A self-locking bag clamping manipulator

Abstract

This invention discloses a self-locking bag-clamping robot, relating to the field of filling and packaging machine technology. The robot includes: a clamping assembly for clamping and releasing packaging bags, comprising a movable clamping plate, a fixed clamping plate, and a first tension spring; a bag feeding and flattening assembly for feeding and flattening bags; and a locking assembly for unlocking and locking the gripper, comprising a first locking block, a second locking block, a first wear-resistant sleeve, and a second tension spring. Under the tension of the second tension spring, the first and second locking blocks are engaged, maintaining the gripper spacing. When the gripper spacing needs adjustment, the first wear-resistant sleeve rises under the drive of a track, and the first and second locking blocks move away, unlocking the gripper. This invention eliminates the static retaining rail, saving installation space in the filling machine, reducing retaining rail costs, and improving the lifespan of the gripper wear-resistant sleeve and the equipment's hygiene and safety level.

Description

Technical Field

[0001] This invention relates to the field of filling and packaging machine technology, and specifically to a self-locking bag clamping robot. Background Technology

[0002] During the bag transport process of the filling and packaging machine, the bags are held by a robotic arm. The robotic arm transports the bags to each workstation, typically including: bag loading—bag feeding and opening—material filling—smoothing and sealing. The robotic arm's state differs at different workstations. After bag loading, the gripper spacing narrows to loosen the packaging bag. After bag opening, the gripper maintains the bag feeding spacing. After material filling, the gripper spacing widens to flatten the packaging bag. After sealing, the gripper spacing is adjusted to match the bag size.

[0003] Traditional grippers require a separate track to support them after feeding or flattening the bag, ensuring the gripper spacing remains constant. In these traditional gripper structures, the wear-resistant sleeves of the grippers must continuously rotate on the track, maintaining a consistent track height to preserve the gripper spacing. Therefore, traditional grippers suffer from the following problems: complex track structures, high costs, and large space requirements; and severe wear on the gripper's wear-resistant sleeves under high-speed operation. Summary of the Invention

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

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A self-locking bag-clamping robotic arm, the robotic arm comprising:

[0007] A clamping assembly is used to perform the actions of clamping and releasing a packaging bag. The clamping assembly includes a movable clamping piece, a fixed clamping piece, and a first tension spring. Under the action of the tension of the first tension spring, the movable clamping piece moves closer to the fixed clamping piece to clamp the packaging bag. Overcoming the tension of the first tension spring, the movable clamping piece moves away from the fixed clamping piece to release the packaging bag.

[0008] A bag feeding and leveling assembly is used to perform the actions of feeding and leveling bags; and

[0009] A locking assembly is used to achieve the actions of unlocking and locking the gripper. 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 to maintain the distance between the gripper and the gripper. When it is necessary to adjust the distance between the gripper and the gripper, 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, thereby unlocking the gripper.

[0010] Furthermore, the robotic arm also includes a fixed base and two swing arms, which are divided into a left swing arm and a right swing arm, and are respectively mounted on both ends of the fixed base via a rotating shaft.

[0011] Furthermore, the clamping assembly also includes a dial wheel, a pull rod, and a first swing block. The first swing block is rotatably connected to the swing arm, the dial wheel is fixedly connected to the first swing block, one end of the pull rod is connected to the first swing block, and the other end is connected to the movable clamping plate. One end of the first tension spring is connected to the first swing block, and the other end is connected to the fixed clamping plate. The fixed clamping plate is installed on the end of the swing arm away from the fixed base.

[0012] Specifically, the dial is pushed to overcome the tension of the first tension spring, and the movable clamping piece is moved away from the fixed clamping piece by the first swing block and the pull rod, thereby releasing the packaging bag.

[0013] Furthermore, the first swing block is connected to the swing arm via a first swing block pivot, the dial wheel is connected to the first swing block via a dial wheel pivot and locked with a lock nut, one end of the pull rod is connected to the first swing block via a screw, and the other end is connected to the movable clamping plate via a first pull rod pivot, the movable clamping plate is also connected to the swing arm via a second pull rod pivot, one end of the first tension spring is connected to a first pull plate pin on the first swing block, and the other end is connected to a second pull plate pin on the fixed clamping plate, the fixed clamping plate is installed in the mounting groove at the end of the swing arm via the second pull plate pin and partially protrudes from the mounting groove.

[0014] Furthermore, the portion of the fixed clamping piece that protrudes from the mounting groove has multiple protrusions arranged on its exposed surface, and the movable clamping piece has a rubber component on the side near the fixed clamping piece.

