Material bag grabbing equipment

Abstract

The utility model provides a material bag grabbing device which comprises a base, and a main shaft flange and a tail end flange used for being connected with a mechanical arm are installed on the top face of the base. A vacuum suction cup is installed in the center of the bottom face of the base and used for adsorbing a material bag. A pair of clamping jaw mechanisms is arranged on the two sides of the vacuum suction cup and used for clamping a material bag. The vacuum suction cup and the clamping jaw mechanisms are installed at the bottom of the base, a material bag is sucked through the vacuum suction cup, after the material bag is lifted to a certain height by the mechanical arm, the clamping jaw mechanisms on the two sides of the vacuum suction cup are matched with each other to clamp and fix the material bag, and the material bag on a stacking disc can be easily sucked through the vacuum suction cup; and the material bag is held, clamped and fixed by the clamping jaw mechanism after being lifted, so that the material bag can be prevented from falling off in the transfer process.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a material bag grasping device. Background Art

[0002] Packaging bags are widely used in the packaging of chemical fertilizers, grains, feeds, plastic particles, and cement. During the production process, mechanized equipment is often used for bag grasping, palletizing, loading, and depalletizing to reduce labor intensity and improve production efficiency.

[0003] Traditional material bag grasping devices generally use a robotic arm to drive a gripper or a suction cup to grasp the material bags on the pallet. Since the material bags on the pallet are stacked staggeredly, the gripper cannot directly grasp the material bags on the pallet; while using a suction cup can suck the material bag, but the material bag is likely to fall during the process of sucking the material bag and transferring it to the receiving hopper, resulting in poor applicability and reliability of the material bag grasping device. Summary of the Utility Model

[0004] The utility model provides a material bag grasping device, which solves the problems that the existing material bag grasping device cannot grasp the material bags on the pallet with a gripper or the material bag is likely to fall during the transfer process when using a suction cup to suck the material bag.

[0005] The technical solution of the utility model is realized as follows:

[0006] The utility model provides a material bag grasping device, which includes a base. A spindle flange is installed on the top surface of the base for connecting the end flange of the robotic arm; a vacuum suction cup is installed at the center of the bottom surface of the base for adsorbing the material bag; and a pair of gripper mechanisms are arranged on both sides of the vacuum suction cup for clamping the material bag.

[0007] By installing a vacuum suction cup and gripper mechanisms at the bottom of the base, the utility model first sucks the material bag with the vacuum suction cup. After the material bag is lifted to a certain height by the robotic arm, the gripper mechanisms on both sides of the vacuum suction cup cooperate with each other to hold and fix the material bag. The material bag on the pallet can be easily sucked by the vacuum suction cup, and the gripper mechanisms are used to hold and fix the material bag after it is lifted, which can prevent the material bag from falling during the transfer process.

[0008] Preferably, the vacuum suction cup is a vacuum sponge suction cup, which can adapt to the uneven surface of the material bag and improve the reliability of material bag grasping.

[0009] Preferably, the vacuum suction cup is connected to the base through a yaw floating mechanism, and the yaw floating mechanism includes a floating joint, a damping telescopic rod and a spring; one end of the floating joint is fixedly connected to the vacuum suction cup, and the other end is fixedly connected to the damping telescopic rod; the other end of the damping telescopic rod is fixedly connected to the base, and limit blocks are provided at both ends of the damping telescopic rod; the spring is sleeved outside the damping telescopic rod, and both ends of the spring are in contact with the limit blocks at both ends of the damping telescopic rod respectively; by connecting the yaw floating mechanism between the vacuum suction cup and the base, the cooperation of the spring and the damping telescopic rod can reduce the impact when the vacuum suction cup contacts the material bag, play a role in shock absorption, and can also realize the up and down floating of the vacuum suction cup to adapt to the height error of the material bag; in addition, the floating joint can be used to realize the left and right yaw of the vacuum suction cup, so that when the top surface of the material bag has an inclination angle with the horizontal plane, the vacuum suction cup can also adapt to the posture of the material bag.

[0010] Specifically, the jaw mechanism includes a driving component and a jaw assembly, and the driving component is used to drive the jaw assembly to close to clamp the material bag or open to release the material bag.

[0011] Specifically, the driving component includes a cylinder, a hydraulic cylinder or a motor.

