Bag taking device for packaging bag loading system

Abstract

The utility model relates to a packaging bag loading system, in particular to a bag taking device for the packaging bag loading system. The bag taking device is connected with the conversion device, a main frame in the bag taking device is of a square pipe structure, a suction cup is installed on the main frame, a flange connecting pipe is installed at the rotation center of the suction cup, the flange connecting pipe is connected with an air supply pipe, and the air supply pipe is connected with an air compressor. The main frame comprises two cross beams and four longitudinal beams connected with the two cross beams, two suction cups are installed on the cross beams, one part of suction cups are transversely arranged, every two suction cups form a group and are arranged on one cross beam, and the other part of suction cups are longitudinally arranged, every three suction cups form a group and are arranged on the other cross beam. The bag taking device is used in cooperation with the conversion device, the bag taking device has the advantages of being flexible in bag taking mode and free of interference phenomenon, a plurality of packaging bag bodies can be taken at a time, and efficiency is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to a packing bag loading system, in particular to a packing bag loading system bag taking device. BACKGROUND

[0002] The existing packing bag loading system is single, and most of them rely on forklifts to deliver materials to the vicinity of the loading station, such as single-row conveyor belt storage or stacked storage, and then placed on the station of the loading station by the grabbing component.

[0003] After searching the website of the State Intellectual Property Office, a kind of raw grain packaging loading stacking system is disclosed, with publication number CN215159242 U, which is forwardly conveyed by longitudinal conveyor, and its loading method is single, although there is a mobile grabbing component, but its arrangement is single, and it can only grab one station at a time, with low efficiency.

[0004] The double stacking robot published on the website, publication number CN105345808A, although it overcomes the defects of single arrangement, but it is only suitable for the transportation of large plates.

[0005] Another retrieved rotating control mechanism of stacking robot, publication number CN11761864A, although the hydraulic cylinder is added on the mounting seat to solve the lifting problem, but it solves the problem of lifting the whole robot, which inevitably causes the problem of poor stability of the robot; The specific structure of the robot in the bag taking device process is not disclosed, and the specific application structure of the bag taking device is related to the overall structure and function of the packing bag loading system. SUMMARY

[0006] The utility model aims at providing a kind of packing bag loading system bag taking device which is sequentially carried out in multiple stations and can realize cross arrangement.

[0007] The utility model packing bag loading system bag taking device adopts the following technical scheme:

[0008] A kind of packing bag loading system bag taking device, the bag taking device is connected with conversion device, the main frame in the bag taking device is square tube structure, suction cup is mounted on the main frame, flange connector is mounted on the rotary center part of the suction cup, the flange connector is connected with gas supply pipe, and the gas supply pipe is connected with air compressor.

[0009] The bag taking device and conversion device are used in cooperation with the above technical scheme, which has the advantages of flexible bag taking mode and no interference phenomenon, can take multiple packing bags at a time, and has high efficiency.

[0010] The preferred scheme of the bag taking device is:

[0011] The main frame of the bag taking device is connected with the conversion device.

[0012] The main frame is connected with the suction disc through the hinge hole screw.

[0013] The light rod part of the hinge hole screw is sleeved with a spring, and the top of the hinge hole screw is sleeved with a sleeve pipe which is connected with the main frame through an angle plate or an angle steel.

[0014] The flange connector is connected with a gas supply pipe through an internal thread elbow, the gas supply pipe is provided with an electromagnetic valve, and the gas supply pipe is connected with an air compressor.

[0015] The bottom of the hinge hole screw is connected with a connecting bolt arranged on the suction disc through a joint bearing, a support plate with a plurality of holes is arranged in the suction disc, the connecting bolt is connected with the support plate, and a high-density vacuum sponge is arranged on the lower end of the suction disc.

[0016] The main frame comprises two cross beams and four longitudinal beams connected with the two cross beams, two suction discs are arranged on the cross beams, one group of two suction discs arranged on one cross beam are arranged in a transverse direction, and the other group of three suction discs arranged on the other cross beam are arranged in a longitudinal direction. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic diagram of the packaging bag loading system to which the embodiment is applied.

[0018] Figure 2 is a top view of the packaging bag loading system to which the embodiment is applied.