[0015] Furthermore, the bag feeding and flattening assembly includes an adjusting wheel, a locking swing rod, a driven swing rod, a third tension spring, a feeding slider, and a second wear-resistant sleeve;

[0016] The second wear-resistant sleeve rises or falls under the drive of the bag feeding or flattening rail, and the locking swing rod swings accordingly. Under the drive of the feeding slider, the driven swing rod also swings accordingly. The adjusting wheels on both sides drive the swing arms on both sides to rotate around the rotating shaft, realizing inward contraction and outward expansion, and completing the bag feeding and flattening actions.

[0017] Furthermore, the locking rocker arm is connected to the inner side of the fixed base via a rocker block self-locking shaft, the driven rocker arm is connected to the inner side of the fixed base via a 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 wall of the left rocker arm, the right adjusting wheel is installed on the upper part of the locking rocker arm and abuts against the inner wall of the right rocker arm, the second wear-resistant sleeve is installed on the lower part of the locking rocker arm via a pin, the feed slider is connected to the driven rocker arm via a feed shaft, and the feed 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 rocker arm and the right rocker arm.

[0018] Furthermore, the locking assembly also includes a second swing block and a fixed block. The fixed block is fixedly connected to the fixed base. The second swing block is connected to the fixed block through a first locking swing block shaft. The first wear-resistant sleeve is connected to one end of the second swing block through the second locking swing block shaft. One end of the second tension spring is connected to the locking tension spring hook on the fixed base, and the other end is connected to the hook on the second swing block.

[0019] Furthermore, one end of the second locking block is connected to the end of the second swing block away from the first wear-resistant sleeve via a third locking swing block shaft, and the other end of the second locking block has a U-shaped opening and is inserted into the outside of the swing block self-locking shaft through the U-shaped opening. The first locking block engages with the second locking block, and the first locking block is sleeved on the outside of the swing block self-locking shaft. One end of the swing block self-locking shaft is connected to the outer wall of the fixed seat, and the other end passes through the inner wall of the fixed seat and is connected to the locking swing rod.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) The present invention realizes the self-locking function of the gripper, eliminating the need for an external holding mechanism and saving equipment space;

[0022] (2) The on-rail time of the gripper wear-resistant sleeve of the present invention is reduced, thus extending its service life;

[0023] (3) The present invention retains the bag feeding and flattening tracks in the original holding rail, and removes the original bag feeding front and rear holding tracks, flattening rear holding track and bag loading front holding track, thereby reducing costs;

[0024] (4) The present invention removes part of the retaining track, thereby removing the original lifting drive unit of the retaining track, and improving the hygiene and safety level of the equipment. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the state and movement of a robot arm at different workstations in the existing technology.

[0026] Figure 2 This is a schematic diagram of maintaining a track in the prior art.

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention.

[0028] Figure 4 This is a three-dimensional structural diagram of the present invention from another angle.

[0029] Explanation of reference numerals in the attached diagram: 1-Modible clamping plate, 2-Fixed clamping plate, 3-Turn, 4-Adjusting wheel, 5-Locking rocker arm, 6-Driven rocker arm, 7-Swing arm, 8-Third tension spring, 9-Rotating shaft, 10-Fixed seat, 11-First tension spring, 12-Pulling slider, 13-Pulse rod, 14-First rocker block, 15-Second wear-resistant sleeve, 16-First locking block, 17-Second locking block, 18-Second rocker block, 19-Fixed block, 20-First wear-resistant sleeve, 21-Second tension spring, 51-Swing block self-locking rotating shaft. Detailed Implementation

[0030] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0031] Combination Figures 3 to 4 This embodiment provides a self-locking bag clamping robot, which includes: a clamping component, a bag feeding and flattening 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, which are respectively mounted on both ends of the fixed base 10 via a rotating shaft 9.

[0032] Reference Figure 3 The clamping assembly is used to clamp and release the packaging bag. It 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 swing block 14. Under the action of the tension of the first tension spring 11, the movable clamping piece 1 moves close to the fixed clamping piece 2 to clamp the packaging bag. 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.

[0033] The first swing block 14 is rotatably connected to the swing arm 7, the dial wheel 3 is fixedly connected to the first swing block 14, one end of the pull rod 13 is connected to the first swing block 14, and the other end is connected to the movable clamping piece 1. One end of the first tension spring 11 is connected to the first swing block 14, and the other end is connected to the fixed clamping piece 2. The fixed clamping piece 2 is installed on the end of the swing 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 piece 1 is driven away from the fixed clamping piece 2 through the first swing block 14 and the pull rod 13, thereby releasing the packaging bag.

