Quick bagging manipulator

Abstract

The utility model discloses a quick bagging manipulator in the field of manipulators, which comprises an air cylinder seat, two bag clamping air cylinders distributed in a crossed and spaced manner and two symmetrically distributed bag clamping mechanisms, and the bag clamping air cylinder positioned on the left side is used for driving the bag clamping mechanism positioned on the right side; the bag clamping air cylinder located on the right side is used for driving the bag clamping mechanism located on the left side, the bag clamping mechanism comprises a connecting rod and two symmetrically-arranged clamping rings, each clamping ring comprises a profiling plate and a hinged plate, the inward end of each hinged plate is hinged to the air cylinder base, and the connecting rod is arranged at the outward end of each hinged plate. A cylinder body of the bag clamping air cylinder is rotationally arranged on the air cylinder seat, and the end of a piston rod of the bag clamping air cylinder is rotationally connected with the connecting rod. The maximum opening angle of the automatic bag feeding device is close to 180 degrees, the automatic bag feeding device can meet various use scenes and clamping requirements, meanwhile, when the automatic bag feeding device is applied to an automatic bag feeding system, rapid returning can be achieved after a material nozzle feeds a bag, the bag feeding time is shortened, and the bag feeding efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, in particular to a fast bagging manipulator. Background Art

[0002] In the prior art, there is a bag clamping device for a valve bag automatic bagging machine, with publication number: CN216734996U; publication date: 2022-06-14; the device includes a fixed top plate, two driving cylinders and two symmetrically arranged bag clamping units; the bag clamping unit includes a driving arm, a connecting profile, a mounting bracket, a bag clamping bracket and a bag mouth retaining bracket, one end of the driving arm is rotatably connected to the fixed top plate, and the other end is connected to the connecting profile, the mounting bracket is fixed on the connecting profile, the bag clamping bracket and the bag mouth retaining bracket are both installed on the mounting bracket, and the bag clamping bracket is set lower than the bag mouth retaining bracket, the fixed end of the first driving cylinder is connected to the first driving arm, and the output end is connected to the second driving arm, the fixed end of the second driving cylinder is connected to the second driving arm, and the output end is connected to the first driving arm, and the two driving cylinders are projected on the plane formed by their axes in an axially symmetrical arrangement. Its shortcomings are: the opening angle of the bag clamping unit of the device is only determined by the stroke of the driving cylinder, and due to the stroke limitation of the driving cylinder, its maximum opening angle does not exceed 90°, and it cannot be used for valve bags of different sizes, and thus cannot guarantee the stability of its clamped objects. Utility Model Content

[0003] The purpose of this utility model is to provide a fast bagging robot with a maximum opening angle of nearly 180°, which can cope with a variety of usage scenarios and clamping requirements. At the same time, when it is applied to the automatic bagging system, it can realize rapid retraction after the material spout is bagged, shortening the bagging time and improving the bagging efficiency.

[0004] The purpose of the present utility model is achieved as follows: a fast bagging robot comprises a cylinder seat, two bag clamping cylinders distributed at cross intervals and two symmetrically distributed bag clamping mechanisms, the bag clamping cylinder located on the left is used to drive the bag clamping mechanism located on the right, and the bag clamping cylinder located on the right is used to drive the bag clamping mechanism located on the left, the bag clamping mechanism comprises a connecting rod and two symmetrically arranged clamping rings, the clamping ring comprises a contour plate and a hinge plate, the inward end of the hinge plate is hinged to the cylinder seat, the connecting rod is arranged at the outward end of the hinge plate, the cylinder body of the bag clamping cylinder is rotatably arranged on the cylinder seat, and the piston rod end of the bag clamping cylinder is rotatably connected to the connecting rod.

[0005] When the utility model is used, the piston rods of the two bag clamping cylinders are in a retracted state, and the angle between the two bag clamping mechanisms is the opening angle, and the maximum opening angle can be nearly 180 degrees; when the robot moves to the bag taking station, the piston rods of the two bag clamping cylinders are extended at the same time, thereby driving the clamping ring to rotate around the hinge point until the clamping ring clamps the valve bag; when the robot moves to the bag loading station, aligning the bag opening of the valve bag with the discharge port to complete the bag loading action, the piston rods of the two bag clamping cylinders are retracted at the same time, driving the two clamping rings to rotate in the opposite direction around the hinge point until the clamping ring is away from the valve bag and re-enters the next cycle. Compared with the prior art, the beneficial effects of the present invention are: the profiling plate can match the contour line of the valve mouth part of the valve bag, and the clamping force is uniform to achieve the best clamping effect; the connecting rod mechanism composed of the connecting rod, the profiling plate and the hinged plate has the function of angle magnification. By rotating the connecting rod at a small angle, the clamp ring can swing at a large angle. At the same time, when it is applied to the automatic bagging system, the nozzle can be quickly retracted after bagging, shortening the bagging time and improving the bagging efficiency.

