Automatic bag taking and feeding mechanical arm

Abstract

The utility model discloses an automatic bag taking and feeding mechanical arm which comprises a fixing frame, a rotating support, a bag sucking assembly and a bag taking mechanism, the fixing frame is horizontally arranged, a rotating shaft is arranged at the top of the rotating support, the rotating support is rotationally connected with the end of the fixing frame through the rotating shaft, and a rotating driving air cylinder perpendicular to the rotating shaft is arranged on the fixing frame. A fixed rocker arm is arranged in the middle of the rotating shaft, the piston end of the rotating driving air cylinder is hinged to the fixed rocker arm, and the rotating driving air cylinder drives the rotating support to rotate by 90 degrees around the rotating shaft; a bag suction assembly is arranged in the middle of the rotating support, the bag suction assembly sucks and lifts a bag placed below the bag suction assembly, bag taking mechanisms are symmetrically arranged on the two sides of the rotating support, and the bag taking mechanisms do reciprocating opening and closing motion on the rotating support to open and take the lifted bag. According to the mechanical arm, automatic bag taking and clamping bag feeding actions can be achieved, the stable and lasting operation requirement is met, and the operation efficiency of automatic packaging equipment is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of packaging equipment, and in particular relates to an automatic bag taking and bag loading mechanical arm. Background Art

[0002] The bag-feeding automatic packaging has replaced manual packaging, realizing packaging automation for large and small enterprises. The operator only needs to put the finished bags in batches on the bag-taking part of the equipment, and the mechanical claws of the equipment will automatically take the bags, print the date, open the bags, give the metering device a signal to measure, and drop the materials, seal, and output the bags, making the packaging process cleaner and more efficient. The bag-taking mechanism in the automatic packaging machine of the existing equipment has the following problems: First, the space occupied leads to an increase in the overall height of the equipment and a decrease in the integrity of the equipment; second, the transmission structure is mostly single-axis transmission, with multiple structures and no buffer mechanism designed, resulting in uneven force on the equipment. After long-term operation, it is easy to have problems such as abnormal noise, wear, and deformation, causing abnormal shutdown of the equipment for inspection and maintenance, increasing safety risks and affecting production efficiency. Utility Model Content

[0003] In view of the above problems and technical requirements, the utility model provides an automatic bag picking and bag loading robot arm, which can realize automatic bag picking and bag clamping actions, meet the requirements of stable and long-term operation, and improve the operation efficiency of automatic packaging equipment.

[0004] The technical solution of the utility model is as follows: an automatic bag taking and bag loading robot arm comprises a fixed frame, a rotating frame, a bag suction assembly and a bag taking mechanism, wherein the fixed frame is horizontally arranged, a rotating shaft is provided at the top of the rotating frame, the rotating frame is rotatably connected to the end of the fixed frame through the rotating shaft, a rotating drive cylinder perpendicular to the rotating shaft is provided on the fixed frame, a fixed rocker arm is provided in the middle of the rotating shaft, the piston end of the rotating drive cylinder is hinged to the fixed rocker arm, and the rotating drive cylinder drives the rotating frame to rotate 90° around the rotating shaft; a bag suction assembly is provided in the middle of the rotating frame, the bag suction assembly sucks and lifts the bag placed thereunder, bag taking mechanisms are symmetrically provided on both sides of the rotating frame, the bag taking mechanisms perform reciprocating opening and closing motions on the rotating frame, and the lifted bag is stretched open to take out the bag.

[0005] Furthermore, a transverse mounting plate is provided on the rotating bracket, and the bag suction assembly is vertically mounted on the transverse mounting frame. The bag suction assembly includes a bag suction cylinder, a suction cup mounting plate, a lifting guide shaft and a suction cup. The cylinder body of the bag suction cylinder is fixedly connected to the transverse mounting plate, and the piston end of the bag suction cylinder is fixedly connected to the suction cup mounting plate. The bag suction cylinder is perpendicular to the suction cup mounting plate. A fixed limiting sleeve is also provided on the transverse mounting plate. Lifting guide shafts parallel to the bag suction cylinder are symmetrically provided on both sides of the suction cup mounting plate. The lifting guide shafts are slidably connected in the fixed limiting sleeves to guide the suction cup mounting plate to move up and down. A suction cup is respectively connected to the four corners of the suction cup mounting plate.

