt is not high. In actual use, the synchronous belt is prone to breakage and is only suitable for the bag grabbing action of lighter vacuum suction cups to suck lighter plastic bags; and the grabbing bag of non-woven packaging bags requires a needle suction cup, which has a larger mass and will generate greater inertia as the grab arm rotates. The current method of driving the grab arm with a synchronous belt can only slowly drive the needle suction cup to rotate. To meet the needs of high-speed bag grabbing and filling actions, multiple grab arms can only be set up to grab bags alternately, which involves the yield design of the grab arm action and the drive cost of more groups, which not only consumes more manpower and financial resources, but also increases the difficulty of equipment maintenance. Summary of the Invention

[0006] The object of the present invention is to provide a bag lifting and steering mechanism, which solves the above-mentioned problems by adopting the device to work.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a bag grabbing lifting and steering mechanism, comprising a bracket, a movable seat and a first driving mechanism for driving the movable seat to move up and down, a grabbing arm rotatably provided on the movable seat, a suction cup provided at the movable end of the grabbing arm, a rocker arm that rotates synchronously with the grabbing arm provided at one end of the grabbing arm, a guide shaft provided on the rocker arm, a guide groove provided on the bracket to cooperate with the guide shaft, the guide groove comprising an upper straight section and an inclined steering section, when the guide shaft moves from one end of the steering section to the other end, the swing angle of the rocker arm is 90°, and when the guide shaft is in the upper straight section, the grabbing arm is in a horizontal state; when the guide shaft is at the lower end of the steering section, the grabbing arm is in a vertical downward state.

[0008] Furthermore, a guide wheel is provided on the guide shaft, a fixed guide plate is provided on the bracket, a fixed guide groove is provided on the fixed guide plate to match the guide wheel, a floating guide plate is provided on the fixed guide plate which can be moved horizontally, a floating guide groove is provided on the floating guide plate to match the guide wheel, and an elastic mechanism is provided on the bracket to apply a clamping force to the floating guide plate horizontally in parallel with the floating guide plate.

[0009] Furthermore, the elastic mechanism includes a fixed seat arranged on one side of the floating guide plate, the fixed seat is fixed on the bracket, a floating seat is arranged on the side of the floating guide plate close to the fixed seat, and several elastic members are arranged between the fixed seat and the floating seat.

[0010] Furthermore, a plurality of limiting screws are provided between the fixed seat and the floating seat, and nuts are provided at the outer ends of the limiting screws.

[0011] Furthermore, a T-shaped wear-resistant block is installed on the side of the floating guide plate facing the fixed guide plate, a first transverse groove is provided on the fixed guide plate to match the T-shaped wear-resistant block, a fixed wear-resistant block is installed on the outer end of the T-shaped wear-resistant block, and a second transverse groove is provided on the bracket to match the fixed wear-resistant block.

[0012] Furthermore, the movable seat is provided with two bearing seats in cooperation with the grabbing arm, and the grabbing arm is rotatably provided between the two bearing seats.

[0013] Furthermore, a first air duct is provided inside the movable seat, a first air outlet valve is provided at the end of the first air duct, a second air duct is provided inside the grabbing arm, a first air inlet valve is provided at the starting end of the second air duct, the first air inlet valve and the first air outlet valve are connected through a pipeline, the first air inlet valve is a rotary valve, and a second air outlet valve connected to the suction cup is provided at the end of the second air duct.

[0014] Furthermore, a mounting bracket is provided on the grabbing arm, and the suction cup is fixed on the grabbing arm through the mounting bracket.

[0015] Furthermore, the first driving mechanism includes an active synchronous belt and a servo motor driving the active synchronous belt to operate, the movable seat is fixed on the active synchronous belt, and a guide rail is provided on the bracket to cooperate with the movable seat.

[0016] Furthermore, the bracket is provided with a driven synchronous belt in cooperation with the movable seat, and the driven synchronous belt and the driving synchronous belt run in opposite directions.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention uses only one driving mechanism to drive the movable base to move up and down. While the movable base moves, the grab arm can also rotate through the cooperation of the guide shaft and the guide groove. This eliminates a set of driving mechanisms, reduces the overall space occupied by the equipment, and reduces equipment costs.

