Three-dimensional operation manipulator and automatic bag feeding device thereof

Abstract

The utility model discloses a three-dimensional operation manipulator and an automatic bag feeding device thereof, and relates to the technical field of packaging mechanical equipment, the three-dimensional operation manipulator comprises a mounting part, an X-direction guide frame, a Y-direction guide frame and an X-direction linkage piece; one end of the X-direction guide frame is fixed to the mounting part, the Y-direction guide frame comprises a first Y-direction guide rod and a second Y-direction guide rod, the first Y-direction guide rod and the second Y-direction guide rod can move on the X-direction guide frame in the Y direction and can also be far away from or close to each other, meanwhile, the second Y-direction guide rod can rotate, and therefore three-dimensional operation of the X-direction guide frame and the Y-direction guide frame can be achieved. The utility model further provides an automatic bag feeding device which comprises a frame body, a mechanical arm, a suction cup frame and a control mechanism and can be effectively matched with an automatic bag feeding and bagging device of an existing packaging device so as to replace manual operation, and output, packaging, bag feeding and conveying of raw materials such as chemical fertilizers and the like can integrally form a set of automatic system.

Description

Technical Field

[0001] The utility model relates to the technical field of packaging machinery and equipment, in particular to a three-dimensionally operated manipulator and an automatic bagging device thereof. Background Art

[0002] With the rapid development of economy, the level of automation has gradually improved, and more and more automated machines have liberated labor productivity. At present, there are two situations in the packaging process. One is that people need to manually put the packaging bags to the corresponding feeding port of the feeding machine to realize bagging. However, this method will consume a lot of labor costs, and the production efficiency is slow, and the economic benefits are low; the second is to use an automatic bag-taking machine to realize automatic bag-taking and bag-loading, but the existing bag-loading machine has a complex structure for opening and bagging packaging bags, and needs to be designed differently according to different structures.

[0003] For example, the existing utility model patent CN 215098593 U discloses a rapid packaging device for fertilizers. The rapid packaging device for fertilizers is equipped with a cylinder. The opening of the fertilizer packaging bag is placed around the packaging seat, and then the telescopic rod is retracted by controlling the cylinder. The retraction of the telescopic rod causes the limit mounting seat and the connecting seat to pull the connecting shaft. The fixed connecting seat and the rotating frame are connected by the rotating shaft, so that the rotating frame is rotated, and the clamping plate installed at one end of the rotating frame clamps the opening of the packaging bag. This rapid packaging device for fertilizers is equipped with a conveying device. When a certain amount of packaging is completed, the unloading device box is controlled to stop unloading, and then the cylinder is opened, so that the rotating frame can be rotated to the original position, and then the motor is turned on to drive the conveyor belt to rotate, and the packaged fertilizer is transported by the conveyor belt, so that the fertilizer packaging bag is sealed. This setting can conveniently and quickly package the produced fertilizer.

[0004] However, the above technology can only realize the automatic packaging of fertilizers, while the bagging operation still requires manual operation. Moreover, due to the coordinated structure of the cylinder, telescopic rod and clamping plate, the bagging operation requires both coordination with the clamping action of the clamping plate and avoidance of positional interference therewith, which poses a problem for the design and implementation of automatic bagging.

[0005] Therefore, in response to the current problems, how to provide an automatic bagging and bagging device that can effectively cooperate with the existing packaging device to replace manual operation, so that the output, packaging, bagging and transportation of raw materials such as fertilizers can form a complete automated system, is a problem that technical personnel in this field urgently need to solve. Utility Model Content

[0006] Therefore, the utility model provides a three-dimensionally operated manipulator and its automatic bagging device, which can effectively cooperate with the automatic bagging and bagging devices of the existing packaging device to replace manual operation, so that the output, packaging, bagging and transportation of raw materials such as fertilizers can form a complete automated system.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A three-dimensional manipulator, comprising: a mounting portion, and further comprising:

