Manipulator for taking and delivering bags

Abstract

The utility model relates to the field of filling, in particular to a bag taking and delivering manipulator. The bag taking and delivering mechanical arm comprises a base fixedly installed on the filling machine and a first rotating shaft rotatably installed on the base, the first rotating shaft is fixedly sleeved with a large arm, a middle arm and a first gear, the large arm is connected with a first telescopic rod used for driving the large arm to rotate, the middle arm is fixedly connected with the large arm, and the first gear is arranged in the middle arm. A second rotating shaft is arranged on the middle arm, the second rotating shaft is rotatably installed on the middle arm, a second gear is further arranged in the middle arm, the second gear is fixedly installed on the second rotating shaft and is in transmission connection with the first gear through a chain, and a suction cup used for sucking a filling bag is further installed on the second rotating shaft. The utility model provides a bag taking and delivering manipulator which has the following technical effects that the automation degree is high, the labor cost is saved, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the field of filling, in particular to a bag taking and delivering robot. Background Art

[0002] With the improvement of living standards, product packaging is becoming more and more diversified. Packaging bags are also a common packaging method. With the advancement of technology, the work of filling products into packaging bags has gradually progressed from manual filling to intelligent equipment filling. When filling, the filling bags need to be placed upright with the opening facing upward. However, since the empty filling bags are flat, they are placed flat on the conveying equipment when they are transported to the filling equipment, and the filling equipment needs the filling bags to be placed upright with the opening facing upward. Therefore, a robot arm is needed that can grab the flat filling bags, adjust them to an upright state, and then send them to the filling machine. Utility Model Content

[0003] Based on this, it is necessary to provide a bag picking and delivering robot to address the problem that the hollow filling bags in the prior art are flat and are placed flat on the conveying equipment when being conveyed to the filling equipment, while the filling equipment requires the filling bags to be placed upright with the opening facing upward, so as to achieve the purpose of grabbing the flat filling bags, adjusting them to an upright state, and then sending them to the filling machine.

[0004] Therefore, the present application provides a bag picking and delivering robot for grabbing filled bags and adjusting the direction of the filled bags and then conveying them to a filling machine for filling. The bag picking and delivering robot includes a base 10 fixedly mounted on the filling machine and a first rotating shaft 20 rotatably mounted on the base 10, a large arm 30, a middle arm 40 and a first gear 60 are fixedly sleeved on the first rotating shaft 20, a first telescopic rod 50 for driving the large arm 30 to rotate is connected to the large arm 30, the middle arm 40 is fixedly connected to the large arm 30, the first gear 60 is arranged inside the middle arm 40, a second rotating shaft 80 is arranged on the middle arm 40, the second rotating shaft 80 is rotatably mounted on the middle arm 40, a second gear 70 is also arranged in the middle arm 40, the second gear 70 is fixedly mounted on the second rotating shaft 80 and is transmission-connected to the first gear 60 through a chain, and a suction cup 90 for adsorbing the filled bags is also mounted on the second rotating shaft 80.

[0005] In some embodiments, the upper arm 30 has a first end 31 and a second end 32. The first end 31 of the upper arm 30 is sleeved on the first rotating shaft 20 and fixedly connected to the first rotating shaft 20. The second end 32 of the upper arm 30 is hinged to one end of the first telescopic rod 50. The other end of the first telescopic rod 50 is hinged to the filling machine through a connecting piece 51. The first telescopic rod 50 is used to drive the upper arm 30 to rotate around the first end 31.

[0006] In some embodiments, the middle arm 40 has a third end 41 and a fourth end 42 , and the third end 41 of the middle arm 40 is sleeved on the first rotating shaft 20 and fixedly connected to the first end 31 of the upper arm.

[0007] In some embodiments, a sleeve 43 penetrating the interior of the middle arm 40 is provided on the fourth end portion 42 of the middle arm 40, the second rotating shaft 80 is rotatably inserted into the sleeve 43, and one end of the second rotating shaft 80 is located inside the middle arm 40, and the second gear 70 is sleeved on one end of the second rotating shaft 80 located inside the middle arm 40 and is fixedly connected to the second rotating shaft 80.

[0008] In some embodiments, a second telescopic rod 91 is fixedly mounted on the second rotating shaft 80 , and the suction cup 90 is mounted on the free end of the second telescopic rod 91 . The second telescopic rod 91 is used to drive the suction cup 90 to suck and grab the filling bag.

[0009] In some embodiments, the first telescopic rod 50 and the second telescopic rod 91 are both cylinder telescopic rods.

