Bagging manipulator and bagging machine

Abstract

The utility model discloses a bagging manipulator and a bagging machine, belongs to the field of edible mushroom production equipment, and aims to solve the problem of low production efficiency caused by manual filling of mushroom bags. The bagging manipulator comprises an arm support, a transverse movement driving device drives the arm support to horizontally reciprocate, one end of the mechanical arm is rotatably connected to one side of the arm support, a speed reducer is arranged on the arm support, the steering motor drives the mechanical arm to swing in a pitching mode through the speed reducer, and the bag opening guide rail is arranged in the length direction of the mechanical arm. The first bag opening claw and the second bag opening claw slide on the bag opening guide rails through sliding blocks correspondingly, a rotating air cylinder is arranged on the mechanical arm, the rotating connecting lug is connected with the output end of the rotating air cylinder, and the first bag opening claw and the second bag opening claw are hinged to the two circumferential sides of the rotating connecting lug through fisheye bearing pull rods correspondingly. The first bag opening claw and the second bag opening claw are close to or away from each other. According to the automatic bagging machine, automatic bag supplying and bagging of fungus bags can be achieved, the automation degree is high, and the production efficiency is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the field of edible fungus production equipment, in particular to a bagging manipulator and a bagging machine. Background Art

[0002] When edible fungi are produced on a large scale, they are mostly cultivated in mushroom bags. As the cultivation place of edible fungi, the mushroom bags mostly contain main ingredients such as sawdust, bran, edible gypsum powder, etc. The above materials are mixed in a certain ratio, sterilized and humidified, and then can be filled. The filling is carried out in the form of polyethylene plastic bags. After the filled mushroom bags are tied, they are punched and holes are evenly punched around the mushroom bags. During actual cultivation, the edible fungus strains are injected into the mushroom bags, and then cultivated. The appropriate temperature and humidity are controlled. Mycelium will be produced in the mushroom bags in a short time, and the finished mushrooms will grow from the holes.

[0003] In order to prevent foreign bacteria from growing in the mushroom bags, the general mushroom bags have a usage period of about one month. Therefore, it is necessary to reserve a large number of mushroom bags in time to meet the cultivation needs. In the existing technology, when preparing mushroom bags, the sterilized raw materials are introduced into the filling machine through a stirring mechanism, and then filled manually. The filled mushroom bags are manually bundled and then subsequent production is carried out. Therefore, the production efficiency of the existing technology is not high and cannot meet the large-scale mushroom production needs. Utility Model Content

[0004] The purpose of this utility model is to provide a bagging robot and a bagging machine to solve the problem of low production efficiency caused by manual filling of mushroom bags. The technical solutions adopted by this utility model are as follows:

[0005] The cam is connected to the side panel of the machine body to move forward and backward, and the cam is connected to the side panel of the machine body to move backward and forward.

[0006] Furthermore, the transverse driving device includes a transverse motor and a transverse guide rail group. A transverse slider group is provided on the arm support. The transverse slider group slides with the horizontally arranged transverse guide rail group. The transverse motor is fixed on the arm support. A transverse gear is provided on the output shaft of the transverse motor. The transverse gear is engaged with the transverse rack. The transverse rack is parallel to the transverse guide rail group.

[0007] Furthermore, a first arc-shaped piece is provided on the first bag-opening claw, and a second arc-shaped piece is provided on the second bag-opening claw. When the outer arc surfaces of the first arc-shaped piece and the second arc-shaped piece open the mushroom bag, the area between the inner arc surfaces of the first arc-shaped piece and the second arc-shaped piece is greater than the diameter area of ​​the discharge port of the raw material filling machine.