[0009] An X-direction guide frame, the X-direction guide frame is horizontally arranged, and one end of the X-direction guide frame is fixed to the mounting portion, an X-direction fixing piece is fixed to one end of the X-direction guide frame, and an X-direction sliding piece is slidably connected to the other end of the X-direction guide frame; a first Y-direction through hole is formed on the X-direction fixing piece, and a second Y-direction through hole is formed on the X-direction sliding piece;

[0010] A Y-direction guide frame, the Y-direction guide frame comprising a first Y-direction guide rod and a second Y-direction guide rod, the first Y-direction guide rod is slidably disposed in the first Y-direction through hole, the second Y-direction guide rod is slidably disposed in the second Y-direction through hole, and the second Y-direction guide rod can rotate in the second Y-direction through hole;

[0011] An X-direction linkage member, wherein the X-direction linkage member is connected to one end on the same side of the first Y-guide rod and the second Y-guide rod, wherein one end of the X-direction linkage member is fixedly connected to the end of the first Y-guide rod, and the other end is rotatably connected to the end of the second Y-guide rod.

[0012] Through the above technical scheme, the utility model provides a three-dimensional operating manipulator, wherein the second Y guide rod can realize the second Y guide rod approaching and moving away from the first Y guide rod in the X direction through the X-direction sliding member; at the same time, by connecting the X-direction linkage member to the same side of the first Y guide rod and the second Y guide rod, and fixing one end on the first Y guide rod, the first Y guide rod and the second Y guide rod can be moved in the Y direction at the same time; further, the other end of the X-direction linkage member is rotatably connected to the second Y guide rod, so that the second Y guide rod can be ensured to rotate independently.

[0013] Preferably, in the above-mentioned three-dimensional manipulator, an X-direction telescopic drive mechanism is installed on the X-direction fixed member, and the telescopic end of the X-direction telescopic drive mechanism is connected to the X-direction sliding member. The X-direction telescopic drive mechanism is installed on the X-direction fixed member, and the telescopic end is connected to the X-direction sliding member, so that the second Y-guide rod can approach or move away from the first Y-guide rod along the X-direction.

[0014] Preferably, in the above-mentioned three-dimensional manipulator, a Y-direction telescopic drive mechanism is installed on the X-direction fixed member, and the telescopic end of the Y-direction telescopic drive mechanism is connected to an end of the first Y-direction guide rod away from the X-direction linkage member. The Y-direction telescopic drive mechanism can control the first Y-direction guide rod and the second Y-direction guide rod to telescope in the Y direction.

[0015] Preferably, in the above-mentioned three-dimensional manipulator, a rotation drive mechanism is installed at one end of the X-axis linkage connected to the second Y-axis guide rod, and the action end of the rotation drive mechanism drives the second Y-axis guide rod to rotate. In this way, the rotation drive mechanism can independently realize the rotation control of the second Y-axis guide rod.

[0016] The utility model also provides an automatic bagging device, comprising:

[0017] A frame, a Z-direction lifting mechanism is installed on one side of the frame, a three-dimensionally operated manipulator as described above is arranged inside the frame, and a lifting end of the Z-direction lifting mechanism is fixedly connected to the mounting portion;

[0018] Suction cup racks, the number of the suction cup racks is two, the two suction cup racks are respectively fixed to one end of the first Y guide rod and the second Y guide rod away from the X-direction linkage member, and the adsorption surfaces of the two suction cup racks are arranged oppositely.

[0019] Through the above technical scheme, the utility model provides an automatic bag loading device, which can realize the lifting of the manipulator along the Z direction through the Z-direction lifting mechanism, and the suction cup frames are respectively fixed on the first Y guide rod and the second Y guide rod, and the adsorption surfaces of the two suction cup frames can be arranged relatively to each other, so as to ensure that the packaging bag can be picked up and opened with the cooperation of the suction cup frame, the first Y guide rod and the second Y guide rod.

[0020] Preferably, in the above-mentioned automatic bagging device, the Z-direction lifting mechanism is a two-stage lifting control structure. The two-stage lifting control structure can realize precise control of lifting.

