Automatic package grabbing and conveying device of robot

Abstract

The utility model relates to an automatic package grabbing and conveying device of a robot, which belongs to the technical field of package grabbing and conveying devices and comprises a base, four supporting legs are fixed on the top side of the base, a rotating mechanism is arranged on the top sides of the four supporting legs, a mechanical arm main body is arranged on the top side of the rotating mechanism, and a mounting plate is fixed on the right side of the mechanical arm main body. Two hydraulic cylinders are fixed to the bottom side of the mounting plate, and bag grabbing mechanisms are arranged at the telescopic ends of the two hydraulic cylinders. According to the automatic package grabbing and conveying device of the robot, the rotating mechanism is arranged on the top side of the supporting leg, raw materials and the mechanical arm body can be driven to rotate, and therefore the raw materials can be conveyed to the designated position from one position, and the package grabbing capacity of the device is improved; according to the raw material grabbing device, outside air can be extracted through the air suction nozzles, the air suction nozzles and the air holes are fixed, air in the box body is prevented from being sucked in, and therefore stable grabbing of raw materials is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of bag grabbing and conveying devices, in particular to a robot automatic bag grabbing and conveying device. Background Art

[0002] The grabbing device relates to a vacuum surface grabbing device, which has an extrusion profile with an empty chamber, a suction grabbing device plate installed parallel to the extrusion profile, at least one through hole connecting the empty chamber and the suction plate, and an ejector as a vacuum generator, wherein the ejector is inserted into the empty chamber of the extrusion profile, and the suction holes of the ejector are communicated with the through holes.

[0003] For example, a kind of automatic conveying and bag grabbing device for bagged flour in Chinese Patent (CN204078867U) relates to the technical field of flour processing auxiliary equipment, and is characterized in that: it includes a conveying frame, conveying rollers, a collision plate, a top rod, a bag grabbing manipulator, a switch, a spring and a rod sleeve. The conveying rollers are evenly arranged above the conveying frame. The collision plate is arranged at the end of the conveying frame and is hinged to the end of the conveying frame. The top rod is arranged at the rear side of the collision plate. The body of the bag grabbing manipulator is located behind the end of the conveying frame. The switch is arranged on the body of the bag grabbing manipulator and is directly opposite to the top rod. The switch controls the opening and closing of the driving motors of the bag grabbing manipulator and the conveying rollers. The rod sleeve is arranged on the body of the bag grabbing manipulator and sleeved outside the switch and the top rod. The spring is sleeved outside the rod sleeve and is located between the body of the bag grabbing manipulator and the collision plate. This utility model is convenient to use, has precise control, is purely mechanically controlled, and is not affected by external environments such as powder and temperature.

[0004] The above solution still has the following technical deficiencies. The above solution is not convenient for stably grabbing raw materials. There is a possibility that the bag grabbing device in the above solution will drop during the transportation process after grabbing the raw materials due to insufficient suction force, thus affecting work efficiency. Based on this, a robot automatic bag grabbing and conveying device is proposed. Content of the Utility Model

[0005] Aiming at the deficiencies of the prior art, the utility model provides a robot automatic bag grabbing and conveying device, which has the advantages of enhancing the adsorption force of raw materials and reducing the dropping of raw materials during transportation, and solves the problem that raw materials are easy to drop during transportation.

[0006] To achieve the above purpose, the utility model provides the following technical solution: a robot automatic bag grabbing and conveying device, including a base, four support legs are fixed on the top side of the base, a rotating mechanism is arranged on the top sides of the four support legs, a robotic arm main body is arranged on the top side of the rotating mechanism, an installation plate is fixed on the right side of the robotic arm main body, two hydraulic cylinders are fixed on the bottom side of the installation plate, and a bag grabbing mechanism is arranged at the telescopic ends of the two hydraulic cylinders;

[0007] The packet grabbing mechanism includes a box body fixed on the telescopic ends of the two hydraulic cylinders. An installation frame is fixed at the bottom end of the box body, a buffer pad is fixed inside the bottom side of the installation frame, partitions are fixed around the inside of the box body, a plurality of ventilation holes are formed in the partitions, an air extraction pipe is fixed on the front side of the box body, a plurality of suction nozzles are fixed at one end of the air extraction pipe, and an air pump is fixed at the end of the air extraction pipe away from the suction nozzles.