[0019] Figure 3 is a top view of the packaging bag loading system to which the embodiment is applied.

[0020] Figure 4 is a front view of the feeding device in the packaging bag loading system to which the embodiment is applied.

[0021] Figure 5 is a side view of the feeding device in the packaging bag loading system to which the embodiment is applied.

[0022] Figure 6 is a front view of the feeding device in the packaging bag loading system to which the embodiment is applied.

[0023] Figure 7 is a structural schematic diagram of the bag taking device.

[0024] Figure 8 is Figure 7 a top view.

[0025] Figure 9is the front view of the suction cup.

[0026] Figure 10 is Figure 9 the top view of the suction cup.

[0027] Figure 11 is the structural schematic diagram of the conversion device.

[0028] Figure 12 is the structural schematic diagram of the connection of the robot and the bag taking device through the conversion device.

[0029] Figure 13 is the structural schematic diagram of the material level warehouse in the packaging bag loading system applied in the embodiment.

[0030] Figure 14 is the top view of the material level warehouse in the packaging bag loading system applied in the embodiment.

[0031] Figure 15 is the side view of the material level warehouse in the packaging bag loading system applied in the embodiment. DETAILED DESCRIPTION

[0032] The application will be described in detail below in combination with the drawings and embodiments:

[0033] Figures 1-3 In the embodiment, the base 1, the top beam 2, the main control room 3, the waiting loading position 4, the robot 5, the ladder 6, the robot main control cabinet 7, the fan station 8, the second tray position 9, the bag throwing tray position 10, the first tray position 11, the feeding device 12, the bag taking device 13, the conversion device 14, and the data acquisition device 15.

[0034] Figures 4-6 In the embodiment, the feeding device 12, the tray 1201, the pulley 120101, the mounting plate 120102, the connecting plate 120103, the driven sprocket set 1202, the driving sprocket set 1203, the material level warehouse 1204, the lifting frame 1205, the ring chain 1206, the driving component 1207, the horizontal plate 1208, the driven sprocket shaft 120201, the driven sprocket table wheel 120202, the driving sprocket shaft 120301, the driving sprocket table wheel 120302, the packaging bag 16, the lower limit block 1209, the upper limit block 1210, the upper collision plate 1211, the lower collision plate 1212, and the laser reflection switch 1213.

[0035] Figures 7-8 In the embodiment, the bag taking device 13, the main frame 1301, the angle plate 1302, the longitudinal beam 1303, the cross beam 1304, the angle steel 1305, the suction cup 1306, the flange connector 1307, the inner wire elbow 1308, the spring 1309, the joint bearing 1310, the hinge hole screw 1311, the coupling bolt 1312, and the sleeve 1315.

[0036] Figures 9-10 middle:

[0037] Suction cup 1306, spring 1309, connecting bolt 1312, support plate 1313, high-density vacuum sponge 1314.

[0038] Figure 11 middle:

[0039] The following components are included: conversion device 14, rotating shaft 1401, fixed sleeve 1402, pressure plate 1403, sealing seat 1404, bearing 1405, skeleton oil seal 1406, fixed plate 1407, bearing 2 1408, skeleton oil seal 2 1409, PTFE packing 1410, sealing seat 2 1411, pressure plate 2 1412, skeleton oil seal 3 1413, skeleton oil seal 1414, fixed plate 2 1415, air intake 1416, vent hole 1417; air outlet pipe 1418, PTFE packing 2 1419.

[0040] Figure 12 In the middle, there are robot 5, rotating base 501, vertical arm 502, horizontal arm 503, swing arm 504, first rocker arm 505, second rocker arm 506, connecting seat 507, power motor 508; fixed bracket 801, negative pressure air duct 802, air supply pipe 803, negative pressure fan 804, and air compressor 805.

