Bagged grabbing and shaping manipulator driven by single air cylinder and conveying and carrying system of bagged grabbing and shaping manipulator

Abstract

The invention discloses a single-cylinder-driven bagged grabbing and shaping manipulator and a conveying and carrying system thereof.The manipulator comprises a mounting plate, a pressing mechanism and a clamping mechanism are arranged at the bottom of the mounting plate, the pressing mechanism comprises a linear driving part and a pressing plate, and the linear driving part is mounted on the mounting plate; the output end of the linear driving part extends downwards and is connected with the pressing plate; the clamping mechanism comprises two groups of clamping jaw assemblies which are opposite left and right, each group of clamping jaw assembly comprises a transverse plate, a plurality of clamping jaws are arranged on the transverse plate, the clamping jaws are L-shaped, and vertical sections of the clamping jaws are mounted on the transverse plate; a rotating arm is fixed on the transverse plate, a rotating shaft at the upper end of the rotating arm is rotationally mounted on the mounting plate, and a rotating plate is fixed on the inner side of the rotating arm; the rotating plates of the left and right clamping jaw assemblies are connected with the left and right sides of the top end of the pressing plate through connecting rods correspondingly, and the two ends of each connecting rod are rotationally connected with the rotating plate and the pressing plate correspondingly. Compared with the prior art, the robot has the advantages of low energy consumption, low cost and efficient and stable grabbing.

Description

Technical Field

[0001] This invention relates to the field of bag-grabbing machine technology, and more particularly to a single-cylinder driven bag-grabbing and shaping robot and its conveying and handling system. Background Technology

[0002] Bag grabbing machines are mainly used for grabbing various heavy bags such as rice bags or sandbags. Whether unloading, loading, or breaking bags, due to their weight, they currently need to be grabbed from the conveyor line to a designated position, or vice versa. Most mature bag grabbing machines on the market currently use a three-cylinder system. The two left and right gripping claws are each controlled by a cylinder, while the middle pressing mechanism is controlled by another cylinder. In terms of operation, the two gripping claws are activated first to grab the bag, and then the pressing mechanism shapes the bag to ensure a stable and reliable process. This type of bag grabbing machine, driven by three cylinders, has high energy consumption; it also has many parts and control components, a complex structure, is prone to failure, and has high manufacturing costs and maintenance difficulties. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a single-cylinder driven bag-grabbing and shaping robot and its conveying and handling system, which takes into account the advantages of low energy consumption, low cost and efficient and stable grasping.

[0004] This invention is achieved through the following technical solution: A single-cylinder driven bag-grabbing and shaping robot includes a mounting plate, the bottom of which is provided with a pressing mechanism and a clamping mechanism. The pressing mechanism includes a linear drive component and a pressure plate. The linear drive component is mounted on a mounting plate, and its output end extends downward and is connected to the pressure plate. The clamping mechanism includes two sets of gripper assemblies facing each other on the left and right sides of the pressing mechanism. The side facing each other is the inner side. Each set of gripper assemblies includes a horizontal plate with multiple grippers arranged at intervals along the front-back direction. The grippers are L-shaped, with the vertical section of the gripper mounted on the horizontal plate and the horizontal section of the gripper extending inward. A rotating arm is fixed on the horizontal plate, and a rotating shaft with its axis extending along the front-back direction is fixed at the upper end of the rotating arm. The rotating shaft is rotatably mounted on a mounting plate, and a rotating plate is fixed on the inner side of the rotating arm. The rotating plates of the left and right sets of gripper assemblies are connected to the left and right sides of the top of the pressure plate through connecting rods. The two ends of each connecting rod are rotatably connected to the rotating plate and the pressure plate, respectively. The pressure plate is driven to move vertically through a linear drive component. The pressure plate then drives the two rotating plates to move through two connecting rods, thereby causing the two sets of gripper assemblies to rotate around their respective rotation axes, thus controlling the two sets of gripper assemblies to open outward or close inward.

