Self-locking bag clamping manipulator

Abstract

The invention discloses a self-locking bag clamping manipulator, and relates to the technical field of filling packaging machines. The mechanical arm comprises a clamping assembly used for clamping and releasing a packaging bag, and the clamping assembly comprises a movable clamping piece, a fixed clamping piece and a first tension spring; the bag feeding and flattening assembly is used for achieving bag feeding and flattening actions; the locking assembly is used for unlocking and locking the clamping hands, the locking assembly comprises a first locking block, a second locking block, a first wear-resistant sleeve and a second tension spring, the first locking block and the second locking block are in a meshed state under the action of the tension of the second tension spring, the distance between the clamping hands is kept, and when the distance between the clamping hands needs to be adjusted, the first wear-resistant sleeve and the second wear-resistant sleeve are locked. The first wear-resisting sleeve is driven by the rail to ascend, the first locking block and the second locking block are away from each other, and unlocking of the clamping hand is achieved. A static retaining rail is removed, the installation space of the whole filling machine is saved, the cost of the retaining rail is reduced, the service life of a clamping hand wear-resisting sleeve is prolonged, and the sanitary safety level of equipment is improved.

Description

Technical Field

[0001] The invention relates to the technical field of filling and packaging machines, and in particular to a self-locking bag clamping manipulator. Background Art

[0002] During the bag-filling and packaging machine's transport process, the bags are constantly gripped by a robotic arm. The robotic arm transports the bags to each station, typically completing the following steps: loading, delivering, opening, filling, and leveling. The robotic arm operates differently at each station. After loading, the grippers retract to loosen the bag. After opening, the grippers maintain the same spacing as they did during bag delivery. After filling, the grippers expand to level the bag. After sealing, the grippers adjust their spacing to match the bag's size.

[0003] After delivering or leveling a bag, conventional grippers require a separate track to support the grippers and maintain the gripper spacing. In conventional gripper structures, the gripper's wear sleeve must constantly rotate on the track, maintaining the height of the track and, consequently, the gripper spacing. Consequently, conventional grippers present the following challenges: the track structure is complex, costly, and occupies significant equipment space; and the gripper's wear sleeve suffers from severe wear at high speeds. Summary of the Invention

[0004] The main purpose of the present invention is to provide a self-locking bag clamping robot to overcome the problems existing in the prior art.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: A self-locking bag clamping manipulator, comprising: A clamping assembly for clamping and releasing a packaging bag, comprising a movable clamping piece, a fixed clamping piece, and a first tension spring. Under the tension of the first tension spring, the movable clamping piece approaches the fixed clamping piece to clamp the packaging bag. Upon overcoming the tension of the first tension spring, the movable clamping piece moves away from the fixed clamping piece to release the packaging bag. A bag-feeding and leveling component, used to implement bag-feeding and leveling actions; and The locking assembly is used to realize the unlocking and locking actions of the clamping hand. The locking assembly includes a first locking block, a second locking block, a first wear-resistant sleeve and a second tension spring. Under the action of the tension of the second tension spring, the first locking block and the second locking block are in an engaged state, so that the spacing between the clamping hands is maintained. When the spacing between the clamping hands needs to be adjusted, the first wear-resistant sleeve rises under the drive of the track, and the first locking block and the second locking block move away from each other, so that the clamping hand is unlocked.

[0006] Furthermore, the manipulator also includes a fixed base and two swing arms, the two swing arms are divided into a left swing arm and a right swing arm, and both are respectively installed at the two ends of the fixed base through a rotating shaft.

[0007] Furthermore, the clamping assembly further includes a thumbwheel, a pull rod, and a first pendulum block, wherein the first pendulum block is rotatably connected to the swing arm, the thumbwheel is fixedly connected to the first pendulum block, one end of the pull rod is connected to the first pendulum block, and the other end is connected to the movable clamping piece, one end of the first tension spring is connected to the first pendulum block, and the other end is connected to the fixed clamping piece, and the fixed clamping piece is mounted on the end of the swing arm away from the fixed base; The thumbwheel is pushed to overcome the tension of the first tension spring, and the movable clamping piece is driven away from the fixed clamping piece through the first pendulum block and the pull rod, thereby releasing the packaging bag.

[0008] Furthermore, the first pendulum block is connected to the pendulum arm through a first pendulum block rotating shaft, the thumb wheel is connected to the first pendulum block through a thumb wheel shaft and is locked by a lock nut, one end of the pull rod is connected to the first pendulum block through a screw, and the other end is connected to the movable clamping plate through a first pull rod shaft, and the movable clamping plate is also connected to the pendulum arm through a second pull rod shaft, one end of the first tension spring is connected to the first pull plate hanging pin on the first pendulum block, and the other end is connected to the second pull plate hanging pin on the fixed clamping plate, and the fixed clamping plate is installed in the mounting groove at the end of the pendulum arm through the second pull plate hanging pin and partially protrudes from the mounting groove.

