Mechanical arm gripper of automatic ton bag packaging production line

Abstract

The utility model discloses a mechanical arm gripper of an automatic ton bag packaging production line in the technical field of ton bag packaging. The mechanical arm gripper comprises a connecting piece, a picking assembly, a clamping assembly and a controller. The connecting piece is used for being connected with a mechanical arm; the picking assembly comprises a connecting rod, the connecting rod is fixedly connected to the connecting piece, a plurality of suction cups are fixed to the connecting rod, and suction cup openings of the suction cups face downwards; the clamping assembly comprises two first clamping rods, the first clamping rods are fixed to the connecting piece, clamping plates are fixed to the two first clamping rods, the two clamping plates directly face each other, clamping air cylinders are fixed to the opposite sides of the two clamping plates, and a clamping plate is fixedly connected to an output shaft of each clamping air cylinder; the controller is in electric signal connection with the mechanical arm and the air pump, the controller is in electric signal connection with a visual sensor, and the visual sensor is used for positioning the ton bag and transmitting a position signal of the ton bag to the controller. According to the scheme, the ton bags are automatically picked up and connected to the discharging pipe of the packaging machine in a sleeving mode.

Description

TECHNICAL FIELD

[0001] The utility model relates to ton bag packaging technical field, concretely relates to a ton bag automatic packaging production line's mechanical arm hand claw. BACKGROUND

[0002] Alumina is an inorganic compound widely used in multiple industries, which has a white amorphous powder or crystalline appearance and delicate texture. As a material widely used in multiple industries, the choice of packaging method for alumina powder is crucial for ensuring product quality, transportation safety, and operational convenience. Ton bags can hold from a few hundred kilograms to more than a ton of material, making them ideal for large-scale alumina powder transportation and storage. Compared to small packaging, ton bags can more effectively utilize warehouse or transportation space, reducing unit costs. However, when alumina powder is packaged in ton bags now, workers manually place the ton bag over the discharge pipe of the packaging machine. The clamping mechanism of the packaging machine clamps and fixes the ton bag opening, and finally the packaging machine fills the ton bag with alumina powder. However, this manual operation on the packaging machine is inefficient and poses certain safety risks. Therefore, to improve the packing efficiency of alumina powder and reduce safety risks, an automatic production line for ton bag packing is designed, and this scheme is used to automatically pick up ton bags and connect them to the discharge pipe of the packaging machine during automatic ton bag packing. SUMMARY

[0003] The utility model intends to provide a ton bag automatic packaging production line's mechanical arm hand claw, to ton bag carry out automatic pick -up and connect to the discharge pipe of the packaging machine.

[0004] To solve the above technical problems, the utility model provides the following technical scheme: a ton bag automatic packaging production line's mechanical arm hand claw, including connecting piece, pick -up component, clamping component and controller,

[0005] The connecting piece is used for connecting with the mechanical arm, realizing rotation at any angle;

[0006] The pick -up component includes a connecting rod, which is fixedly connected to the lower surface of the connecting piece in a transverse manner. A plurality of suction cups are fixedly connected to the connecting rod. The suction cup openings of the suction cups face downward. The suction cups are provided with negative pressure by a gas pump.

[0007] The clamping component includes two mirror-symmetric clamping rods one. One end of each clamping rod one is fixedly connected to the two side edges of the connecting piece. The ends of the two clamping rods one away from the connecting piece are fixedly connected with vertically arranged clamping plates. The two clamping plates face each other. The sides of the two clamping plates opposite to each other are fixedly connected with clamping cylinders. The output shafts of the clamping cylinders pass through the clamping plates on the other sides of the clamping plates in a transverse manner. A clamping plate is fixedly connected to the output shaft of each clamping cylinder.

[0008] The controller is electrically connected with the mechanical arm and the air pump, and a visual sensor is electrically connected to the controller, and the visual sensor is used for positioning the ton bag and transmitting a position signal of the ton bag to the controller.