[0034] In this embodiment, the first swing block 14 is connected to the swing arm 7 via the first swing block pivot, the dial wheel 3 is connected to the first swing block 14 via the dial wheel pivot and locked by the anti-loosening nut, one end of the pull rod 13 is connected to the first swing block 14 via a screw, and the other end is connected to the movable clamping plate 1 via the first pull rod pivot. The movable clamping plate 1 is also connected to the swing arm 7 via the second pull rod pivot. One end of the first tension spring 11 is connected to the first pull plate pin on the first swing block 14, and the other end is connected to the second pull plate pin on the fixed clamping plate 2. The fixed clamping plate 2 is installed in the mounting groove at the end of the swing arm 7 via the second pull plate pin and partially protrudes from the mounting groove.

[0035] Preferably, the portion of the fixed clamping piece 2 protruding from the mounting groove has multiple protrusions arranged on its exposed surface, and the movable clamping piece 1 has a rubber component on the side near the fixed clamping piece 2. Specifically, both the protrusions and the rubber component can be made of rubber to prevent damage to the packaging bag when clamping it.

[0036] Reference Figure 3 The bag feeding and flattening assembly is used to realize the bag feeding and flattening actions. It includes an adjusting wheel 4, a locking swing rod 5, a driven swing rod 6, a third tension spring 8, a feeding and flattening slider 12, and a second wear-resistant sleeve 15.

[0037] The second wear-resistant sleeve 15 rises or falls under the drive of the bag feeding or flattening rail, and the locking swing rod 5 swings accordingly. Under the drive of the feeding and pulling slider 12, the driven swing rod 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 contraction and outward expansion, and completing the bag feeding and flattening actions.

[0038] In this embodiment, the locking rocker arm 5 is connected to the inner side of the fixed base 10 via the rocker block self-locking shaft 51, the driven rocker arm 6 is connected to the inner side of the fixed base 10 via 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 rocker 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 rocker arm, the second wear-resistant sleeve 15 is installed on the lower part of the locking rocker arm 5 via a pin, the push-pull slider 12 is connected to the driven rocker arm 6 via a push-pull shaft, and the push-pull slider 12 is located in the U-shaped groove at the end of the locking rocker arm 5, and the two ends of the third tension spring 8 are connected to the left rocker arm and the right rocker arm respectively.

[0039] Reference Figure 4 The locking assembly is used to unlock and lock the gripper. The locking assembly includes a first locking block 16, a second locking block 17, a second swing block 18, a fixing block 19, a first wear-resistant sleeve 20, and a second tension spring 21. Under the tension of the second tension spring 21, the first locking block 16 and the second locking block 17 are engaged to maintain the gripper spacing. When the gripper spacing 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, thus unlocking the gripper.

[0040] Among them, the fixed block 19 is fixedly connected to the fixed seat 10, the second swing block 18 is connected to the fixed block 19 through the first locking swing block shaft, the first wear-resistant sleeve 20 is connected to one end of the second swing block 18 through the second locking swing block shaft, one end of the second tension spring 21 is connected to the locking tension spring hook on the fixed seat 10, and the other end is connected to the hook on the second swing block 18.

[0041] One end of the second locking block 17 is connected to the end of the second swing block 18 away from the wear-resistant sleeve 20 via the third locking swing block shaft. The other end of the second locking block 17 has a U-shaped opening and is inserted into the outside of the swing block self-locking shaft 51 through the U-shaped opening. The first locking block 16 engages with the second locking block 17 and is sleeved on the outside of the swing block self-locking shaft 51. One end of the swing block self-locking 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 swing rod 5.

[0042] Specifically, under the action of the second tension spring 21, the first locking block 16 and the second locking block 17 are engaged, keeping the angle of the locking lever 5 of the gripper unchanged, thus achieving the gripper spacing maintenance action. When the gripper 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 from each other, and the locking lever 5 is unlocked.

[0043] The solution of this invention achieves a self-locking function for the gripper without the need for an external holding mechanism, eliminating the static holding rail. Specifically, while retaining the original bag feeding and leveling rails, the original front and rear bag feeding holding rails, the leveling holding rail, and the bag loading holding rail are all removed. This not only saves installation space for the entire filling machine but also reduces the cost of the holding rail. Secondly, the wear-resistant gripper sleeve's on-rail time is reduced, extending its service life. Furthermore, the removal of part of the holding rail eliminates the need for the original lifting drive unit, improving the hygiene and safety level of the equipment.