[0009] Furthermore, the portion of the fixed clamping piece protruding from the mounting slot has a plurality of protrusions arranged on its exposed surface, and a rubber piece is provided on a side of the movable clamping piece close to the fixed clamping piece.

[0010] Furthermore, the bag feeding and leveling assembly includes an adjusting wheel, a locking rocker, a driven rocker, a third tension spring, a feeding and leveling slider, and a second wear-resistant sleeve; Among them, the second wear-resistant sleeve rises or falls under the drive of the bag feeding or leveling rail, and the locking rocker arm swings accordingly. Under the drive of the feeding and pulling slider, the driven rocker arm also swings accordingly. The adjusting wheels on both sides drive the swing arms on both sides to rotate around the rotating shaft to achieve inward and outward expansion, thereby completing the bag feeding and leveling actions.

[0011] Furthermore, the locking rocker arm is connected to the inner side of the fixed seat through the rocker block self-locking shaft, and the driven rocker arm is connected to the inner side of the fixed seat through the second rocker block shaft. The adjusting wheel includes a left adjusting wheel and a right adjusting wheel. The left adjusting wheel is installed on the upper part of the driven rocker arm and abuts against the inner side wall of the left swing arm, and the right adjusting wheel is installed on the upper part of the locking rocker arm and abuts against the inner side wall of the right swing arm. The second wear-resistant sleeve is installed on the lower part of the locking rocker arm through a pin shaft, and the feeding and pulling slider is connected to the driven rocker arm through the feeding and pulling shaft, and the feeding and pulling slider is located in the U-shaped groove at the end of the locking rocker arm, and the two ends of the third tension spring are respectively connected to the left swing arm and the right swing arm.

[0012] Furthermore, the locking assembly also includes a second pendulum block and a fixed block, the fixed block is fixedly connected to the fixed seat, the second pendulum block is connected to the fixed block through a first locking pendulum block shaft, the first wear-resistant sleeve is connected to one end of the second pendulum block through a second locking pendulum block shaft, one end of the second tension spring is connected to the locking tension spring pin on the fixed seat, and the other end is connected to the pin on the second pendulum block.

[0013] Furthermore, one end of the second locking block is connected to the end of the second pendulum block away from the first wear-resistant sleeve through the third locking pendulum block shaft, the other end of the second locking block is provided with a U-shaped opening and is inserted into the outer side of the pendulum block self-locking rotating shaft through the U-shaped opening, the first locking block is engaged with the second locking block, and the first locking block is sleeved on the outer side of the pendulum block self-locking rotating shaft, one end of the pendulum block self-locking rotating shaft is connected to the outer side wall of the fixed seat, and the other end passes through the inner side wall of the fixed seat and is connected to the locking pendulum rod.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention realizes the self-locking function of the clamping hand, does not require an external holding mechanism, and saves equipment space; (2) The wear-resistant sleeve of the clamping hand of the present invention is kept on track for a shorter time, thereby extending its service life; (3) The present invention retains the original bag feeding and leveling tracks in the holding rails, and removes the original front and rear holding tracks for bag feeding, the holding track after leveling, and the holding track before bag loading, thereby reducing costs; (4) The present invention removes part of the retaining track, thereby removing the original lifting drive unit of the retaining track, thereby improving the health and safety level of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the state and movement of the robot at different workstations in the prior art.

[0016] Figure 2 It is a schematic diagram of track keeping in the prior art.

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention.

[0018] Figure 4 It is a schematic diagram of the three-dimensional structure from another angle of the present invention.

[0019] Explanation of the accompanying drawings: 1- movable clamping plate, 2- fixed clamping plate, 3- dial wheel, 4- adjusting wheel, 5- locking rocker arm, 6- driven rocker arm, 7- rocker arm, 8- third tension spring, 9- rotating shaft, 10- fixed seat, 11- first tension spring, 12- feeding and pulling slider, 13- pull rod, 14- first rocking block, 15- second wear-resistant sleeve, 16- first locking block, 17- second locking block, 18- second rocking block, 19- fixed block, 20- first wear-resistant sleeve, 21- second tension spring, 51- self-locking rotating shaft of rocking block. DETAILED DESCRIPTION

[0020] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0021] Combine Figures 3 and 4 This embodiment provides a self-locking bag clamping robot, which includes: a clamping component, a bag feeding and leveling component, a locking component, a fixed base 10 and two swing arms 7. The two swing arms 7 are divided into a left swing arm and a right swing arm, and the two are respectively installed at the two ends of the fixed base 10 through a rotating shaft 9.