[0005] As a preferred embodiment of the above-mentioned single-cylinder driven bag-grabbing and shaping robot, when the linear drive component drives the pressure plate to move downward, it drives the two sets of gripper assemblies to gradually close inward through two connecting rods; when the linear drive component drives the pressure plate to lift upward, it drives the two sets of gripper assemblies to gradually open outward through two connecting rods.

[0006] As a preferred embodiment of the above-mentioned single-cylinder driven bag-grabbing and shaping robot, the gripper has an L-shaped rod structure. The upper section of the vertical segment of the gripper is a screw segment, and a through hole is opened on the crossbar for the screw segment to pass through. The screw segment of the gripper passes through the through hole of the crossbar and is locked with a nut to realize the installation of the gripper and the crossbar.

[0007] As a preferred embodiment of the above-mentioned single-cylinder driven bag-grabbing and shaping robot, in the gripper assembly, a lateral clamping plate is detachably installed on the inner side of the crossbar, and the lateral clamping plate is located on the inner side of the vertical section of multiple grippers.

[0008] As a preferred embodiment of the above-mentioned single-cylinder driven bag-grabbing and shaping robot, the linear drive component is a cylinder, and the piston rod of the cylinder extends downward and is connected to the pressure plate.

[0009] As a preferred embodiment of the single-cylinder driven bag-grabbing and shaping robot described above, one end of the connecting rod is hinged to the rotating plate via a first hinge shaft, and the other end of the connecting rod is hinged to the pressure plate via a second hinge shaft. The axes of the first hinge shaft and the second hinge shaft both extend in the front-rear direction.

[0010] As a preferred embodiment of the above-mentioned single-cylinder driven bag-grabbing and shaping robot, the bottom of the mounting plate is fixed with two mounting brackets on the left and right, and the rotating shafts of the two sets of gripper assemblies on the left and right are respectively rotatably mounted on the two mounting brackets.

[0011] The present invention also discloses a conveying and handling system, including a conveyor frame, a robotic arm on one side of the conveyor frame, and a robotic hand installed at the end of the robotic arm. The robotic hand is a single-cylinder driven bag-grabbing and shaping robotic hand described above, and the robotic hand is installed at the end of the robotic arm via a mounting plate.

[0012] As a preferred embodiment of the above-mentioned conveying and handling system, the conveying channel on the conveying frame is a roller conveyor channel extending back and forth. The center distance between adjacent conveying rollers in the roller conveyor channel is the first center distance, and the center distance between adjacent grippers in each set of gripper assemblies is the second center distance, which is equal to the first center distance.

[0013] The present invention has the following advantages over the prior art: This invention provides a single-cylinder driven bag-grabbing and shaping robot and its conveying and handling system. The robot uses a linkage mechanism to link the pressing and clamping mechanisms, requiring only a single linear drive component to achieve synchronous movement of both mechanisms. This simplifies the structure and optimizes gripping performance, reducing energy consumption, significantly decreasing the number of parts and control components, lowering manufacturing costs, maintenance difficulty, and failure probability, and simplifying the operation process to suit small to medium-sized scenarios. Simultaneously, the robot synchronously links the gripper assemblies on both sides with the pressing mechanism at the top, forming a gripping mode of "top pressing, side clamping, and bottom catching," overcoming the delays caused by traditional step-by-step control. This ensures stable gripping of bagged materials of different sizes, significantly improving versatility and operational reliability. It balances energy consumption and space requirements while achieving low cost and efficient, stable gripping performance. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the robotic arm of the present invention in a closed state.

[0015] Figure 2 This is a schematic diagram of the robotic arm of the present invention in the open state.

[0016] Figure 3 This is a schematic diagram of the conveying and handling system of the present invention.