[0008] Furthermore, the rotation mechanism includes an installation platform fixed on the top sides of the four support legs. A motor is fixed on the bottom side of the installation platform, a rotating shaft is fixed on the output shaft of the motor. The rotation mechanism further includes a plurality of rotating rods fixed on the bottom side of the robot arm main body, and a slider is fixed on the bottom side of the rotating rod.

[0009] Furthermore, the air extraction pipe extends into the robot arm main body, and the end of the air extraction pipe close to the air pump extends to the front side of the bottom of the robot arm main body.

[0010] Furthermore, the part of the air extraction pipe located inside the box body is above the partition, the plurality of ventilation holes are arranged in a linear array, and the bottom side of the suction nozzle is fixed to the top side of the ventilation hole.

[0011] Furthermore, an installation groove is formed inside the bottom side of the installation frame, and the buffer pad is fixed in the installation groove.

[0012] Furthermore, an annular sliding groove is formed inside the top side of the installation platform, and the plurality of sliders can slide in the annular sliding groove.

[0013] Furthermore, the rotating shaft penetrates through the top of the installation platform and is rotatably connected thereto, and the top side of the rotating shaft is fixed to the bottom side of the robot arm main body.

[0014] Compared with the prior art, the technical solution of the present application has the following beneficial effects:

[0015] In this robot automatic packet grabbing and conveying device, by providing a rotation mechanism on the top side of the support legs, it can drive the raw materials and the robot arm main body to rotate, so as to transport the raw materials from one position to a specified position, improving the packet grabbing ability of the device. By providing a packet grabbing mechanism on the telescopic end of the hydraulic cylinder, it can use the suction nozzles to extract the external air. By fixing the suction nozzles to the ventilation holes, the air inside the box body is prevented from being sucked in, thereby realizing the stable grabbing of the raw materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the present utility model;

[0017] Figure 2 is a schematic side view structural diagram of the packet grabbing mechanism of the present utility model;

[0018] Figure 3 is a three-dimensional schematic diagram of the box connection structure of the present utility model;

[0019] Figure 4 is a schematic diagram of the structure of the rotation mechanism of the present utility model.

[0020] In the figure: 1 base, 2 support legs, 300 rotation mechanism, 301 mounting table, 302 motor, 303 rotating shaft, 304 rotating rod, 305 slider, 4 robotic arm main body, 5 mounting plate, 6 hydraulic cylinder, 700 bag grabbing mechanism, 701 box body, 702 mounting frame, 703 buffer pad, 704 partition board, 705 ventilation hole, 706 exhaust pipe, 707 suction nozzle, 708 air pump. Specific embodiments

[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0022] Please refer to Figures 1 to 4 , a robot automatic bag grabbing and conveying device in this embodiment includes a base 1. Four support legs 2 are fixed to the top side of the base 1. A rotation mechanism 300 is provided on the top sides of the four support legs 2. A robotic arm main body 4 is provided on the top side of the rotation mechanism 300. A mounting plate 5 is fixed to the right side of the robotic arm main body 4. Two hydraulic cylinders 6 are fixed to the bottom side of the mounting plate 5. A bag grabbing mechanism 700 is provided at the telescopic ends of the two hydraulic cylinders 6.

[0023] The rotation mechanism 300 in this embodiment is used to drive the robotic arm main body 4 and the raw materials to rotate, so as to realize the transportation of the raw materials. The hydraulic cylinder 6 is used to drive the bag grabbing mechanism 700 to perform a linear motion, so as to facilitate the bag grabbing mechanism 700 to grab the bag. The bag grabbing mechanism 700 is used to stably grab the raw materials.

