A bag placing robot

Abstract

The application relates to a bag clamping mechanical hand, which comprises a driving shaft group, a moving arm and a driven assembly, the driving shaft group comprises a first driving shaft, a second driving shaft and a third driving shaft, the driving shaft group is rotationally arranged on a fixed base, the driving shaft group is in transmission connection with a power assembly, the first driving shaft and the second driving shaft are provided with driving gears, the moving arm is connected with the third driving shaft, the first driving shaft and the second driving shaft are rotationally arranged on the moving arm, the driven assembly is rotationally arranged on the moving arm, the driven assembly comprises a first driven part and a second driven part, the first driven part is connected with a first clamping arm, the first clamping arm is connected with a first clamping plate, the second driven part is connected with a second clamping arm, the second clamping arm is connected with a second clamping plate, the first driven part and the second driven part are provided with driven tooth segments, intermediate gears are arranged between the driving gears and the driven tooth segments, the power assembly drives the first driving shaft and the second driving shaft to rotate reversely, and the clamping arm and the clamping plate are swung to clamp and release the bag body through the driven part.

Description

Technical Field

[0001] This invention relates to a bag-loading robot. Background Technology

[0002] The existing vacuum packaging machine uses a horizontal bag conveyor to transport bags, and a bag-loading robot flips the bags onto the machine. The proposed solution is to connect the vacuum packaging machine with a bag-making machine, where the bag-making machine makes bags vertically and the bag-loading robot loads the bags vertically. The moving arm of the bag-loading robot is driven by a motor to swing and load the bags, and the posture of the bags will change before and after the swing. Summary of the Invention

[0003] In view of the technical problems existing in the background art, the present invention aims to provide a bag-loading robot, in which the intermediate gear rotates around the driving gear during the bag loading process, driving the driven gear segment to rotate, and the first driven member and the second driven member rotate synchronously to drive the corresponding gripping arm to swing, thereby adapting to the angle changes caused by the swing of the moving arm.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This bag-loading robot includes a drive shaft assembly, a moving arm, and a driven component. The drive shaft assembly includes a first drive shaft, a second drive shaft, and a third drive shaft. The second drive shaft is sleeved outside the first drive shaft, and the third drive shaft is sleeved outside the second drive shaft. The drive shaft assembly is rotatably mounted on a fixed base. A power component is provided on the fixed base, and the drive shaft assembly is drively connected to the power component. Both the first and second drive shafts are provided with drive gears. The moving arm is connected to the third drive shaft. A drive shaft and a second drive shaft are rotatably mounted on the moving arm. A driven assembly is rotatably mounted on the moving arm. The driven assembly includes a first driven member and a second driven member. The rotation center line of the first driven member is consistent with the rotation center line of the second driven member. The first driven member is connected to a first clamping arm, and the first clamping arm is connected to a first clamping plate. The second driven member is connected to a second clamping arm, and the second clamping arm is connected to a second clamping plate. Both the first driven member and the second driven member have driven tooth segments. An intermediate gear is connected between the drive gear and the driven tooth segments.

[0005] In this scheme, the power component drives the first and second drive shafts to rotate in opposite directions. Through the corresponding driven parts, the corresponding clamping arms and corresponding clamping plates swing to clamp and release the bag. The rotating motor drives the third drive shaft to swing the moving arm to load the bag. During the loading process, the intermediate gear rotates around the drive gear, which drives the driven parts to rotate. The first and second driven parts rotate synchronously, which drives the corresponding clamping arms to swing, adapting to the angle changes caused by the swing of the moving arm.

[0006] Preferably, the power assembly further includes a rotary motor, a first motor, and a second motor. The rotary motor is driven by the third drive shaft, the first motor is driven by the first drive shaft, and the second motor is driven by the second drive shaft. Both the first clamping plate and the second clamping plate have an avoidance state and a bag clamping state. The first clamping plate and the second clamping plate swing in the same direction to switch between the avoidance state and the bag clamping state.

[0007] In this solution, when connected to a vacuum packaging machine, the first and second clamps switch to an avoidance state during the swing of the moving arm to prevent collision with the side clamps of the vacuum packaging machine.