[0010] The utility model provides a bag taking and bag delivering robot, which has the following technical effects: the bag taking and bag delivering robot for a filling machine in the utility model has a high degree of automation, saves labor costs, and greatly improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0012] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0013] Figure 2 It is a schematic diagram of the internal structure of the middle arm of the utility model.

[0014] Figure 3 It is a side view of the first telescopic rod of the utility model in a retracted state.

[0015] Figure 4 It is a side view of the first telescopic rod of the utility model in an extended state.

[0016] Figure 5 It is a schematic diagram of the connection between the upper arm and the middle arm of the utility model.

[0017] Explanation of the accompanying drawings: base 10, first rotating shaft 20, upper arm 30, middle arm 40, first end 31, second end 32, first telescopic rod 50, connecting piece 51, third end 41, fourth end 42, sleeve 43, first gear 60, second gear 70, second rotating shaft 80, suction cup 90, second telescopic rod 91. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "liquid level", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0020] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present utility model, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0021] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher liquid level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower liquid level than the second feature.

[0023] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "liquid horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0024] An embodiment of the utility model provides a bag-taking and bag-delivering robot, which is used to suck and deliver thin and light sheet-type packaging bags to a designated location, thereby saving manpower and improving work efficiency.

[0025] The structure of the filling machine in the present application is described below. It is understood that in other embodiments, the bag taking and bag delivering robot of the filling machine of the present application is not limited to be used only on the filling machine, but can also be used to suck other light and thin sheet products and deliver them to a designated location, which is not limited here.

[0026] See also Figure 1 , Figure 3 and Figure 4 , Figure 1 The overall structural diagram of the bag-taking and bag-delivering robot in an embodiment of the present application is shown. The bag-taking and bag-delivering robot provided by the present application includes a base 10 installed on the filling machine, and a first rotating shaft 20 is arranged on the base 10. The first rotating shaft 20 can rotate on the base 10. A large arm 30 and a middle arm 40 are installed on the first rotating shaft 20. The large arm 30 has a first end 31 and a second end 32. The first end 31 of the large arm 30 is sleeved on the first rotating shaft 20 and is fixedly connected to the first rotating shaft 20. When the large arm 30 rotates with the first end 31 as the center, the first rotating shaft 20 also rotates with it, so that the robot can be Figure 3 or Figure 4In the two states, the second end 32 of the upper arm 30 is connected to the first telescopic rod 50, one end of the first telescopic rod 50 is hinged to the upper arm 30, and the other end is hinged to a fixed bracket on the filling machine through a connecting piece 51, and the first telescopic rod 50 is used to drive the upper arm 30 to rotate around the first end 31.

[0027] See also Figure 5 The middle arm 40 has a third end 41 and a fourth end 42. The third end 41 of the middle arm 40 is sleeved on the first rotating shaft 20 and fixedly connected to the first end 31 of the upper arm. When the upper arm 30 rotates around the first end 31, the middle arm 40 rotates around the third end 41.

[0028] See also Figure 2 A first gear 60 and a second gear 70 are provided inside the middle arm 40. The first gear 60 and the second gear 70 are connected by a chain transmission. The first gear 60 is sleeved on the first rotating shaft 20 and fixedly connected to the first rotating shaft 20. When the first rotating shaft 20 rotates, the first gear 60 rotates with the first rotating shaft 20, thereby driving the second gear 70 to rotate.

[0029] See also Figure 2 and Figure 5 A second rotating shaft 80 is provided on the fourth end portion 42 of the middle arm 40. Specifically, a sleeve 43 penetrating the interior of the middle arm 40 is provided on the fourth end portion 42. The second rotating shaft 80 is rotatably inserted into the sleeve 43, and one end of the second rotating shaft 80 is located inside the middle arm 40. The second gear 70 is sleeved on one end of the second rotating shaft 80 located inside the middle arm 40 and is fixedly connected to the second rotating shaft 80. When the first gear 60 drives the second gear 70 to rotate, the second gear 70 drives the second rotating shaft 80 to rotate.

[0030] See also Figure 4 A suction cup 90 for sucking the filling bag is also installed on the second rotating shaft 80. Specifically, a second telescopic rod 91 is fixedly installed on the second rotating shaft 80, and the suction cup 90 is installed at the free end of the second telescopic rod 91, and the second telescopic rod 91 is used to drive the suction cup 90 to suck and grab the filling bag.

[0031] It should be noted that the first telescopic rod 50 and the second telescopic rod 91 are either electric telescopic rods or pneumatic telescopic rods.