[0008] The present invention also proposes a bagging machine, comprising a frame, a bagging manipulator, a bag supply device and a bag taking device, wherein the bag taking device is fixed to the frame, the bag supply device is connected to the bag taking device, the bagging manipulator is the above-mentioned bagging manipulator, the transverse guide rail group and the transverse rack are fixed to the frame, the arm support slides in a direction close to or away from the bag taking device, and a vacuum pump is provided on the frame;

[0009] The bag taking device includes a bag taking frame, a bag taking suction cup and a bag opening suction cup. The bag taking frame is provided with a vertically arranged bag taking guide rail group, the suction cup base is provided with a bag taking slider group, the bag taking slider group slides with the upper part of the bag taking guide rail group, the slide cylinder is fixed on the suction cup base, the slider of the slide cylinder slides in the direction of approaching or away from the bagging manipulator, the upper suction cup frame is connected to the slider of the slide cylinder, the bag taking suction cup is connected to the upper suction cup frame, the bag taking suction cup is a hollow component, a plurality of suction holes are provided on the lower side wall of the bag taking suction cup, the inner cavity of the bag taking suction cup is connected to the vacuum pump through a corrugated hose, the suction cup base is connected to the output end of the bag taking lifting device, and a bag opening suction cup is provided on the side of the bag taking frame close to the bagging manipulator. The bag opening suction cup is a hollow component, a plurality of suction holes are provided on the upper side wall of the bag opening suction cup, and the inner cavity of the bag opening suction cup is connected to the vacuum pump through a corrugated hose;

[0010] The bag feeding device comprises a bag feeding rack, a bag feeding box and a lifting sliding rack, the bag feeding rack is connected to the bag taking rack, the bag feeding box is a hollow component with an upper opening, the bag feeding box is arranged on the bag feeding rack, the lower side wall of the bag feeding box and the bag feeding rack are provided with an avoidance opening which passes through up and down, the vertical contour of the lifting material bag part is adapted to the avoidance opening, the lifting material bag part is connected to the lifting sliding rack, the lifting sliding rack is provided with a bag feeding slider group, the bag feeding slider group is slidably matched with the lower part of the bag taking guide rail group, the electric push rod is fixed on the bag taking rack, the piston rod of the electric push rod is upwardly connected to the lifting material bag part, when the slider of the slide cylinder is retracted, the upper opening of the bag feeding box is vertically aligned with the bag taking suction cup, a plurality of mushroom bags are stacked on the lifting material bag part, the bag opening of the mushroom bag is placed towards the bagging robot, the bag taking suction cup sucks up the mushroom bag, and when the slider of the slide cylinder is extended, the bag opening of the sucked mushroom bag is above the bag opening suction cup.

[0011] Furthermore, a bag length adjustment baffle is provided in the bag supply box, and one end of the two adjusting screws is respectively connected to one side end face of the bag length adjustment baffle. The two adjusting screws respectively pass through the side wall of the bag supply box away from the bagging robot and are fixed by nuts.

[0012] Furthermore, the bag opening suction cup is connected to one end of the lower suction cup frame, the other end of the lower suction cup frame extends into the bag retrieval frame and is connected to the lifting slider, the lifting slider slides with an adjacent guide rail in the bag retrieval guide rail group, and a lifting cylinder is provided on the bag retrieval frame, the piston rod of the lifting cylinder is vertically arranged and connected to the lower suction cup frame.

[0013] Furthermore, the lower suction cup frame includes a horizontal connecting plate and a vertical connecting plate. The horizontal connecting plate is provided with a horizontally opened oblong hole, and the vertical connecting plate is provided with a vertically opened oblong hole. The oblong holes on the horizontal connecting plate and the oblong holes on the vertical connecting plate are matched by bolts.

[0014] Furthermore, the bag-taking lifting device includes a lifting motor, which is fixed on the top of the bag-taking frame, a driving pulley is sleeved on the output shaft of the lifting motor, and a driven pulley is rotatably arranged in the middle of the bag-taking frame. The driving pulley and the driven pulley are connected by a synchronous belt, and the suction cup base is connected to a point on the synchronous belt through a clamp.