[0012] Further, the jaw assembly includes a mounting plate and a plurality of jaws, and the plurality of jaws are fixedly mounted on the mounting plate; the driving component is rotatably mounted on the side wall of the base through a first hinge support, and the bottom of the base is rotatably mounted with a rotating shaft through a bearing, and the mounting plate is fixedly connected to the rotating shaft through a first connecting arm; one end of the rotating shaft is fixedly mounted with a second connecting arm, and the end of the second connecting arm is rotatably connected to the telescopic end of the driving component through a second hinge support; by driving the telescopic shaft of the driving component to expand and contract, the second connecting arm rotates around the axis of the rotating shaft, thereby driving the rotating shaft to rotate, and then driving the mounting plate to rotate around the axis of the rotating shaft through the first connecting arm, so as to realize the closing and opening actions of the plurality of jaws.

[0013] Preferably, an anti - detachment hanging needle is installed on the inner side of at least one of the jaws, which can prevent the empty material bag from falling into the receiving hopper after the material bag is broken. After the material bag is broken, the material inside it will fall into the receiving hopper below, and the empty bag cannot be clamped by the jaw mechanism and is likely to fall into the receiving hopper.

[0014] Specifically, a vision camera is installed at the bottom of the base, which is used to identify the height and angle of the material bag palletizing, so as to automatically drive the material bag grabbing device to move to a suitable height and posture to grab the material bag by using a robotic arm.

[0015] Specifically, a photoelectric detection sensor is provided at the bottom of the base, which is used to identify whether the material bag is grabbed, so as to automatically control the jaw mechanism to clamp the material bag after it is recognized that the vacuum suction cup has sucked the material bag. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 It is a side view of the equipment when the jaw mechanism clamps the material package in the embodiment of the present invention;

[0018] Figure 2 It is a three-dimensional view of the equipment when the jaw mechanism clamps the material package in the embodiment of the present invention;

[0019] Figure 3 It is a side view of the equipment after the jaw mechanism opens in the embodiment of the present invention;

[0020] Figure 4 It is a schematic diagram of the bottom structure of the equipment after the jaw mechanism opens in the embodiment of the present invention;

[0021] Figure 5 It is a schematic diagram of the initial state of the yaw floating mechanism in the embodiment of the present invention;

[0022] Figure 6 It is a schematic diagram of the state of the yaw floating mechanism when it floats up and down and yaws left and right in the embodiment of the present invention;

[0023] In the figure: 1, base; 2, main shaft flange; 3, vacuum suction cup; 4, material package; 5, yaw floating mechanism; 6, floating joint; 7, damping telescopic rod; 8, spring; 9, limit block; 10, driving component; 11, mounting plate; 12, finger; 13, first hinge support; 14, bearing; 15, rotating shaft; 16, first connecting arm; 17, second connecting arm; 18, second hinge support; 19, anti-disengagement pin; 20, photoelectric detection sensor. Detailed implementation manners

[0024] The following will clearly and completely describe the technical solutions of the present invention in combination with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0025] Refer to Figures 1 to 6, the present utility model provides a material bag grasping device, including a base 1, on the top surface of the base 1, a main shaft flange 2 is installed for connecting the end flange of the robotic arm; at the center of the bottom surface of the base 1, a vacuum suction cup 3 is installed for adsorbing the material bag 4; on both sides of the vacuum suction cup 3, a pair of clamping jaw mechanisms are provided for clamping the material bag 4.

[0026] By installing a vacuum suction cup 3 and a clamping jaw mechanism at the bottom of the base 1 in the present utility model, first, the material bag 4 is sucked by the vacuum suction cup 3. After the material bag 4 is lifted to a certain height by the robotic arm, the clamping jaw mechanisms on both sides of the vacuum suction cup 3 cooperate with each other to clamp and fix the material bag 4. The material bag 4 on the pallet can be easily sucked by the vacuum suction cup 3, and after the material bag 4 is lifted, the clamping jaw mechanism is used for clamping and fixing, which can prevent the material bag 4 from falling during the transportation process.

[0027] Preferably, the vacuum suction cup 3 is a vacuum sponge suction cup, which can adapt to the uneven surface of the material bag 4 and improve the reliability of grasping the material bag 4.