[0008] Preferably, the first drive shaft, the second drive shaft, and the third drive shaft are all connected to driven arms, and the output shafts of the first motor, the second motor, and the rotary motor are all connected to drive arms. The drive arms and the driven arms are respectively hinged to both ends of the transmission rod.

[0009] In this scheme, the driving arm drives the driven arm to swing and the corresponding driving shaft to rotate through the transmission rod, resulting in fewer transmission links and faster transmission.

[0010] Preferably, the fixed base is provided with a connected transmission cavity and a power cavity, the driven arm, the driving arm and the transmission rod are disposed in the transmission cavity, and the rotating motor, the second motor and the first motor are disposed in the power cavity from top to bottom.

[0011] In this design, the rotating motor, the first motor, and the second motor are arranged sequentially from top to bottom, which is a reasonable layout.

[0012] Preferably, the fixed base is fixedly connected to a support sleeve, and the support sleeve has an inner hole for the third drive shaft to pass through.

[0013] In this design, the support sleeve reliably supports the third spindle.

[0014] Preferably, the driven tooth segment and the first clamping arm are arranged circumferentially along the first driven member, and the driven tooth segment and the second clamping arm are arranged circumferentially along the second driven member.

[0015] In this design, the driven tooth segment and the clamping arm are arranged along the circumference of the driven member, resulting in a compact structure.

[0016] Preferably, the driving gear meshes with the intermediate gear, the intermediate gear meshes with the driven gear segment, the intermediate gear is coaxially arranged, the number of teeth of the intermediate gear is greater than the number of teeth of the driving gear, and the driven component is located below the driving shaft assembly.

[0017] This solution has fewer transmission links and a faster response speed.

[0018] Preferably, the movable arm is connected to a mounting plate, the mounting plate is connected to a cover, the mounting plate and the cover form an inner cavity, and the drive gear and the intermediate gear are disposed in the inner cavity.

[0019] In this design, the driving gear, intermediate gear, and driven gear segment are housed within the inner cavity, providing waterproof and dustproof protection.

[0020] Preferably, the first driven member and the second driven member are sleeved together, the movable arm is provided with a through groove, one side wall of the through groove is provided with a first mounting hole for the second driven member to pass through, and the other side wall of the through groove is provided with a second mounting hole for the first driven member and the second driven member to pass through.

[0021] In this design, the groove wall provides reliable support to both ends of the second driven member.

[0022] Preferably, the first clamping plate is detachably connected to a pad.

[0023] In this solution, the padding plate is replaced to accommodate different bag thicknesses.

[0024] The beneficial effects of this invention are as follows: the power assembly drives the first and second drive shafts to rotate in opposite directions, which in turn drives the corresponding gripping arms and plates to swing and clamp and release the bag through the corresponding driven parts. The rotary motor drives the third drive shaft to swing the moving arm to load the bag. During the loading process, the intermediate gear rotates around the drive gear, driving the driven parts to rotate. The first and second driven parts rotate synchronously, driving the corresponding gripping arms to swing, thus adapting to the angle changes caused by the swing of the moving arm. Therefore, this invention has substantial features and progress compared with the prior art. Attached Figure Description

[0025] The following description, in conjunction with the accompanying drawings, details the embodiments and working principles of the present invention.

[0026] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0027] Figure 2 This is a cross-sectional view of the drive shaft assembly in this invention.

[0028] Figure 3 This is a cross-sectional view of the driven component in this invention.

[0029] Figure 4 This is a three-dimensional structural diagram of the mobile arm in this invention.

[0030] Figure 5 This is a three-dimensional structural diagram of the transmission rod in this invention.

[0031] Figure 6 This is a three-dimensional structural diagram of the pad in this invention.