[0006] Furthermore, a lifting limit ring is fixedly provided on the lifting guide shaft, and a flexible gasket is provided on the upper end of the lifting limit ring. The lifting limit ring rises as the lifting guide shaft rises, and the fixed limit sleeve is blocked above the lifting limit ring to limit the upward movement of the lifting guide shaft. The lifting limit ring can limit the suction height of the bag suction cylinder, and the flexible gasket provides a buffer for the movement of the bag suction cylinder.

[0007] Furthermore, horizontal U-shaped brackets are symmetrically installed on both sides of the suction cup mounting plate, and each arm of the U-shaped bracket is provided with a distance-adjusting long hole, and the suction cup is connected in the distance-adjusting long hole, and the suction cup can be adjusted in the installation position in the distance-adjusting long hole. The distance between the suction cups is adjusted so that the suction cup can absorb bags of different specifications, which is flexible to use and highly applicable, and does not require replacement of the suction cup mounting plate.

[0008] Furthermore, an empty slot is provided in the middle of the fixed frame, and the bag suction cylinder extends into the empty slot. When the rotating bracket rotates, the bag suction cylinder rotates synchronously in the empty slot. The empty slot provides space for the movement of the bag suction cylinder, so that the bag suction cylinder will not collide with other components during the rotation process.

[0009] Furthermore, bearing seats are symmetrically provided on both sides of the fixed frame, the rotating shaft is connected to the two bearing seats through bearings, and vertical plates are provided on both sides of the rotating bracket. The two ends of the rotating shaft are respectively connected to the vertical plates, the vertical plates are perpendicular to the rotating shaft and parallel to the bag suction cylinder, and the bag taking mechanisms are symmetrically connected to the two vertical plates.

[0010] Furthermore, the bag taking mechanism includes a bag taking cylinder and a bag taking clamp. The middle part of the bag taking clamp is rotatably connected to the vertical plate through a rotating shaft. The bag taking cylinder is arranged on the vertical plate above the bag taking clamp. The piston end of the bag taking cylinder is hinged to the upper end of the bag taking clamp. The cylinder body of the bag taking cylinder is rotatably connected to the vertical plate. The bag taking cylinder extends downward and outward, driving the end of the bag taking clamp to rotate inward and upward around the rotating shaft.

[0011] Furthermore, the inner side of the bag taking clamp is a bag taking contact surface, and a rubber cushion layer is fixedly installed on the bag taking contact surface. The bag taking clamp rotates to open and close, and can open the bag from the inside of the bag, which is convenient for loading the bag. The rubber cushion layer increases the friction during grasping and prevents the bag from slipping.

[0012] Furthermore, buffer brackets are provided on both sides of the fixing bracket, and an elastic buffer is installed at both ends of the buffer bracket respectively. When the rotating bracket is about to rotate into place, it touches the elastic buffer to reduce the rotation speed.

[0013] Compared with the prior art, the beneficial effects of the utility model are as follows: the utility model can realize continuous bag taking, clamping and bag loading actions, has a simple structure, stable transmission, good noise control, convenient debugging and maintenance, can meet stable and long-term operation requirements, has smooth and reliable transmission, and can effectively improve production efficiency; the bag suction assembly and the bag taking mechanism in the robotic arm are both arranged on a rotating bracket, and an empty slot is arranged on the fixed frame, which is staggered with the bag suction assembly. When the rotating bracket supports the bag suction assembly to rotate, the movement of the bag suction cylinder will not interfere with the fixed frame, thereby reducing the occupied space of the robotic arm, making the equipment more compact and having better integrity; the lifting limit ring and the flexible gasket arranged in the bag suction assembly provide buffering for the movement of the bag suction cylinder, and the elastic buffer arranged on the fixed frame provides buffering for the rotational movement of the rotating bracket, which can avoid impact damage caused by relative movement between the components of the robotic arm during operation, extend the service life, and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural diagram of the automatic bag taking and bag loading mechanical arm of the utility model;

