Robot automatic bagging mechanism

Abstract

The utility model belongs to the technical field of packaging machinery, and particularly relates to a robot automatic bagging mechanism which comprises a robot mechanism and a bag opening mechanism, the bag opening mechanism comprises a frame, a mounting plate is mounted at the top of the frame through screws, and clamping arms distributed parallel to the frame are symmetrically mounted above the mounting plate. Shaft sleeves matched with the clamping arms are mounted at the top of the mounting plate, rotating shaft pins are connected into the shaft sleeves, the clamping arms are hinged to the shaft sleeves through the rotating shaft pins, the frame is jointly composed of transverse shafts and a longitudinal shaft, and the transverse shafts in the frame are symmetrically distributed at the two ends of the longitudinal shaft in the frame. According to the automatic bagging mechanism of the robot, one end of the clamping arm is close to the frame through the clamping arm which deflects with the rotating shaft pin as the circle center under the limitation of the shaft sleeve, so that the clamping arm is matched with the frame to open a ton bag, the ton bag can be opened at any caliber in the opening process, and the flexibility of the automatic bagging mechanism in the using process is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to packing machinery technical field especially relates to a robot automatic bagging mechanism. BACKGROUND

[0002] Particulate matter and bulk cargo for the convenience of transportation usually will be cargo bagging processing, in the prior art, mainly artificial bagging and special equipment bagging, artificial bagging process, not only time -consuming, and prone to error, low safety.

[0003] The existing solution is mostly in the bagging operation area is provided with the special bagging equipment of automation, this in actual operation there will be the following problems:

[0004] 1) the existing special bagging equipment is through the adoption cylinder drive mechanical claw completes the capture to ton bag, but the existing special equipment bagging mode is one to one, does not have the characteristics of general exchange, limit the flexibility of equipment;

[0005] 2) the existing special equipment is convenient for the movement of bagging equipment, usually will be in the bottom of the equipment is provided with the guide rail convenient for moving, and the operation angle limit is bigger. UTILITY MODEL CONTENTS

[0006] In order to overcome the above-mentioned defects of the prior art, the present application has been thoroughly studied, and after a lot of creative labor, the present application is completed.

[0007] Specifically, the technical problem to be solved by the present application is to provide a robot automatic bagging mechanism to solve the existing special bagging equipment mainly adopts cylinder drive mechanical claw to complete the capture to ton bag, but the existing special equipment bagging mode is one to one, does not have the characteristics of general exchange, limit the flexibility of equipment.

[0008] To solve the above technical problems, the utility model provides the following technical scheme:

[0009] A kind of robot automatic bagging mechanism, including robot mechanism and bag supporting mechanism, the bag supporting mechanism includes frame, the top of the frame is fixedly installed with mounting plate by screw, the top of the mounting plate is symmetrically installed with the clamping arm distributed in parallel with frame;

[0010] The top of the mounting plate is fixedly installed with the shaft sleeve matched with the clamping arm, the shaft sleeve is movably connected with the shaft pin, and the clamping arm is connected with the shaft sleeve by hinge.

[0011] As an improved technical scheme, the frame is composed of a horizontal shaft and a vertical shaft, the horizontal shafts are symmetrically arranged at two ends of the vertical shaft in the frame, and a reinforcing beam parallel to the vertical shaft in the frame is arranged between the horizontal shafts and below the mounting plate.

[0012] As an improved technical scheme, the end of the horizontal shaft in the frame away from the vertical shaft in the frame is fixedly provided with a clamping bag plate matched with the clamping bag plate.

[0013] As an improved technical scheme, the top of the mounting plate is fixedly provided with a gas cylinder, the piston end of the gas cylinder is connected with a first limiting block, the first limiting block is arranged between the clamping arms, and the two ends of the first limiting block are provided with symmetrically arranged connecting pins.

[0014] As an improved technical scheme, a connecting rod is arranged between the first limiting block and the second limiting block, one end of the connecting rod is hingedly connected with the first limiting block through a connecting pin, the other end of the connecting rod is hingedly connected with the second limiting block through a connecting pin, and the second limiting block is fixedly arranged on the side of the clamping arm away from the frame.