[0044] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A self-locking bag-gripping robotic arm, characterized in that, The robotic arm includes: A clamping assembly is used to clamp and release a packaging bag. The clamping assembly includes a movable clamping piece (1), a fixed clamping piece (2), and a first tension spring (11). Under the tension of the first tension spring (11), the movable clamping piece (1) moves close to the fixed clamping piece (2) to clamp the packaging bag. 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 assembly is used to perform the actions of feeding and leveling bags; and A locking assembly is used to realize the actions of unlocking and locking the gripper. 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 to maintain the distance between the gripper and the gripper. When it is necessary to adjust the distance between the gripper and the gripper, 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 to unlock the gripper. The robotic arm also includes a fixed base (10) and two swing arms (7), the two swing arms (7) being a left swing arm and a right swing arm, which are respectively mounted on both ends of the fixed base (10) via a rotating shaft (9); The bag feeding and flattening assembly includes an adjusting wheel (4), a locking swing rod (5), a driven swing rod (6), a third tension spring (8), a feeding and flattening 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 flattening rail, and the locking swing rod (5) swings accordingly. Under the drive of the feeding slider (12), the driven swing rod (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) to achieve inward contraction and outward expansion, and complete the bag feeding and flattening actions. The locking rocker arm (5) is connected to the inner side of the fixed seat (10) via the rocker block self-locking shaft (51). The driven rocker arm (6) is connected to the inner side of the fixed seat (10) via 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 wall of the left rocker arm. The right adjusting wheel is installed on the upper part of the locking rocker arm (5) and abuts against the inner wall of the right rocker arm. The second wear-resistant sleeve (15) is installed on the lower part of the locking rocker arm (5) via a pin. The push-pull slider (12) is connected to the driven rocker arm (6) via a push-pull shaft. The push-pull 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 rocker arm and the right rocker arm. The locking assembly further includes a second swing block (18) and a fixed block (19). The fixed block (19) is fixedly connected to the fixed seat (10). The second swing block (18) is connected to the fixed block (19) through a first locking swing block shaft. The first wear-resistant sleeve (20) is connected to one end of the second swing block (18) through the second locking swing block shaft. One end of the second tension spring (21) is connected to the locking tension spring hook on the fixed seat (10), and the other end is connected to the hook on the second swing block (18). One end of the second locking block (17) is connected to the end of the second swing block (18) away from the first wear-resistant sleeve (20) through the third locking swing block shaft. The other end of the second locking block (17) has a U-shaped opening and is inserted into the outside of the swing block self-locking shaft (51) through the U-shaped opening. The first locking block (16) meshes with the second locking block (17) and is sleeved on the outside of the swing block self-locking shaft (51). One end of the swing block self-locking 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 swing rod (5).

2. The self-locking bag-clamping robot as described in claim 1, characterized in that, The clamping assembly further includes a dial (3), a pull rod (13), and a first swing block (14). The first swing block (14) is rotatably connected to the swing arm (7). The dial (3) is fixedly connected to the first swing block (14). One end of the pull rod (13) is connected to the first swing block (14), and the other end is connected to the movable clamping piece (1). One end of the first tension spring (11) is connected to the first swing block (14), and the other end is connected to the fixed clamping piece (2). The fixed clamping piece (2) is installed on the end of the swing arm (7) away from the fixed seat (10). The dial (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) by the first swing block (14) and the pull rod (13), thereby releasing the packaging bag.

3. The self-locking bag-clamping robot as described in claim 2, characterized in that, The first swing block (14) is connected to the swing arm (7) through the first swing block pivot. The dial wheel (3) is connected to the first swing block (14) through the dial wheel pivot and locked with a lock nut. One end of the pull rod (13) is connected to the first swing block (14) through a screw, and the other end is connected to the movable clamping piece (1) through the first pull rod pivot. The movable clamping piece (1) is also connected to the swing arm (7) through the second pull rod pivot. One end of the first tension spring (11) is connected to the first pull plate pin on the first swing block (14), and the other end is connected to the second pull plate pin on the fixed clamping piece (2). The fixed clamping piece (2) is installed in the mounting groove at the end of the swing arm (7) through the second pull plate pin and partially protrudes from the mounting groove.

4. A self-locking bag-clamping robot as described in claim 3, characterized in that, The fixed clamping piece (2) protrudes from the mounting groove and has multiple protrusions arranged on its exposed surface. The movable clamping piece (1) has a rubber part on the side near the fixed clamping piece (2).

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