Gear shifting self-locking bag clamping manipulator

Abstract

This invention relates to the field of packaging equipment technology, and in particular provides a shifting self-locking bag clamping robot, including a mounting base; a pair of clamping mechanisms symmetrically arranged; and a shifting self-locking mechanism connected to the clamping mechanisms. The shifting self-locking mechanism is used to adjust the distance between the pair of clamping mechanisms and achieve multi-position switching, and can achieve self-locking positioning in the reset state, bag feeding state, and flattening state respectively. This invention can flexibly adjust the distance between the two sets of clamping mechanisms to achieve multi-position switching, and can maintain the states in the reset state, bag feeding state, and flattening state respectively. It eliminates the need for additional auxiliary holding tracks, reducing the risk of unstable clamping distance due to uneven tracks. The clamping distance remains stable, improving sealing quality while reducing the high cost of the original holding tracks and minimizing the installation space required for clamping adjustment.

Description

Technical Field

[0001] This invention relates to the field of packaging equipment technology, and in particular to a shifting self-locking bag clamping robot. Background Technology

[0002] Filling and packaging machines are integrated automated packaging equipment. Their core function is to quantitatively fill materials and complete the entire packaging process. They automatically realize the filling and sealing process, replacing manual packaging, and are widely used in industrial mass production.

[0003] During the bag transport process of the filling and packaging machine, the bags are constantly held by grippers. The grippers transport the bags to various workstations, and this process typically includes bag loading, bag feeding and opening, material unloading, and flattening and sealing. The state of the grippers varies at different workstations.

[0004] The process involves several steps: after the bag is loaded, the gripper spacing narrows to loosen the bag and open it; after opening, the gripper maintains the bag feeding distance to allow for material filling; after filling, the gripper spacing widens to flatten the bag; finally, the bag is sealed, and the gripper spacing is adjusted to match the bag size.

[0005] However, the gripping distance in the existing technology cannot achieve self-locking during the transportation of the bag, and usually requires the assistance of the track to maintain it, which requires a large installation space.

[0006] Therefore, how to provide a shifting self-locking bag gripper is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] To address the aforementioned problems, the present invention provides a shifting self-locking bag gripper to solve at least one of the problems mentioned above in the prior art.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides a shift-type self-locking bag-gripping robot, comprising: Mounting base; A pair of clamping mechanisms are symmetrically arranged; the pair of clamping mechanisms work together to clamp the bag body; A shifting self-locking mechanism is connected to the clamping mechanism, and the shifting self-locking mechanism is used to adjust the distance between a pair of clamping mechanisms to achieve multi-gear switching, and can achieve self-locking positioning in multi-gear reset state, bag feeding state, and flattening state.

[0009] The shifting self-locking bag gripper provided by the present invention further includes: A pair of link elastic components are respectively disposed on the clamping mechanism; relying on the dead point mechanism of the link elastic components, the clamping mechanism can switch between a normally open state and a normally closed state.

[0010] According to the present invention, a shifting self-locking bag gripper is provided, wherein the shifting self-locking mechanism includes: A gear shifting assembly for adjusting gears to fit different sized packaging bags; A rocker arm transmission assembly, which is used to receive external forces and transmit power; A cam drive assembly is rotatably connected to the rocker arm drive assembly, and the cam drive assembly is rotatably connected to the gear shift assembly; A drive actuator is movably connected to the cam transmission assembly; and the drive actuator is hinged to the clamping mechanism. Under the combined action of the cam transmission assembly and the drive execution assembly, the two clamping mechanisms open and close synchronously, adjust their spacing, and achieve state self-locking.

[0011] According to the present invention, a shifting self-locking bag gripper is provided, wherein the shifting assembly includes: Shift screw; The shift shaft block is threadedly connected to the shift screw. A guide shaft is fixedly installed, and the axis of the guide shaft is parallel to the axis of the shift screw; the guide shaft passes through the shift shaft core block. When the shift screw rotates, it drives the shift shaft block to move along the axial direction of the shift screw, thereby driving the rotation of the cam transmission assembly and realizing gear switching.

[0012] According to the present invention, a shifting self-locking bag clamping robot includes a swing arm transmission assembly comprising a wear-resistant sleeve swing arm, a parallel active swing arm, a parallel driven swing arm, and a parallel guide plate; the wear-resistant sleeve swing arm is connected to the parallel active swing arm; both the parallel active swing arm and the parallel driven swing arm are disposed on the parallel guide plate; The wear-resistant sleeve swing rod swings, causing the parallel active swing rod, the parallel driven swing rod, and the cam transmission assembly to swing synchronously with the parallel guide plate.