[0015] Figure 2 This is a front view of the automatic bag taking and bag loading mechanical arm of the utility model;

[0016] Figure 3 This is a side view of the automatic bag taking and bag loading mechanical arm of the utility model;

[0017] Marked in the figure are: fixed frame 1, empty slot 11, bearing seat 12, buffer bracket 13, elastic buffer 131, rotary drive cylinder 2, rotating bracket 3, rotating shaft 31, fixed rocker arm 311, horizontal mounting plate 32, vertical plate 33, bag suction assembly 4, bag suction cylinder 41, suction cup mounting plate 42, lifting guide shaft 43, lifting limit ring 44, flexible gasket 441, U-shaped bracket 45, distance adjustment long hole 451, suction cup 46, bag taking mechanism 5, bag taking cylinder 51, bag taking clamp 52, rotating shaft 521, rubber cushion 53. DETAILED DESCRIPTION

[0018] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0019] like Figure 1-3The utility model is shown as an automatic bag taking and bag loading robot arm, comprising a fixed frame 1, a rotating frame 3, a bag suction assembly 4 and a bag taking mechanism 5. The fixed frame 1 is horizontally arranged, and a rotating shaft 31 is provided on the top of the rotating frame 3. The rotating frame 3 is rotatably connected to the end of the fixed frame 1 through the rotating shaft 31. A rotating drive cylinder 2 perpendicular to the rotating shaft 31 is provided on the fixed frame 1, and a fixed rocker arm 311 is provided in the middle of the rotating shaft 31. The piston end of the rotating drive cylinder 2 is hinged to the fixed rocker arm 311, and the rotating drive cylinder 2 drives the rotating frame 3 to rotate 90° around the rotating shaft 31; a bag suction assembly 4 is provided in the middle of the rotating frame 3, and the bag suction assembly 4 sucks and lifts the bag placed thereunder. The bag taking mechanisms 5 are symmetrically provided on both sides of the rotating frame 3, and the bag taking mechanisms 5 perform reciprocating opening and closing motions on the rotating frame 3 to open the lifted bag and take out the bag.

[0020] The two sides of the fixed frame 1 are symmetrically provided with bearing seats 12, and the rotating shaft 31 is connected to the two bearing seats 12 through bearings. The two sides of the rotating bracket 3 are vertical plates 33, and the two ends of the rotating shaft 31 are respectively connected to the vertical plates 33. The vertical plates 33 are perpendicular to the rotating shaft 31 and parallel to the bag suction cylinder 41. The bag taking mechanism 5 is symmetrically connected to the two vertical plates 33. An empty slot 11 is provided in the middle of the fixed frame 1. The bag suction cylinder 41 in the bag suction assembly 4 extends into the empty slot 11. When the rotating bracket 3 rotates, the bag suction cylinder 41 rotates synchronously in the empty slot. Buffer brackets 13 are also provided on both sides of the fixed frame 1. An elastic buffer 131 is installed at each end of the buffer bracket 13. When the rotating bracket 3 is about to rotate into place, it touches the elastic buffer 131 to reduce the rotation speed.

[0021] The rotating bracket 3 is provided with a transverse mounting plate 32, and the bag suction assembly 4 is vertically mounted on the transverse mounting frame 32. The bag suction assembly 4 includes a bag suction cylinder 41, a suction cup mounting plate 42, a lifting guide shaft 43 and a suction cup 46. The cylinder body of the bag suction cylinder 41 is fixedly connected to the transverse mounting plate 32, and the piston end of the bag suction cylinder 41 is fixedly connected to the suction cup mounting plate 42. The bag suction cylinder 41 is perpendicular to the suction cup mounting plate 42. A fixed limiting sleeve is also provided on the transverse mounting plate 32. Lifting guide shafts 43 parallel to the bag suction cylinder 41 are symmetrically provided on both sides of the suction cup mounting plate 42. The lifting guide shafts 43 are slidably connected in the fixed limiting sleeve to guide the suction cup mounting plate 42 to move up and down. A suction cup 46 is connected to each of the four corners of the suction cup mounting plate 42. A lifting limit ring 44 is fixedly provided on the lifting guide shaft 43, and a flexible gasket 441 is provided on the upper end of the lifting limit ring 44. The lifting limit ring 44 rises as the lifting guide shaft 43 rises, and the fixed limit sleeve is blocked above the lifting limit ring 44 to limit the upward movement of the lifting guide shaft 43. The lifting limit ring 44 can limit the suction height of the bag suction cylinder 41, and the flexible gasket 441 provides a buffer for the movement of the bag suction cylinder 41.