[0015] As an improved technical scheme, the end of the horizontal shaft in the frame away from the vertical shaft in the frame is provided with a photoelectric sensor, and the photoelectric sensor is arranged below the clamping bag plate.

[0016] As an improved technical scheme, the robot mechanism is composed of a robot body, and the side of the mounting plate away from the frame is fixedly provided with a reinforcing plate, and the outer side of the reinforcing plate is fixedly provided with a robot end connecting plate connected with the robot body.

[0017] After the above technical scheme is adopted, the beneficial effects of the present application are as follows:

[0018] 1. According to the present application, the clamping arm is deflected around the pivot pin under the limitation of the shaft sleeve, so that one end of the clamping arm approaches the frame, thereby cooperating with the fixed frame to open the ton bag, so that the ton bag can be opened at any caliber, thereby improving the flexibility of the device during use.

[0019] 2. According to the present application, the frame made of aluminum profile cooperates with the reinforcing beam at the bottom of the mounting plate to provide support for the mounting plate, and the reinforcing plate and the robot end connecting plate connected with the robot body are matched, thereby improving the overall strength of the device and ensuring stable operation of the device.

[0020] 3. According to the present application, the connecting rod connected with the second limiting block through the connecting pin drives the pivot pin to deflect, controls the opening and closing of the clamping bag plate and the clamping bag plate, and achieves the purpose of clamping and loosening the ton bag opening.

[0021] 4. The utility model discloses a robot main body for industrial six-axis robot, so that the device has the characteristics of high positioning accuracy, strong compatibility and more degrees of freedom, can meet the bagging requirements for different filling openings and different filling positions, and has lower requirements for equipment layout and space, thereby reducing the restriction on the operation angle of the device. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained without creative labor based on these drawings. Among them:

[0023] Figure 1 It is a three-dimensional structure schematic view of the robot automatic bagging mechanism of the utility model.

[0024] Figure 2 It is a bag supporting mechanism structure schematic view of the robot automatic bagging mechanism of the utility model.

[0025] Figure 3 It is an exploded structure schematic view of the bag supporting mechanism of the robot automatic bagging mechanism of the utility model.

[0026] Figure 4 It is a driving part structure schematic view of the robot automatic bagging mechanism of the utility model.

[0027] Figure 5 It is a frame and reinforcing beam related structure schematic view of the robot automatic bagging mechanism of the utility model.

[0028] Explanation of reference signs:

[0029] 1. Robot main body; 2. Frame; 3. Mounting plate; 4. Clamping arm; 5. Shaft sleeve; 6. Shaft pin; 7. Reinforcing beam; 8. Clamping belt clamping plate; 9. Bag clamping plate; 10. Air cylinder; 11. First limiting block; 12. Connecting pin; 13. Connecting rod; 14. Second limiting block; 15. Photoelectric sensor; 16. Reinforcing plate; 17. Robot end connecting plate. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only some embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0031] It should be noted that all the directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications will also change accordingly.

[0032] Meanwhile, "and / or" or "and / or" appearing throughout the text means that it includes three schemes, taking "A and / or B" as an example, including A scheme, or B scheme, or A and B scheme.

[0033] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0034] As Figures 1 to 5 As shown in the drawings, the present embodiment provides a kind of robot automatic bagging mechanism, this robot automatic bagging mechanism includes robot mechanism and bag supporting mechanism, bag supporting mechanism includes frame 2, the top of frame 2 is fixedly installed with mounting plate 3 by screw, the upper of mounting plate 3 is symmetrically installed with the clamping arm 4 that is parallelly distributed with frame 2, the top of mounting plate 3 is fixedly installed with the shaft sleeve 5 that is mutually adapted with clamping arm 4, shaft sleeve 5 is movably connected with shaft pin 6, and clamping arm 4 is connected with shaft sleeve 5 by hinging through shaft pin 6, frame 2 can limit the moving distance of ton bag in the process of being propped open, mounting plate 3 is horizontally installed on frame 2, and it is convenient to disassemble by screw, clamping arm 4 can be deflected with shaft pin 6 as center under the restriction of shaft sleeve 5, one end of clamping arm 4 is close to frame 2, and it is converted from the state of being parallel to frame 2 to the state of being deflected to frame 2, to cooperate with fixed frame 2, ton bag is propped open, since the angle of clamping arm 4 deflected to frame 2 belongs to controllable range, ton bag can be propped open with any caliber, so as to improve the flexibility of device in use.