[0022] Reference Figure 3 The clamping assembly is used to clamp and release the packaging bag, and includes a movable clamping piece 1, a fixed clamping piece 2, a dial 3, a first tension spring 11, a pull rod 13, and a first pendulum block 14. Under the action of the tension of the first tension spring 11, the movable clamping piece 1 approaches the fixed clamping piece 2 to clamp the packaging bag. When the tension of the first tension spring 11 is overcome, the movable clamping piece 1 moves away from the fixed clamping piece 2 to release the packaging bag. Among them, the first pendulum block 14 is rotatably connected to the pendulum arm 7, the dial wheel 3 is fixedly connected to the first pendulum block 14, one end of the pull rod 13 is connected to the first pendulum block 14, and the other end is connected to the movable clamping plate 1, one end of the first tension spring 11 is connected to the first pendulum block 14, and the other end is connected to the fixed clamping plate 2, and the fixed clamping plate 2 is installed at the end of the pendulum arm 7 away from the fixed seat 10; during operation, the dial wheel 3 is pushed to overcome the tension of the first tension spring 11, and the movable clamping plate 1 is driven away from the fixed clamping plate 2 through the first pendulum block 14 and the pull rod 13 to release the packaging bag.

[0023] In this embodiment, the first pendulum block 14 is connected to the pendulum arm 7 through the first pendulum block rotating shaft, the dial wheel 3 is connected to the first pendulum block 14 through the dial wheel shaft and is locked by a lock nut, one end of the pull rod 13 is connected to the first pendulum block 14 through a screw, and the other end is connected to the movable clamping plate 1 through the first pull rod shaft, and the movable clamping plate 1 is also connected to the pendulum arm 7 through the second pull rod shaft, one end of the first tension spring 11 is connected to the first pull plate hanging pin on the first pendulum block 14, and the other end is connected to the second pull plate hanging pin on the fixed clamping plate 2, and the fixed clamping plate 2 is installed in the mounting groove at the end of the pendulum arm 7 through the second pull plate hanging pin and partially protrudes out of the mounting groove.

[0024] Preferably, the portion of the fixed clamping piece 2 protruding from the mounting groove has a plurality of protrusions arranged on its exposed surface, and a rubber piece is provided on the side of the movable clamping piece 1 close to the fixed clamping piece 2. Specifically, both the protrusion and the rubber piece can be made of leather to prevent damage to the packaging bag when clamping it.

[0025] Reference Figure 3 The bag feeding and leveling assembly is used to realize the bag feeding and leveling actions, which includes an adjusting wheel 4, a locking rocker 5, a driven rocker 6, a third tension spring 8, a feeding and pulling slider 12 and a second wear-resistant sleeve 15; Among them, the second wear-resistant sleeve 15 rises or falls under the drive of the bag feeding or leveling rail, and the locking rocker 5 swings accordingly. Under the drive of the feeding and pulling slider 12, the driven rocker 6 also swings accordingly. The adjusting wheels 4 on both sides drive the swing arms 7 on both sides to rotate around the rotating shaft 9, realizing inward and outward expansion, and completing the bag feeding and leveling actions.

[0026] In this embodiment, the locking rocker arm 5 is connected to the inner side of the fixed seat 10 through the rocker block self-locking shaft 51, and the driven rocker arm 6 is connected to the inner side of the fixed seat 10 through the second rocker block shaft. The adjusting wheel 4 includes a left adjusting wheel and a right adjusting wheel. The left adjusting wheel is installed on the upper part of the driven rocker arm 6 and abuts against the inner side wall of the left swing arm. The right adjusting wheel is installed on the upper part of the locking rocker arm 5 and abuts against the inner side wall of the right swing arm. The second wear-resistant sleeve 15 is installed on the lower part of the locking rocker arm 5 through a pin shaft. The feeding and pulling slider 12 is connected to the driven rocker arm 6 through the feeding and pulling shaft, and the feeding and pulling slider 12 is located in the U-shaped groove at the end of the locking rocker arm 5. The two ends of the third tension spring 8 are respectively connected to the left swing arm and the right swing arm.