[0013] According to the present invention, a shift-type self-locking bag-clamping robot includes a cam transmission assembly comprising a feed cam, a cam shaft, and a first needle roller bearing; the feed cam is fixed to the cam shaft and hinged to the shift shaft center block; the first needle roller bearing is disposed on the feed cam and slides along the parallel guide groove plate; the outer periphery of the feed cam is provided with three equal circular curves, corresponding to the robot's reset state, bag feeding state, and flattening state, respectively; the drive execution assembly fits with the equal circular curves to achieve self-locking of the corresponding gear.

[0014] According to the present invention, a shifting self-locking bag clamping robot includes a drive execution assembly comprising a drive guide groove, a drive swing block, a feed-pull outer swing rod, a feed-pull connecting rod, a horizontal guide shaft, and a feed-pull tension spring. The drive guide groove is connected to the drive swing block. One end of the feed-pull tension spring is connected to the feed-pull outer swing rod, and the other end of the feed-pull tension spring is connected to the mounting base. The feed-pull outer swing rod is connected to the drive swing block. The drive guide groove and the feed-pull cam cooperate to drive the drive swing block and the feed-pull outer swing rod to swing. The feed-pull outer swing rod is respectively connected to the clamping mechanism through the feed-pull connecting rod. The two sets of clamping mechanisms are slidably assembled on the horizontal guide shaft through linear bearings to achieve inward and outward spacing.

[0015] According to the present invention, a shift-type self-locking bag-gripping robot hand is provided, wherein the gripping mechanism includes: Arm fixation plate; The first clamping unit and the second clamping unit are both disposed on the arm fixing plate; One end of the connecting rod elastic component is connected to the first clamping unit, and the other end of the connecting rod elastic component is connected to the second clamping unit; under the action of the connecting rod elastic component, both the first clamping unit and the second clamping unit switch between a normally open state and a normally closed state.

[0016] According to the present invention, a shifting self-locking bag clamping robot includes a first clamping unit comprising a first fixed clamping block and a first movable clamping block; a second clamping unit comprising a second fixed clamping block and a second movable clamping block; and a linkage elastic assembly comprising a first opening and closing swing block, a second opening and closing swing block, and a first elastic element. The first fixing clamping block and the second fixing clamping block are respectively fixedly disposed at both ends of the arm fixing plate; The first movable clamping block and the first opening and closing swing block are connected and both are hinged to the arm fixing plate; the second movable clamping block and the second opening and closing swing block are connected and both are hinged to the arm fixing plate; One end of the first elastic element is connected to the first opening and closing swing block, and the other end of the first elastic element is connected to the second opening and closing swing block. In the normally open state, the first movable clamping block remains open with the first fixed clamping block, the second movable clamping block, and the second fixed clamping block; In the normally closed state, the first movable clamping block, together with the first fixed clamping block, the second movable clamping block, and the second fixed clamping block, clamps the bag body.

[0017] According to the present invention, a shifting self-locking bag clamping robot is provided, wherein the mounting base includes a base and a cover, a sealing strip is assembled between the base and the cover to form a sealed cavity, and the shifting self-locking mechanism is disposed in the sealed cavity.

[0018] As can be seen from the above technical solution, compared with the prior art, the present invention provides a shifting self-locking bag gripper, which has the following beneficial effects: This invention, through a shifting self-locking mechanism, allows for flexible adjustment of the distance between two sets of clamping mechanisms and enables multi-gear switching, making it suitable for use with packaging bags of different sizes.

[0019] The gripper of this invention can self-lock according to the gear position, no longer relying on the retaining track to maintain the corresponding spacing, reducing the risk of unstable gripper spacing caused by uneven retaining track. The gripper spacing remains stable, improving sealing quality while reducing the high cost brought by the original retaining track and reducing the installation space for gripper adjustment.

[0020] Furthermore, in this invention, under the action of the connecting rod elastic component, the clamping mechanism crosses the mechanical collinearity dead point, utilizing the dead-point mechanical principle to achieve stable locking in both normally open and normally closed states. On one hand, the clamping mechanism exhibits strong consistency in its opening and closing actions, solving the problems of instability and difficulty in bag insertion in traditional grippers, reducing the timing coordination difficulty of the bag loading process, and improving the smoothness of the bag loading operation; on the other hand, the normally open state ensures that the bag falls smoothly out of the bag, avoiding accidental clamping or collision damage, while the normally closed state ensures that the bag is firmly clamped, guaranteeing a stable conveying process. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1 A schematic diagram of the overall structure of the shifting self-locking bag-clamping robot provided by the present invention; Figure 2 This is a schematic diagram of the internal structure of the shifting self-locking bag clamping robot after the cap is removed, as provided by the present invention. Figure 3 This is a schematic diagram of the internal structure of the shifting self-locking structure provided by the present invention.

