Bag pile grabbing manipulator

Abstract

The utility model relates to the field of logistics packaging, in particular to a bag pile grabbing manipulator which comprises a manipulator mounting frame, and a finger positioning shaft is arranged on the front side in the manipulator mounting frame. A fixed finger is fixedly arranged on the finger positioning shaft, and a movable finger is rotationally arranged on the finger positioning shaft; a grabbing air cylinder is further arranged in the mechanical arm mounting frame, and the grabbing air cylinder is in transmission connection with the movable fingers and used for driving the movable fingers to be close to the fixed fingers so as to clamp the target bag pile. Compared with the prior art, the bag pile grabbing mechanical arm has the advantages that in the bag taking process, the bag pile grabbing mechanical arm is driven by the mechanical arm to move towards the target bag pile, the fixed finger is inserted between the target bag pile and the next layer of bag pile of the target bag pile, and therefore the two bag piles are separated and prevented from being adhered to the next layer of bag pile; and then, the grabbing air cylinder drives the movable finger to be close to the fixed finger so as to clamp the target bag pile, grabbing of the target bag pile is completed, and the grabbing success rate is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics packaging, in particular to a bag stack grabbing manipulator. Background Art

[0002] The bag stack is formed by stacking bag piles in a rotating and stacking manner. As Figure 9 shown, and the bag pile is formed by stacking a number of packaging bags twice. After the bag stack is transported to the unstacking pallet by a forklift, the worker disassembles the straps on the bag stack, and then the bag piles need to be transported to the subsequent designated workstations one by one according to the requirements. Therefore, the task of grabbing and sorting the bag piles becomes a key task. At present, the bag grabbing manipulators on the market mainly use a six-degree-of-freedom serial manipulator to drive a pneumatic suction cup to complete the task of sorting the bag piles. However, the pneumatic suction cup has a large defect in the grabbing success rate. In addition, due to the long-term stacking and extrusion between the bag piles, when grabbing the upper bag pile, it often adheres to the lower bag pile, resulting in a significant reduction in the grabbing success rate. Summary of the Utility Model

[0003] In view of the above problems, an embodiment of the utility model provides a bag stack grabbing manipulator.

[0004] A bag stack grabbing manipulator provided by an embodiment of the utility model includes a manipulator mounting frame. A finger positioning shaft is arranged on the front side inside the manipulator mounting frame; a fixed finger is fixedly arranged on the finger positioning shaft, and a movable finger is rotatably arranged on the finger positioning shaft; a grabbing cylinder is further arranged inside the manipulator mounting frame, and the grabbing cylinder is in transmission connection with the movable finger and is used for driving the movable finger to close to the fixed finger so as to clamp the target bag stack.

[0005] Compared with the prior art, the beneficial effect of the utility model lies in that: during the bag taking process, the manipulator drives the bag stack grabbing manipulator to move towards the target bag stack, so that the fixed finger is inserted between the target bag stack and the bag stack on the next layer of the target bag stack, thereby realizing the separation of the two bag stacks and avoiding adhering to the bag stack on the next layer. After that, the grabbing cylinder drives the movable finger to close to the fixed finger so as to clamp the target bag stack, completing the grabbing of the target bag stack and improving the grabbing success rate.

[0006] Optionally, the cylinder body of the grabbing cylinder is rotatably connected to the manipulator mounting frame, and the end of the piston rod of the grabbing cylinder is hinged with a finger connecting rod, and the finger connecting rod is fixedly connected with the movable finger.

[0007] Optionally, it further includes a feed cylinder mounting seat. The manipulator mounting frame is horizontally slidably arranged inside the feed cylinder mounting seat, and a feed cylinder drivingly connected with the manipulator mounting frame is arranged inside the feed cylinder mounting seat.

[0008] Optionally, it further includes a swing frame. The feed cylinder mounting seat is vertically slidably arranged inside the swing frame, and a damping mechanism is arranged between the swing frame and the feed cylinder mounting seat.