[0027] Reference Figure 4 The locking assembly is used to realize the unlocking and locking actions of the clamping hand. The locking assembly includes a first locking block 16, a second locking block 17, a second swing block 18, a fixed block 19, a first wear-resistant sleeve 20 and a second tension spring 21. Under the action of the tension of the second tension spring 21, the first locking block 16 and the second locking block 17 are in an engaged state, so that the spacing between the clamping hands is maintained. When the spacing between the clamping hands needs to be adjusted, the first wear-resistant sleeve 20 rises under the drive of the track, and the first locking block 16 and the second locking block 17 move away from each other, so that the clamping hand is unlocked.

[0028] The fixing block 19 is fixedly connected to the fixing base 10, the second pendulum block 18 is connected to the fixing block 19 via the first locking pendulum block shaft, the first wear-resistant sleeve 20 is connected to one end of the second pendulum block 18 via the second locking pendulum block shaft, one end of the second tension spring 21 is connected to the locking tension spring hanging pin on the fixing base 10, and the other end is connected to the hanging pin on the second pendulum block 18; One end of the second locking block 17 is connected to the end of the second pendulum block 18 away from the wear-resistant sleeve 20 through the third locking pendulum block shaft, and the other end of the second locking block 17 is provided with a U-shaped opening and is inserted into the outside of the pendulum block self-locking rotating shaft 51 through the U-shaped opening. The first locking block 16 is engaged with the second locking block 17, and the first locking block 16 is sleeved on the outside of the pendulum block self-locking rotating shaft 51. One end of the pendulum block self-locking rotating shaft 51 is connected to the outer wall of the fixed seat 10, and the other end passes through the inner wall of the fixed seat 10 and is connected to the locking pendulum rod 5.

[0029] Specifically, under the action of the second tension spring 21, the first locking block 16 and the second locking block 17 are in an engaged state, keeping the angle of the locking rocker 5 of the clamping hand unchanged, thereby realizing the spacing maintenance action of the clamping hand. When the clamping hand spacing needs to be adjusted, the first wear-resistant sleeve 20 rises under the drive of the track, the first locking block 16 and the second locking block 17 move away, and the locking rocker 5 is unlocked.

[0030] By adopting the solution of the present invention, the self-locking function of the clamp is realized without the need for an external holding mechanism, and the static holding rail is removed, that is, the bag feeding and leveling rails in the original holding rail are retained, and the original front and rear holding rails for bag feeding, the holding rail after leveling, and the holding rail before bag loading are all removed, which not only saves the installation space of the entire filling machine, but also reduces the cost of the holding rail; secondly, the on-track time of the clamp wear-resistant sleeve is reduced, thereby extending its service life; and part of the holding rail is removed, and then the original lifting drive unit of the holding rail is removed, thereby improving the health and safety level of the equipment.

[0031] The above description is merely a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A self-locking bag clamping manipulator, characterized in that: The robot includes: A clamping assembly is used to realize the action of clamping and releasing a packaging bag, the clamping assembly comprises a movable clamping piece (1), a fixed clamping piece (2) and a first tension spring (11); under the action of the tension of the first tension spring (11), the movable clamping piece (1) approaches the fixed clamping piece (2) to clamp the packaging bag; after overcoming the tension of the first tension spring (11), the movable clamping piece (1) moves away from the fixed clamping piece (2) to release the packaging bag; A bag-feeding and leveling component, used to implement bag-feeding and leveling actions; and A locking assembly is used to realize the unlocking and locking actions of the clamping hand, and the locking assembly includes a first locking block (16), a second locking block (17), a first wear-resistant sleeve (20) and a second tension spring (21). Under the action of the tension of the second tension spring (21), the first locking block (16) and the second locking block (17) are in an engaged state, so that the distance between the clamping hands is maintained. When the distance between the clamping hands needs to be adjusted, the first wear-resistant sleeve (20) rises under the drive of the track, and the first locking block (16) and the second locking block (17) move away from each other, so that the clamping hand is unlocked.

2. A self-locking bag clamping manipulator according to claim 1, characterized in that: The manipulator further comprises a fixed seat (10) and two swing arms (7), wherein the two swing arms (7) are divided into a left swing arm and a right swing arm, and the two swing arms are respectively mounted on both ends of the fixed seat (10) via a rotating shaft (9).

3. A self-locking bag clamping manipulator as claimed in claim 2, characterized in that: The clamping assembly further comprises a thumbwheel (3), a pull rod (13) and a first pendulum block (14), wherein the first pendulum block (14) is rotatably connected to the swing arm (7), the thumbwheel (3) is fixedly connected to the first pendulum block (14), one end of the pull rod (13) is connected to the first pendulum block (14), and the other end is connected to the movable clamping plate (1), one end of the first tension spring (11) is connected to the first pendulum block (14), and the other end is connected to the fixed clamping plate (2), and the fixed clamping plate (2) is mounted on the end of the swing arm (7) away from the fixed seat (10); The thumbwheel (3) is pushed to overcome the tension of the first tension spring (11), and the movable clamping piece (1) is driven away from the fixed clamping piece (2) through the first pendulum block (14) and the pull rod (13), thereby releasing the packaging bag.