[0023] Figure 4 This is a structural schematic diagram of the shifting self-locking bag clamping robot provided by the present invention from another angle.

[0024] In the figure: 1. Mounting base; 2. Clamping mechanism; 3. Linkage elastic assembly; 4. Shifting self-locking mechanism; 11. Base; 12. Cover; 21. Arm fixing plate; 22. First fixed clamping block; 23. First movable clamping block; 24. Second fixed clamping block; 25. Second movable clamping block; 31. First opening and closing swing block; 32. Second opening and closing swing block; 33. First elastic element; 221. Housing; 222. Clamping mandrel; 223. Clamping threaded lock nut; 41. Gear shift assembly; 411. Gear shift screw; 412. Gear shift shaft block; 413. Guide shaft; 42. Rocker arm transmission assembly; 421. Wear-resistant sleeve rocker arm; 422. Parallel active rocker arm; 423. Parallel driven rocker arm; 424. Parallel guide groove plate; 43. Cam drive assembly; 431. Feeding cam; 432. Cam shaft; 433. First needle roller bearing; 44. Drive actuator assembly; 441. Drive guide groove; 442. Drive swing block; 443. Outer swing arm for feeding and pulling; 444. Feeding and pulling connecting rod; 445. Horizontal guide shaft; 446. Feeding and pulling spring; 447. Second needle roller bearing; 448. Third needle roller bearing. Detailed Implementation

[0025] 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 present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] like Figures 1-4 As shown, the present invention provides a shifting self-locking bag gripper, including a mounting base 1, a pair of symmetrically arranged gripping mechanisms 2, and a shifting self-locking mechanism 4.

[0027] like Figure 1 As shown, the pair of clamping mechanisms 2 cooperate with each other to complete the clamping operation of the bag; the shifting self-locking mechanism 4 is connected to the two sets of clamping mechanisms 2 through transmission, which can not only adjust the relative distance between the two clamping mechanisms 2 to realize shifting; but also the shifting self-locking mechanism 4 can achieve self-locking position in the reset state, bag feeding state and flattening state of the clamping mechanism 2.

[0028] This invention features a shifting self-locking mechanism that allows for flexible adjustment of the spacing between the two clamping mechanisms and enables multi-position switching, making it suitable for packaging bags of different sizes. Furthermore, this invention can independently maintain self-locking in the reset, bag feeding, and flattening states without requiring additional auxiliary retaining tracks. This reduces the risk of unstable clamping distance due to uneven tracks, ensuring a stable clamping distance, improving sealing quality, reducing the high cost of traditional retaining tracks, and minimizing the installation space required for clamp adjustment.

[0029] In a feasible embodiment of the present invention, a pair of link elastic components 3 are further included, respectively assembled on the clamping mechanism 2. Relying on the dead point mechanism of the link elastic components 3, the clamping mechanism 2 can switch between a normally open state and a normally closed state.

[0030] In the above embodiments, the clamping mechanism 2 is used to simultaneously complete the clamping operation of the bag. The clamping state is maintained by the over-dead-point principle of the connecting rod elastic component 3, and the opening and closing states are stable and reliable.

[0031] like Figure 2 and Figure 3 As shown, in a feasible embodiment of the present invention, the shifting self-locking mechanism 4 includes a shifting assembly 41, a rocker arm transmission assembly 42, a cam transmission assembly 43, and a drive execution assembly 44. The shifting assembly 41 cooperates with the cam rotation assembly 43 to switch working gears to adapt to packaging bags of different shapes and sizes. The rocker arm transmission assembly 42 receives external driving force and completes power transmission. The cam transmission assembly 43 is connected to the rocker arm transmission assembly 42 to realize power reversal and trajectory limitation; the drive execution assembly 44 is connected to the cam transmission assembly 43 and two sets of clamping mechanisms 2 respectively, and can drive the clamping mechanisms 2 to complete synchronous opening and closing, spacing adjustment, and achieve self-locking in each working state by means of mechanical structure.