[0032] In the diagram: 1. Moving arm; 2. Third drive shaft; 3. Fixed base; 4. Power assembly; 5. Drive shaft assembly; 6. First drive shaft; 7. Second drive shaft; 8. Rotary motor; 9. Drive gear; 10. Driven assembly; 11. First driven member; 12. Second driven member; 13. First clamping arm; 14. First clamping plate; 15. Second clamping arm; 16. Second clamping plate; 17. Driven gear segment; 18. Intermediate gear; 19. First motor; 20. Second motor; 21. Driven arm; 22. Drive arm; 23. Transmission rod; 24. Transmission cavity; 25. Support sleeve; 26. Mounting plate; 27. Cover; 28. Inner cavity; 29. ​​Through groove; 30. Pad plate. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the implementation of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0034] In the description of this application, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] In the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0036] See appendix Figure 1-3 In one embodiment of this invention, a bag-loading robot includes a drive shaft assembly 5, a moving arm 1, and a driven component 10. The drive shaft assembly 5 includes a first drive shaft 6, a second drive shaft 7, and a third drive shaft 2. The second drive shaft 7 is sleeved outside the first drive shaft 6, and the third drive shaft 2 is sleeved outside the second drive shaft 7.

[0037] See appendix Figure 5The drive shaft assembly 5 is rotatably mounted on the fixed base 3. The fixed base 3 is provided with a transmission cavity 24 and a power cavity that are connected. The driven arm 21, the drive arm 22 and the transmission rod 23 are arranged in the transmission cavity 24. The rotating motor 8, the second motor 20 and the first motor 19 are arranged in the power cavity from top to bottom. The fixed base 3 is fixedly connected with a support sleeve 25. The support sleeve 25 is provided with an inner hole for the third drive shaft 2 to pass through.

[0038] See appendix Figure 4 The movable arm 1 is connected to a third drive shaft 2. The first drive shaft 6 and the second drive shaft 7 are rotatably mounted on the movable arm 1. The movable arm 1 is provided with a through groove 29. One side wall of the through groove 29 is provided with a first mounting hole for the second follower 12 to pass through, and the other side wall of the through groove 29 is provided with a second mounting hole for the first follower 11 and the second follower 12 to pass through.

[0039] See appendix Figure 5 The power assembly 4 includes a rotary motor 8, a first motor 19, and a second motor 20. The first drive shaft 6, the second drive shaft 7, and the third drive shaft 2 are all connected to a driven arm 21. The output shafts of the first motor 19, the second motor 20, and the rotary motor 8 are all connected to a drive arm 22. The drive arm 22 and the driven arm 21 are respectively hinged to both ends of the transmission rod 23.

[0040] See appendix Figure 6 The driven component 10 is rotatably mounted on the moving arm 1 and is located below the drive shaft assembly 5. The driven component 10 includes a first driven member 11 and a second driven member 12. The rotation center line of the first driven member 11 is consistent with the rotation center line of the second driven member 12. The first driven member 11 is connected to a first clamping arm 13, and the first clamping arm 13 is connected to a first clamping plate 14. The second driven member 12 is connected to a second clamping arm 15, and the second clamping arm 15 is connected to a second clamping plate 16. The first clamping plate 14 is detachably connected to a pad 30. Both the first clamping plate 14 and the second clamping plate 16 have an avoidance state and a bag clamping state. The first clamping plate 14 and the second clamping plate 16 swing in the same direction to switch between the avoidance state and the bag clamping state.

[0041] See appendix Figure 4Both the first drive shaft 6 and the second drive shaft 7 are provided with drive gears 9, and both the first driven member 11 and the second driven member 12 are provided with driven tooth segments 17. The drive gear 9 meshes with the intermediate gear 18, and the intermediate gear 18 meshes with the driven tooth segments 17. The intermediate gear 18 is coaxially arranged, and the number of teeth of the intermediate gear 18 is greater than the number of teeth of the drive gear 9. The moving arm 1 is connected to a mounting plate 26, and the mounting plate 26 is connected to a cover 27. The mounting plate 26 and the cover 27 form an inner cavity 28, and the drive gear 9 and the intermediate gear 18 are disposed in the inner cavity 28.