[0019] 2. The rocker arm is driven to rotate by the rigid fit of the guide shaft and the guide groove. Compared with the synchronous belt driving the grab arm to rotate, this application has higher rigidity and can drive the heavier needle suction cup to rotate quickly, meeting the needs of fast bag loading of the equipment, eliminating the trouble of setting up multiple sets of bag loading mechanisms, and saving manpower and financial resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional schematic diagram of an embodiment of the present invention;

[0021] Figure 2 This is a three-dimensional schematic diagram of the cooperation between the first driving mechanism and the moving base according to an embodiment of the present invention;

[0022] Figure 3 This is a three-dimensional schematic diagram of the guide shaft of the present invention being located at the uppermost end of the guide groove and the grab arm being in a horizontal state;

[0023] Figure 4 This is a three-dimensional schematic diagram of the present invention, in which the guide shaft is located at the lower end of the guide groove and the grab arm is in a vertical state;

[0024] Figure 5 This is a three-dimensional exploded schematic diagram of the cooperation between the fixed guide plate and the floating guide plate according to an embodiment of the present invention;

[0025] Figure 6 It is a cross-sectional schematic diagram of the internal air path distribution of the movable seat and the grab arm of the present invention. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0028] like Figure 1-6 As shown, the purpose of this embodiment is to provide a bag grabbing lifting and steering mechanism, including a bracket 1, a movable seat 2 and a first driving mechanism for driving the movable seat 2 to move up and down, a grab arm 3 rotatably provided on the movable seat 2, a suction cup 4 provided at the movable end of the grab arm 3, a rocker 5 that rotates synchronously with the grab arm 3 provided at one end of the grab arm 3, a guide shaft 6 provided on the rocker 5, a guide groove 7 provided on the bracket 1 to cooperate with the guide shaft 6, the guide groove 7 includes an upper straight section 71 and an inclined steering section 72, and the guide shaft 6 is arranged at the steering section 7 2 moves from one end to the other, the swing angle of the swing arm 5 is 90°, and when the guide shaft 6 is in the upper straight section 71, the grab arm 3 is in a horizontal state; when the guide shaft 6 is at the lower end of the turning section 72, the grab arm 3 is in a vertical downward state; the suction cup 4 can be an ordinary vacuum suction cup 4 or a needle suction cup 4 used for non-woven packaging bags. The needle suction cup 4 is heavier, and the swing arm 5 is driven to rotate by the rigid fit of the guide shaft 6 and the guide groove 7, which has high rigidity and can withstand the inertia generated by the rapid swing of the needle suction cup 4;

[0029] like Figure 2-4 As shown, the working process of the present application is: the initial state is that the moving seat 2 is at the upper part, at this time the guide shaft 6 is at the upper end of the upper straight section 71 of the guide groove 7, and the grab arm 3 is in a horizontal state;

[0030] When the guide shaft 6 reaches the lower end of the steering section 72, the swing arm 5 starts to swing, and the grab arm 3 is driven by the swing arm 5 to swing downward. When the guide shaft 6 moves to the lower end of the steering section 72, the swing angle of the swing arm 5 is 90 degrees, that is, the grab arm 3 is driven to swing downward by 90 degrees to a vertical downward state. In the present application, the angle of the swing arm 5 is tilted backward by 45 degrees in the initial state. When the guide shaft 6 moves to the lower end of the steering section 72, the angle of the swing arm 5 is tilted forward by 45 degrees, which can avoid the tilt angle of the swing arm 5 being too large, ensuring that the angle between the swing arm 5 and the guide groove 7 is greater than 90 degrees, and ensuring smooth movement of the guide shaft 6 in the guide groove 7.

[0031] Upward movement process: After the grab arm 3 is vertically downward, it can grab one of the horizontally stacked packaging bags through the suction cup 4, and then the first driving mechanism drives the movable base 2 to move upward, the guide shaft 6 moves upward in the turning section 72, and the rocker arm 5 will swing in the opposite direction, driving the grab arm 3 to rotate upward. When the guide shaft 6 moves to the upper straight section 71, the grab arm 3 rotates to vertical, and then the movable base 2 continues to move upward. The grab arm 3 drives the packaging bag upward to a position where the two grippers of the subsequent gripping belt (not shown in the figure) can grab the packaging bag. The grippers clamp the packaging bag and move backward. Then the first driving mechanism can drive the movable base 2 to move downward to start the next bag loading cycle.

[0032] In this embodiment, a lower straight section 73 is further provided at the lower end of the turning section 72. When the guide shaft 6 moves upward in the lower straight section 73, the suction cup 4 of the gripping arm 3 first lifts the packaging bag upward for a distance and then turns the bag, thereby preventing friction between the packaging bags and causing the position of subsequent packaging bags to shift.