[0032] In the above embodiments, the shift self-locking mechanism 4 integrates multiple functions such as gear adjustment, power transmission, and status self-locking, replacing the traditional rack and pinion adjustment structure and external auxiliary rail. While simplifying the structure, it eliminates the problem of hand clamping distance deviation caused by uneven rail installation and improves the sealing processing quality.

[0033] In a feasible embodiment of the present invention, the shift assembly 41 includes a shift screw 411, a shift shaft block 412, and a guide shaft 413, wherein the shift shaft block 412 is threadedly connected to the shift screw 411. The guide shaft 413 is fixedly installed, and its axis is parallel to the axis of the shift screw 411; the guide shaft 413 passes through the shift shaft block 412. When the operator rotates the shift screw 411, since the guide shaft 413 is fixed, the shift shaft block 412 moves along the axial direction of the shift screw 411, thereby driving the cam transmission assembly 43 to rotate, changing the rotation center height of the cam transmission assembly 43. The cam transmission assembly 43 drives the drive actuator 44 to move, thereby switching the working gear to adapt to different sizes of packaging bags.

[0034] More specifically, the length of the guide shaft 413 is set according to actual needs to avoid interference with moving parts.

[0035] In the above embodiments, the use of a shift screw 411 and a shift shaft block 412 ensures high adjustment precision, simple operation, and smooth gear shifting without jamming. Furthermore, due to the self-locking mechanical thread of the shift screw 411, its position will not shift after shifting, ensuring that the clamping spacing of packaging bags of different sizes is always matched, thus improving versatility.

[0036] In a specific embodiment of the present invention, the rocker arm transmission assembly 42 includes a wear-resistant sleeve rocker arm 421, a parallel active rocker arm 422, a parallel driven rocker arm 423, and a parallel guide plate 424. The wear-resistant sleeve rocker arm 421 is fixedly connected to the parallel active rocker arm 422. The parallel active rocker arm 422 and the parallel driven rocker arm 423 are both mounted on the parallel guide plate 424, and the cam transmission assembly 43 is slidably connected to the parallel guide plate 424. During operation, the wear-resistant sleeve rocker arm 421 swings under the action of external force, synchronously driving the parallel active rocker arm 422, the parallel driven rocker arm 423, and the parallel guide plate 424 to swing as a whole, thereby transmitting power to the cam transmission assembly 43.

[0037] In the above embodiments, the parallel active rocker arm 422 and the parallel driven rocker arm 423, together with the parallel guide plate 424, form a synchronous transmission structure, which ensures uniform power transmission, small transmission gap, and sensitive action response. The wear-resistant sleeve rocker arm 421 reduces friction loss, extends the service life of transmission components, and ensures consistent transmission accuracy under long-term continuous operation.

[0038] In a feasible embodiment of the present invention, the cam transmission assembly 43 includes a feed cam 431, a cam shaft 432, and a first needle roller bearing 433. The feed cam 431 is fixed on the cam shaft 432, which is connected to the shift shaft block 412. The first needle roller bearing 433 is mounted on the feed cam 431 and can slide along the parallel guide plate 424. The outer periphery of the feed cam 431 is provided with three equal circular curves, corresponding to the robot arm reset state, bag feeding state, and flattening state, respectively. The drive execution assembly 44 has a second needle roller bearing 447. When the wear-resistant sleeve rocker arm 421 moves to the corresponding position, the second needle roller bearing 447 is engaged with the corresponding equal circular curve, and the drive execution assembly 44 is limited and locked, realizing self-locking of the corresponding working position.

[0039] It should be noted that the feed cam 431 finds the common curve of each gear through calculation. Since there are three arcs with equal radii on the feed cam 431, no matter how the feed cam 431 rotates under the same radius, the second needle roller bearing 447 tangent to the feed cam 431 will not drive the actuator 44 to rotate, thereby achieving self-locking.

[0040] In the above embodiments, the three segments of equal circular curves precisely correspond to the three working states of the entire packaging process. Pure mechanical self-locking is achieved through the cam profile, eliminating the need for additional locking components, and the self-locking effect is stable and reliable. The use of a first needle roller bearing 433 results in low sliding friction resistance, low operating noise, and smooth operation, meeting the requirements of high-speed continuous operation of the packaging equipment.