[0028] Preferably, as Figure 1 、 3 、5, and 6 show, the vacuum suction cup 3 is connected to the base 1 through a yaw floating mechanism 5. The yaw floating mechanism 5 includes a floating joint 6, a damping telescopic rod 7, and a spring 8; one end of the floating joint 6 is fixedly connected to the vacuum suction cup 3, and the other end is fixedly connected to the damping telescopic rod 7; the other end of the damping telescopic rod 7 is fixedly connected to the base 1, and limit blocks 9 are provided at both ends of the damping telescopic rod 7; the spring 8 is sleeved outside the damping telescopic rod 7, and both ends of the spring 8 are respectively abutted against the limit blocks 9 at both ends of the damping telescopic rod 7; by connecting the yaw floating mechanism 5 between the vacuum suction cup 3 and the base 1, the cooperation of the spring 8 and the damping telescopic rod 7 can reduce the impact when the vacuum suction cup 3 contacts the material bag 4, playing a role in shock absorption, and can also realize the up and down floating of the vacuum suction cup 3 to adapt to the height error of the material bag 4; in addition, the floating joint 6 can realize the left and right yaw of the vacuum suction cup 3, so that when the top surface of the material bag 4 has an inclination angle with the horizontal plane, the vacuum suction cup 3 can also adapt to the posture of the material bag 4.

[0029] During the specific implementation process, in order to improve the stability of the connection between the vacuum suction cup 3 and the base 1, a total of 4 yaw floating mechanisms 5 are provided, and the floating joint 6 can adopt an existing ball head universal joint.

[0030] Specifically, the clamping jaw mechanism includes a driving component 10 and a clamping jaw assembly. The driving component 10 is used to drive the clamping jaw assembly to close to clamp the material bag 4 or open to release the material bag 4.

[0031] Specifically, the driving component 10 includes a cylinder, a hydraulic cylinder, or a motor. In this embodiment, a telescopic cylinder is selected as the driving component 10.

[0032] Furthermore, as Figures 1 to 4 shown, the jaw assembly includes a mounting plate 11 and a plurality of jaws 12, and the plurality of jaws 12 are fixedly mounted on the mounting plate 11; the driving member 10 is rotatably mounted on the side wall of the base 1 through a first hinge support 13, and the bottom of the base 1 is rotatably mounted with a rotating shaft 15 through a bearing 14, and the mounting plate 11 is fixedly connected to the rotating shaft 15 through a first connecting arm 16; one end of the rotating shaft 15 is fixedly mounted with a second connecting arm 17, and the end of the second connecting arm 17 is rotatably connected to the telescopic end of the driving member 10 through a second hinge support 18; by driving the telescopic shaft of the driving member 10 to expand and contract, the second connecting arm 17 is rotated around the axis of the rotating shaft 15, thereby driving the rotating shaft 15 to rotate, and then driving the mounting plate 11 to rotate around the axis of the rotating shaft 15 through the first connecting arm 16, so as to realize the closing and opening actions of the plurality of jaws 12.

[0033] Preferably, as Figure 3 , 4 shown, an anti - detachment pin 19 is installed on the inner side of at least one of the jaws 12, which can prevent the empty package of the material package 4 from falling into the receiving hopper after the material package 4 is broken. After the material package 4 is broken, the material inside it will fall into the receiving hopper below, and the empty package cannot be clamped by the jaw mechanism and is likely to fall into the receiving hopper.

[0034] In this embodiment, the shape of the jaw 12 is "L" - shaped, which is convenient for supporting the bottom of the material package 4 when clamping the material package 4.

[0035] Specifically, a vision camera (not shown in the figure) is installed at the bottom of the base 1, which is used to identify the height and angle of the palletizing of the material package 4 (the distance between the camera and the material package 4 can be calculated by using the ratio of the pixel size of the material package 4 in the camera's field of view to the actual size, so as to obtain the height of the material package 4; and the palletizing angle of the material package 4 can be obtained by using the deflection angle between the material package 4 and the coordinate axis in the camera's field of view; it can be directly realized by using the existing vision recognition technology), so as to automatically drive the material package 4 grabbing device to move to a suitable height and posture by the robotic arm to grab the material package 4.

[0036] Specifically, as Figures 1 to 3 shown, a photoelectric detection sensor 20 is provided at the bottom of the base 1, which is used to identify whether the material package 4 is grabbed, so as to automatically control the jaw mechanism to clamp the material package 4 after it is recognized that the vacuum chuck 3 has sucked the material package 4.