[0006] As a further improvement of the present invention, the bag clamping mechanism further includes a bag opening shaping plate, and the bag opening shaping plate is connected to the profiling plate through a plurality of brackets.

[0007] As a further improvement of the present invention, the bag clamping mechanism also includes a plurality of spaced-apart flaring assemblies, the flaring assemblies include vacuum suction cups, the vacuum suction cups are arranged at the front of the suction cup bracket, and the rear of the suction cup bracket is fixedly connected to the contour plate.

[0008] As a further improvement of the present invention, the bag clamping mechanism further includes a bag abandoning guard plate, which is located below the bag opening shaping plate and is connected to the profiling plate via fasteners.

[0009] As a further improvement of the present invention, the bag clamping mechanism further includes an anti-slip component, and the anti-slip component includes a rubber strip clamp, and the rubber strip clamp is connected to the lowermost end of the contoured plate through a mounting seat.

[0010] As a further improvement of the present invention, the cylinder seat includes a connecting plate and two corresponding special-shaped plates, and the two bag-clamping cylinders are respectively arranged between the two special-shaped plates through corresponding connecting components.

[0011] As a further improvement of the present invention, the connecting assembly includes a connecting screw and a connecting nut, the cylinder body of the bag clamping cylinder is sleeved on the connecting screw, and a spacer is provided on the outside of the connecting screw corresponding to the bag clamping cylinder and the special-shaped plate.

[0012] As a further improvement of the present invention, it also includes a limit assembly arranged at the bottom of the cylinder seat, the limit assembly includes a fixing plate, and the fixing plate is provided with threaded through holes corresponding to the four clamping rings. A limit rod is arranged in the threaded through hole, and the limit rod can be moved up and down along the axis direction of the threaded through hole through a limit nut, and the bottom of the limit rod abuts against the clamping ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is the main view of the utility model when it is at the maximum opening angle.

[0014] Figure 2 It is a schematic diagram of the three-dimensional structure of the utility model when it is at the maximum opening angle.

[0015] Figure 3 This is the main view of the utility model when it is at the minimum opening angle.

[0016] Figure 4 It is a side view of the utility model at the minimum opening angle.

[0017] Among them, 1 cylinder seat, 101 connecting plate, 102 special-shaped plate, 103 connecting assembly, 103a connecting nut, 103b spacer, 2 bag clamping cylinder, 3 bag clamping mechanism, 301 connecting rod, 302 clamping ring, 302a imitating plate, 302b hinged plate, 303 bag mouth shaping plate, 304 expansion assembly, 304a vacuum suction cup, 304b suction cup bracket, 305 bag discard guard plate, 306 anti-slip assembly, 306a rubber strip clamp, 306b mounting seat, 4 limit assembly, 401 fixing plate, 402 limit rod, 403 limit nut. DETAILED DESCRIPTION

[0018] like Figure 1-4 As shown, a fast bagging robot includes a cylinder base 1, two bag clamping cylinders 2 distributed at cross intervals, and two symmetrically distributed bag clamping mechanisms 3. The bag clamping cylinder 2 on the left is used to drive the bag clamping mechanism 3 on the right, and the bag clamping cylinder 2 on the right is used to drive the bag clamping mechanism 3 on the left.

[0019] In this embodiment, the bag clamping mechanism 3 includes a connecting rod 301, two symmetrically arranged clamping rings 302, a bag opening shaping plate 303, two spaced apart expanding assemblies 304, a bag discarding guard plate 305 and an anti-slip assembly 306; the clamping ring 302 includes a contour plate 302a and a hinge plate 302b, the inward end of the hinge plate 302b is hinged to the cylinder seat 1, the connecting rod 301 is arranged at the outward end of the hinge plate 302b, the cylinder body of the bag clamping cylinder 2 is rotatably arranged on the cylinder seat 1, and the end of the piston rod of the bag clamping cylinder 2 is rotatable with the connecting rod 301. dynamic connection; the bag shaping plate 303 is connected to the two profiling plates 302a respectively through two brackets; the flaring component 304 includes a vacuum suction cup 304a, which is arranged in front of the suction cup bracket 304b, and the rear of the suction cup bracket 304b is fixedly connected to the profiling plate 302a; the discarded bag guard 305 is located below the bag shaping plate 303 and is connected to the profiling plate 302a through fasteners; the anti-slip component 306 includes a rubber strip clamp 306a, which is connected to the lower end of the profiling plate 302a through a mounting base 306b.