[0041] In a feasible embodiment of the present invention, the drive execution component 44 includes a drive guide groove 441, a drive swing block 442, a pull-out swing rod 443, a pull-out connecting rod 444, a horizontal guide shaft 445, and a pull-out tension spring 446. The drive guide groove 441 is connected to the drive swing block 442, and a second needle roller bearing 447 is provided on the drive guide groove 441. The pull-out swing rod 443 is fixed on the drive swing block 442; one end of the pull-out spring 446 is connected to the pull-out swing rod 443, and the other end of the pull-out spring 446 is connected to the mounting base 1. Under the action of the pull-out spring 446, the pull-out swing rod 443 is always in a clockwise rotation trend, thereby ensuring that the second needle roller bearing 447 on the drive guide groove 441 is always in contact with the pull-out cam 431.

[0042] The drive guide groove 441 and the feed cam 431 work together to complete the power transmission, driving the drive swing block 442 and the feed outer swing rod 443 to swing back and forth; the feed outer swing rod 443 is connected to the clamping mechanism 2 through the feed connecting rod 444, and the two sets of clamping mechanisms 2 are slidably assembled on the horizontal guide shaft 445 through linear bearings, and follow the movement of the feed outer swing rod 443 to realize the inward and outward expansion of the spacing, and complete the bag feeding, flattening and resetting actions.

[0043] In the above embodiments, the drive guide groove 441, the external swing rod 443, and the connecting rod 444 form a closed-loop transmission system with high transmission rigidity and good synchronization of the clamping mechanism 2 spacing adjustment. The horizontal guide shaft 445, in conjunction with a linear bearing, achieves sliding guidance, ensuring smooth operation and minimal wobbling, further guaranteeing the processing accuracy of flattening and sealing the packaging bag. The entire mechanism relies entirely on its internal structure to maintain its state, eliminating the need for external auxiliary tracks and reducing equipment installation space.

[0044] It should be noted that the processes performed on the bag in the clamping mechanism 2 correspond to the states of the bag clamping robot as follows: bag loading corresponds to the reset state of the bag clamping robot, bag opening corresponds to the bag feeding state of the bag clamping robot, and sealing corresponds to the flattening state of the bag clamping robot. After the bag clamping robot grips the bag, the wear-resistant sleeve swing rod 421 moves under the action of external force, driving the parallel active swing rod 422 to rotate. At this time, the parallel driven swing rod 423 is connected to the parallel guide plate 424 and swings together.

[0045] The feed cam 431 is equipped with a first needle roller bearing 433. The movement of the parallel guide plate 424 is transmitted to the feed cam 431 through the first needle roller bearing 433, which in turn drives the feed cam 431 to rotate around the cam shaft 432 on the shift shaft block 412.

[0046] The drive guide groove 441 is fixed on the mounting base 1 and rotates around the fixed shaft. The drive guide groove 441 is externally equipped with a second needle roller bearing 447, which is tangent to the feed cam 431.

[0047] The drive guide groove 441 contains a third needle roller bearing 448 mounted on the drive swing block 442. When the feed cam 431 rotates, it drives the drive swing block 442 to rotate. A feed outer swing rod 443 is mounted on the outer side of the drive swing block 442, and it rotates together with the drive swing block 442. A feed tension spring 446, connected to the right side plate, is mounted on the feed outer swing rod 443. During the entire movement, the feed cam 431 has three equal circular curves, corresponding to the reset state, bag feeding state, and flattening state, respectively. When the wear-resistant sleeve moves to the corresponding position, the second needle roller bearing 447 becomes tangent to the equal circular curve and maintains the stability of the drive swing block 442, thereby maintaining the stability of the drive swing block 442 and the feed outer swing rod 443. The outward swing rod 443 is connected to two clamping mechanisms 2 via the outward swing connecting rod 444. When the outward swing rod 443 swings, the two clamping mechanisms 2 will perform inward and outward movements, as well as deliver the bag, flatten it, and reset it. It can also self-lock to the corresponding state and remain unchanged.

[0048] In addition, bearings can be installed on the outermost sides of the two clamping mechanisms to maintain the stability of the mechanism when the clamps sink due to material or external forces during opening and closing.

[0049] See you again Figure 1 As shown, in a feasible embodiment of the present invention, each clamping mechanism 2 includes an arm fixing plate 21, a first clamping unit, and a second clamping unit, both of which are fixedly mounted on the arm fixing plate 21. One end of the connecting rod elastic assembly 3 is connected to the first clamping unit, and the other end is connected to the second clamping unit. Under the force of the connecting rod elastic assembly 3 and the cooperation of the dead-point mechanism, the first clamping unit and the second clamping unit can synchronously switch between a normally open state and a normally closed state to complete the opening and clamping actions of the bag.