[0009] Optionally, the damping mechanism includes a hitting bolt that is vertically slidably inserted into the swing frame, the bottom end of the hitting bolt is fixedly connected to the feed cylinder mounting seat, and a cylindrical compression spring is sleeved on the hitting bolt and located between the swing frame and the feed cylinder mounting seat.

[0010] Optionally, it also includes an outer frame, the swing frame is rotatably arranged inside the outer frame, and a swing module for driving the swing frame to rotate is arranged on the outer frame.

[0011] Optionally, the swing module includes a swing shaft rotatably inserted into an outer frame, a swing cylinder is arranged on the outer frame on one side of the swing shaft, a V-shaped rocker arm is arranged between the piston rod of the swing cylinder and the swing shaft for transmission, the V-shaped rocker arm is hinged to the piston rod of the swing cylinder and fixedly connected to the swing shaft; the swing frame is fixed on the swing shaft.

[0012] Optionally, bag pressing modules are relatively arranged on the outer side surfaces of the outer frame, and each bag pressing module includes a bag pressing frame. Two bag pressing cylinders are arranged in parallel in the front and rear of the bag pressing frame, and the moving direction of the bag pressing cylinder is perpendicular to the moving direction of the feed cylinder. A linear slide rail is arranged in the bag pressing frame on the moving stroke of the bag pressing cylinder, and a bag pressing rod is slidably arranged in the linear slide rail, and the bag pressing rod is coaxially connected to the piston rod of the bag pressing cylinder.

[0013] Optionally, a servo rotating platform is provided on the top of the outer frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute a limitation of the present invention. In the drawings:

[0015] Figure 1 A schematic diagram of the three-dimensional structure of a bag stack grabbing manipulator provided in an embodiment of the utility model;

[0016] Figure 2 A schematic diagram of the structure of the inner and outer frames of a bag stack grabbing manipulator provided by an embodiment of the utility model;

[0017] Figure 3 A schematic diagram of the structure of a swing frame in a bag stack grabbing robot provided by an embodiment of the utility model;

[0018] Figure 4 A schematic diagram of the structure of a feeding cylinder mounting seat in a bag stack grabbing robot provided by an embodiment of the utility model;

[0019] Figure 5 A schematic diagram of the structure of the fingers of a bag stack grabbing robot provided by an embodiment of the utility model;

[0020] Figure 6Schematic diagram of the state where a bag stack grasping manipulator provided by an embodiment of the present utility model is ready to grasp a target bag stack;

[0021] Figure 7 Schematic diagram of the state where a bag stack grasping manipulator provided by an embodiment of the present utility model starts to grasp a target bag stack;

[0022] Figure 8 Schematic diagram of the state where a bag stack grasping manipulator provided by an embodiment of the present utility model starts to lift a target bag stack;

[0023] Figure 9 Schematic diagram of the bag stack structure.

[0024] Wherein, 1. Manipulator installation frame; 2. Finger positioning shaft; 3. Fixed finger; 4. Movable finger; 5. Grasping cylinder; 6. Target bag stack; 7. Lower layer bag stack; 8. Finger connecting rod; 9. Feed cylinder mounting seat; 10. Feed cylinder; 11. Swing frame; 12. Damping mechanism; 13. Wire micro touch switch; 14. Outer frame; 15. Swing module; 16. Swing shaft; 17. Swing cylinder; 18. V-shaped swing rod; 19. Bag pressing module; 20. Bag pressing frame; 21. Bag pressing cylinder; 22. Linear slide rail; 23. Bag pressing optical rod; 24. Servo rotating platform. Specific embodiments

[0025] In order to make the purpose, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below in combination with the embodiments and the drawings. Herein, the illustrative embodiments of the present utility model and their descriptions are used to explain the present utility model, but do not limit the present utility model.