[0041] Referring to the above reference numerals, the specific structure of the preferred embodiment provided in this utility model is described in detail below:

[0042] A bag-retrieving device for a packaging bag loading system, see attached. Figure 7 , 8 As shown in Figures 9 and 10, the main frame 1301 of the bag-retrieving device 13 is a closed square tube structure. To facilitate ventilation, the main frame 1301 consists of two crossbeams 1303 and four longitudinal beams connecting the two crossbeams 1303. The crossbeams 1303 and the longitudinal beams 1304 are interconnected, facilitating ventilation. Two suction cups are mounted on the crossbeams 1303, one part of which consists of two horizontally arranged cups mounted on... Figure 8 As shown in the diagram, on the lower crossbeam 1303, another suction cup structure consists of three longitudinally arranged groups, mounted on the upper crossbeam 1303 as shown in the diagram. In each suction cup structure, the main frame 1301 is connected to the spherical bearing 1310 via a hinged screw 1311. The smooth part of the hinged screw 1311 is fitted with a spring 1309, which is approximately 120mm long. The spring 1309 serves to dampen and cushion the air during suction and / or desorption.

[0043] The hinge hole screw 1311 is sleeved with a sleeve 1315 at the top, which is connected with the angle plate 1302 and the main frame 1301 or connected with the angle steel 1305 and the main frame 1301 through the sleeve 1315; the structure of the angle plate 1302 and the angle steel 1305 is slightly different, which is determined by the size of the installation space or position.

[0044] The hinge hole screw 1311 is connected with the connecting bolt 1312 placed on the suction cup 1306 through the joint bearing 1310, and the suction cup 1306 is provided with a support plate 1313 with a plurality of holes, and the connecting bolt 1312 is connected with the support plate, and the lower end of the suction cup 1306 is provided with a high-density vacuum sponge 1314.

[0045] The support plate 1313 is made of aluminum alloy structure; the flange connector 1307 is arranged at the rotary center part of the suction cup 1306, the flange connector 1307 is connected with the main frame 1301 through the internal thread elbow 1308 and the connecting hose; the main frame 1301 is also provided with a gas supply pipe 803, the gas supply pipe 803 is provided with a solenoid valve, and the gas supply pipe 803 is connected with an air compressor 805. The negative pressure fan 804 and the air compressor 805 can be placed at the fan position 8 shown in the figure; they can also be placed in other parts according to the actual installation. Figure 1

[0046] The packaging bag loading system applied in the embodiment is shown in the figure, which comprises a base 1, a cable slot structure is arranged in the base 1, which is beneficial to wiring; a top beam 2 is arranged above the base 1 corresponding, the top beam 2 is located in the bag loading room above the loading position 4, and a data acquisition device 15 is arranged on the top beam 2.

[0047] The feeding device 12 is provided as four groups, two feeding positions are arranged in each group, and each feeding position is located on the first tray position 11 and the second tray position 9 respectively, and one material position library 1204 is arranged on each feeding position respectively, the feeding device 12 is arranged on both sides of the loading position 4, two groups of feeding devices 12 are arranged on each side, and the feeding devices 12 on both sides of the loading position 4 are arranged in a staggered manner, and the specific structure is shown in the figure. Figure 2 Each robot 5 is connected with a bag taking device 13 through a conversion device 14 respectively, and the bag taking device 13 adopts a negative pressure structure.

[0048] Each robot 5 is placed on the base 1 through a robot mounting base respectively, and the height of the mounting base should be beneficial to the work of the bag taking device 13, and the actual mounting height of the mounting base in the embodiment is 2404mm.

[0049] ​The robot 5 is provided with a negative pressure air pipe 802 connected with the conversion device 14, the negative pressure air pipe 802 is connected with a negative pressure fan 804, and the negative pressure air pipe 802 is connected with the robot 5 through at least three fixed supports 801.

[0050] Each group of feeding positions is also provided with a bag throwing tray position 10, which is used for placing damaged bags and facilitating unified recycling; the bag throwing tray position 10 in the embodiment is located at the middle position of the first tray position 11 and the second tray position 9 of the same group and is located at the outer side; a general tray is placed in the material position warehouse 1204 arranged on the bag throwing tray position 10, and the structure of the general tray is only beneficial to the transfer of the forklift; the material position warehouse 1204 can be provided with thin partitions on the bottom surface and the four vertical surfaces to prevent the damaged packaging bag material from overflowing and expanding the area, and to facilitate the maintenance of the workshop or factory area.