[0022] Horizontal U-shaped brackets 45 are symmetrically installed on both sides of the suction cup mounting plate 42, and each arm of the U-shaped bracket 45 is provided with a distance-adjusting slot 451, and the suction cup 46 is connected in the distance-adjusting slot 451, and the suction cup 46 can be adjusted in the installation position in the distance-adjusting slot 451. The distance between the suction cups 46 is adjusted so that the suction cups 46 can absorb bags of different specifications, which is flexible to use and highly applicable, and does not require replacement of the suction cup mounting plate 42.

[0023] The bag taking mechanism 5 includes a bag taking cylinder 51 and a bag taking clamp 52. The middle part of the bag taking clamp 52 is rotatably connected to the vertical plate 33 through a rotating shaft 521. The bag taking cylinder 51 is arranged on the vertical plate 33 above the bag taking clamp 52. The piston end of the bag taking cylinder 51 is hinged to the upper end of the bag taking clamp 52. The cylinder body of the bag taking cylinder 51 is rotatably connected to the vertical plate 33. The bag taking cylinder 51 extends downward and outward, driving the end of the bag taking clamp 52 to rotate inward and upward around the rotating shaft 521. The inner side of the bag taking clamp 52 is a bag taking contact surface, and a layer of rubber cushion layer 53 is fixedly installed on the bag taking contact surface. The bag taking clamp 52 is opened and closed by rotating, and the bag can be stretched from the inside of the bag to facilitate the bag loading. The rubber cushion layer 53 increases the friction during grasping to prevent the bag from slipping.

[0024] The action process of the utility model is as follows: the rotary drive cylinder 2 extends to make the rotating bracket 3 perpendicular to the ground, a bag is placed on the ground, the bag suction cylinder 41 drives the suction cup mounting plate 42 to move downward, four suction cups 46 are adsorbed on the bag, the bag suction cylinder 41 is retracted, and the bag is lifted upward, when the flexible gasket 441 on the lifting limit ring 44 touches the fixed limit sleeve on the horizontal mounting plate 32, the bag suction cylinder 41 stops, and the bag is lifted to the highest point; the bag taking cylinders 51 on both sides extend obliquely downward, drive the bag taking clamps 52 to rotate inward, put into the bag, and open the bag, and the rubber cushion layer 5 3 can grab the bag effectively to prevent it from slipping; after the bag-taking mechanism 5 grabs the bag, the rotary drive cylinder 2 retracts, the fixed rocker arm 311 pulls the entire rotating shaft 31 to rotate, and the rotating shaft 31 drives the entire rotating bracket 3 to flip upward 90° to load the clamped bag. When the rotating bracket 3 is about to finish flipping, the elastic buffer 131 set on the fixed bracket 1 supports the rotating bracket 3 to provide a buffer to avoid collision between the brackets; after the external device takes the bag, the rotary drive cylinder 2 extends again to flip the rotating bracket 3 downward 90° to prepare for taking the next bag.