[0021] Preferably, in the above-mentioned automatic bag loading device, the frame body further comprises a storage rack, the storage rack is used to place the stacked packaging bags, and the open end of the packaging bag is located below the suction cup rack connected to the second Y guide rod. The placement of the storage rack is conducive to the cooperation with the second Y guide rod, ensuring that the packaging bag can be better picked up and ensured that the packaging bag is opened.

[0022] Preferably, in the above-mentioned automatic bagging device, a travel sensing switch is installed on the suction cup frame connected to the second Y guide rod. By setting the travel sensing switch, a signal to start rotation can be given to the second Y guide rod, and a buffer time can be given to the second Y guide rod to prepare for the start of rotation.

[0023] Preferably, in the above-mentioned automatic bagging device, the device further comprises a gas tank and a vacuum pump disposed inside the frame, and the vacuum suction port of the vacuum pump is connected to the suction cup on the suction cup frame, providing power for various driving mechanisms and providing adsorption force for the suction cup frame.

[0024] It can be seen from the above technical solutions that, compared with the prior art, the utility model discloses a three-dimensionally operated manipulator and an automatic bagging device thereof, which have the following beneficial effects:

[0025] 1. The utility model can realize that the second Y guide rod approaches and moves away from the first Y guide rod in the X direction through the second Y guide rod through the X-direction sliding member; at the same time, by connecting the X-direction linkage member to the same side of the first Y guide rod and the second Y guide rod, and fixing one end on the first Y guide rod, the first Y guide rod and the second Y guide rod can move in the Y direction at the same time; further, the other end of the X-direction linkage member is rotatably connected to the second Y guide rod, so that the second Y guide rod can be rotated independently.

[0026] 2. The utility model can realize the lifting of the manipulator along the Z direction through the Z-direction lifting mechanism, and the suction cup frames are respectively fixed on the first Y guide rod and the second Y guide rod, and the adsorption surfaces of the two suction cup frames can be arranged relatively, so as to ensure that the packaging bag can be picked up and opened with the cooperation of the suction cup frame, the first Y guide rod and the second Y guide rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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 in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0028] Figure 1 The accompanying drawing is a right side view of an automatic bagging device provided by the utility model;

[0029] Figure 2 The accompanying drawing is a left side view of an automatic bagging device provided by the utility model;

[0030] Figure 3 The accompanying drawing is a structural schematic diagram of a Z-direction lifting mechanism of an automatic bagging device provided by the utility model;

[0031] Figure 4 The accompanying drawing is a schematic structural diagram of a manipulator of an automatic bagging device provided by the utility model;

[0032] Figure 5 The attached picture is Figure 4 The enlarged structural diagram of part A in the middle;

[0033] Figure 6 The attached picture is Figure 4 The enlarged structural diagram of part B in the middle;

[0034] Figure 7 The accompanying drawing is a rear view of an automatic bagging device provided by the utility model;

[0035] Figure 8 The attached picture is Figure 4 The enlarged structural diagram of the middle C part;

[0036] Fig. 9 The accompanying drawing is a schematic diagram of the suction cup structure of an automatic bagging device provided by the utility model.

[0037] in:

[0038] 1-X-direction guide frame; 11-X-direction fixing member; 12-X-direction sliding member; 2-Y-direction guide frame; 21-first Y-direction guide rod; 22-second Y-direction guide rod; 3-X-direction linkage member; 31-fixing member; 32-connecting rod; 33-connecting block; 331-first connecting block; 332-second connecting block; 4-X-direction telescopic driving mechanism; 5-Y-direction telescopic driving mechanism; 6-rotation driving mechanism; 61-mounting plate; 62-cylinder; 63-transmission plate; 7-frame; 8-Z-direction lifting mechanism; 81-first Z-direction lifting mechanism; 811-first Z-direction sliding block; 812-first mounting plate; 813-first cylinder; 82-second Z-direction lifting mechanism; 821-second Z-direction sliding block; 822-second mounting plate; 823-connecting plate; 824-second cylinder; 83-guide rod; 9-suction cup frame; 91-suction cup; 10-storage rack. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0040] See attached Figure 1-9 , the utility model embodiment discloses an automatic bagging device, comprising: a frame 7, a three-dimensionally operated manipulator and a suction cup frame 9;