[0017] Labels in the diagram: 1 Mounting plate; 2 Pressing mechanism; 3 Clamping mechanism; 4 Linear drive component; 5 Pressure plate; 6 Horizontal plate; 7 Grippers; 8 Screw section; 9 Rotating arm; 10 Rotating shaft; 11 Mounting bracket; 12 Bearing; 13 Side clamping plate; 14 Rotating plate; 15 Connecting rod; 16 First hinge shaft; 17 Second hinge shaft; 18 Conveyor frame; 19 Robotic arm; 20 Roller conveyor channel; 21 Conveyor roller; 22 Bag. Detailed Implementation

[0018] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0019] See Figures 1 to 3 This embodiment discloses a single-cylinder driven bag-grabbing and shaping robot, including a mounting plate 1, with a pressing mechanism 2 and a clamping mechanism 3 at the bottom of the mounting plate 1.

[0020] The pressing mechanism 2 includes a linear drive component 4 and a pressure plate 5. The linear drive component 4 is mounted on the mounting plate 1, and its output end extends downward and connects to the pressure plate 5. In this embodiment, the linear drive component 4 is a cylinder, and the piston rod of the cylinder extends downward and connects to the pressure plate 5.

[0021] The clamping mechanism 3 includes two sets of gripper assemblies facing each other, located on the left and right sides of the pressing mechanism 2. The side facing each other is the inner side. Each set of gripper assemblies includes a horizontal plate 6, on which multiple grippers 7 are arranged at intervals along the front-back direction. The grippers 7 are L-shaped, with the vertical section of the gripper 7 mounted on the horizontal plate 6 and the horizontal section of the gripper 7 extending inward. In this embodiment, the gripper 7 is specifically an L-shaped rod structure. The upper section of the vertical section of the gripper 7 is a screw section 8. A through hole is opened on the horizontal bar for the screw section 8 to pass through. The screw section 8 of the gripper 7 passes through the through hole of the horizontal bar and is locked with a nut to realize the installation of the gripper 7 and the horizontal bar. Nuts are threaded onto the upper and lower sides of the screw section 8, located on the crossbar. By tightening the two nuts, they are made to fit tightly against the upper and lower sides of the crossbar, thus locking the screw section 8 of the gripper 7 to the crossbar. Loosening the nuts allows adjustment of the vertical installation position of the gripper 7, thereby adjusting the height of the gripper 7 to accommodate gripping bags 22 of different sizes. A rotating arm 9 is fixed on the crossbar 6. A rotating shaft 10 with its axis extending forward and backward is fixed to the upper end of the rotating arm 9. The rotating shaft 10 is rotatably mounted on the mounting plate 1. Two mounting brackets 11 are fixed to the bottom of the mounting plate 1. The rotating shafts 10 of the left and right gripper assemblies are rotatably mounted on the two mounting brackets 11 through bearings 12, respectively.

[0022] In the gripper assembly, a side clamping plate 13 is detachably installed on the inner side of the crossbar via screw connection. The side clamping plate 13 is located inside the vertical sections of the multiple grippers 7. The side clamping plate 13 can be selectively used depending on the width of the bag 22. When the width of the bag 22 is small, the side clamping plate 13 can be installed to clamp the left and right sides of the bag 22. When the width of the bag 22 is large, the side clamping plate 13 can be removed, and the left and right sides of the bag 22 can be clamped by the vertical sections of the left and right grippers 7.

[0023] A rotating plate 14 is fixed to the inner side of the rotating arm 9. The rotating plates 14 of the left and right sets of gripper assemblies are connected to the left and right sides of the top of the pressure plate 5 through connecting rods 15, respectively. Each connecting rod 15 is rotatably connected to the rotating plate 14 and the pressure plate 5 at both ends. One end of the connecting rod 15 is hinged to the rotating plate 14 through the first hinge shaft 16, and the other end of the connecting rod 15 is hinged to the pressure plate 5 through the second hinge shaft 17. The axes of the first hinge shaft 16 and the second hinge shaft 17 both extend in the front-back direction. The pressure plate 5 is driven to move vertically through the linear drive component 4. The pressure plate 5 then drives the two rotating plates 14 to move through the two connecting rods 15, thereby causing the two sets of gripper assemblies to rotate around their respective rotation shafts 10, thus controlling the two sets of gripper assemblies to open outward or close inward.