[0015] Furthermore, a photoelectric switch is provided on the bag-taking rack. When the height of the mushroom bag is lower than the photoelectric switch, the electric push rod pushes the lifting bag upward. When the mushroom bag reaches the supply bag height, the mushroom bag triggers the photoelectric switch, and the photoelectric switch controls the electric push rod to stop extending.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] The utility model relates to a bagging machine which realizes automatic bag supply of mushroom bags through a bag supply device, and a bag taking device which can take out bags and open the bag opening of the mushroom bag through negative pressure suction. The bagging robot can take away the mushroom bag with the opened bag opening and put it on the discharge port of the raw material filling machine, thereby realizing automatic bag supply and bagging of mushroom bags, with a high degree of automation, and greatly improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural diagram of the bagging robot;

[0019] Figure 2 It is a structural diagram of the robotic arm;

[0020] Figure 3 This is a schematic diagram of the robotic arm from another perspective;

[0021] Figure 4 This is a schematic diagram of the bagging robot from another perspective;

[0022] Figure 5 This is a schematic diagram of the state of the bagging machine before it works;

[0023] Figure 6 This is a schematic diagram of the bag-taking state of the bag-taking suction cup of the bag-taking machine;

[0024] Figure 7 This is a schematic diagram of the state when the bagging robot grabs the mushroom bag;

[0025] Figure 8 This is a side view of the bagging robot grabbing the mushroom bag;

[0026] Figure 9 It is a connection diagram of the bag taking device and the bag supply device;

[0027] Figure 10 This is a schematic diagram showing the connection between the bag taking device and the bag supply device from another perspective;

[0028] Figure 11 It is a structural schematic diagram of the bag taking device;

[0029] Figure 12 It is a structural schematic diagram of the bag supply device;

[0030] Figure 13 It is a structural schematic diagram of the bag supply device from another perspective.

[0031] In the figure, 1. Frame, 11. Adjustable feet, 12. Vacuum pump, 2. Bagging robot, 21. Transverse guide rail assembly, 22. Transverse rack, 23. Arm support, 24. Transverse gear, 25. Transverse motor, 26. First bag-holding claw, 27. Second bag-holding claw, 28. Robotic arm, 29. Rotating lug, 210. Steering motor, 211. Speed ​​reducer, 212. Transverse slider assembly, 213. Fisheye bearing pull rod, 214. Bag-holding guide rail, 215. Rotating cylinder, 216. First curved piece, 217. Second curved piece, 3. Bag removal device, 31. Bag taking frame, 32. Driven pulley, 33. Bag taking suction cup, 34. Upper suction cup frame, 35. Suction cup base, 36. Bag taking slider assembly, 37. Bag taking guide rail assembly, 38. Lifting motor, 39. Driving pulley, 310. Slide cylinder, 311. Bag opening suction cup, 312. Vertical connecting plate, 313. Horizontal connecting plate, 314. Lifting cylinder, 4. Bag feeding device, 41. Bag feeding box, 42. Lifting bag parts, 43. Bag feeding frame, 44. Electric push rod, 45. Lifting slide frame, 46. Bag feeding slider assembly, 47. Bag length adjustment baffle, 48. Adjusting screw. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is described below using specific embodiments illustrated in the accompanying drawings. However, it should be understood that these descriptions are merely illustrative and are not intended to limit the scope of the present invention. Furthermore, descriptions of known structures and technologies are omitted in the following description to avoid unnecessary confusion regarding the concepts of the present invention.

[0033] The connections mentioned in this utility model are divided into fixed connections and detachable connections. The fixed connection refers to a non-detachable connection, including but not limited to conventional fixed connection methods such as hem connection, rivet connection, adhesive connection, and welding connection. The detachable connection refers to but not limited to conventional detachable connection methods such as bolt connection, snap connection, pin connection, and hinge connection. When the specific connection method is not clearly specified, it is assumed that at least one connection method can be found among the existing connection methods to achieve the function. Those skilled in the art can choose according to their needs. For example, a fixed connection may be a welding connection, and a detachable connection may be a bolt connection.

[0034] The present invention will be further described in detail below with reference to the accompanying drawings. The following embodiments are provided to explain the present invention, but the present invention is not limited to the following embodiments.