[0042] In this embodiment, when clamping and releasing the bag, the first motor 19 and the second motor 20 drive the first drive shaft 6 and the second drive shaft 7 to rotate in opposite directions through the transmission structure of the drive arm 22, the transmission rod 23 and the driven arm 21. The first drive shaft 6 and the second drive shaft 7 drive the first driven member 11 and the second driven member 12 to rotate in opposite directions. The first clamping arm 13 and the second clamping arm 15 swing towards each other or in opposite directions to complete the clamping and releasing of the bag.

[0043] When the moving arm 1 is in place and when the moving arm 1 returns to its original position, the rotating motor 8 drives the third drive shaft 2 through the transmission structure of the drive arm 22, the transmission rod 23 and the driven arm 21, causing the moving arm 1 to swing around the axis of the third main shaft. The intermediate gear 18 rotates around the drive gear 9, and drives the corresponding clamping arm to swing through the corresponding driven part, so that the corresponding clamping plate swings, which counteracts the angle change caused by the swing of the moving arm 1 and maintains the posture of the bag.

[0044] When the bag is loaded into the vacuum packaging machine, the first motor 19 and the second motor 20 drive the first drive shaft 6 and the second drive shaft 7 to rotate synchronously. The first clamping plate 14 and the second clamping plate 16 clamp the bag body and swing to avoid the side clamp of the vacuum packaging machine waiting to hold the bag body. After the bag body is in place, the first clamping plate 14 and the second clamping plate 16 reset.

[0045] The corresponding clamping arms and corresponding clamping plates can be designed as a single unit. The connection points of the corresponding clamping arms and the corresponding driven parts are staggered in the axial direction. Only by connecting the corresponding clamping plates can relative clamping surfaces be formed. For the connection between the shaft and the arm, the arm is provided with a through hole for the shaft to pass through. An opening on the hole wall forms a clamping part at the end of the arm. The clamping part is fastened to clamp the shaft. The driven arm 21 on the second drive shaft 7 can axially limit the first drive shaft 6. The driven arm 21 on the first drive shaft 6 can axially limit the third drive shaft 2. The power assembly 4 is fastened to the fixed seat 3 through the mounting plate 26.

[0046] The intermediate gear 18 rotates around the driving gear 9 with the moving arm 1. Assuming the gear backlash is fixed, the number of gear teeth is positively correlated with the gear diameter, the circumferential distance of the intermediate gear 18 around the driving gear 9 is proportional to the circumference of the driving gear 9, the circumferential distance of the driven member is equal to the circumferential distance of the intermediate gear 18 around the driving gear 9, and the rotation angle of the driven member is inversely proportional to the radius of the driven tooth segment 17. That is, the first driven member 11 and the second driven member 12 must rotate by the same angle. In the corresponding transmission structure, the ratio of the radius of the driving gear 9 to that of the driven tooth segment 17 must be equal, the rotation angle of the two driven members must correspond to the swing angle of the moving arm 1, and the radius of the driving gear 9 to that of the driven tooth segment 17 must be equal. There can be multiple intermediate gears 18, which mesh with each other, or a synchronous belt can be added for transmission.

[0047] The driven element can be an incomplete gear with the clamp arm connected to the toothless part, or it can be a complete gear with the clamp arm connected to the side, or it can be a gear shaft with the driven elements sleeved together and the clamp arm connected to the shaft.

[0048] In other alternative implementations, a synchronous pulley and synchronous belt transmission structure can be used instead of the transmission structure of the driving arm 22, the transmission rod 23 and the driven arm 21. Alternatively, a single motor can be designed to drive the first driving shaft 6 and the second driving shaft 7, and gear reversal can be set to achieve synchronous reverse drive.

[0049] The above description represents the preferred embodiments of the present invention. It should be noted that the scope of protection of the present invention is not limited thereto. For those skilled in the art, various improvements, modifications, or equivalent substitutions can be made without departing from the equivalent inventive concept disclosed in the present invention, and these modifications and substitutions are also considered to be within the scope of protection of the present invention.