[0037] In this embodiment, a photoelectric detection sensor 20 is provided on each of the left and right sides of the vacuum chuck 3 (a diffuse - reflection photoelectric sensor is used in this embodiment, which can also provide high detection accuracy for uneven surfaces). By using the two photoelectric detection sensors 20 to detect whether the vacuum chuck 3 has sucked the material package 4, the detection result is more accurate.

[0038] The working process of the material packet grasping device in this embodiment is as follows:

[0039] First, use the vision camera under the base 1 to identify the stacking height and horizontal angle of the material packet 4. Then, control the robotic arm to drive the base 1 to descend by the corresponding height and rotate by the corresponding angle according to the height and angle data of the material packet 4 stacking. Then, start the vacuum suction cup 3 to suck the material packet 4, and control the robotic arm to drive the base 1 to rise to lift the material packet 4. After the material packet 4 is lifted to a certain height, use the photoelectric detection sensor 20 to identify whether the vacuum suction cup 3 has sucked the material packet 4. If the presence of the material packet 4 is identified, control the cylinder to drive the fingers 12 to close to clamp the material packet 4, and then the vacuum suction cup 3 can be controlled to stop adsorbing. Then, control the robotic arm to drive the base 1 to move above the receiving hopper, and then use the bag-breaking device to cut the bottom of the material packet 4 so that the material in the material packet 4 falls into the receiving hopper. After all the material in the material packet 4 has fallen into the receiving hopper, the anti-detachment and hanging needle 19 on the fingers 12 can hang the empty bag to prevent the empty bag from falling into the receiving hopper.

[0040] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A material bag grabbing device, characterized in that: The invention comprises a base (1), wherein a main shaft flange (2) is installed on the top surface of the base (1) for connecting to the end flange of a robot arm; a vacuum suction cup (3) is installed in the center of the bottom surface of the base (1) for adsorbing a material bag (4); and a pair of clamping claw mechanisms are provided on both sides of the vacuum suction cup (3) for clamping the material bag (4).

2. A material bag grabbing device as claimed in claim 1, characterized in that: The vacuum suction cup (3) is a vacuum sponge suction cup.

3. A material bag grabbing device as claimed in claim 1 or 2, characterized in that: The vacuum suction cup (3) and the base (1) are connected via a deflection floating mechanism (5), and the deflection floating mechanism (5) comprises a floating joint (6), a damping telescopic rod (7) and a spring (8); one end of the floating joint (6) is fixedly connected to the vacuum suction cup (3), and the other end is fixedly connected to the damping telescopic rod (7); the other end of the damping telescopic rod (7) is fixedly connected to the base (1), and both ends of the damping telescopic rod (7) are provided with limit blocks (9); the spring (8) is sleeved on the outside of the damping telescopic rod (7), and both ends of the spring (8) are respectively in contact with the limit blocks (9) at both ends of the damping telescopic rod (7).

4. A material bag grabbing device as claimed in claim 1, characterized in that: The clamping jaw mechanism comprises a driving component (10) and a clamping jaw assembly, wherein the driving component (10) is used to drive the clamping jaw assembly to close to clamp the material bag (4) or to open to release the material bag (4).

5. A material bag grabbing device as claimed in claim 4, characterized in that: The driving component (10) comprises a cylinder, a hydraulic cylinder or a motor.

6. A material bag grabbing device as claimed in claim 4, characterized in that: The clamping jaw assembly comprises a mounting plate (11) and a plurality of clamping fingers (12), wherein the plurality of clamping fingers (12) are fixedly mounted on the mounting plate (11); the driving component (10) is rotatably mounted on the side wall of the base (1) via a first hinge support (13); a rotating shaft (15) is rotatably mounted on the bottom of the base (1) via a bearing (14); the mounting plate (11) and the rotating shaft (15) are fixedly connected via a first connecting arm (16); a second connecting arm (17) is fixedly mounted on one end of the rotating shaft (15), and the end of the second connecting arm (17) is rotatably connected to the telescopic end of the driving component (10) via a second hinge support (18).

7. A material bag grabbing device as claimed in claim 6, characterized in that: An anti-dropping pin (19) is installed on the inner side of at least one of the clamping fingers (12).

8. The material bag grabbing device according to claim 1, characterized in that: A visual camera is installed at the bottom of the base (1) for identifying the height and angle of the stacking of material packages (4).

9. A material bag grabbing device as claimed in claim 1, characterized in that: A photoelectric detection sensor (20) is provided at the bottom of the base (1) for identifying whether a material bag (4) has been captured.

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