[0009] The working principle of the utility model is: when in use, the visual sensor first shoots and positions the ton bag on the supporting plate of the feeding bin, and then transmits the signal to the controller, at this time, the controller controls the mechanical arm to drive the connecting piece to move to the top of the ton bag, then the controller drives the connecting piece to move downward through the mechanical arm until the suction cup contacts with the bag opening of the ton bag, at this time, the controller controls the air pump to run to make the suction cup generate negative pressure to suck the bag opening of the ton bag, after the ton bag is sucked by the suction cup, the connecting piece is moved upward by the mechanical arm, at this time, the part of the bag opening of the ton bag which is sucked is pulled upward, and the part which is not sucked naturally falls downward under the action of gravity to make the bag opening face the bag supporting device, after the supporting rod of the bag supporting device is inserted into the bag opening of the ton bag and the bag opening is opened, the bag opening is rectangular, the air pump stops running, the suction cup no longer generates negative pressure, the connecting piece is rotated by the mechanical arm, the two clamping rods are in the same vertical plane, the output shaft of the clamping cylinder is controlled to elongate by the controller, a gap with a certain interval is formed between the clamping plate and the clamping plate, the mechanical arm drives the two clamping plates to move through the connecting piece and the clamping rod, the gap between the two clamping plates and the two clamping plates is inserted into the upper edge and the lower edge of the bag opening which is supported and opened, at this time, the output shaft of the clamping cylinder is controlled to contract by the controller, the output shaft of the clamping cylinder drives the clamping plate to move toward the clamping plate when the output shaft of the clamping cylinder contracts, until the clamping plate and the clamping plate firmly clamp the bag opening of the ton bag, at this time, the supporting rod of the bag supporting device is withdrawn from the bag opening of the ton bag, the connecting piece is moved by the controller to control the mechanical arm, and the bag opening of the ton bag is sleeved on the discharge pipe of the packaging machine.

[0010] The utility model has the advantages of:

[0011] 1、The mechanical arm hand claw in the scheme can realize automatic picking and automatic clamping of the ton bag placed in the material bin and sleeving on the discharge pipe of the packaging machine, which reduces the workload of workers and saves labor cost.

[0012] 2、The mechanical arm hand claw in the scheme can continuously pick and clamp the ton bag with high efficiency, can ensure that the ton bag is stably sleeved on the packaging machine at the same frequency, and effectively ensures the continuity of ton bag sleeving.

[0013] Further, the lower surface of the connecting piece is fixedly connected with a light supplementing lamp, and the light supplementing lamp is electrically connected with the controller.

[0014] Further, the visual sensor adopts a structured light projector.

[0015] Further, two air cylinders are fixedly connected on each clamping plate, the two air cylinders are located at the upper part of the clamping plate, the output shafts of the two air cylinders pass through the clamping plate and are fixedly connected with clamping plates. Its purpose is to avoid the output shafts of the air cylinders occupying the middle position of the clamping plate by arranging the air cylinders at the upper part of the clamping plate, more space is reserved for holding the ton bag, and the stability during clamping is improved.

[0016] Further, the bottom end of each clamping plate is outwardly bent. Its purpose is to facilitate the bag opening of the ton bag to enter between the clamping plate and the clamping plate through such arrangement. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structure diagram of a mechanical arm hand claw of a ton bag automatic packaging production line of the utility model;

[0018] Figure 2 It is a right view of a mechanical arm hand claw of a ton bag automatic packaging production line of the utility model. DETAILED DESCRIPTION

[0019] The following is further described in detail through specific embodiments:

[0020] The reference signs in the drawings of the specification include: connecting piece 301, suction cup 302, light supplementing lamp 303, clamping rod one 304, clamping plate 305, clamping air cylinder 306, clamping plate 307, visual sensor 308, mechanical arm 309.

[0021] The embodiment is basically as shown in the accompanying Figure 1 and accompanying Figure 2 :

[0022] A mechanical arm hand claw of a ton bag automatic packaging production line, comprising a connecting piece 301, a pickup assembly, a clamping assembly and a controller.