[0035] Example 1: Figures 1 to 4 As shown, a bagging robot includes an arm support 23 and a robot arm 28. The transverse driving device drives the arm support 23 to move back and forth horizontally. One end of the robot arm 28 is rotatably connected to one side of the arm support 23. A reducer 211 is provided on the arm support 23. The output end of the steering motor 210 is connected to the input end of the reducer 211. The output end of the reducer 211 drives the robot arm 28 to pitch and swing perpendicular to the moving direction of the arm support 23. The bag-holding guide rail 214 is set along the length direction of the robot arm 28. The two bag-holding sliders slide with the bag-holding guide rail 214 respectively. In coordination, the first bag-holding claw 26 and the second bag-holding claw 27 are connected one-to-one with the two bag-holding sliders. A rotating cylinder 215 is provided on the robotic arm 28. A rotating ear 29 is connected to the output end of the rotating cylinder 215. The rotating ear 29 is located on the extension line of the bag-holding guide rail 214. The first bag-holding claw 26 and the second bag-holding claw 27 are respectively hinged to the circumferential sides of the rotating ear 29 through the fisheye bearing pull rod 213. When the output end of the rotating cylinder 215 moves, the first bag-holding claw 26 and the second bag-holding claw 27 move closer or farther away. A fiber optic sensor is provided on the robotic arm 28.

[0036] During operation, first, the bag-taking device opens the bag opening of the mushroom bag, the steering motor 210 drives the mechanical arm 28 to tilt up, and the rotating cylinder 215 drives the first bag-holding claw 26 and the second bag-holding claw 27 to approach, so that the first bag-holding claw 26 and the second bag-holding claw 27 are aligned with the bag opening of the mushroom bag. Secondly, the transverse driving device drives the arm support 23 to move toward the bag-taking device until the first bag-holding claw 26 and the second bag-holding claw 27 are respectively inserted into the bag opening of the mushroom bag. Thirdly, the rotating cylinder 215 drives the first bag-holding claw 26 and the second bag-holding claw 27 to move away from each other, and the first bag-holding claw 26 and the second bag-holding claw 27 open the bag opening of the mushroom bag. Then, the transverse driving device drives the arm support 23 to slide away from the bag-taking device, and the mechanical After the arm 28 leaves the range of the bag-taking device, the steering motor 210 drives the mechanical arm 28 downward, so that the bag opening of the mushroom bag faces the discharge port of the raw material feeding device. Finally, the transverse drive device drives the arm support 23 to continue to slide away from the bag-taking device 3, and the mushroom bag is placed on the discharge port of the raw material filling machine. The raw material is squeezed into the mushroom bag, so that the mushroom bag is pushed out and gradually separates from the discharge port of the raw material filling machine. When the optical fiber sensor recognizes that the mushroom bag has separated from the discharge port of the raw material filling machine, the optical fiber sensor sends a signal to control the rotary cylinder 215 to drive the first bag-holding claw 26 and the second bag-holding claw 27 further away. At the same time, the steering motor 210 drives the mechanical arm 28 upward, thus completing the bag-holding and filling of the mushroom bag. The bag-holding robot of the utility model can realize automatic bag-holding and filling of the mushroom bag by cooperating with the bag feeding device. It has a high degree of automation, can greatly improve the production efficiency of the mushroom bag, and reduce labor costs.

[0037] The transverse driving device includes a transverse motor 25 and a transverse guide rail group 21. A transverse slider group 212 is provided on the arm support 23. The transverse slider group 212 slides with the horizontally arranged transverse guide rail group 21. The transverse motor 25 is fixed on the arm support 23. A transverse gear 24 is provided on the output shaft of the transverse motor 25. The transverse gear 24 is engaged with the transverse rack 22. The transverse rack 22 is parallel to the transverse guide rail group 21.

[0038] The first bag-opening claw 26 is provided with a first curved piece 216, and the second bag-opening claw 27 is provided with a second curved piece 217. When the outer curved surfaces of the first curved piece 216 and the second curved piece 217 open the mushroom bag, the area between the inner curved surfaces of the first curved piece 216 and the second curved piece 217 is larger than the diameter area of ​​the discharge port of the raw material filling machine.