[0026] See Figures 1 - 5 , a bag stack grasping manipulator provided by an embodiment of the present utility model includes a manipulator installation frame 1, a finger positioning shaft 2 is arranged on the front side inside the manipulator installation frame 1; a fixed finger 3 is fixedly arranged on the finger positioning shaft 2, and a movable finger 4 is rotatably arranged on the finger positioning shaft 2; a grasping cylinder 5 is further arranged inside the manipulator installation frame 1, and the grasping cylinder 5 is in transmission connection with the movable finger 4 for driving the movable finger 4 to close to the fixed finger 3 so as to clamp the target bag stack 6.

[0027] During the actual bag taking process, the bag stack grasping manipulator is driven by a robotic arm to move towards the target bag stack 6, so that the fixed finger 3 is inserted between the target bag stack 6 and the lower layer bag stack 7 of the target bag stack 6, thereby realizing the separation of the two bag stacks and avoiding sticking to the lower layer bag stack 7. Thereafter, the grasping cylinder 5 drives the movable finger 4 to close to the fixed finger 3 so as to clamp the target bag stack 6, completing the grasping of the target bag stack 6 and improving the grasping success rate.

[0028] During implementation, the cylinder block of the grasping cylinder 5 is rotatably connected to the manipulator mounting frame 1. The end of the piston rod of the grasping cylinder 5 is hinged with a finger link 8, and the finger link 8 is fixedly connected to the movable finger 4. The grasping cylinder 5, the fixed finger 3, and the movable finger 4 are horizontally arranged as a whole. After one end of the finger link 8 is connected to the tail end of the movable finger 4, the whole can be in a V shape. During the movement of the piston rod of the grasping cylinder 5, the movable finger 4 is driven to swing through the finger link 8.

[0029] During implementation, it further includes a feed cylinder mounting seat 9. The manipulator mounting frame 1 is horizontally slidably arranged in the feed cylinder mounting seat 9. A feed cylinder 10 is arranged in the feed cylinder mounting seat 9 and is drivingly connected to the manipulator mounting frame 1. The feed cylinder 10 can drive the displacement adjustment of the movable finger 4 and the fixed finger 3 in the horizontal direction, improving the flexibility of bag grasping.

[0030] During implementation, it further includes a swing frame 11. The feed cylinder mounting seat 9 is vertically slidably arranged in the swing frame 11, and a damping mechanism 12 is arranged between the swing frame 11 and the feed cylinder mounting seat 9.

[0031] During implementation, the damping mechanism 12 includes a dowel bolt vertically slidably penetrating through the swing frame 11. The bottom end of the dowel bolt is fixedly connected to the feed cylinder mounting seat 9. A cylindrical compression spring is sleeved on the dowel bolt between the swing frame 11 and the feed cylinder mounting seat 9. During the process of grasping the target bag stack 6, first, the manipulator drives the whole bag stack grasping manipulator to move downward. The fixed finger 3 presses on the lower layer of bag stack 7. Subsequently, the feed cylinder 10 drives the fixed finger 3 and the movable finger 4 between the target bag stack 6 and the lower layer of bag stack 7. During the movement, under the buffering effect of the damping mechanism 12, the fitting degree of the fixed finger 3 and the lower layer of bag stack 7 is ensured, making it easier for the fixed finger 3 to insert into the gap between the target bag stack 6 and the lower layer of bag stack 7.

[0032] In a specific implementation, a wire microswitch 13 can be arranged in the swing frame 11 to control the pressing degree of the fixed finger 3. Specifically, during the pressing process, the feed cylinder mounting seat 9 moves upward. When the feed cylinder mounting seat 9 triggers the wire microswitch 13, the manipulator stops driving the whole bag stack grasping manipulator to move downward.

[0033] During implementation, it further includes an outer frame 14. The swing frame 11 is rotatably arranged in the outer frame 14, and a swing module 15 for driving the swing frame 11 to rotate is arranged on the outer frame 14.