[0024] It should be noted that the robotic arm main body 4 adopts the structure in the prior art, so it is not described in detail in the specification. The robotic arm main body 4 can drive the bag grabbing mechanism 700 to move up and down.

[0025] Please refer to Figures 1 to 3, in order to achieve stable material grabbing, the material grabbing mechanism 700 in this embodiment includes a box body 701 fixed on the telescopic ends of two hydraulic cylinders 6. A mounting frame 702 is fixed to the bottom end of the box body 701. A buffer pad 703 is fixed inside the bottom side of the mounting frame 702. An installation groove is formed inside the bottom side of the mounting frame 702, and the buffer pad 703 is fixed in the installation groove. Partition plates 704 are fixed around the inside of the box body 701. A plurality of ventilation holes 705 are formed in the partition plates 704. An air extraction pipe 706 is fixed to the front side of the box body 701. One end of the air extraction pipe 706 is fixed with a plurality of air suction nozzles 707. An air pump 708 is fixed to the end of the air extraction pipe 706 away from the air suction nozzles 707. The air extraction pipe 706 extends into the interior of the robotic arm main body 4. One end of the air extraction pipe 706 close to the air pump 708 extends to the front side of the bottom of the robotic arm main body 4. The part of the air extraction pipe 706 located inside the box body 701 is above the partition plate 704. The plurality of ventilation holes 705 are arranged in a linear array. The bottom side of the air suction nozzle 707 is fixed to the top side of the ventilation hole 705.

[0026] In the material grabbing mechanism 700 of this embodiment, the air pump 708 can pump the gas below the partition plate 704 into the air extraction pipe 706. The air extraction pipe 706 is used for draining the gas, and the partition plate 704 is used for intercepting and supporting the raw materials.

[0027] It should be noted that the buffer pad 703 is used for buffering between the raw materials and the mounting frame 702.

[0028] Please refer to Figure 1 and Figure 4 , in order to facilitate the transportation of the robotic arm main body 4 and the raw materials, the rotating mechanism 300 in this embodiment includes a mounting table 301 fixed to the top sides of four support legs 2. A motor 302 is fixed to the bottom side of the mounting table 301. A rotating shaft 303 is fixed to the output shaft of the motor 302. The rotating shaft 303 penetrates through the top of the mounting table 301 and is rotatably connected thereto. The top side of the rotating shaft 303 is fixed to the bottom side of the robotic arm main body 4. The rotating mechanism 300 further includes a plurality of rotating rods 304 fixed to the bottom side of the robotic arm main body 4. A slider 305 is fixed to the bottom side of the rotating rod 304. An annular sliding groove is formed inside the top side of the mounting table 301. The plurality of sliders 305 can slide in the annular sliding groove.

[0029] In the rotating mechanism 300 of this embodiment, the motor 302 can drive the rotating shaft 303 to rotate. The rotating shaft 303 is used to drive the robotic arm main body 4 and the raw materials to rotate. By sliding the slider 305 in the annular sliding groove, the support for the robotic arm main body 4 can be realized.

[0030] All the electrical components mentioned in the text are electrically connected to the controller and the power supply. The control mode of the present utility model is controlled by the controller. The control circuit of the controller can be realized by simple programming of those skilled in the art. The provision of the power supply also belongs to the common knowledge in the art. Moreover, the present utility model is mainly used to protect mechanical devices, so the control mode and circuit connection of the present utility model will not be explained in detail herein.

[0031] The working principle of the above embodiment is as follows:

[0032] When it is necessary to grab the raw materials, start the motor 302. The output shaft of the motor 302 rotates to drive the rotating shaft 303 to rotate. The rotating shaft 303 drives the manipulator main body 4 and the grabbing mechanism 700 to rotate. When the grabbing mechanism 700 is directly above the raw materials, turn off the motor 302. Then, the manipulator main body 4 drives the grabbing mechanism 700 to descend to the specified height. Next, start the hydraulic cylinder 6. The telescopic end of the hydraulic cylinder 6 extends to drive the grabbing mechanism 700 to move downward. After the mounting frame 702 contacts the raw materials, turn off the hydraulic cylinder 6 and start the air pump 708. The air pump 708 inhales the air below the partition plate 704 through the air permeable holes 705 into the suction nozzle 707. The suction nozzle 707 then pumps the air into the suction pipe 706. Finally, the suction pipe 706 discharges the air, and at the same time, the raw materials are adsorbed on the partition plate 704. Then, start the hydraulic cylinder 6. The hydraulic cylinder 6 drives the grabbing mechanism 700 and the raw materials to move upward. After the telescopic end of the hydraulic cylinder 6 is reset, turn off the hydraulic cylinder 6. Use the motor 302 to drive the grabbing mechanism 700 and the raw materials to rotate. When the raw materials are moved to the specified position, turn off the motor 302. Use the manipulator main body 4 to drive the raw materials to move downward. After the raw materials are moved to the specified height, turn off the air pump 708. The air pressure in the suction pipe 706 returns to balance, and the raw materials fall to the specified position.

[0033] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0034] Although the embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model.

Claims

1. An automatic robot bag-grabbing and conveying device, comprising a base (1), characterized in that: Four support legs (2) are fixed to the top side of the base (1). A rotating mechanism (300) is provided on the top sides of the four support legs (2). A robotic arm main body (4) is provided on the top side of the rotating mechanism (300). A mounting plate (5) is fixed to the right side of the robotic arm main body (4). Two hydraulic cylinders (6) are fixed to the bottom side of the mounting plate (5). A grabbing mechanism (700) is provided at the telescopic ends of the two hydraulic cylinders (6). The grabbing mechanism (700) includes a box body (701) fixed to the telescopic ends of the two hydraulic cylinders (6). A mounting frame (702) is fixed to the bottom end of the box body (701). A buffer pad (703) is fixed inside the bottom side of the mounting frame (702). Partition plates (704) are fixed to the peripheries inside the box body (701). A plurality of ventilation holes (705) are formed in the partition plates (704). An air extraction pipe (706) is fixed to the front side of the box body (701). A plurality of air suction nozzles (707) are fixed to one end of the air extraction pipe (706). An air pump (708) is fixed to the end of the air extraction pipe (706) away from the air suction nozzles (707).

2. The automatic packet grabbing and conveying device for a robot according to claim 1, wherein: The rotating mechanism (300) includes a mounting table (301) fixed to the top sides of the four support legs (2). A motor (302) is fixed to the bottom side of the mounting table (301). A rotating shaft (303) is fixed to the output shaft of the motor (302). The rotating mechanism (300) further includes a plurality of rotating rods (304) fixed to the bottom side of the robotic arm main body (4). A slider (305) is fixed to the bottom side of the rotating rod (304).

3. The automatic bag-grabbing and conveying device for a robot according to claim 1, characterized in that: The air extraction pipe (706) extends into the interior of the robotic arm main body (4), and the end of the air extraction pipe (706) close to the air pump (708) extends to the front side of the bottom of the robotic arm main body (4).

4. A robot automatic bag grabbing and conveying device according to claim 1, characterized in that: The portion of the air extraction pipe (706) located inside the box body (701) is above the partition plate (704). The plurality of ventilation holes (705) are arranged in a linear array, and the bottom side of the air suction nozzle (707) is fixed to the top side of the ventilation hole (705).

5. A robot automatic bag grabbing and conveying device according to claim 1, characterized in that: An installation groove is formed inside the bottom side of the mounting frame (702), and the buffer pad (703) is fixed in the installation groove.

6. The automatic packet grabbing and conveying device for a robot according to claim 2, wherein: An annular sliding groove is formed inside the top side of the mounting table (301), and the plurality of sliders (305) can slide in the annular sliding groove.

7. The automatic bag-grabbing and conveying device for a robot according to claim 2, wherein: The rotating shaft (303) penetrates through the top of the mounting table (301) and is rotatably connected thereto. The top side of the rotating shaft (303) is fixed to the bottom side of the robotic arm main body (4).

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