[0041] A Z-direction lifting mechanism 8 is installed on one side of the frame 7, and a mounting portion is fixedly connected to the lifting end of the Z-direction lifting mechanism 8;

[0042] The three-dimensional operation manipulator is arranged on the inner side of the frame 7, and the three-dimensional operation manipulator includes: an X-direction guide frame 1, a Y-direction guide frame 2, and an X-direction linkage member 3;

[0043] The X-direction guide frame 1 can be arranged horizontally, and one end is fixed on the mounting portion. An X-direction fixing member 11 is fixed to one end of the X-direction guide frame 1, and an X-direction sliding member 12 is slidably connected to the other end. A first Y-direction through hole is formed on the X-direction fixing member 11, and a second Y-direction through hole is formed on the X-direction sliding member 12.

[0044] The Y-direction guide frame 2 includes a first Y-direction guide rod 21 and a second Y-direction guide rod 22. The first Y-direction guide rod 21 is slidably disposed in the first Y-direction through hole, and the second Y-direction guide rod 22 is slidably disposed in the second Y-direction through hole, and the second Y-direction guide rod 22 can rotate in the second Y-direction through hole.

[0045] The X-direction linkage member 3 is connected to one end on the same side of the first Y-guide rod 21 and the second Y-guide rod 22, one end of the X-direction linkage member 3 is fixedly connected to the end of the first Y-guide rod 21, and the other end is rotatably connected to the end of the second Y-guide rod 22;

[0046] There are two suction cup racks 9 , which are respectively fixed to one end of the first Y-guide rod 21 and the second Y-guide rod 22 away from the X-direction linkage member 3 , and the adsorption surfaces of the two suction cup racks 9 are arranged opposite to each other.

[0047] Specifically, in the present embodiment, the frame body 7 is a frame structure formed by horizontal beams and vertical columns. In actual use, for the sake of aesthetics, an outer shell is wrapped around the outside of the frame body 7 to form an overall structure. The utility model focuses on the connection of the internal structure, and the outer shell structure is not elaborated herein. The wrapping of the outer shell does not affect the movement of the suction cup frame 9, that is, a corresponding opening is left to avoid the movement of the suction cup frame 9.

[0048] See attached Figure 3 The Z-direction lifting mechanism 8 includes a guide rod 83, a first Z-direction lifting mechanism 81 and a second Z-direction lifting mechanism 82. The guide rod 83 is fixed on the frame 7 along the Z direction, and the number is two; the first Z-direction lifting mechanism 81 and the second Z-direction lifting mechanism 82 are respectively located on both sides of the guide rod 83;

[0049] The first Z-direction lifting mechanism 81 includes a first Z-direction sliding block 811, a first mounting plate 812 and a first cylinder 813. There are two first Z-direction sliding blocks 811, which are slidably connected to each guide rod 83 respectively; the first mounting plate 812 is fixedly connected to the two first Z-direction sliding blocks 811; the fixed rod of the first cylinder 813 is fixed on the first mounting plate 812, and the telescopic rod of the first cylinder 813 abuts against the abutment plate at the bottom of the frame 7;

[0050] The second Z-direction lifting mechanism 82 includes a second Z-direction sliding block 821, a second mounting plate 822, a connecting plate 824 and a second cylinder 823. There are two second Z-direction sliding blocks 821, which are respectively slidably connected to each guide rod 83. The bottoms of the two second Z-direction sliding blocks 821 are respectively abutted against the top surfaces of the two second Z-direction sliding blocks 821; the second mounting plate 822 is fixedly connected to the two second Z-direction sliding blocks 821; the connecting plate 824 is fixed on the first mounting plate 812; the fixed rod of the second cylinder 823 is fixed on the second mounting plate 822, and the telescopic rod of the second cylinder 823 is abutted against the connecting plate 824.

[0051] The X-direction guide frame 1 includes two X-direction guide rods. In this embodiment, two second Z-direction sliding blocks 821 form a mounting portion, and one end of the two X-direction guide rods is fixed to the two second Z-direction sliding blocks 821 .