[0039] Example 2: Figures 1 to 13As shown, a bagging machine includes a frame 1, a bagging manipulator 2, a bag supply device 4 and a bag taking device 3, the bag taking device 3 is fixed to the frame 1, the bag supply device 4 is connected to the bag taking device 3, the bagging manipulator 2 is the bagging manipulator described in Example 1, the transverse guide rail group 21 and the transverse rack 22 are fixed to the frame 1, the arm support 23 slides in the direction of approaching or moving away from the bag taking device 3, and the frame 1 is provided with a vacuum pump 12;

[0040] The bag taking device 3 includes a bag taking frame 31, a bag taking suction cup 33 and a bag opening suction cup 311. The bag taking frame 31 is provided with a vertically arranged bag taking guide rail group 37, and the suction cup base 35 is provided with a bag taking slider group 36. The bag taking slider group 36 slides with the upper part of the bag taking guide rail group 37. The slide cylinder 310 is fixed on the suction cup base 35. The slider of the slide cylinder 310 slides in the direction of approaching or moving away from the bagging robot 2. The upper suction cup frame 34 is connected to the slider of the slide cylinder 310. The bag taking suction cup 33 is connected to the upper suction cup frame 34 is connected, the bag taking suction cup 33 is a hollow component, a plurality of suction holes are opened on the lower side wall of the bag taking suction cup 33, the inner cavity of the bag taking suction cup 33 is connected to the vacuum pump 12 through a corrugated hose, the suction cup base 35 is connected to the output end of the bag taking lifting device, and a bag opening suction cup 311 is provided on the side of the bag taking frame 31 close to the bagging robot 2. The bag opening suction cup 311 is a hollow component, a plurality of suction holes are opened on the upper side wall of the bag opening suction cup 311, and the inner cavity of the bag opening suction cup 311 is connected to the vacuum pump 12 through a corrugated hose;

[0041] The bag supply device 4 includes a bag supply rack 43, a bag supply box 41 and a lifting slide rack 45. The bag supply rack 43 is connected to the bag taking rack 31. The bag supply box 41 is a hollow component with an upper opening. The bag supply box 41 is arranged on the bag supply rack 43. The lower side wall of the bag supply box 41 and the bag supply rack 43 are provided with a vertical through-hole. The vertical profile of the lifting bag component 42 is adapted to the said avoidance hole. The lifting bag component 42 is connected to the lifting slide rack 45. The lifting slide rack 45 is provided with a bag supply slider group 46. The bag supply slider group 46 is connected to the bag taking guide rail. The lower part of the group 37 is slidably matched, and the electric push rod 44 is fixed on the bag-taking frame 31. The piston rod of the electric push rod 44 is upwardly connected to the lifting bag component 42. When the slider of the slide cylinder 310 is retracted, the upper opening of the bag supply box 41 is vertically aligned with the bag-taking suction cup 33. Several mushroom bags are stacked on the lifting bag component 42, and the bag openings of the mushroom bags are placed toward the bagging robot 2. The bag-taking suction cup 33 sucks up the mushroom bags. When the slider of the slide cylinder 310 is extended, the bag openings of the sucked mushroom bags are above the bag opening suction cup 311.

[0042] During operation, first, the electric push rod 44 pushes the lifting bag member 42 upwards, so that several mushroom bags reach the bag supply height, and the bag-taking lifting device drives the bag-taking suction cup 33 to slide down, and the bag-taking suction cup 33 probes into the bag supply box 41 and sucks up the top mushroom bag. Then, the bag-taking lifting device drives the bag-taking suction cup 33 to slide up, and the bag-taking suction cup 33 attracts the mushroom bag to leave the bag supply box 41. The slider of the slide cylinder 310 extends toward the bagging manipulator 2, so that the bag mouth end of the sucked mushroom bag moves above the bag opening suction cup 311. Finally, the bag-taking lifting device The bag taking suction cup 33 is driven to slide down and rest on the bag opening suction cup 311 and then separate. The two sides of the bag opening of the mushroom bag can be sucked open by the air suction force. At this point, one bag taking is completed. The bagging machine of the present invention realizes automatic bag supply of the mushroom bag through the bag supply device 4. The bag taking device 3 can realize bag taking and open the bag opening of the mushroom bag through negative pressure suction. The bagging robot 2 can take away the mushroom bag with the opened bag opening and put it on the discharge port of the raw material filling machine, thereby realizing automatic bag supply and bagging of the mushroom bag, with a high degree of automation, greatly improving production efficiency.