[0051] The first tray position 11 and the second tray position 9 are respectively provided with a feeding device 12, the feeding device 12 comprises a material position warehouse 1204 and a lifting system, and the lifting system is arranged on each group of feeding devices 12 to lift and lower the tray 1201; the lifting system is controlled to lift and lower by a driving component 1207; the driving component 1207 adopts a motor-reducer structure, a motor 4-stage 2.2KW with a brake, a reducer RV110, a speed ratio 1:100, a chain wheel shaft diameter 147mm, a reducer diameter 318mm, a chain double row 20B, a pitch 31.75mm, and an upward movement of 200mm within 5 seconds.

[0052] Referring to the structure shown in the accompanying drawings, Figures 4-6 The lifting frame 1205 outside the lifting system is provided with a driving sprocket set 1203 and a driven sprocket set 1202, the driving sprocket set 1203 and the driven sprocket set 1202 are connected through a ring chain 1206, the ring chain 1206 is connected with the tray 1201 through a connecting plate 120103 and a mounting plate 120102, the mounting plate 120102 in the tray 1201 is provided with a pulley 120101, the pulley 120101 is embedded in the groove of the lifting frame 1205, and the packaging bag 16 to be loaded is placed on the upper surface of the tray 1201.

[0053] The driving sprocket set 1203 is connected with the driving component 1207, the lifting frame 1205 is provided with a groove structure, the pulley 120101 is embedded in the groove structure, the upper limit block 1210 and the lower limit block 1209 are respectively arranged on the upper part and the lower part of the lifting frame 1205, the upper collision plate 1211 and the lower collision plate 1212 are arranged on the tray 1201, the laser reflection switch 1213 is arranged on the lifting frame 1205 near the upper limit block 1210, and the laser reflection switch 1213 is used to prompt the bag taking device 13 to start working after receiving a signal.

[0054] The starting position of the tray 1201 is in the stock library 1204, and the specific structure of the stock library 1204 is shown in the drawings. The stock library 1204 is placed on the tray position, and each tray position is equipped with a stock library 1204. The stock library 1204 is provided with a notch, and the notch is used for the tray 1201 to extend into it to lift the packaging bag. The inlet part 120401 of the stock library 1204 is slightly larger than the packaging bag storage part 120402, and the inlet part 120401 is in an inverted conical structure, which is beneficial to the stable placement of the packaging bag on the tray 1201 during the transfer process of the forklift. The size of the tray 1201 matches the size of the packaging bag storage part 120402, and can smoothly slide up or down. Figure 14 、 15 The specific structure of the stock library 1204 is shown in the drawings. The stock library 1204 is placed on the tray position, and each tray position is equipped with a stock library 1204. The stock library 1204 is provided with a notch, and the notch is used for the tray 1201 to extend into it to lift the packaging bag. The inlet part 120401 of the stock library 1204 is slightly larger than the packaging bag storage part 120402, and the inlet part 120401 is in an inverted conical structure, which is beneficial to the stable placement of the packaging bag on the tray 1201 during the transfer process of the forklift. The size of the tray 1201 matches the size of the packaging bag storage part 120402, and can smoothly slide up or down.

[0055] The specific structure of the stock library 1204 is shown in the drawings. The stock library 1204 is placed on the tray position, and each tray position is equipped with a stock library 1204. The stock library 1204 is provided with a notch, and the notch is used for the tray 1201 to extend into it to lift the packaging bag. The inlet part 120401 of the stock library 1204 is slightly larger than the packaging bag storage part 120402, and the inlet part 120401 is in an inverted conical structure, which is beneficial to the stable placement of the packaging bag on the tray 1201 during the transfer process of the forklift. The size of the tray 1201 matches the size of the packaging bag storage part 120402, and can smoothly slide up or down.