[0052] Specifically, the X-axis fixed member 11 and the X-axis sliding member 12 have the same structure, and are both composed of two sliders with holes stacked and fixed up and down, and the holes of the two sliders are perpendicular to each other, so that the X-axis guide rod, the first Y-guide rod 21 and the second Y-guide rod 22 can penetrate, and the two X-axis guide rods and the first Y-guide rod 21 and the second Y-guide rod 22 can form a mutually perpendicular arrangement structure. In this embodiment, in the stacked sliders in the X-axis fixed member 11 and the X-axis sliding member 12, the holes formed by the sliders located at the upper part are the first Y-axis through hole and the second Y-axis through hole.

[0053] See attached Figure 6 The X-axis linkage 3 includes a fixed block 31, a connecting rod 32 and a connecting block 33. There are two fixed blocks 31, and each of them is provided with an X-axis mounting hole; both ends of the connecting rod 32 are respectively fixed on the X-axis mounting holes; the connecting block 33 is divided into a first connecting block 331 and a second connecting block 332. The first connecting block 331 and the second connecting block 332 are respectively provided with a first Y-axis through hole and a second Y-axis through hole. The first Y-axis through hole is fixed to the end of the first Y-guide rod 21, and the second Y-axis through hole is rotatably connected to the end of the second Y-guide rod 22; the bottom surfaces of the first connecting block 331 and the second connecting block 332 are respectively fixed to the two fixed blocks 31.

[0054] Furthermore, sensors are arranged at the travel positions of the above-mentioned movements in each direction, so that it is convenient to sense the position of each slider and stop when it reaches the right position.

[0055] See attached Figure 5In this embodiment, the X-axis telescopic drive mechanism 4 and the Y-axis telescopic drive mechanism 5 use cylinders. In order to save space, the fixed cylinder of the cylinder of the X-axis telescopic drive mechanism 4 is first fixed to the top surface of the X-axis fixing member 11, and the telescopic cylinder of the cylinder of the X-axis telescopic drive mechanism 4 is connected to one of the two suction cup frames 9 through a connecting plate; the fixed cylinder of the cylinder of the Y-axis telescopic drive mechanism 5 is fixed to the top of the fixed cylinder of the cylinder of the X-axis telescopic drive mechanism 4, and the telescopic cylinder of the cylinder of the Y-axis telescopic drive mechanism 5 is connected to the end of the first Y guide rod 21 away from the X-axis linkage member 3 through a connecting plate.

[0056] See attached Figure 8 In the present embodiment, in order to further save space, a rotation drive mechanism 6 is installed at one end of the X-axis linkage 3 connected to the second Y guide rod 22. The rotation drive mechanism 6 includes a mounting plate 61, a cylinder 62 and a transmission plate 63. The mounting plate 61 is fixed on the second connecting block 332 parallel to the connecting rod 32; the fixed cylinder of the cylinder 62 is rotatably connected to the mounting plate 61; one end of the transmission plate 63 is fixed to the end of the second Y guide rod 22 close to the connecting block 33, and the other end is rotatably connected to the telescopic cylinder of the cylinder 62 to drive the second Y guide rod 22 to rotate.

[0057] In another embodiment, the mounting plate 61 can also be vertically fixed on the fixing block 31 located above and below the second connecting block 332, and the fixing cylinder of the cylinder 62 is rotatably connected to the mounting plate 61, so that the cylinder 62 and the connecting rod 32 can remain horizontal.

[0058] In short, the fixing direction of the mounting plate 61 can be adaptively modified according to actual needs.

[0059] See attached Figure 1 In this embodiment, a storage rack 10 is placed on the side of the rack body 7 close to the suction cup rack 9. The storage rack 10 is used to place stacked packaging bags, and the open end of the packaging bag is located below the suction cup rack 9 connected to the second Y guide rod 22. The storage rack 10 is in contact with the rack body 7 through a roller fixed on the rack body 7, so that the storage rack 10 can be adjusted left and right under the action of the roller, so that the open end of the packaging bag on the storage rack 10 can correspond to the suction cup rack 9 fixed on the second Y guide rod 22. At the same time, a travel sensing switch is installed on the suction cup rack 9 fixed on the second Y guide rod 22 to sense the contact between the suction cup rack 9 and the storage rack 10.