[0034] During implementation, the swing module 15 includes a swing shaft 16 rotatably penetrated on the outer frame 14, a swing cylinder 17 is arranged on the outer frame 14 on one side of the swing shaft 16, a V-shaped rocker arm 18 is arranged between the piston rod of the swing cylinder 17 and the swing shaft 16 for transmission, the V-shaped rocker arm 18 is hinged to the piston rod of the swing cylinder 17 and fixedly connected to the swing shaft 16; the swing frame 11 is fixed on the swing shaft 16, when the fixed fingers 3 and the movable fingers 4 clamp the target bag stack 6 and perform the transfer project, the swing cylinder 17 drives the swing shaft 16 to rotate through the V-shaped rocker arm 18, thereby driving the swing frame 11 to rotate, so that the fixed fingers 3 and the movable fingers 4 are transformed from a horizontal state to a vertical state, thereby vertically lifting the target bag stack 6, avoiding the bending of the target bag stack 6 when lifting the target bag stack 6 in a horizontal state.

[0035] During implementation, bag pressing modules 19 are relatively arranged on the outer side surface of the outer frame 14, and each bag pressing module 19 includes a bag pressing frame 20, in which two bag pressing cylinders 21 are arranged in parallel in front and behind, and the moving direction of the bag pressing cylinder 21 is perpendicular to the moving direction of the feeding cylinder 10, and a linear slide rail 22 is arranged on the moving stroke of the bag pressing cylinder 21 in the bag pressing frame 20, and a bag pressing rod 23 is slidably arranged in the linear slide rail 22, and the bag pressing rod 23 is coaxially connected with the piston rod of the bag pressing cylinder 21; in the process of grabbing the target bag stack 6, the two bag pressing cylinders 21 in the bag pressing module 19 drive the bag pressing rods 23 to move downward, so that one bag pressing rod 23 presses the target bag stack 6 and the other bag pressing rod 23 presses the next layer of bag stack 7, so that the fixed finger 3 with the tail end of the target bag stack 6 raised can be more easily inserted between the target bag stack 6 and the next layer of bag stack 7, thereby further improving the grabbing success rate.

[0036] In implementation, a servo rotating platform 24 is provided on the top of the outer frame 14; the servo rotating platform 24 can be implemented by a conventional servo motor plus a slewing bearing structure. In a specific implementation, the servo rotating platform 24 may include a platform mounting seat for connecting to a robotic arm, and the slewing bearing and the servo motor are both fixed on the platform mounting seat. Specifically, the inner ring of the slewing bearing is fixed to the platform mounting seat, and the outer ring is fixed to the outer frame 14 and is connected to the servo motor by transmission, so that the outer frame 14 is driven to rotate by the servo motor, thereby further increasing the flexibility of the posture adjustment of the bag stack grabbing robot.

[0037] In a specific implementation, the bag stack grabbing manipulator is mounted on the robot arm through the servo rotating platform 24, and the target bag stack 6 is grabbed. Figures 6 - 8, the whole bag stack grabbing manipulator is driven by the robotic arm to move above the target bag stack 6, and then the height is reduced by the drive of the robotic arm to approach the target bag stack 6. During the approaching process, adjustment is completed through the feeding cylinder 10 so that the fixed finger 3 is located above one side of the lower bag stack 7. The fingertip of the fixed finger 3 contacts the lower bag stack 7. Continuing to descend, the feeding cylinder mounting seat 9 slides upward within the swing frame 11, and the damping mechanism 12 is compressed until the feeding cylinder mounting seat 9 touches the wire microswitch 13, and the robotic arm stops descending. At this time, the fixed finger 3 presses tightly on the lower bag stack 7;

[0038] The two side bag pressing modules 19 start to act. The four bag pressing cylinders 21 respectively drive the bag pressing polished rods 23 connected to them to move downward. The bag pressing polished rods 23 located at the front side press tightly on the target bag stack 6, and the bag pressing polished rods 23 located at the rear side press tightly on the lower bag stack 7, and a gap is formed between the target bag stack 6 and the lower bag stack 7;

[0039] The feeding cylinder 10 acts to push the manipulator mounting frame 1, so that the fixed finger 3 is inserted into the gap between the target bag stack 6 and the lower bag stack 7. After the feeding cylinder 10 acts in place, the grabbing cylinder 5 acts to drive the movable finger 4 to rotate around the finger positioning shaft 2 through the finger connecting rod 8, so that the movable finger 4 approaches the fixed finger 3, thereby clamping the target bag stack 6;

[0040] The robotic arm drives the whole bag stack grabbing manipulator to lift and move away from the bag stack. The swing cylinder 17 acts to drive the swing shaft 16 to rotate through the V-shaped swing rod 18, so that the swing frame 11 rotates a certain angle to vertically lift the target bag stack 6, preparing for the subsequent sorting and sorting work of the bag stack.