[0035] Frame 2 is composed of horizontal axis and vertical axis, horizontal axis in frame 2 is symmetrically distributed at both ends of vertical axis in frame 2, and reinforcing beam 7 that is parallelly distributed with vertical axis in frame 2 is arranged between horizontal axis in frame 2 and below mounting plate 3, horizontal axis and vertical axis in frame 2 are all made of aluminum profile, and reinforcing beam 7 can cooperate with frame 2 to provide support for mounting plate 3, so as to improve the overall strength of device and ensure stable operation of device.

[0036] The clamping belt clamping plate 8 is fixedly installed at the end of the horizontal shaft of the frame 2 away from the longitudinal axis of the frame 2, and the clamping bag plate 9 is fixedly installed at the end of the clamping arm 4 away from the shaft sleeve 5 and is matched with the clamping belt clamping plate 8. When the clamping arm 4 is deflected towards the horizontal shaft of the frame 2, the clamping bag plate 9 can cooperate with the clamping belt clamping plate 8, thereby reducing the probability of loosening and falling off of the ton bag when it is expanded.

[0037] The air cylinder 10 is fixedly installed at the top of the mounting plate 3, the piston end of the air cylinder 10 is connected with the first limiting block 11, and the first limiting block 11 is located between the clamping arms 4. The two ends of the first limiting block 11 are both provided with symmetrically distributed connecting pins 12. The air cylinder 10 can make the first limiting block 11 move linearly between the clamping arms 4 by changing the extension length of the piston end.

[0038] The connecting rod 13 is provided between the first limiting block 11 and the second limiting block 14. One end of the connecting rod 13 is hingedly connected with the first limiting block 11 through the connecting pin 12, and the other end of the connecting rod 13 is hingedly connected with the second limiting block 14 through the connecting pin 12. The second limiting block 14 is fixedly installed on the side of the clamping arm 4 away from the frame 2. The connecting rod 13 can be deflected at the two ends of the first limiting block 11 with the connecting pin 12 as the center by the movement of the first limiting block 11. When the connecting rod 13 changes, the second limiting block 14 drives the connected clamping arm 4 to deflect on the mounting plate 3 with the pivot pin 6 as the center, so that the clamping arm 4 moves towards the frame 2.

[0039] The photoelectric sensor 15 is provided at the end of the horizontal shaft of the frame 2 away from the longitudinal axis of the frame 2, and the photoelectric sensor 15 is located below the clamping belt clamping plate 8. The photoelectric sensor 15 can detect the state of the ton bag opening in real time and timely alarm in the case of bagging failure and ton bag falling off.

[0040] The robot mechanism is composed of the robot body 1, and the reinforcing plate 16 is fixedly installed on the side of the mounting plate 3 away from the frame 2. The outer side of the reinforcing plate 16 is fixedly installed with the robot end connecting plate 17 connected with the robot body 1. The robot body 1 is an industrial six-axis robot for robot components.