[0033] like Figure 3-5As shown, preferably, a guide wheel 61 is provided on the guide shaft 6, a fixed guide plate 8 is provided on the bracket 1, a fixed guide groove 81 is provided on the fixed guide plate 8 to cooperate with the guide wheel 61, a floating guide plate 9 is provided on the fixed guide plate 8 to be horizontally movable, a floating guide groove 10 is provided on the floating guide plate 9 to cooperate with the guide wheel 61, and an elastic mechanism 11 is provided on the bracket 1 to apply a pressing force to the floating guide plate 9 horizontally in parallel with the floating guide plate 9. In actual operation, the guide wheel 61 cooperates with the fixed guide groove 81 and the floating guide groove 10, and the guide groove 7 plays a role in avoiding the fixing piece at the outer end of the guide wheel 61; the guide wheel 61 and the fixed guide groove 81 are provided to avoid ... The fixed guide grooves 81 are purely due to installation tolerances, that is, there are gaps. In actual use, the grab arm 3, the rocker arm 5, and the guide wheel 61 will frequently vibrate due to the gaps during reciprocating motion, which requires improvement in stability and also reduces the service life of the grab arm 3. In the present application, the floating guide plate 9 can apply elastic force to the guide wheel 61 through the elastic mechanism 11. That is, while the guide wheel 61 moves in the fixed guide groove 81, one side of the floating guide groove 10 and one side of the fixed guide groove 81 clamp the guide wheel 61. This can prevent the grab arm 3, the rocker arm 5, and the guide wheel 61 from vibrating during reciprocating motion, thereby improving operational stability.

[0034] Preferably, the elastic mechanism 11 includes a fixed seat 111 provided on one side of the floating guide plate 9, the fixed seat 111 being fixed to the bracket 1, a floating seat 112 being provided on one side of the floating guide plate 9 close to the fixed seat 111, a plurality of elastic members 113 being springs provided between the fixed seat 111 and the floating seat 112, and the springs on the fixed seat 111 applying a horizontal elastic force to the floating seat 112 and the floating guide plate 9;

[0035] Preferably, a plurality of limiting screws 114 are provided between the fixed seat 111 and the floating seat 112, and a nut 115 is provided at the outer end of the limiting screw 114. The limiting screws 114 and the nut 115 are provided on both sides of the fixed seat 111 and the floating seat 112 to limit the relative distance between the fixed seat 111 and the floating seat 112, thereby facilitating the installation of the elastic mechanism 11;

[0036] Preferably, a T-shaped wear-resistant block 12 is installed on the side of the floating guide plate 9 facing the fixed guide plate 8, a first transverse groove 13 is provided on the fixed guide plate 8 to match the T-shaped wear-resistant block 12, a fixed wear-resistant block 14 is installed on the outer end of the T-shaped wear-resistant block 12, and a second transverse groove 15 is provided on the bracket 1 to match the fixed wear-resistant block 14. The horizontal widths of the first transverse groove 13 and the second transverse groove 15 are both greater than the width of the T-shaped wear-resistant block 12. The floating guide plate 9 is guided by the T-shaped wear-resistant block 12 and the fixed wear-resistant block 14 to ensure the horizontal movement direction of the floating guide plate 9;

[0037] Preferably, two bearing seats 16 are provided on the movable seat 2 to cooperate with the grab arm 3. The grab arm 3 is rotatably arranged between the two bearing seats 16. The two bearing seats 16 of the movable seat 2 can form a gantry-shaped support for the grab arm 3, thereby improving the stability of the grab arm 3 during operation.

[0038] like Figure 6 As shown, preferably, the interior of the mobile seat 2 is provided with a first air channel 17, the starting end of the first air channel 17 is supplied with high-pressure gas, the end of the first air channel 17 is provided with a first air outlet valve 18, the interior of the grab arm 3 is provided with a second air channel 19, the starting end of the second air channel 19 is provided with a first air inlet valve 20, the first air inlet valve 20 is connected to the first air outlet valve 18 through a pipeline, the first air inlet valve 20 is a rotary valve, and the end of the second air channel 19 is provided with a second air outlet valve 21 connected to the suction cup 4, and the reciprocating bag grabbing action of the grab arm 3 will be frequent. The needle suction cup 4 includes an independent air cylinder, which needs to be supplied with air through an air circuit. The second air outlet valve 21 can supply air to the cylinder. The second air outlet valve 21 and the cylinder are relatively stationary and the distance between them is short. They can be directly connected through an external air pipe. The first air inlet valve 20 and the first air outlet valve 18 will frequently switch angles. After the first air inlet valve 20 is connected to the first air outlet valve 18, the first air inlet valve 20 is a rotary valve, which can reduce the swing amplitude of the air pipe when the grasping arm 3 swings, thereby increasing the stability of the air pipe.

