Bagging manipulator

Abstract

The utility model belongs to the field of packaging machinery, and particularly relates to a bagging manipulator. The bagging manipulator comprises a rotating mechanism, a double-output-shaft air cylinder, a first connecting rod, a second connecting rod, a left manipulator body and a right manipulator body. The rotating mechanism is installed on an external device, and the double-output-shaft air cylinder is installed at the output end of the rotating mechanism. One ends of the first connecting rod and the second connecting rod are hinged to the same output end of the double-output-shaft cylinder, and the other ends are hinged to the left manipulator and the right manipulator respectively; the mounting ends of the left manipulator and the right manipulator are respectively hinged with the output end of the rotating mechanism and are symmetrically arranged on the left side and the right side of the double-output-shaft cylinder, and the working ends are correspondingly arranged. The middle double-output-shaft air cylinder drives the first connecting rod and the second connecting rod to be linked and drives the left mechanical arm and the right mechanical arm at the same time, and when the air cylinder is opened, the left mechanical arm and the right mechanical arm are kept symmetrical, so that it is guaranteed that a packaging bag is centered and does not deviate in the bagging process, and it is guaranteed that bagging operation is carried out reliably.

Description

Technical Field

[0001] The utility model relates to a packaging mechanical device, in particular to a bagging mechanical arm. Background Art

[0002] On the basis of continuous innovation in science and technology, industrial production is increasingly moving towards high-end, high-efficiency and refinement, which requires industrial products to have intelligent and efficient product characteristics, and the packaging of granular materials also tends to be automated. At present, there are various automated packaging equipment on the market. Automated packaging equipment replaces traditional manual packaging. It has the characteristics of fast speed, neat and beautiful packaging, and is widely used.

[0003] The bagging robot is an important part of the packaging equipment. The existing bagging robot usually adopts a single-axis cylinder connected to the left and right robots, and a fixed-length pull rod is connected to the two robots to form a four-bar mechanism. When the cylinder opens the left and right robots, this structure will form an eccentric state, and the larger the opening angle, the larger the eccentric distance, which can easily cause the packaging bag to be offset during bagging, and has more requirements on the packaging space size. Utility Model Content

[0004] The purpose of the utility model is to solve the technical problem that when the cylinder of the existing bagging robot opens the left and right robots, this structure will form an eccentric state, and when the opening angle is larger, the eccentric distance is larger, which is easy to cause the packaging bag to be offset when bagging, and has more requirements on the packaging space size, and provide a bagging robot.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A bagging manipulator is special in that it includes a rotating mechanism, a double-output shaft cylinder, a first connecting rod, a second connecting rod, a left manipulator and a right manipulator; the rotating mechanism is installed on an external device, and the double-output shaft cylinder is installed at the output end of the rotating mechanism; one end of the first connecting rod and the second connecting rod are both hinged to the same output end of the double-output shaft cylinder, and the other ends are respectively hinged to the left manipulator and the right manipulator; the mounting ends of the left manipulator and the right manipulator are respectively hinged to the output end of the rotating mechanism, and are symmetrically arranged on the left and right sides of the double-output shaft cylinder, and their working ends are correspondingly arranged; the other ends of the first connecting rod and the second connecting rod are respectively hinged between the mounting end and the working end of the left manipulator and the right manipulator.

[0007] Furthermore, the rotating mechanism includes a rotating motor and a rotating spindle; the rotating motor and the rotating spindle are both installed on an external device, the rotating spindle is the output end of the rotating mechanism, and one end of the rotating spindle is connected to the output end of the rotating motor; the double-output shaft cylinder is installed on the circumferential side of the rotating spindle, and the output direction of the double-output shaft cylinder is perpendicular to the axial direction of the rotating spindle; one end of the left manipulator and the right manipulator are respectively hinged to the circumferential side of the rotating spindle, and are symmetrically arranged on the left and right sides of the double-output shaft cylinder along the axial direction of the rotating spindle.

[0008] Furthermore, the left manipulator and the right manipulator have the same structure, both including a fixed manipulator arm, a driving cylinder and a movable bag-supporting assembly; one end of the fixed manipulator arm is the mounting end, which is hinged to the rotating spindle of the rotating mechanism, the driving cylinder is hinged to the outer peripheral side of the fixed manipulator arm, the movable bag-supporting assembly is the working end, which is installed at the other end of the fixed manipulator arm, and the output end of the driving cylinder is hinged to the movable bag-supporting assembly.