[0056] The specific structure of the stock library 1204 is shown in the drawings. The stock library 1204 is placed on the tray position, and each tray position is equipped with a stock library 1204. The stock library 1204 is provided with a notch, and the notch is used for the tray 1201 to extend into it to lift the packaging bag. The inlet part 120401 of the stock library 1204 is slightly larger than the packaging bag storage part 120402, and the inlet part 120401 is in an inverted conical structure, which is beneficial to the stable placement of the packaging bag on the tray 1201 during the transfer process of the forklift. The size of the tray 1201 matches the size of the packaging bag storage part 120402, and can smoothly slide up or down. Figures 11-12 The specific structure of the stock library 1204 is shown in the drawings. The stock library 1204 is placed on the tray position, and each tray position is equipped with a stock library 1204. The stock library 1204 is provided with a notch, and the notch is used for the tray 1201 to extend into it to lift the packaging bag. The inlet part 120401 of the stock library 1204 is slightly larger than the packaging bag storage part 120402, and the inlet part 120401 is in an inverted conical structure, which is beneficial to the stable placement of the packaging bag on the tray 1201 during the transfer process of the forklift. The size of the tray 1201 matches the size of the packaging bag storage part 120402, and can smoothly slide up or down.

[0057] The specific structure of the stock library 1204 is shown in the drawings. The stock library 1204 is placed on the tray position, and each tray position is equipped with a stock library 1204. The stock library 1204 is provided with a notch, and the notch is used for the tray 1201 to extend into it to lift the packaging bag. The inlet part 120401 of the stock library 1204 is slightly larger than the packaging bag storage part 120402, and the inlet part 120401 is in an inverted conical structure, which is beneficial to the stable placement of the packaging bag on the tray 1201 during the transfer process of the forklift. The size of the tray 1201 matches the size of the packaging bag storage part 120402, and can smoothly slide up or down.

[0058] The specific structure of the stock library 1204 is shown in the drawings. The stock library 1204 is placed on the tray position, and each tray position is equipped with a stock library 1204. The stock library 1204 is provided with a notch, and the notch is used for the tray 1201 to extend into it to lift the packaging bag. The inlet part 120401 of the stock library 1204 is slightly larger than the packaging bag storage part 120402, and the inlet part 120401 is in an inverted conical structure, which is beneficial to the stable placement of the packaging bag on the tray 1201 during the transfer process of the forklift. The size of the tray 1201 matches the size of the packaging bag storage part 120402, and can smoothly slide up or down. Figures 7-8The main frame 1301 in the bag taking device 13 is a closed square tube structure, and in order to facilitate ventilation, the main frame 1301 is composed of two cross beams 1303 and four longitudinal beams connecting the two cross beams 1303, and the cross beam 1303 and the longitudinal beam 1304 are through, which is beneficial to ventilation. Two parts of the suction cup are installed on the cross beam 1303, one part of the suction cup is two groups arranged in the transverse direction, and the other part of the suction cup is three groups arranged in the longitudinal direction. Figure 8 The other part of the suction cup structure is arranged on the upper cross beam 1303 as shown in the figure. In each group of suction cup structure, the main frame 1301 is connected with the joint bearing 1310 through the hinge hole screw 1311, the light rod part of the hinge hole screw 1311 is sleeved with the spring 1309, the length of the spring 1309 is about 120mm, and the spring 1309 plays a role of shock absorption and buffering in the process of inhaling and / or exhaling.

[0059] The top of the hinge hole screw 1311 is sleeved with the sleeve 1315, which is connected with the angle plate 1302 and the main frame 1301, or connected with the angle steel 1305 and the main frame 1301 through the sleeve 1315; the structure of the angle plate 1302 and the angle steel 1305 is slightly different, which is determined by the size of the installation space or position.

[0060] The bottom of the hinge hole screw 1311 is connected with the connecting bolt 1312 placed on the suction cup 1306 through the joint bearing 1310, and the connecting bolt 1312 is connected with the support plate 1313 provided in the suction cup 1306, and the lower end of the suction cup 1306 is provided with a high-density vacuum sponge 1314.

[0061] The support plate 1313 is made of aluminum alloy structure; the rotary center part of the suction cup 1306 is provided with a flange pipe 1307, the flange pipe 1307 is connected with the main frame 1301 through the inner wire elbow 1308 and the connecting hose; the main frame 1301 is also provided with a gas supply pipe 803, the gas supply pipe 803 is provided with an electromagnetic valve, and the gas supply pipe 803 is connected with an air compressor 805. The negative pressure fan 804 and the air compressor 805 can be placed at the position of the fan position 8 shown in the figure. Figure 1 The negative pressure fan 804 and the air compressor 805 can be placed at the position of the fan position 8 shown in the figure.