[0039] like Figure 2 As shown, preferably, a mounting bracket 22 is provided on the grab arm 3, and the suction cup 4 is fixed on the grab arm 3 through the mounting bracket 22;

[0040] Preferably, the first driving mechanism includes an active synchronous belt 23 and a servo motor 24 driving the active synchronous belt 23, the movable seat 2 is fixed on the active synchronous belt 23, and a guide rail 25 is provided on the bracket 1 to cooperate with the movable seat 2;

[0041] Preferably, a driven synchronous belt 26 is provided on the bracket 1 in conjunction with the movable seat 2, and the rotation directions of the driven synchronous belt 26 and the active synchronous belt 23 are opposite; in this embodiment, the movable seat 2 is fixed on the side of the active synchronous belt 23 close to the bracket 1, and the position of the driven synchronous belt 26 and the connecting belt of the movable seat 2 is away from the side of the bracket 1. Therefore, when the movable seat 2 moves, the rotation directions of the active synchronous belt 23 and the driven synchronous belt 26 are opposite, and the inertia generated by the reciprocating operation of the two on the bracket 1 can offset each other, further increasing the overall stability of the device.

[0042] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A bag lifting and steering mechanism, characterized by: The invention comprises a bracket, a movable base and a first driving mechanism for driving the movable base to move up and down are provided on the bracket, a grab arm is rotatably provided on the movable base, a suction cup is provided at the movable end of the grab arm, a swing arm which rotates synchronously with the grab arm is provided at one end of the grab arm, a guide shaft is provided on the swing arm, a guide groove is provided on the bracket to cooperate with the guide shaft, the guide groove comprises an upper straight section and an inclined steering section, when the guide shaft moves from one end of the steering section to the other end, the swing angle of the swing arm is 90 degrees, when the guide shaft is in the upper straight section, the grab arm is in a horizontal state; when the guide shaft is at the lower end of the steering section, the grab arm is in a vertical downward state; The guide shaft is provided with a guide wheel, the bracket is provided with a fixed guide plate, the fixed guide plate is provided with a fixed guide groove to match the guide wheel, the fixed guide plate is provided with a floating guide plate that can be moved horizontally, and the floating guide plate is provided with a floating guide groove to match the guide wheel, and the bracket is provided with an elastic mechanism parallel to the floating guide plate and applying a pressing force to the floating guide plate horizontally; The elastic mechanism includes a fixed seat arranged on one side of the floating guide plate, the fixed seat is fixed on the bracket, a floating seat is arranged on the side of the floating guide plate close to the fixed seat, and a plurality of elastic members are arranged between the fixed seat and the floating seat; the floating guide plate can be pressed on the guide wheel by applying elastic force through the elastic mechanism, that is, when the guide wheel moves in the fixed guide groove, one side of the floating guide groove and one side of the fixed guide groove clamp the guide wheel.

2. The bag lifting and steering mechanism according to claim 1, characterized in that: A plurality of limiting screws are provided between the fixed seat and the floating seat, and nuts are provided at the outer ends of the limiting screws.

3. The bag lifting and steering mechanism according to claim 1, characterized in that: A T-shaped wear-resistant block is installed on the side of the floating guide plate facing the fixed guide plate, a first transverse groove is provided on the fixed guide plate to match the T-shaped wear-resistant block, a fixed wear-resistant block is installed on the outer end of the T-shaped wear-resistant block, and a second transverse groove is provided on the bracket to match the fixed wear-resistant block.

4. The bag lifting and steering mechanism according to claim 1, characterized in that: The movable seat is provided with two bearing seats in cooperation with the grabbing arm, and the grabbing arm is rotatably arranged between the two bearing seats.

5. The bag lifting and steering mechanism according to claim 1, characterized in that: A first air channel is provided inside the movable seat, a first air outlet valve is provided at the end of the first air channel, a second air channel is provided inside the grabbing arm, a first air inlet valve is provided at the starting end of the second air channel, the first air inlet valve and the first air outlet valve are connected through a pipeline, the first air inlet valve is a rotary valve, and a second air outlet valve connected to the suction cup is provided at the end of the second air channel.

6. The bag lifting and steering mechanism according to claim 1, characterized in that: A mounting bracket is provided on the grabbing arm, and the suction cup is fixed on the grabbing arm through the mounting bracket.

7. The bag lifting and steering mechanism according to claim 1, characterized in that: The first driving mechanism includes an active synchronous belt and a servo motor driving the active synchronous belt to operate. The movable seat is fixed on the active synchronous belt. The bracket is provided with a guide rail to match the movable seat.

8. The bag lifting and steering mechanism according to claim 7, characterized in that: The bracket is equipped with a driven synchronous belt in cooperation with the movable seat, and the driven synchronous belt and the active synchronous belt have opposite running directions.

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