[0024] When the linear drive component 4 drives the pressure plate 5 to move downward, it drives the two sets of gripper assemblies to gradually close inward through the two connecting rods 15; when the linear drive component 4 drives the pressure plate 5 to lift upward, it drives the two sets of gripper assemblies to gradually open outward through the two connecting rods 15.

[0025] This embodiment also discloses a conveying and handling system, including a conveyor frame 18. A robotic arm 19 is provided on one side of the conveyor frame 18, and a robotic hand is installed at the end of the robotic arm 19. The robotic hand is a single-cylinder driven bag-grabbing and shaping robotic hand as described above. The robotic hand is installed at the end of the robotic arm 19 via a mounting plate 1. The conveying channel on the conveyor frame 18 is a roller conveyor channel 20 extending front and rear. The center distance between adjacent conveying rollers 21 in the roller conveyor channel 20 is a first center distance, and the center distance between adjacent grippers 7 in each gripper assembly is a second center distance, which is equal to the first center distance. In use, the multiple grippers 7 of each gripper assembly are staggered from the multiple conveying rollers 21 of the roller conveyor channel 20, so that the grippers 7 are located in the gap between two adjacent conveying rollers 21, which facilitates the smooth insertion of the horizontal section of the gripper 7 into the bottom of the bag 22 during the gripping process without damaging the bag 22.

[0026] The working process of the conveying and handling system provided in this embodiment is as follows: Initially, the piston rod of the robotic arm's cylinder is in an upward retracted state, the pressure plate 5 is in a raised position, and the two rotating arms 9 are in an outward opening state, thus the two sets of gripper assemblies are in an outward opening state. The robotic arm 19 drives the robotic arm to move above the conveying channel of the conveyor frame 18, aligning it with the bag 22 to be grasped on the conveying channel, and positioning the two sets of gripper assemblies in the open state on the left and right sides of the bag 22 to be grasped.

[0027] When the gripping begins, the piston rod of the cylinder extends downward, pushing the pressure plate 5 down. The pressure plate 5 directly presses the top of the bag 22. At the same time, the pressure plate 5 pulls the two rotating plates 14 inward through the connecting rods 15 on the left and right sides of the top. The two rotating plates 14 synchronously drive the two rotating arms 9 to rotate in opposite directions. The two rotating arms 9 then retract inward, causing the horizontal plate 6 to retract inward synchronously. This allows the grippers 7 of the two sets of gripper assemblies to clamp the bag 22 from the left and right sides respectively, and the horizontal section of the gripper 7 inserts into the bottom of the bag 22. Finally, a gripping state of "pressing at the top, clamping on both sides, and catching at the bottom" is formed, realizing the shaping and stable gripping of the bag 22.

[0028] Then, by moving the robotic arm 19, the bag 22 on the conveying channel can be moved out of the conveying channel and transferred to the designated position. After the bag 22 is transferred to the target position, the piston rod of the cylinder retracts, driving the pressure plate 5 to move upward. The connecting rod 15 pulls the rotating plate 14 to open the two sets of gripper assemblies outward, releasing the material and completing one gripping and handling cycle. The handling system returns to the initial state and waits for the next operation.