[0050] In the above embodiments, the clamping mechanism 2 is divided into two sets of clamping units. Each set of robotic arms can clamp two bags at the same time. The structure is compact, which improves equipment efficiency and space utilization.

[0051] See you again Figure 1 As shown, in a feasible embodiment of the present invention, the first clamping unit includes a first fixed clamping block 22 and a first movable clamping block 23, the second clamping unit includes a second fixed clamping block 24 and a second movable clamping block 25; the connecting rod elastic assembly 3 includes a first opening and closing swing block 31, a second opening and closing swing block 32 and a first elastic element 33.

[0052] The first fixed clamping block 22 and the second fixed clamping block 24 are respectively fixed to both ends of the arm fixing plate 21; the first movable clamping block 23 is connected to the first opening and closing swing block 31, and the two are hinged to the arm fixing plate 21; the second movable clamping block 25 is connected to the second opening and closing swing block 32, and the two are also hinged to the arm fixing plate 21. The two ends of the first elastic element 33 are respectively hooked onto the first opening and closing swing block 31 and the second opening and closing swing block 32.

[0053] When the mechanism is in the normally open state, the first movable clamping block 23 and the first fixed clamping block 22, and the second movable clamping block 25 and the second fixed clamping block 24 are separated from each other and remain in an open posture, allowing the packaging bag to pass through smoothly. When the clamping mechanism 2 is in the normally closed state, the first movable clamping block 23 presses against the first fixed clamping block 22, and the second movable clamping block 25 presses against the second fixed clamping block 24, stabilizing the bag body. The first elastic element 33, together with the first opening and closing swing block 31 and the second opening and closing swing block 32, forms an over-dead-point locking structure, enabling both states to be maintained autonomously.

[0054] The first fixed clamping block 22, the first movable clamping block 23, the second fixed clamping block 24, and the second movable clamping block 25 work together to achieve flexible clamping. The first opening and closing swing block 31, the second opening and closing swing block 32, and the first elastic element 33 form a dead-point locking structure. The clamping mechanism 2 has no deviation in the normally open and normally closed states, which solves the problems of poor consistency in opening and difficulty in inserting into the bag in traditional clamps.

[0055] Meanwhile, this embodiment is compatible with both conventional packaging bags and lidded packaging bags, making it more widely applicable. The clamping process is stable, preventing the bag from falling off or shifting.

[0056] In the above embodiments, the first movable clamping block 23 and the second movable clamping block 25 are equipped with rubber plugs. The purpose is to achieve elastic clamping when the first movable clamping block 23 contacts the first fixed clamping block 22 to clamp the bag body, so as to make the clamping more stable.

[0057] Both the first opening and closing swing block 31 and the second opening and closing swing block 32 are equipped with hanging pins, and a first elastic element 33 is hung between the two hanging pins. Preferably, the first elastic element 33 is a spring.

[0058] In this embodiment, when the first opening and closing swing block 31 and the second opening and closing swing block 32 reach the normally closed state limit under the action of external force, the spring passes through the rotation center of the first opening and closing swing block 31 and the second opening and closing swing block 32, and remains normally closed under the action of the spring. At this time, the leather plugs of the first fixed clamping block 22 and the first movable clamping block 23 are in a pressed state so that the bag can be stably clamped.

[0059] When the first opening and closing swing block 31 and the second opening and closing swing block 32 reach the normally open state under the action of external force, the spring passes through the rotation center of the first opening and closing swing block 31 and the second opening and closing swing block 32, and the line connecting the three points passes through the mechanical collinear dead point, and remains normally open under the action of the first elastic element 33.

[0060] Therefore, regardless of whether the first opening / closing swing block 31 and the second opening / closing swing block 32 are both in the normally open / normally closed state, or one is in the normally closed state and the other is in the normally open state, the springs can pass through their respective centers and maintain their respective normally open / normally closed states. When the clamping mechanism 2 is opened, the bag can be allowed to pass through the middle of the clamp, whether it is a capped bag or an uncapped bag, thus improving versatility.

[0061] In a feasible embodiment of the present invention, the first fixed clamping block 22 includes a hollow housing 221, a clamping mandrel 222, a second elastic element, and a clamping threaded lock nut 223. One end of the clamping mandrel 222 is inserted inside the housing 221, and the other end of the clamping mandrel 222 is located outside the housing 221 and arranged towards the first movable clamping block 23; one end of the second elastic element is connected to the tail of the housing 221, and the other end is connected to the clamping mandrel 222; the clamping threaded lock nut 223 is threaded onto the clamping mandrel 222 for locking and positioning. The second fixed clamping block 24 adopts the same structure as the first fixed clamping block 22.