[0062] In this embodiment, the main loading action process is as follows:

[0063] A loading method of a packaging bag loading system is controlled by a robot main control cabinet, and the following steps are performed:

[0064] S1, the vehicle to be loaded is positioned, and the forklift places the packaging bag 16 on the tray 1201 of the feeding device 12.

[0065] S2, the data acquisition device 15 placed on the top beam collects the length of the vehicle and the data of the related vehicle model, and feeds back to the robot main control cabinet 7.

[0066] S3, the feeding device 12 sends the packaging bag 16 upward to the appropriate position where the bag taking device 13 works, and stops rising;

[0067] S4, the negative pressure fan inhales, the suction cup 1 in the bag taking device 13 takes a layer of packaging bag, and then rotates to the position above the waiting loading position.

[0068] S5, the negative pressure fan 804 stops inhaling, the air compressor 805 supplies air to place (blow off) the packaging bag at the specified position; in this way, the bag taking and placing process of one robot 5 is completed; at this time, the tray 1201 in the feeding device 12 is lifted to the height of one packaging bag 16 under the instruction control and the driving of the driving part 1207, so as to facilitate the robot 5 to grasp the next packaging bag 16.

[0069] S6, after the first robot completes the bag taking, an instruction is immediately sent to control the second robot to take the packaging bag; during the bag placing process of the first robot, the second robot completes the bag taking, and then the third robot receives the instruction and prepares to take the bag; the first robot 5 completes the bag placing action, and then the second robot completes the bag taking action; the four robots act in sequence.

[0070] Specifically, the robot 5 is composed of a rotating base 501 installed on the foundation 1 or the ground, a vertical arm 502, a horizontal arm 503, a swing arm 504, a first swing arm 505 and a second swing arm 506, wherein the horizontal arm 503, the swing arm 504, the first swing arm 505 and the second swing arm 506 form a parallelogram structure; when the swing arm 504 is lifted upward through the second swing arm 506, the packaging bag 16 taken by the bag taking device 13 is lifted from the tray 1201 of the feeding device 12, and after the rotation angle is set, the swing arm 504 is lowered to place the packaging bag 16 on the appropriate position of the waiting loading position 4; the next packaging bag 16 is also cycled in the same way.

[0071] The rotating action of the bag taking device 13 is actually placed according to the data collected by the data acquisition device 15, and the packaging bags 16 are arranged and stored on the tray 1201 in the material position warehouse 1204, and the bag taking device 13 can realize different direction rotation to take the bag body under the control of the robot 5 according to the data collected by the data acquisition device 15; because the conversion device 14 is adopted, no matter how the rotating action of the bag taking device 13 is, the winding phenomenon caused by the negative pressure air pipe 802 will not occur, and the working efficiency is high.

[0072] Among them, such as Figure 8In the specific structure shown, the suction cups 1306 are arranged in five, three longitudinally on the upper surface and two transversely on the lower surface. The total length of the three longitudinally arranged packaging bag bodies is equal to the total length of the two transversely arranged packaging bag bodies. During the transfer of the packaging bags 16 on the forklift, the placement of each layer is as follows: the odd layers are placed as shown in the figure, and the even layers are placed in the opposite way to the odd layers, that is, the two transversely arranged packaging bags are placed on the upper surface as shown in the figure, and the three longitudinally arranged packaging bags are placed on the lower surface as shown in the figure. This odd-even stacking method is beneficial to stable placement.

[0073] In this embodiment, the conversion device 14 can realize the suction and placement of packaging bags arranged in different ways. When the layers are odd, the bag taking device 13 connected to the conversion device 14 is rotated by 90 degrees under the drive of the robot 5 to realize the bag taking and placing process. When the layers are even, the bag taking device 13 needs to be rotated by 180 degrees to realize the bag taking and placing process. Therefore, the embodiment of the present application is novel in design and can meet the stacking and transfer requirements of packaging bags 16 arranged in different ways, with high efficiency.