[0041] The bag stack grabbing manipulator provided by the embodiment of the present invention can realize the accurate grabbing and rapid transfer of the rotationally stacked bag stack, laying a foundation for the subsequent sorting and sorting work of the bag stack, solving the problems of large grabbing difficulty, low grabbing efficiency and long grabbing time during the grabbing process of the bag stack, and thus ensuring the smooth progress of the subsequent unstacking and sorting work of the bag stack.

[0042] The above is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A bag stack grabbing robot, characterized in that: It includes a manipulator mounting frame, a finger positioning shaft is arranged on the front side of the manipulator mounting frame; a fixed finger is fixedly arranged on the finger positioning shaft, and a movable finger is rotatably arranged on the finger positioning shaft; a grabbing cylinder is also arranged in the manipulator mounting frame, and the grabbing cylinder is transmission-connected with the movable finger to drive the movable finger to approach the fixed finger to clamp the target bag stack.

2. The bag stack grabbing robot according to claim 1, characterized in that: The cylinder body of the grabbing cylinder is rotatably connected to the manipulator mounting frame, the end of the piston rod of the grabbing cylinder is hinged with a finger connecting rod, and the finger connecting rod is fixedly connected to the movable finger.

3. The bag stack grabbing robot according to claim 1, characterized in that: It also includes a feed cylinder mounting seat, a manipulator mounting frame is horizontally slidably arranged in the feed cylinder mounting seat, and a feed cylinder drivingly connected to the manipulator mounting frame is arranged in the feed cylinder mounting seat.

4. The bag stack grabbing robot according to claim 3, characterized in that: It also includes a swing frame, in which a feed cylinder mounting seat is vertically slidably arranged, and a damping mechanism is arranged between the swing frame and the feed cylinder mounting seat.

5. The bag stack grabbing robot according to claim 4, characterized in that: The damping mechanism includes a hitting bolt which is vertically slidably penetrated on the swing frame, the bottom end of the hitting bolt is fixedly connected to the feed cylinder mounting seat, and a cylindrical compression spring is sleeved on the hitting bolt and located between the swing frame and the feed cylinder mounting seat.

6. The bag stack grabbing robot according to claim 4, characterized in that: It also includes an outer frame, in which a swing frame is rotatably arranged, and a swing module for driving the swing frame to rotate is arranged on the outer frame.

7. The bag stack grabbing robot according to claim 6, characterized in that: The swing module includes a swing shaft rotatably installed on the outer frame, a swing cylinder is arranged on the outer frame at one side of the swing shaft, a V-shaped swing arm is arranged between the piston rod of the swing cylinder and the swing shaft for transmission, the V-shaped swing arm is hinged to the piston rod of the swing cylinder and fixedly connected to the swing shaft; the swing frame is fixed on the swing shaft.

8. The bag stack grabbing robot according to claim 6, characterized in that: Bag pressing modules are relatively arranged on the outer side surfaces of the outer frame, and each bag pressing module includes a bag pressing frame. Two bag pressing cylinders are arranged in parallel in the front and rear of the bag pressing frame. The moving direction of the bag pressing cylinder is perpendicular to the moving direction of the feed cylinder. A linear slide rail is arranged on the moving stroke of the bag pressing cylinder in the bag pressing frame, and a bag pressing rod is slidably arranged in the linear slide rail, and the bag pressing rod is coaxially connected to the piston rod of the bag pressing cylinder.

9. The bag stack grabbing robot according to claim 6, characterized in that: A servo rotating platform is arranged on the top of the outer frame.

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