[0060] See attached Fig. 9 In this embodiment, a plurality of suction cups 91 are fixed on the suction surface of each suction cup frame 9, and a hard support portion is fixed at the center of each suction cup 91 to facilitate better suction. When sucking an airtight packaging bag, the diameter of the suction cup 91 is 3.3 cm, and when sucking a breathable packaging bag, the diameter of the suction cup 91 is less than 2 cm.

[0061] A gas tank and a vacuum pump are also fixed inside the frame 7. The vacuum suction port of the vacuum pump is connected to the suction cup 91 on the suction cup frame 9, and a pressure sensor is installed at the outlet of the vacuum pump. When the suction cup 91 sucks the packaging bag, that is, the vacuum suction port is pressurized, and the pressure sensor detects that the pressure increases, it means that the suction cup 91 has sufficient adsorption force.

[0062] In order to achieve control, a PLC control system can be selected to perform overall motion control. Here is a conventional electric control structure in the prior art, that is, to control the action of the cylinder and the suction action of the suction cup, which is not the focus of the utility model and will not be repeated here. A triple relay is also provided in the PLC control system of this embodiment to realize the synchronous operation of the three actions of the second Y guide rod 22 rotating, the first Y guide rod 21 and the second Y guide rod 22 approaching, and the first Y guide rod 21 and the second Y guide rod 22 rising. When the pressure value of the suction cup 91 used to suck the packaging bag increases, it means that it has enough adsorption force to suck the packaging bag. At this time, the triple relay is started, and the three actions of the second Y guide rod 22 rotating, the first Y guide rod 21 and the second Y guide rod 22 approaching, and the first Y guide rod 21 and the second Y guide rod 22 rising are controlled at the same time. The triple relay is only started in the system after the packaging bag is adsorbed in place, the purpose is to synchronize the three actions, and the actions in each direction in the subsequent control can still be controlled separately.

[0063] Furthermore, in order to realize the automatic operation of the whole system, the present embodiment is also provided with a control system to realize the automatic bagging of the whole automatic bagging device.

[0064] The usage and working principle of the utility model are as follows:

[0065] In order to fix the packaging bag and realize packaging, a clamping plate is usually set at the feeding port of the fast packaging equipment in the prior art. Therefore, in order to achieve the effect of automatic bag loading for the packaging machine with a feeding port of the clamping plate, first, the packaging bag is placed on the storage rack 10, and the open end of the packaging bag is correspondingly placed under the suction cup rack 9 connected to the second Y guide rod 22. In the initial state, the suction cup 91 on the second Y guide rod 22 faces the packaging bag, the equipment is started, and the second Y guide rod 22 descends. When the travel switch fixed on the suction cup rack 9 senses the packaging bag on the storage rack, it conveys a signal to the control system to start pumping air from the suction cup 91 fixed on the second Y guide rod 22, so that the suction cup 91 on the second Y guide rod 22 has an adsorption force and adsorbs the packaging bag. At this time, the triple relay is started, the cylinder 62 begins to shrink, and the second Y guide rod 22 is driven to rotate through the transmission plate 63, so that the suction cups 91 of the two suction cup racks 9 are opposite. At the same time, during the rotation process, the second Y-guide rod 22 continuously approaches the first Y-guide rod 21, and the first Y-guide rod 21 and the second Y-guide rod 22 are lifted upward under the action of the first Z-direction lifting mechanism 81. At this time, after the suction cups 91 of the two suction cup racks 9 come into contact, the bottom plate 91 on the first Y-guide rod 21 starts to evacuate air, and when the pressure sensor installed at the outlet of the vacuum pump senses that the pressure has risen to a certain value, the second Y-guide rod 22 is started to move away from the first Y-guide rod 21, so that the packaging bag is opened. Afterwards, in order to correspond to the discharge port, the second Y guide rod 22 and the first Y guide rod 21 are driven by the Y-direction telescopic drive mechanism 5 to realize the Y-direction movement. At this time, the clamping plate around the discharge port is opened, and the second Y guide rod 22 and the first Y guide rod 21 are further lifted under the action of the second Z-direction lifting mechanism 82. After that, the clamping plate is clamped to ensure that the packaging bag is fixed, the vacuum pump stops pumping, so that all the suction cups 91 lose their adsorption force, and then the first Y guide rod 21 and the second Y guide rod 22 are withdrawn from the gap of the clamping plate and return to their original positions. At this point, the automatic bagging is completed. Repeat the above actions to carry out the next bagging, and repeat this process.