[0043] Figure 5 A schematic diagram of the state of the utility model before operation is given. The mechanical arm 28 is in a horizontal state with its arm support 23 away from the bag taking device 3. The slider of the slide cylinder 310 is in a retracted state. The bag taking suction cup 33 is located above the bag supply box 41. The bag opening suction cup 311 is in a downward position. Figure 6 A schematic diagram of the bag-taking state of the bag-taking suction cup 33 is provided. The electric push rod 44 pushes the lifting bag component 42 upward, so that several mushroom bags reach the supply bag height. The bag-taking suction cup 33 slides down into the bag supply box 41 and sucks up the top mushroom bag. Figure 7 The schematic diagram shows the state of the bagging robot 2 when it grabs a mushroom bag. The bag-taking suction cup 33 sucks up a mushroom bag (the mushroom bag is not shown), and the slider of the slide cylinder 310 extends, so that the bag opening of the sucked mushroom bag is above the bag-opening suction cup 311. The bag-taking lifting device drives the bag-taking suction cup 33 to slide down and abut against the bag-opening suction cup 311 before separating. The two sides of the bag opening of the mushroom bag can be sucked open by the suction force, and the robot arm 28 is tilted up to an upright state. The rotating cylinder 215 drives the first bag-holding claw 26 and the second bag-holding claw 27 to move closer. The transverse motor 25 drives the bagging robot 2 to move toward the bag-taking device 3, and the first bag-holding claw 26 and the second bag-holding claw 27 can be inserted into the bag opening of the mushroom bag.

[0044] The bottom of the frame 1 is provided with a plurality of adjustable feet 11 to facilitate leveling of the equipment.

[0045] A bag length adjustment baffle 47 is provided within the bag supply box 41. One end of two adjustment screws 48 is connected to one end surface of the bag length adjustment baffle 47. The two adjustment screws 48 extend through the side wall of the bag supply box 41 away from the bagging robot 2 and are secured by nuts. By changing the fixed position of the adjustment screws 48, the position of the bag length adjustment baffle 47 within the bag supply box 41 can be adjusted to accommodate bags of different lengths.

[0046] The bag opening suction cup 311 is connected to one end of the lower suction cup frame, the other end of the lower suction cup frame extends into the bag taking frame 31 and is connected to the lifting slider, the lifting slider slides with an adjacent guide rail in the bag taking guide rail group 37, and a lifting cylinder 314 is provided on the bag taking frame 31, the piston rod of the lifting cylinder 314 is vertically arranged and connected to the lower suction cup frame. The extension and retraction of the piston rod of the lifting cylinder 314 can control the lifting and lowering of the bag opening suction cup 311. When the mushroom bag sucked up by the bag taking suction cup 33 is to be opened, the piston rod of the lifting cylinder 314 drives the bag opening suction cup 311 to rise, so that the height of the bag opening suction cup 311 exceeds the upper edge of the bag supply box 41. When the bagging robot 2 takes away the mushroom bag opened by the bag taking suction cup 33, the piston rod of the lifting cylinder 314 drives the bag opening suction cup 311 to descend. Setting the bag opening suction cup 311 to be liftable can reduce the lifting height of the bag taking suction cup 33 and the lifting height of the bagging robot 2, thereby reducing the overall height of the equipment.

[0047] The lower suction cup frame includes a horizontal connecting plate 313 and a vertical connecting plate 312. The horizontal connecting plate 313 is provided with a horizontal oblong hole, while the vertical connecting plate 312 is provided with a vertical oblong hole. The oblong holes in the horizontal connecting plate 313 and the oblong holes in the vertical connecting plate 312 are engaged by bolts. The lower suction cup frame, consisting of the horizontal connecting plate 313 and the vertical connecting plate 312 with oblong holes, allows for fine-tuning of the position of the bag opening suction cup 311, facilitating assembly and commissioning.

[0048] The bag taking and lifting device includes a lifting motor 38, which is fixed on the top of the bag taking frame 31, a driving pulley 39 is sleeved on the output shaft of the lifting motor 38, and a driven pulley 32 is rotatably set in the middle of the bag taking frame 31. The driving pulley 39 and the driven pulley 32 are connected by a synchronous belt, and the suction cup base 35 is connected to a point on the synchronous belt through a clamping head.