[0009] Furthermore, the movable bag holding assembly includes a first bag holding hand and a second bag holding hand; the middle of the first bag holding hand and one end of the second bag holding hand are respectively hinged to the other end of the fixed mechanical arm, and one end of the first bag holding hand is hinged to the output end of the driving cylinder; the first bag holding hand and the second bag holding hand are respectively provided with transmission teeth on one side close to each other at the hinge between the fixed mechanical arm, and the first bag holding hand and the second bag holding hand are meshed through the transmission teeth; the first bag holding hand and the second bag holding hand are both provided with bag holding rods; and a fixed bag holding rod is provided on the fixed mechanical arm.

[0010] Furthermore, a fixing piece is installed on the rotating mechanism, and the front end of the double-output shaft cylinder is fixed on the fixing piece.

[0011] Furthermore, the first bag holding hand is located on the upper side of the second bag holding hand, and its tail is bent upward. The tail end is hinged to the output end of the driving cylinder, and the bent part is hingedly installed on the other end side of the fixed mechanical arm. The outer side of the bent part is provided with transmission teeth that mesh with the second bag holding hand.

[0012] The beneficial effects of the utility model are:

[0013] The utility model drives the first connecting rod and the second connecting rod in linkage at the same time through a central double-output shaft cylinder, and drives the left manipulator and the right manipulator at the same time. When the cylinder is expanded, the left manipulator and the right manipulator remain symmetrical, thereby ensuring that the packaging bag is centered during bagging and will not deviate, thereby ensuring that the bagging operation is carried out reliably. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of an embodiment of the utility model;

[0015] Figure 2 yes Figure 1 Left view of .

[0016] In the figure: 1 - Rotating mechanism, 101 - Rotating motor, 102 - Rotating main shaft; 2 - Double-output shaft cylinder, 3 - First connecting rod, 4 - Second connecting rod, 5 - Left manipulator, 6 - Right manipulator, 7 - Fixed robotic arm, 8 - Driving cylinder, 9 - Movable bag-supporting assembly, 91 - First bag-supporting hand, 92 - Second bag-supporting hand, 93 - Transmission gear, 94 - Bag-supporting rod; 10 - Fixing part, 11 - Fixed bag-supporting rod. Detailed implementation mode

[0017] To make the objectives, advantages and features of the present utility model clearer, the following further elaborates on a bagging manipulator proposed by the present utility model in conjunction with the accompanying drawings and specific embodiments. According to the following specific implementation modes, the advantages and features of the present utility model will be clearer.

[0018] In the description of the present utility model, it should be noted that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0019] Refer to Figure 1 , a bagging manipulator in this embodiment includes a rotating mechanism 1, a double-output shaft cylinder 2, a first connecting rod 3, a second connecting rod 4, a left manipulator 7 and a right manipulator 8.

[0020] Among them, the main function of the rotating mechanism 1 is to drive the left manipulator 7 and the right manipulator 8 to swing back and forth (i.e., along the Figure 1 inward and outward directions of the paper surface), the rotating mechanism 1 is installed on an external device, and the double-output shaft cylinder 2 is installed at the output end of the rotating mechanism 1.

[0021] Specifically, the rotating mechanism 1 includes a rotating motor 101 and a rotating main shaft 102; both the rotating motor 101 and the rotating main shaft 102 are installed on an external device, one end of the rotating main shaft 102 is connected to the output end of the rotating motor 101, the axial direction of the rotating main shaft 102 is set along the horizontal (i.e., Figure 1 the left and right directions of the paper), the double-output shaft cylinder 2 is installed at the middle position on the circumference of the rotating main shaft 102, and the output direction of the double-output shaft cylinder 2 is perpendicular to the axial direction of the rotating main shaft 102.

[0022] Preferably, in order to enable the double-output shaft cylinder 2 to operate stably on the rotating main shaft 102, a fixing part 10 is installed on the rotating main shaft 102, and the front end of the double-output shaft cylinder 2 is fixed to the fixing part 10.

[0023] Specifically, the fixing part 12 is an integral bending part, welded to the rotating main shaft 102 for fixing the double-output shaft cylinder 2.