4. A self-locking bag clamping manipulator as claimed in claim 3, characterized in that: The first pendulum block (14) is connected to the pendulum arm (7) through the first pendulum block rotating shaft, the thumbwheel (3) is connected to the first pendulum block (14) through the thumbwheel shaft and is locked by a lock nut, one end of the pull rod (13) is connected to the first pendulum block (14) through a screw, and the other end is connected to the movable clamping plate (1) through the first pull rod shaft, and the movable clamping plate (1) is also connected to the pendulum arm (7) through the second pull rod shaft, one end of the first tension spring (11) is connected to the first pull plate hanging pin on the first pendulum block (14), and the other end is connected to the second pull plate hanging pin on the fixed clamping plate (2), and the fixed clamping plate (2) is installed in the installation slot at the end of the pendulum arm (7) through the second pull plate hanging pin and partially protrudes from the installation slot.

5. A self-locking bag clamping manipulator as claimed in claim 4, characterized in that: The fixed clamping piece (2) protrudes from the mounting groove, and a plurality of protrusions are arranged on the exposed surface thereof. A rubber piece is provided on a side of the movable clamping piece (1) close to the fixed clamping piece (2).

6. A self-locking bag clamping manipulator as claimed in claim 2, characterized in that: The bag feeding and leveling assembly comprises an adjusting wheel (4), a locking rocker (5), a driven rocker (6), a third tension spring (8), a feeding and leveling slider (12) and a second wear-resistant sleeve (15); The second wear-resistant sleeve (15) rises or falls under the drive of the bag feeding or leveling rail, and the locking rocker (5) swings accordingly. The driven rocker (6) also swings accordingly under the drive of the feeding and pulling slider (12). The adjusting wheels (4) on both sides drive the rocker arms (7) on both sides to rotate around the rotating shaft (9), thereby achieving inward and outward expansion, and completing the bag feeding and leveling actions.

7. A self-locking bag clamping manipulator according to claim 6, characterized in that: The locking rocker (5) is connected to the inner side of the fixed seat (10) through the rocker block self-locking shaft (51), and the driven rocker (6) is connected to the inner side of the fixed seat (10) through the second rocker block shaft. The adjusting wheel (4) includes a left adjusting wheel and a right adjusting wheel. The left adjusting wheel is installed on the upper part of the driven rocker (6) and abuts against the inner side wall of the left swing arm. The right adjusting wheel is installed on the upper part of the locking rocker (5) and abuts against the inner side wall of the right swing arm. The second wear-resistant sleeve (15) is installed on the lower part of the locking rocker (5) through a pin shaft. The feeding and pulling slider (12) is connected to the driven rocker (6) through the feeding and pulling shaft, and the feeding and pulling slider (12) is located in the U-shaped groove at the end of the locking rocker (5). The two ends of the third tension spring (8) are respectively connected to the left swing arm and the right swing arm.

8. A self-locking bag clamping robot according to claim 7, characterized in that: The locking assembly further comprises a second pendulum block (18) and a fixed block (19), wherein the fixed block (19) is fixedly connected to the fixed seat (10), the second pendulum block (18) is connected to the fixed block (19) via a first locking pendulum block shaft, the first wear-resistant sleeve (20) is connected to one end of the second pendulum block (18) via the second locking pendulum block shaft, one end of the second tension spring (21) is connected to the locking tension spring hanging pin on the fixed seat (10), and the other end is connected to the hanging pin on the second pendulum block (18).

9. A self-locking bag clamping robot according to claim 8, characterized in that: One end of the second locking block (17) is connected to one end of the second pendulum block (18) away from the first wear-resistant sleeve (20) through the third locking pendulum block shaft, the other end of the second locking block (17) is provided with a U-shaped opening and is inserted into the outer side of the pendulum block self-locking shaft (51) through the U-shaped opening, the first locking block (16) is engaged with the second locking block (17), and the first locking block (16) is sleeved on the outer side of the pendulum block self-locking shaft (51), one end of the pendulum block self-locking shaft (51) is connected to the outer side wall of the fixing seat (10), and the other end passes through the inner side wall of the fixing seat (10) and is connected to the locking pendulum rod (5).

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