[0049] A photoelectric switch is provided on the bag taking rack 31. When the height of the mushroom bag is lower than the photoelectric switch, the electric push rod 44 pushes the lifting bag member 42 upward. When the mushroom bag reaches the supply bag height, the mushroom bag triggers the photoelectric switch, and the photoelectric switch controls the electric push rod 44 to stop extending.

[0050] The above embodiments are merely illustrative of the present invention and do not limit its scope of protection. Those skilled in the art may make partial changes thereto, which are within the scope of protection of the present invention as long as they do not exceed the spirit of the present invention.

Claims

1. A bagging robot, characterized by: The invention comprises an arm support (23) and a mechanical arm (28), wherein a transverse driving device drives the arm support (23) to move back and forth horizontally, one end of the mechanical arm (28) is rotatably connected to one side of the arm support (23), a reducer (211) is provided on the arm support (23), the output end of the steering motor (210) is connected to the input end of the reducer (211), the output end of the reducer (211) drives the mechanical arm (28) to pitch and swing perpendicular to the moving direction of the arm support (23), a bag-holding guide rail (214) is arranged along the length direction of the mechanical arm (28), two bag-holding sliders are respectively slidably matched with the bag-holding guide rail (214), and the first bag-holding slider is provided. The claw (26) and the second bag-supporting claw (27) are connected to the two bag-supporting sliders in a one-to-one correspondence. A rotary cylinder (215) is provided on the mechanical arm (28). A rotating ear (29) is connected to the output end of the rotary cylinder (215). The rotating ear (29) is located on the extension line of the bag-supporting guide rail (214). The first bag-supporting claw (26) and the second bag-supporting claw (27) are respectively hinged to the circumferential sides of the rotating ear (29) through a fisheye bearing pull rod (213). When the output end of the rotary cylinder (215) moves, the first bag-supporting claw (26) and the second bag-supporting claw (27) move closer to or farther away from each other. An optical fiber sensor is provided on the mechanical arm (28).

2. A bagging robot according to claim 1, characterized in that: The transverse driving device comprises a transverse motor (25) and a transverse guide rail group (21); a transverse slider group (212) is provided on the arm support (23); the transverse slider group (212) is slidably matched with the horizontally arranged transverse guide rail group (21); the transverse motor (25) is fixed on the arm support (23); a transverse gear (24) is provided on the output shaft of the transverse motor (25); the transverse gear (24) is meshed with the transverse rack (22); and the transverse rack (22) is parallel to the transverse guide rail group (21).

3. A bagging robot according to claim 1 or 2, characterized in that: The first bag-holding claw (26) is provided with a first arc-shaped piece (216), and the second bag-holding claw (27) is provided with a second arc-shaped piece (217). When the outer arc surfaces of the first arc-shaped piece (216) and the second arc-shaped piece (217) hold the mushroom bag open, the area between the inner arc surfaces of the first arc-shaped piece (216) and the second arc-shaped piece (217) is larger than the diameter area of ​​the discharge port of the raw material filling machine.