[0066] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0067] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be 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 present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A three-dimensional manipulator, installation part; characterized in that, Also includes: An X-direction guide frame (1), the X-direction guide frame (1) being arranged horizontally and having one end fixed on the mounting portion; an X-direction fixing member (11) being fixed on one end of the X-direction guide frame (1), and an X-direction sliding member (12) being slidably connected on the other end; a first Y-direction through hole being formed on the X-direction fixing member (11), and a second Y-direction through hole being formed on the X-direction sliding member (12); A Y-direction guide frame (2), the Y-direction guide frame (2) comprising a first Y-direction guide rod (21) and a second Y-direction guide rod (22), the first Y-direction guide rod (21) being slidably disposed in the first Y-direction through hole, the second Y-direction guide rod (22) being slidably disposed in the second Y-direction through hole, and the second Y-direction guide rod (22) being able to rotate in the second Y-direction through hole; An X-direction linkage member (3), wherein the X-direction linkage member (3) is connected to one end on the same side of the first Y-guide rod (21) and the second Y-guide rod (22), one end of the X-direction linkage member (3) is fixedly connected to the end of the first Y-guide rod (21), and the other end is rotatably connected to the end of the second Y-guide rod (22).

2. A three-dimensional manipulator according to claim 1, characterized in that: An X-direction telescopic drive mechanism (4) is installed on the X-direction fixed member (11), and a telescopic end of the X-direction telescopic drive mechanism (4) is connected to the X-direction sliding member (12).

3. A three-dimensional manipulator according to claim 1 or 2, characterized in that: A Y-direction telescopic drive mechanism (5) is installed on the X-direction fixing member (11), and a telescopic end of the Y-direction telescopic drive mechanism (5) is connected to an end of the first Y-direction guide rod (21) away from the X-direction linkage member (3).

4. A three-dimensional manipulator according to claim 1, characterized in that: One end of the X-axis linkage member (3) connected to the second Y-axis guide rod (22) is provided with a rotation drive mechanism (6), and the action end of the rotation drive mechanism (6) drives the second Y-axis guide rod (22) to rotate.

5. An automatic bagging device, characterized in that: include: A frame (7), a Z-direction lifting mechanism (8) is installed on one side of the frame (7), a three-dimensional operating manipulator according to any one of claims 1 to 4 is arranged inside the frame (7), and a lifting end of the Z-direction lifting mechanism (8) is fixedly connected to the mounting portion; Suction cup frames (9), the number of the suction cup frames (9) is two, the two suction cup frames (9) are respectively fixed to one end of the first Y-direction guide rod (21) and the second Y-direction guide rod (22) away from the X-direction linkage member (3), and the adsorption surfaces of the two suction cup frames (9) are arranged opposite to each other.

6. The automatic bagging device according to claim 5, characterized in that: The Z-direction lifting mechanism (8) is a two-stage lifting control structure.

7. The automatic bagging device according to claim 5, characterized in that: The frame body (7) also includes a storage rack (10), on which stacked packaging bags are placed, and the open end of the packaging bags is located below the suction cup rack (9) connected to the second Y guide rod (22).

8. The automatic bagging device according to claim 7, characterized in that: A travel sensing switch is installed on the suction cup frame (9) connected to the second Y-guide rod (22).

9. The automatic bagging device according to claim 5, characterized in that: It also includes a gas tank and a vacuum pump arranged inside the frame (7), and the vacuum suction port of the vacuum pump is connected to the suction cup (91) on the suction cup frame (9).

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