[0020] Specifically, the cylinder seat 1 includes a connecting plate 101 and two corresponding special-shaped plates 102. The two bag-clamping cylinders 2 are respectively arranged between the two special-shaped plates 102 through corresponding connecting components 103; the connecting component 103 includes a connecting screw and a connecting nut 103a, and the cylinder body of the bag-clamping cylinder 2 can be rotatably mounted on the connecting screw. A spacer 103b is provided between the outer side of the connecting screw and the corresponding bag-clamping cylinder 2 and the special-shaped plate 102; a limiting component 4 is provided at the bottom of the cylinder seat 1, and the limiting component 4 includes a fixing plate 401, and threaded through holes are opened on the fixing plate 401 corresponding to the four clamping rings 302. A limiting rod 402 is provided in the threaded through hole. The limiting rod 402 can move up and down along the axis of the threaded through hole through the limiting nut 403, and the bottom of the limiting rod 402 abuts against the clamping ring 302.

[0021] When the present invention is in use, the bag clamping mechanism 3 is driven to swing by the bag clamping cylinder 2, thereby realizing the bag clamping function; the vacuum suction nozzle generates negative pressure in the vacuum area, thereby adsorbing the valve mouth of the valve bag on the suction nozzles on both sides to realize the bag opening function; the bag mouth shaping plate 303 increases the force area when the valve bag is clamped, so that the valve bag is stably clamped and deformation defects caused by fixing the valve bag can be avoided; the anti-slip component 306 can prevent the valve bag from sliding and increase the stability of the valve bag clamping; by adjusting the height position of the limit rod 402, the minimum opening angle of the manipulator can be adjusted to avoid deformation, deflection and other phenomena. The advantages of the present invention are: the manipulator combines the bag taking, bag clamping and bag opening functions into one, improves the efficiency of valve bag loading, and has high economic benefits; the manipulator has a compact structure and can adjust the upper and lower limits of the opening angle to cope with valve bags of different sizes and materials, and has a wide range of applications.

[0022] The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solutions disclosed in the present invention, technicians in this field can make some substitutions and deformations of some technical features therein according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. A rapid bagging robot, comprising a cylinder base, two cross-spaced bag clamping cylinders, and two symmetrically distributed bag clamping mechanisms, wherein the bag clamping cylinder on the left is used to drive the bag clamping mechanism on the right, and the bag clamping cylinder on the right is used to drive the bag clamping mechanism on the left, characterized in that: The bag clamping mechanism includes a connecting rod and two symmetrically arranged clamping rings, the clamping ring includes a contour plate and a hinge plate, the inward end of the hinge plate is hinged to the cylinder seat, the connecting rod is arranged at the outward end of the hinge plate, the cylinder body of the bag clamping cylinder is rotatably arranged on the cylinder seat, and the end of the piston rod of the bag clamping cylinder is rotatably connected to the connecting rod.

2. A rapid bagging robot according to claim 1, characterized in that: The bag clamping mechanism further comprises a bag opening shaping plate, which is connected to the profiling plate via a plurality of brackets.

3. A rapid bagging robot according to claim 1, characterized in that: The bag clamping mechanism further comprises a plurality of flaring assemblies arranged at intervals, wherein the flaring assemblies comprise vacuum suction cups, the vacuum suction cups being arranged at the front of a suction cup bracket, and the rear of the suction cup bracket being fixedly connected to the contour plate.

4. A rapid bagging robot according to claim 2, characterized in that: The bag clamping mechanism also includes a bag abandoning guard plate, which is located below the bag opening shaping plate and is connected to the contouring plate via a fastener.

5. The rapid bagging robot according to claim 1, characterized in that: The bag clamping mechanism further comprises an anti-skid component, which comprises a rubber strip clamp, and the rubber strip clamp is connected to the lowermost end of the contoured plate through a mounting seat.

6. A rapid bagging robot according to claim 1, characterized in that: The cylinder seat comprises a connecting plate and two correspondingly arranged special-shaped plates, and the two bag-clamping cylinders are respectively arranged between the two special-shaped plates through corresponding connecting components.

7. A rapid bagging robot according to claim 6, characterized in that: The connecting assembly includes a connecting screw and a connecting nut. The cylinder body of the bag clamping cylinder is sleeved on the connecting screw. A spacer is provided on the outer side of the connecting screw corresponding to the bag clamping cylinder and the special-shaped plate.

8. A rapid bagging robot according to any one of claims 1 to 7, characterized in that: It also includes a limit assembly arranged at the bottom of the cylinder seat, the limit assembly includes a fixing plate, and the fixing plate is provided with threaded through holes corresponding to the four clamping rings. A limit rod is provided in the threaded through hole, and the limit rod can be moved up and down along the axis direction of the threaded through hole through a limit nut, and the bottom of the limit rod abuts against the clamping ring.

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