4. A bagging machine, characterized in that: The invention comprises a frame (1), a bagging manipulator (2), a bag supply device (4) and a bag taking device (3), wherein the bag taking device (3) is fixed on the frame (1), the bag supply device (4) is connected to the bag taking device (3), the bagging manipulator (2) is the bagging manipulator according to any one of claims 1 to 3, the transverse guide rail group (21) and the transverse rack (22) are fixed on the frame (1), the arm support (23) slides in a direction close to or away from the bag taking device (3), and a vacuum pump (12) is provided on the frame (1); The bag taking device (3) comprises a bag taking frame (31), a bag taking suction cup (33) and a bag opening suction cup (311). The bag taking frame (31) is provided with a vertically arranged bag taking guide rail group (37). The suction cup base (35) is provided with a bag taking slider group (36). The bag taking slider group (36) is slidably matched with the upper part of the bag taking guide rail group (37). The slide cylinder (310) is fixed on the suction cup base (35). The slider of the slide cylinder (310) slides in the direction of approaching or moving away from the bagging manipulator (2). The upper suction cup frame (34) is connected to the slider of the slide cylinder (310). The bag taking suction cup (33) is connected to the upper suction cup base (35). The upper suction cup frame (34) is connected, the bag taking suction cup (33) is a hollow component, a plurality of suction holes are opened on the lower side wall of the bag taking suction cup (33), the inner cavity of the bag taking suction cup (33) is connected to the vacuum pump (12) through a corrugated hose, the suction cup base (35) is connected to the output end of the bag taking lifting device, and a bag opening suction cup (311) is provided on the bag taking frame (31) on the side close to the bagging manipulator (2), the bag opening suction cup (311) is a hollow component, a plurality of suction holes are opened on the upper side wall of the bag opening suction cup (311), and the inner cavity of the bag opening suction cup (311) is connected to the vacuum pump (12) through a corrugated hose; The bag supply device (4) includes a bag supply rack (43), a bag supply box (41) and a lifting slide rack (45). The bag supply rack (43) is connected to the bag taking rack (31). The bag supply box (41) is a hollow component with an upper opening. The bag supply box (41) is arranged on the bag supply rack (43). The lower side wall of the bag supply box (41) and the bag supply rack (43) are provided with a vertically through-going avoidance opening. The vertical profile of the lifting material bag component (42) is adapted to the avoidance opening. The lifting material bag component (42) is connected to the lifting slide rack (45). The lifting slide rack (45) is provided with a bag supply slider group (46). The bag supply slider group (46) is connected to the bag supply slider group (46). The lower part of the bag taking guide rail group (37) is slidably matched, and the electric push rod (44) is fixed on the bag taking frame (31). The piston rod of the electric push rod (44) is connected to the lifting bag component (42) upward. When the slider of the slide cylinder (310) is retracted, the upper opening of the bag supply box (41) is vertically aligned with the bag taking suction cup (33). Several mushroom bags are stacked and placed on the lifting bag component (42). The bag openings of the mushroom bags are placed toward the bagging manipulator (2). The bag taking suction cup (33) sucks up the mushroom bags. When the slider of the slide cylinder (310) is extended, the bag openings of the sucked mushroom bags are above the bag opening suction cup (311).

5. A bagging machine according to claim 4, characterized in that: A bag length adjustment baffle (47) is provided in the bag supply box (41), one end of two adjustment screws (48) are respectively connected to one end surface of the bag length adjustment baffle (47), and the two adjustment screws (48) respectively penetrate the side wall of the bag supply box (41) away from the bagging manipulator (2) and are fixed by nuts.

6. The bagging machine according to claim 4, characterized in that: The bag opening suction cup (311) is connected to one end of the lower suction cup frame, and the other end of the lower suction cup frame extends into the bag taking frame (31) and is connected to a lifting slider. The lifting slider is slidably matched with an adjacent guide rail in the bag taking guide rail group (37). A lifting cylinder (314) is provided on the bag taking frame (31), and a piston rod of the lifting cylinder (314) is vertically arranged and connected to the lower suction cup frame.

7. A bagging machine according to claim 6, characterized in that: The lower suction cup frame comprises a horizontal connecting plate (313) and a vertical connecting plate (312); the horizontal connecting plate (313) is provided with a transversely opened oblong hole, and the vertical connecting plate (312) is provided with a vertically opened oblong hole; the oblong holes on the horizontal connecting plate (313) and the oblong holes on the vertical connecting plate (312) are matched by bolts.

8. The bagging machine according to claim 4, characterized in that: The bag taking and lifting device comprises a lifting motor (38), the lifting motor (38) is fixed on the top of the bag taking frame (31), a driving pulley (39) is sleeved on the output shaft of the lifting motor (38), a driven pulley (32) is rotatably arranged in the middle of the bag taking frame (31), the driving pulley (39) and the driven pulley (32) are connected by a synchronous belt, and the suction cup base (35) is connected to a point on the synchronous belt through a clamping head.

9. A bagging machine according to any one of claims 4 to 8, characterized in that: A photoelectric switch is provided on the bag taking frame (31). When the height of the mushroom bag is lower than the photoelectric switch, the electric push rod (44) pushes the lifting bag member (42) upward. When the mushroom bag reaches the supply bag height, the mushroom bag triggers the photoelectric switch, and the photoelectric switch controls the electric push rod (44) to stop extending.

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