[0025] The above are only several preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes and substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic bag taking and bag loading robot, characterized in that: It includes a fixed frame, a rotating frame, a bag suction assembly and a bag taking mechanism. The fixed frame is horizontally arranged, and a rotating shaft is provided on the top of the rotating frame. The rotating frame is rotatably connected to the end of the fixed frame through the rotating shaft. A rotating drive cylinder perpendicular to the rotating shaft is provided on the fixed frame, and a fixed rocker arm is provided in the middle of the rotating shaft. The piston end of the rotating drive cylinder is hinged to the fixed rocker arm, and the rotating drive cylinder drives the rotating frame to rotate 90° around the rotating shaft; a bag suction assembly is provided in the middle of the rotating frame, and the bag suction assembly sucks and lifts the bag placed thereunder. Bag taking mechanisms are symmetrically provided on both sides of the rotating frame, and the bag taking mechanisms perform reciprocating opening and closing motions on the rotating frame to open the lifted bag and take the bag out.

2. The automatic bag taking and bag loading robot according to claim 1, characterized in that: The rotating bracket is provided with a transverse mounting plate, and the bag suction assembly is vertically mounted on the transverse mounting frame. The bag suction assembly includes a bag suction cylinder, a suction cup mounting plate, a lifting guide shaft and a suction cup. The cylinder body of the bag suction cylinder is fixedly connected to the transverse mounting plate, and the piston end of the bag suction cylinder is fixedly connected to the suction cup mounting plate. The bag suction cylinder is perpendicular to the suction cup mounting plate. A fixed limiting sleeve is also provided on the transverse mounting plate. Lifting guide shafts parallel to the bag suction cylinder are symmetrically provided on both sides of the suction cup mounting plate. The lifting guide shafts are slidably connected in the fixed limiting sleeves to guide the suction cup mounting plate to move up and down. A suction cup is respectively connected to the four corners of the suction cup mounting plate.

3. The automatic bag taking and bag loading robot according to claim 2, characterized in that: A lifting limit ring is fixedly provided on the lifting guide shaft, and a flexible gasket is provided on the upper end of the lifting limit ring. The lifting limit ring rises as the lifting guide shaft rises, and the fixed limit sleeve is blocked above the lifting limit ring to limit the upward movement of the lifting guide shaft.

4. The automatic bag taking and bag loading robot according to claim 3, characterized in that: Horizontal U-shaped brackets are symmetrically installed on both sides of the suction cup installation plate. A distance-adjusting long hole is provided on the two arms of each U-shaped bracket. The suction cup is connected in the distance-adjusting long hole, and the suction cup can be adjusted to the installation position in the distance-adjusting long hole.

5. The automatic bag taking and bag loading robot according to claim 4, characterized in that: An empty slot is arranged in the middle of the fixing frame, and the bag suction cylinder extends into the empty slot. When the rotating bracket rotates, the bag suction cylinder rotates synchronously in the empty slot.

6. The automatic bag taking and bag loading robot according to claim 5, characterized in that: The fixed frame is symmetrically provided with bearing seats on both sides, the rotating shaft is connected to the two bearing seats through bearings, and the rotating bracket is provided with vertical plates on both sides. The two ends of the rotating shaft are respectively connected to the vertical plates, the vertical plates are perpendicular to the rotating shaft and parallel to the bag suction cylinder, and the bag taking mechanisms are symmetrically connected to the two vertical plates.

7. The automatic bag taking and bag loading robot according to claim 6, characterized in that: The bag taking mechanism includes a bag taking cylinder and a bag taking clamp. The middle part of the bag taking clamp is rotatably connected to the vertical plate through a rotating shaft. The bag taking cylinder is arranged on the vertical plate above the bag taking clamp. The piston end of the bag taking cylinder is hinged to the upper end of the bag taking clamp. The cylinder body of the bag taking cylinder is rotatably connected to the vertical plate. The bag taking cylinder extends downward and outward, driving the end of the bag taking clamp to rotate inward and upward around the rotating shaft.

8. The automatic bag taking and bag loading robot according to claim 7, characterized in that: The inner side of the bag taking clamping claw is a bag taking contact surface, and a rubber cushion layer is fixedly installed on the bag taking contact surface.

9. The automatic bag taking and bag loading robot according to claim 8, characterized in that: Buffer brackets are also provided on both sides of the fixing bracket, and an elastic buffer is respectively installed at both ends of the buffer bracket. When the rotating bracket is about to rotate into place, it touches the elastic buffer to reduce the rotation speed.

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