[0062] In the above embodiments, the second elastic element cooperates with the gripper spindle 222 to buffer and fine-tune the clamping force, preventing damage to the packaging bag caused by rigid clamping. The gripper threaded lock nut 223 can lock the position of the gripper spindle 222, ensuring stable clamping force during long-term use, eliminating the need for frequent adjustments, reducing the workload of daily equipment calibration, and improving clamping reliability.

[0063] In a feasible embodiment of the present invention, the mounting base 1 includes a base 11 and a cover 12. A sealing strip is installed at the joint between the base 11 and the cover 12, and the two together form a sealed cavity. The shifting self-locking mechanism 4 is arranged inside the sealed cavity. At the same time, sealing rings are installed at both ends of the horizontal guide shaft 445 and the linear bearing to achieve full-position sealing protection.

[0064] In the above embodiments, the sealed cavity is equipped with multiple sealing rings, which can prevent dust and liquid materials from entering the interior of the mechanism at the packaging site, protect the internal transmission and adjustment components, improve the adaptability of the equipment under powder and liquid filling conditions, reduce jamming and wear problems caused by impurity accumulation, extend the service life of parts, and reduce the frequency and difficulty of equipment cleaning and maintenance.

[0065] In summary, the shifting self-locking bag clamping robot provided by this invention can simultaneously clamp two bags with a single robot, improving work efficiency; it also eliminates the need for external auxiliary tracks, reducing installation space and minimizing potential failure points.

[0066] The robotic arm can achieve different closing states on the same set of equipment, solving the problem of inconsistent stability caused by the reliance on auxiliary tracks when opening the robotic arm during bag loading in previous packaging machines, thus improving bag loading efficiency. When the bag is being unloaded, the gripper remains open, providing ample time for the bag to fall and preventing the bag from being repeatedly gripped during unloading, reducing the risk of bag impact.

[0067] The robotic arm, through its shifting self-locking mechanism 4, can fully adapt to the needs of various specifications, eliminating the need for the previous track-holding mechanism. This reduces the risk of unstable gripper spacing due to uneven track, ensuring stable gripper spacing, improving sealing quality while reducing the high cost associated with the original track-holding mechanism, and minimizing the installation space required for gripper adjustment.

[0068] The shifting self-locking mechanism 4 is located in the sealed cavity between the base 11 and the cover 12, which improves the water and dust resistance of the entire mechanism, reduces maintenance difficulty, reduces the cleaning and maintenance time of the mechanism, and increases the service life of parts.

[0069] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0070] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A shift-and-lock type bag-gripping robot, characterized in that, include: Mounting base (1); A pair of clamping mechanisms (2) are symmetrically arranged; the pair of clamping mechanisms (2) work together to clamp the bag body; The shifting self-locking mechanism (4) is connected to the clamping mechanism (2), and the shifting self-locking mechanism (4) is used to adjust the distance between a pair of clamping mechanisms (2) to realize multi-gear switching, and can realize self-locking position in multi-gear reset state, bag feeding state and flattening state.

2. The shifting self-locking bag-gripping robot according to claim 1, characterized in that, Also includes: A pair of link elastic components (3) are respectively disposed on the clamping mechanism (2); relying on the dead point mechanism of the link elastic components (3), the clamping mechanism (2) can switch between normally open and normally closed states.

3. The shifting self-locking bag-gripping robot according to claim 1, characterized in that, The shift self-locking mechanism (4) includes: A gear shifting assembly (41) is used to adjust the gear position to fit different sized packaging bags; A rocker arm transmission assembly (42) is used to receive external forces and transmit power; The cam drive assembly (43) is rotatably connected to the rocker arm drive assembly (42), and the cam drive assembly (43) is rotatably connected to the gear shift assembly (41); The drive actuation component (44) is movably connected to the cam transmission component (43); and the drive actuation component (44) is hinged to the clamping mechanism (2); Under the combined action of the cam transmission assembly (43) and the drive execution assembly (44), the two clamping mechanisms (2) open and close synchronously, adjust the spacing, and achieve state self-locking.

4. The shifting self-locking bag-gripping robot according to claim 3, characterized in that, The shift assembly (41) includes: Shift screw (411); The shift shaft block (412) is threadedly connected to the shift screw (411); A guide shaft (413) is fixedly installed, and the axis of the guide shaft (413) is parallel to the axis of the shift screw (411); the guide shaft (413) passes through the shift shaft core block (412); When the shift screw (411) rotates, it drives the shift shaft block (412) to move along the axial direction of the shift screw (411), thereby driving the rotation of the cam transmission assembly (43) to achieve gear switching.