[0024] Both the first connecting rod 3 and the second connecting rod 4 play a transmission role, and are used to transmit the driving force of the double-output shaft cylinder 2 to the left manipulator 5 and the right manipulator 6, so as to drive the left manipulator 5 and the right manipulator 6 to swing left and right along the desired trajectory.

[0025] Specifically, one end of both the first connecting rod 3 and the second connecting rod 4 is hinged to the output end of the double-output shaft cylinder 2 through a pin shaft, and the other ends of the first connecting rod 3 and the second connecting rod 4 are respectively hinged to the left manipulator 5 and the right manipulator 6; the mounting ends of the left manipulator 5 and the right manipulator 6 are respectively hinged to the circumference of the rotating main shaft 102, and the left manipulator 5 and the right manipulator 6 are symmetrically arranged on the left and right sides of the double-output shaft cylinder 2 along the axial direction of the rotating main shaft 102, and their working ends are correspondingly arranged. The other ends of the first connecting rod 3 and the second connecting rod 4 are respectively hinged between the mounting end and the working end of the left manipulator 5 and the right manipulator 6. Thus, when the angle between the first connecting rod 3 and the second connecting rod 4 driven by the double-output shaft cylinder 2 increases or decreases, the left manipulator 5 and the right manipulator 6 always remain symmetric with respect to the output axis of the double-output shaft cylinder 2, and finally ensure that the packaging bag remains centered during bagging.

[0026] Specifically, the left manipulator 5 and the right manipulator 6 have the same structure, and both include a fixed robotic arm 7, a driving cylinder 8 and a movable bag-supporting assembly 9; one end of the fixed robotic arm 7 is hinged to the rotating main shaft 102; the driving cylinder 8 is hinged to the circumference of the fixed robotic arm 7, and the movable bag-supporting assembly 9 is installed at the other end of the fixed robotic arm 7, and the output end of the driving cylinder 8 is hinged to the movable bag-supporting assembly 9.

[0027] Preferably, the movable bag-supporting assembly 9 includes a first bag-supporting hand 91 and a second bag-supporting hand 92; the middle of the first bag-supporting hand 91 and one end of the second bag-supporting hand 92 are respectively hinged to the circumference of the other end of the fixed robotic arm 7, and one end of the first bag-supporting hand 91 is connected to the output end of the driving cylinder 8; transmission teeth 93 are respectively arranged on the mutually adjacent sides of the joints of the first bag-supporting hand 91 and the second bag-supporting hand 92 with the fixed robotic arm 7, and the mutually adjacent sides of the first bag-supporting hand 91 and the second bag-supporting hand 92 are meshed through the transmission teeth 93, so as to ensure the synchronization of the movements of the first bag-supporting hand 91 and the second bag-supporting hand 92.

[0028] Specifically, the first bag-supporting hand 91 is located above the second bag-supporting hand 92, its tail is bent upward, the tail end is hinged to the output end of the driving cylinder 8, the bent part is hinged and installed on the circumference of the other end of the fixed robotic arm 7, and a transmission tooth 93 meshing with the second bag-supporting hand 92 is arranged on the outside of the bent part; see Figure 2 that bag-supporting rods 94 are arranged on both the first bag-supporting hand 91 and the second bag-supporting hand 92; and a fixed bag-supporting rod 11 is arranged on the fixed robotic arm 7.

[0029] When bagging is to be carried out, the output ends of the double-output shaft cylinder 2 retract, and the left manipulator 5 and the right manipulator 6 retract towards each other. At the same time, the first bag-supporting hands 91 and the second bag-supporting hands 92 on the left manipulator 5 and the right manipulator 6 are combined together, and the bag is opened by the upper and lower suction heads. The left manipulator 5 and the right manipulator 6 are driven by the rotation motor 101 to drive the rotation main shaft 102 to return to the vertical position. The first bag-supporting hands 91 and the second bag-supporting hands 92 on the left manipulator 5 and the right manipulator 6 partially enter the bag, and the fixed bag-supporting rods 11 on the fixed manipulator arm 7 enter the bag at the same time. The shaft of the double-output shaft cylinder 2 extends, driving the left manipulator 5 and the right manipulator 6 to move away from each other and open. At the same time, the rotation main shaft 102 rotates. During this process, the driving cylinders 8 on the left manipulator 5 and the right manipulator 6 extend, and the bag is supported by the first bag-supporting hands 91 and the second bag-supporting hands 92 and the fixed bag-supporting rods 11 on the fixed manipulator arm 7. When the left manipulator 5 and the right manipulator 6 are in the horizontal position, the bag is sleeved on the clamping device, and returns to the vertical position after the bagging is completed.