[0074] The action process is controlled by the PLC controller placed in the robot control cabinet 7, and the action time difference of the robots 5 located on the same side of the vehicle body is only 3-5 seconds. The robots 5 located on the other side of the vehicle body also have an action time difference of only 3-5 seconds under the control of the PLC, that is, the action time difference of the robots arranged on both sides is only 3-5 seconds, which is beneficial to the overall rotation of the robots 5 and the bag taking device 13 and does not produce interference. The robot 5 base rotates about 90 degrees, and the bag taking device 13 rotates different number of times according to the specific position of the placed bags. Each robot 5 first sucks 5 packaging bags 16 in the first tray position 11 through the suction cup 1306, and then sucks the packaging bags 16 in the second tray position 9. Since the descending height of the cross arm 503 of the robot 5 is a set distance or height, after one layer of packaging bags 16 on each tray position is taken away, the remaining packaging bags 16 on the tray 1201 are lifted by one layer under the drive of the driving part 1207. Since the motor in the driving part 1207 is provided with a brake device, the action of stopping and lifting can be realized until all the packaging bags on the same tray 1201 are sucked. About 8-10 layers of packaging bags 16 are arranged on the tray 1201 in the material position warehouse 1204. The length of the vehicle compartment in the embodiment is about 14.8 meters. When the robot 5 on one side of the vehicle body acts, a signal is sent to the robot 5 on the other side. When the forklift places the material on the tray 1201, the weighing sensor on the tray 1201 senses the weight, and then the driving part 1207 is started to rise under the driving of the ring chain 1206. When the set height is reached, the upper limit block 1210 is touched by the upper collision plate 1211, and the tray 1201 stops rising. At this time, the tray 1201 has been lifted into position, the PLC controller in the robot main control cabinet 7 sends a command, the robot 5 drives the bag taking device 13 to act and start taking bags, the robot 5 rotates to a set angle, and then the packaging bags 16 are placed in the vehicle compartment of the waiting loading position 4. After the placement is completed, the negative pressure fan 804 stops the suction action. The electromagnetic valve acts, and the air compressor 805 supplies air. The air supplied by the air compressor 805 makes the suction cup 1206 separate from the packaging bag 16, and the process of taking and placing one layer of five packaging bags 16 by one robot 5 is completed.

[0075] The advantage of the embodiment is that four groups of robots 5 can act in sequence and do not interfere with each other in space, and the efficiency is obviously improved.

[0076] In the utility model, the specific conditions listed in the above embodiment are not limited, and the changes made on the data based on the same design concept and protection range are considered to be within the protection range of the utility model.

Claims

1. A bag taking device for a bag loading system of a packaging machine, said bag taking device being connected to a converting device, characterized in that: The main frame of the bag taking device is a square tube structure, the main frame is provided with a suction cup, a flange connector is arranged at the rotary center of the suction cup, the flange connector is connected with a gas supply pipe, and the gas supply pipe is connected with an air compressor.

2. The bag taking device for a bag loading and unloading system according to claim 1, characterized by: The main frame of the bag taking device is connected with a conversion device.

3. The bag taking device for a bag loading and unloading system according to claim 1, characterized by: The main frame is connected with the suction cup through a hinge hole screw.

4. The bag taking device for a bag loading and unloading system according to claim 3, characterized by: The light rod part of the hinge hole screw is sleeved with a spring, and the top of the hinge hole screw is sleeved with a sleeve pipe which is connected with the main frame through an angle plate or an angle steel.

5. The bagging apparatus of claim 1, wherein: The flange connector is connected with the gas supply pipe through an internal thread elbow, the gas supply pipe is provided with an electromagnetic valve, and the gas supply pipe is connected with the air compressor.

6. The bag taking device for a bag loading and unloading system according to claim 3, characterized by: The bottom of the hinge hole screw is connected with a connecting bolt arranged on the suction cup through a joint bearing, a support plate with a plurality of holes is arranged in the suction cup, the connecting bolt is connected with the support plate, and a high-density vacuum sponge is arranged at the lower end of the suction cup.

7. The bagging apparatus of claim 1, wherein: The main frame comprises two cross beams and four longitudinal beams connected with the two cross beams, the cross beams are provided with two parts of suction cups, one part of the suction cups is arranged in two groups in a transverse direction on one cross beam, and the other part of the suction cups is arranged in three groups in a longitudinal direction on the other cross beam.

Images