5. The shifting self-locking bag-gripping robot according to claim 4, characterized in that, The rocker arm transmission assembly (42) includes a wear-resistant sleeve rocker arm (421), a parallel active rocker arm (422), a parallel driven rocker arm (423), and a parallel guide plate (424); the wear-resistant sleeve rocker arm (421) is connected to the parallel active rocker arm (422); both the parallel active rocker arm (422) and the parallel driven rocker arm (423) are mounted on the parallel guide plate (424); the cam transmission assembly (43) is slidably connected to the parallel guide plate (424); The wear-resistant sleeve rocker arm (421) swings, causing the parallel active rocker arm (422), the parallel driven rocker arm (423), and the cam transmission assembly (43) to swing synchronously with the parallel guide plate (424).

6. The shifting self-locking bag-clamping robot according to claim 5, characterized in that, The cam transmission assembly (43) includes a feed cam (431), a cam shaft (432), and a first needle roller bearing (433). The feed cam (431) is fixed to the cam shaft (432) and hinged to the shift shaft block (412). The first needle roller bearing (433) is disposed on the feed cam (431) and slides along the parallel guide plate (424). The feed cam (431) has three equal circular curves on its outer periphery, which correspond to the robot's reset state, bag feeding state, and flattening state, respectively. The drive execution assembly (44) fits with the equal circular curves to achieve self-locking of the corresponding gear.

7. The shifting self-locking bag-gripping robot according to claim 6, characterized in that, The drive actuator assembly (44) includes a drive guide groove (441), a drive swing block (442), a pull-out swing rod (443), a pull-out connecting rod (444), a horizontal guide shaft (445), and a pull-out tension spring (446); the drive guide groove (441) is connected to the drive swing block (442); one end of the pull-out tension spring (446) is connected to the pull-out swing rod (443), and the other end of the pull-out tension spring (446) is connected to the mounting base (1); the pull-out... The outer swing rod (443) is connected to the driving swing block (442); the driving guide groove (441) cooperates with the feeding cam (431) to drive the driving swing block (442) and the feeding outer swing rod (443) to swing. The feeding outer swing rod (443) is connected to the clamping mechanism (2) respectively through the feeding connecting rod (444). The two sets of clamping mechanisms (2) are slidably assembled on the horizontal guide shaft (445) through linear bearings to realize the inward and outward expansion of the spacing.

8. The shifting self-locking bag-gripping robot according to claim 2, characterized in that, The clamping mechanism (2) includes: Arm fixation plate (21); The first clamping unit and the second clamping unit are both disposed on the arm fixing plate (21); one end of the connecting rod elastic component (3) is connected to the first clamping unit, and the other end of the connecting rod elastic component (3) is connected to the second clamping unit; under the action of the connecting rod elastic component (3), the first clamping unit and the second clamping unit can switch between normally open and normally closed states.

9. The shifting self-locking bag-gripping robot according to claim 8, characterized in that, The first clamping unit includes a first fixed clamping block (22) and a first movable clamping block (23); the second clamping unit includes a second fixed clamping block (24) and a second movable clamping block (25); the connecting rod elastic assembly (3) includes a first opening and closing swing block (31), a second opening and closing swing block (32) and a first elastic element (33); The first fixing clamping block (22) and the second fixing clamping block (24) are respectively fixedly disposed at both ends of the arm fixing plate (21); The first movable clamping block (23) and the first opening and closing swing block (31) are connected and both are hinged to the arm fixing plate (21); the second movable clamping block (25) and the second opening and closing swing block (32) are connected and both are hinged to the arm fixing plate (21); One end of the first elastic element (33) is connected to the first opening and closing swing block (31), and the other end of the first elastic element (33) is connected to the second opening and closing swing block (32); In the normally open state, the first movable clamping block (23) remains open with the first fixed clamping block (22), the second movable clamping block (25), and the second fixed clamping block (24); In the normally closed state, the first movable clamping block (23) closes and clamps the bag body together with the first fixed clamping block (22), the second movable clamping block (25), and the second fixed clamping block (24).

10. The shifting self-locking bag-gripping robot according to claim 9, characterized in that, The mounting base (1) includes a base (11) and a cover (12). A sealing strip is fitted between the base (11) and the cover (12) to form a sealed cavity. The shift self-locking mechanism (4) is disposed in the sealed cavity.

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