Claims

1. A bagging robot, characterized in that: It comprises a rotating mechanism (1), a double-shaft cylinder (2), a first connecting rod (3), a second connecting rod (4), a left manipulator (5) and a right manipulator (6); The rotating mechanism (1) is mounted on an external device, and the double-output shaft cylinder (2) is mounted on the output end of the rotating mechanism (1); One end of the first connecting rod (3) and the second connecting rod (4) are both hinged to the same output end of the double-output shaft cylinder (2), and the other ends are respectively hinged to the left manipulator (5) and the right manipulator (6); The mounting ends of the left manipulator (5) and the right manipulator (6) are respectively hinged to the output ends of the rotating mechanism (1), and are symmetrically arranged on the left and right sides of the double-output shaft cylinder (2), and their working ends are correspondingly arranged; The other ends of the first connecting rod (3) and the second connecting rod (4) are respectively hinged between the mounting end and the working end of the left manipulator (5) and the right manipulator (6).

2. A bagging robot according to claim 1, characterized in that: The rotating mechanism (1) comprises a rotating motor (101) and a rotating main shaft (102); The rotating motor (101) and the rotating main shaft (102) are both mounted on an external device; the rotating main shaft (102) is the output end of the rotating mechanism (1), and one end of the rotating main shaft is connected to the output end of the rotating motor (101); The double-output shaft cylinder (2) is installed on the peripheral side of the rotating main shaft (102), and the output direction of the double-output shaft cylinder (2) is perpendicular to the axial direction of the rotating main shaft (102); One end of the left manipulator (5) and the right manipulator (6) are respectively hinged to the peripheral side of the rotating main shaft (102), and are symmetrically arranged on the left and right sides of the double-output shaft cylinder (2) along the axial direction of the rotating main shaft (102).

3. A bagging robot according to claim 2, characterized in that: The left manipulator (5) and the right manipulator (6) have the same structure, and both include a fixed manipulator arm (7), a driving cylinder (8) and a movable bag-supporting assembly (9); One end of the fixed mechanical arm (7) is a mounting end, which is hinged on the rotating main shaft (102) of the rotating mechanism (1); the driving cylinder (8) is hinged on the outer peripheral side of the fixed mechanical arm (7); the movable bag-supporting assembly (9) is a working end, which is mounted on the other end of the fixed mechanical arm (7); and the output end of the driving cylinder (8) is hinged to the movable bag-supporting assembly (9).

4. A bagging robot according to claim 3, characterized in that: The movable bag holding assembly (9) comprises a first bag holding hand (91) and a second bag holding hand (92); The middle part of the first bag holding hand (91) and one end of the second bag holding hand (92) are respectively hinged to the other end of the fixed mechanical arm (7), and one end of the first bag holding hand (91) is hinged to the output end of the driving cylinder (8); Transmission teeth (93) are respectively arranged on one side of the hinged joint between the first bag holding hand (91) and the second bag holding hand (92) and the fixed mechanical arm (7), and the first bag holding hand (91) and the second bag holding hand (92) are meshed with each other through the transmission teeth (93); The first bag holding hand (91) and the second bag holding hand (92) are both provided with a bag holding rod (94); The fixed mechanical arm (7) is provided with a fixed bag-supporting rod (11).

5. A bagging robot according to claim 1, characterized in that: A fixing member (10) is installed on the rotating mechanism (1), and the front end of the double-axis cylinder (2) is fixed on the fixing member (10).

6. A bagging robot according to claim 4, characterized in that: The first bag holding hand (91) is located on the upper side of the second bag holding hand (92), and its tail is bent upward. The tail end is hinged to the output end of the driving cylinder (8), and the bent part is hingedly installed on the other end of the fixed mechanical arm (7). The outer side of the bent part is provided with a transmission tooth (93) meshing with the second bag holding hand (92).

Images