[0032] In addition, the bag picking and delivering robot provided by the present invention also includes a control system, which is control-connected to the first telescopic rod 50 and the second telescopic rod 91 for controlling the extension or retraction of the first telescopic rod 50 and the second telescopic rod 91.

[0033] See also Figure 1 and Figure 2 , Figure 1 is a schematic diagram of the positions of the upper arm 30 and the middle arm 40 relative to the base 10 when the telescopic rod of the first telescopic rod 50 is not extended, Figure 2 FIG. 1 is a schematic diagram of the positions of the upper arm 30 and the middle arm 40 relative to the base 10 when the telescopic rod of the first telescopic rod 50 is extended. Figure 1 to Figure 2 It can be seen that the first telescopic rod 50 drives the upper arm 30 to rotate around its first end 31 through the telescopic rod, thereby driving the middle arm 40 to rotate around the third end 41 and the first rotating shaft 20 to rotate. The rotation of the first rotating shaft 20 drives the first gear 60 to rotate and then drives the second gear 70 to rotate. The second gear 70 drives the second rotating shaft 80 to rotate and then drives the mechanical gripper 90 to turn, so that the mechanical gripper 90 reaches above the filling bag and makes the suction cup of the mechanical gripper 90 face the filling bag, and then drives the suction cup 90 to adsorb the filling bag through the second telescopic rod 91 in the mechanical gripper 90 to complete the grabbing work, and then resets the filling bag through the first telescopic rod 50 and takes the filling bag to the next process.

[0034] The utility model provides a bag taking and bag delivering robot, which has the following technical effects: the overall automation degree is high, the labor cost is saved, and the work efficiency is greatly improved.

[0035] The above description is only used to illustrate the technical solution of the utility model rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the utility model by ordinary technicians in this field should be included in the scope of the claims of the utility model as long as they do not depart from the spirit and scope of the technical solution of the utility model.

Claims

1. A bag picking and bag delivering robot, used to grab the filling bag and adjust the direction of the filling bag and then transport it to the filling machine for filling, characterized by: The bag taking and delivering robot comprises a base (10) fixedly mounted on the filling machine and a first rotating shaft (20) rotatably mounted on the base (10); a large arm (30), a middle arm (40) and a first gear (60) are fixedly sleeved on the first rotating shaft (20); a first telescopic rod (50) for driving the large arm (30) to rotate is connected to the large arm (30); the middle arm (40) is fixedly connected to the large arm (30); the first gear (60) is arranged inside the middle arm (40); a second rotating shaft (80) is arranged on the middle arm (40); the second rotating shaft (80) is rotatably mounted on the middle arm (40); a second gear (70) is also arranged inside the middle arm (40); the second gear (70) is fixedly mounted on the second rotating shaft (80) and is transmission-connected to the first gear (60) through a chain; a suction cup (90) for adsorbing the filling bag is also installed on the second rotating shaft (80).

2. The bag taking and bag delivering robot according to claim 1, characterized in that: The upper arm (30) comprises a first end (31) and a second end (32); the first end (31) of the upper arm (30) is sleeved on the first rotating shaft (20) and is fixedly connected to the first rotating shaft (20); the second end (32) of the upper arm (30) is hingedly connected to one end of a first telescopic rod (50); the other end of the first telescopic rod (50) is hingedly connected to the filling machine via a connecting piece (51); the first telescopic rod (50) is used to drive the upper arm (30) to rotate around the first end (31).

3. The bag taking and bag delivering robot according to claim 2, characterized in that: The middle arm (40) has a third end (41) and a fourth end (42); the third end (41) of the middle arm (40) is sleeved on the first rotating shaft (20) and fixedly connected to the first end (31) of the upper arm.

4. The bag taking and bag delivering robot according to claim 3, characterized in that: A sleeve (43) penetrating the interior of the middle arm (40) is provided on the fourth end portion (42) of the middle arm (40); the second rotating shaft (80) is rotatably inserted into the sleeve (43); one end of the second rotating shaft (80) is located inside the middle arm (40); and the second gear (70) is sleeved on one end of the second rotating shaft (80) located inside the middle arm (40) and is fixedly connected to the second rotating shaft (80).

5. The bag taking and bag delivering robot according to claim 4, characterized in that: A second telescopic rod (91) is fixedly mounted on the second rotating shaft (80), the suction cup (90) is mounted on the free end of the second telescopic rod (91), and the second telescopic rod (91) is used to drive the suction cup (90) to suck and grab the filling bag.

6. The bag taking and bag delivering robot according to claim 5, characterized in that: The first telescopic rod (50) and the second telescopic rod (91) are both cylinder telescopic rods.

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