[0029] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A single-cylinder driven bag-picking and shaping robot hand comprising a mounting plate (1), characterized in that: The bottom of the mounting plate (1) is provided with a pressing mechanism (2) and a clamping mechanism (3), The pressing mechanism (2) comprises a linear driving component (4) and a pressing plate (5), the linear driving component (4) is installed on the mounting plate (1), and the output end of the linear driving component (4) extends downward and is connected with the pressing plate (5); The clamping mechanism (3) comprises two groups of clamping jaw assemblies opposite to each other, the two groups of clamping jaw assemblies are located on the left and right sides of the pressing mechanism (2), and the opposite side of the two groups of clamping jaw assemblies is the inner side, each group of clamping jaw assemblies comprises a horizontal plate (6), a plurality of clamping jaws (7) are arranged on the horizontal plate (6) in the front-rear direction, the clamping jaw (7) is in L shape, the vertical section of the clamping jaw (7) is installed on the horizontal plate (6), and the horizontal section of the clamping jaw (7) extends to the inner side; a rotating arm (9) is fixed on the horizontal plate (6), the upper end of the rotating arm (9) is fixed with a rotating shaft (10) extending in the front-rear direction, the rotating shaft (10) is rotatably installed on the mounting plate (1), and the inner side of the rotating arm (9) is fixed with a rotating plate (14); The rotating plates (14) of the two groups of clamping jaw assemblies are connected with the left and right sides of the top end of the pressing plate (5) through connecting rods (15) respectively, the two ends of each connecting rod (15) are rotatably connected with the rotating plate (14) and the pressing plate (5) respectively, the pressing plate (5) is driven to move vertically by the linear driving component (4), the pressing plate (5) drives the two rotating plates (14) to move through the two connecting rods (15), so that the two groups of clamping jaw assemblies are driven to rotate around the axis of the rotating shaft (10) respectively, and then the two groups of clamping jaw assemblies are controlled to open outward or close inward.

2. A single cylinder driven bag pick and profile robot as claimed in claim 1 wherein: When the linear driving component (4) drives the pressing plate (5) to move downward, the two groups of clamping jaw assemblies are gradually closed inward through the two connecting rods (15); when the linear driving component (4) drives the pressing plate (5) to lift upward, the two groups of clamping jaw assemblies are gradually opened outward through the two connecting rods (15).

3. A single pneumatic cylinder driven bag pick and profile manipulator as claimed in claim 1 wherein: The clamping jaw (7) is in L-shaped rod structure, the upper section of the vertical section of the clamping jaw (7) is a screw rod section (8), a through hole is formed in the horizontal rod for the screw rod section (8) to pass through, the screw rod section (8) of the clamping jaw (7) passes through the through hole of the horizontal rod and is locked by a nut, and the installation of the clamping jaw (7) and the horizontal rod is realized.

4. A single pneumatic cylinder actuated bag pick and profile manipulator as claimed in claim 1 wherein: In the clamping jaw assembly, a lateral clamping plate (13) is detachably installed on the inner side of the vertical section of the clamping jaw (7).

5. A single pneumatic cylinder actuated bag pick and profile manipulator as claimed in claim 1 wherein: The linear driving component (4) is a gas cylinder, and the piston rod of the gas cylinder extends downward and is connected with the pressing plate (5).

6. A single pneumatic cylinder actuated bag pick and profile manipulator as claimed in claim 1 wherein: One end of the connecting rod (15) is hinged with the rotating plate (14) through a first hinge shaft (16), the other end of the connecting rod (15) is hinged with the pressing plate (5) through a second hinge shaft (17), and the axes of the first hinge shaft (16) and the second hinge shaft (17) extend in the front-rear direction.

7. A single pneumatic cylinder actuated bag pick and profile manipulator as claimed in claim 1 wherein: The bottom of the mounting plate (1) is fixed with two mounting supports (11) on the left and right sides, and the rotating shafts (10) of the two groups of clamping jaw assemblies are rotatably installed on the two mounting supports (11) respectively.

8. A conveying system comprising a conveying carriage (18) provided with a robot arm (19) on one side, characterized in that: The mechanical arm (19) is provided with a mechanical hand at the end, the mechanical hand is a single-cylinder driven bagged grabbing shaping mechanical hand according to any one of claims 1 to 7, and the mechanical hand is installed at the end of the mechanical arm (19) through the mounting plate (1).

9. The conveyor system of claim 8, wherein: The conveying channel on the conveying frame (18) is a front-rear extending roller way conveying channel (20), the axial center distance of adjacent conveying rollers (21) in the roller way conveying channel (20) is a first axial center distance, and the center distance of adjacent clamping jaws (7) in each group of clamping jaw assemblies is a second center distance, and the second center distance is equal to the first axial center distance.

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