[0041] In use, the movement distance of the ton bag in the process of opening is limited by the frame 2, the mounting plate 3 is horizontally mounted on the frame 2 by the screw, so as to be disassembled, and the clamping arm 4 is deflected by the pivot pin 6 as the center under the limitation of the shaft sleeve 5, so that one end of the clamping arm 4 is close to the frame 2, and the state is converted from parallel to the frame 2 to the state of deflection to the frame 2, so as to cooperate with the fixed frame 2 to open the ton bag, and since the angle of deflection of the clamping arm 4 to the frame 2 belongs to a controllable range, the ton bag can be opened with any caliber, thereby improving the flexibility of the device during use, and the frame 2 made of aluminum profile is matched with the reinforcing beam 7 at the bottom of the mounting plate 3 to provide support for the mounting plate 3, and the reinforcing plate 16 connected with the robot body 1 and the robot end connecting plate 17 are matched, thereby improving the overall strength of the device, ensuring stable operation of the device, and through the change of the extension length of the piston end of the cylinder 10, the first limiting block 11 is pushed to make linear motion between the frames 2, so that the first limiting block 11 drives the second limiting block 14 connected with the pivot pin 6 through the connecting pin 12 hinged connecting rod 13 deflection, control the opening and closing of the clamping bag plate 9 and the clamping plate 8, so as to clamp the ton bag opening, and through the cooperation of the clamping bag plate 9 and the clamping plate 8 when the clamping arm 4 is deflected to the frame 2, thereby reducing the probability of ton bag loosening and falling off during opening, and in this process, the ton bag opening state is detected in real time by the photoelectric sensor 15, and the alarm is timely in the case of bagging failure and ton bag falling off, and through the robot body 1 of the industrial six-axis robot, the device has the characteristics of high positioning accuracy, strong compatibility, and can meet the bagging requirements of different filling ports and different filling positions, and has lower requirements for equipment layout and space, thereby reducing the limitation of device operation angle.

[0042] It should be understood that the use of these embodiments is only for the purpose of illustrating the present application and is not intended to limit the scope of protection of the present application. In addition, it should also be understood that after reading the technical content of the present application, those skilled in the art can make various modifications, modifications and / or variations to the present application, and all these equivalent forms also fall within the protection scope defined by the appended claims of the present application.

Claims

1. A robotic automatic bagging mechanism comprising a robotic mechanism and a bag propping mechanism, characterized in that: The bag supporting mechanism comprises a frame (2), the top of the frame (2) is fixedly provided with a mounting plate (3) by screws, the upper portion of the mounting plate (3) is symmetrically provided with clamping arms (4) which are parallel to the frame (2); The top of the mounting plate (3) is fixedly provided with shaft sleeves (5) which are matched with the clamping arms (4), the shaft sleeves (5) are movably connected with shaft pins (6), and the clamping arms (4) are hingedly connected with the shaft sleeves (5) through the shaft pins (6).

2. The robotic automatic bagging mechanism of claim 1, wherein: The frame (2) is composed of a horizontal shaft and a vertical shaft, the horizontal shafts in the frame (2) are symmetrically arranged at both ends of the vertical shaft in the frame (2), and a reinforcing beam (7) which is parallel to the vertical shaft in the frame (2) is arranged between the horizontal shafts in the frame (2) and below the mounting plate (3).

3. A robotic automatic bagging mechanism according to claim 2, wherein: The end of the horizontal shaft in the frame (2) away from the vertical shaft in the frame (2) is fixedly provided with a clamping plate (8), and the end of the clamping arm (4) away from the shaft sleeve (5) is fixedly provided with a bag clamping plate (9) which is matched with the clamping plate (8).

4. A robotic automatic bagging mechanism according to claim 3, wherein: The top of the mounting plate (3) is fixedly provided with a gas cylinder (10), the piston end of the gas cylinder (10) is connected with a first limiting block (11), the first limiting block (11) is arranged between the clamping arms (4), and the two ends of the first limiting block (11) are symmetrically provided with connecting pins (12).

5. A robotic automatic bagging mechanism according to claim 4, wherein: A connecting rod (13) is arranged between the first limiting block (11) and a second limiting block (14), one end of the connecting rod (13) is hingedly connected with the first limiting block (11) through the connecting pin (12), the other end of the connecting rod (13) is hingedly connected with the second limiting block (14) through the connecting pin (12), and the second limiting block (14) is fixedly arranged on the side of the clamping arm (4) away from the frame (2).

6. The robotic automatic bagging mechanism of claim 2, wherein: The end of the horizontal shaft in the frame (2) away from the vertical shaft in the frame (2) is provided with a photoelectric sensor (15), and the photoelectric sensor (15) is arranged below the clamping plate (8).

7. The robotic automatic bagging mechanism of claim 1, wherein: The robot mechanism is composed of a robot body (1), and the side of the mounting plate (3) away from the frame (2) is fixedly provided with a reinforcing plate (16), and the outer side of the reinforcing plate (16) is fixedly provided with a robot end connecting plate (17) which is connected with the robot body (1).

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