Claims

1. A bag-on-lid robot characterized by: include The drive shaft assembly (5) includes a first drive shaft (6), a second drive shaft (7) and a third drive shaft (2). The second drive shaft (7) is sleeved outside the first drive shaft (6), and the third drive shaft (2) is sleeved outside the second drive shaft (7). The drive shaft assembly (5) is rotatably mounted on a fixed seat (3). A power assembly (4) is provided on the fixed seat (3). The drive shaft assembly (5) is connected to the power assembly (4) in a transmission manner. Both the first drive shaft (6) and the second drive shaft (7) are provided with drive gears (9). A movable arm (1) is connected to a third drive shaft (2), and the first drive shaft (6) and the second drive shaft (7) are rotatably mounted on the movable arm (1); The driven component (10) is rotatably mounted on the moving arm (1). The driven component (10) includes a first driven member (11) and a second driven member (12). The rotation center line of the first driven member (11) is consistent with the rotation center line of the second driven member (12). The first driven member (11) is connected to a first clamping arm (13). The first clamping arm (13) is connected to a first clamping plate (14). The second driven member (12) is connected to a second clamping arm (15). The second clamping arm (15) is connected to a second clamping plate (16). Both the first driven member (11) and the second driven member (12) have driven tooth segments (17). An intermediate gear (18) is connected between the driving gear (9) and the driven tooth segments (17). Both the first clamping plate (14) and the second clamping plate (16) have a clearance state and a bag clamping state. The first clamping plate (14) and the second clamping plate (16) swing in the same direction to switch between the clearance state and the bag clamping state.

2. A bag-on-lay robot as claimed in claim 1, characterized in that: The power assembly (4) includes a rotary motor (8), a first motor (19) and a second motor (20). The rotary motor (8) is connected to the third drive shaft (2), the first motor (19) is connected to the first drive shaft (6), and the second motor (20) is connected to the second drive shaft (7).

3. A bag-on-lay robot as claimed in claim 2, wherein: The first drive shaft (6), the second drive shaft (7) and the third drive shaft (2) are all connected to driven arms (21), and the output shafts of the first motor (19), the second motor (20) and the rotary motor (8) are all connected to drive arms (22). The drive arms (22) and the driven arms (21) are respectively hinged to both ends of the transmission rod (23).

4. A bag-on-lay robot as claimed in claim 3, wherein: The fixed base (3) is provided with a transmission cavity (24) and a power cavity that are connected. The driven arm (21), the driving arm (22) and the transmission rod (23) are arranged in the transmission cavity (24). The rotating motor (8), the second motor (20) and the first motor (19) are arranged in the power cavity from top to bottom.

5. A bag-on-lay robot as claimed in claim 1 wherein: The fixed base (3) is fixedly connected to a support sleeve (25), and the support sleeve (25) has an inner hole for the third drive shaft (2) to pass through.

6. A bag-on-lay robot as claimed in claim 1 wherein: The driven tooth segment (17) and the first clamping arm (13) are arranged circumferentially along the first driven member (11), and the driven tooth segment (17) and the second clamping arm (15) are arranged circumferentially along the second driven member (12).

7. A bag-on-lay robot as claimed in claim 6, characterized in that: The driving gear (9) meshes with the intermediate gear (18), the intermediate gear (18) meshes with the driven gear segment (17), the intermediate gear (18) is coaxially arranged, the number of teeth of the intermediate gear (18) is more than the number of teeth of the driving gear (9), and the driven component (10) is located below the driving shaft assembly (5).

8. A bag-on-lay robot as claimed in claim 7, characterized in that: The movable arm (1) is connected to a mounting plate (26), the mounting plate (26) is connected to a cover (27), the mounting plate (26) and the cover (27) form an inner cavity (28), and the drive gear (9) and the intermediate gear (18) are disposed in the inner cavity (28).

9. A bag-on-lay robot as claimed in claim 1 wherein: The first follower (11) is sleeved with the second follower (12). The moving arm (1) is provided with a through groove (29). One side of the through groove (29) is provided with a first mounting hole for the second follower (12) to pass through. The other side of the through groove (29) is provided with a second mounting hole for the first follower (11) and the second follower (12) to pass through.

10. The bag-on-valve mechanical hand of claim 1 wherein: The first clamping plate (14) is detachably connected to a pad (30).

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