[0023] The connecting piece 301 is in the shape of a trapezoid, the inclined surface of the connecting piece 301 is used for movably connecting with the mechanical arm 309, the connecting piece 301 is rotated at any angle through the mechanical arm 309, the lower surface of the connecting piece 301 is fixedly connected with the light supplementing lamp 303, and the light supplementing lamp 303 is electrically connected with the controller.

[0024] The pickup assembly comprises a connecting rod, the connecting rod is transversely fixedly connected to the lower surface of the connecting piece 301, a plurality of suction cups 302 are fixedly connected to the connecting rod, the suction cup 302 of the suction cup 302 is downward, and the suction cup 302 is provided with negative pressure by a gas pump.

[0025] The clamping assembly comprises two mirror-symmetrical clamping rods I 304, one end of each of the two clamping rods I 304 is fixedly connected to the two side edges of the connecting piece 301, the end away from the connecting piece 301 of each of the two clamping rods I 304 is fixedly connected with a vertically arranged clamping plate 305, the two clamping plates 305 face each other, the side away from each other of the two clamping plates 305 is fixedly connected with two clamping air cylinders 306, the two clamping air cylinders 306 are located at the upper part of the clamping plate 305, the output shaft of the clamping air cylinder 306 transversely penetrates through the clamping plate 305 and is located at the other side of the clamping plate 305, the output shaft of each clamping air cylinder 306 is fixedly connected with a clamping plate 307, and the bottom end of each clamping plate 307 is outwardly bent.

[0026] The controller is electrically connected with the mechanical arm 309 and the air pump, and an electrical signal is connected to the visual sensor 308 (a structured light projector) on the controller. The visual sensor 308 is used for positioning the ton bag and transmitting the position signal of the ton bag to the controller.

[0027] The specific implementation process is as follows:

[0028] In use, the visual sensor 308 first photographs and positions the ton bag on the supporting plate of the feeding bin, and then transmits the signal to the controller. At this time, the controller controls the mechanical arm 309 to drive the connecting piece 301 to move to the top of the ton bag, and then controls the connecting piece 301 to move downward through the mechanical arm 309 until the suction cup 302 contacts the bag opening of the ton bag. At this time, the controller controls the air pump to operate so that the suction cup 302 generates negative pressure to suck the bag opening of the ton bag. After the ton bag is sucked by the suction cup 302, the connecting piece 301 moves upward under the action of the mechanical arm 309. At this time, the part of the bag opening of the ton bag that is sucked is pulled upward, and the part that is not sucked naturally falls downward under the action of gravity so that the bag opening faces the bag supporting device. After the supporting rod of the bag supporting device is inserted into the bag opening of the ton bag and the bag opening is opened to form a rectangular shape, the air pump stops operating so that the suction cup 302 no longer generates negative pressure. The mechanical arm 309 drives the connecting piece 301 to rotate so that the two clamping rods I 304 are located on the same vertical plane. The controller controls the output shaft of the clamping air cylinder 306 to elongate so that a gap with a certain distance is formed between the clamping plate 305 and the clamping plate 307. The mechanical arm 309 operates to drive the two clamping plates 305 to move through the connecting piece 301 and the clamping rod I 304. The gap between the two clamping plates 305 and the two clamping plates 307 is inserted into the upper edge and the lower edge of the bag opening of the ton bag that is supported and opened. At this time, the controller controls the output shaft of the clamping air cylinder 306 to contract. When the output shaft of the clamping air cylinder 306 contracts, the clamping plate 307 moves toward the clamping plate 305. Until the clamping plate 307 and the clamping plate 305 firmly clamp the bag opening of the ton bag, the supporting rod of the bag supporting device is withdrawn from the bag opening of the ton bag. The controller controls the mechanical arm 309 to drive the connecting piece 301 to move so that the bag opening of the ton bag is sleeved on the discharge pipe of the packaging machine.

Claims

1. A mechanical arm gripper of a ton bag automatic packaging production line, characterized in that: The utility model relates to a ton bag picking device, including connecting piece, pickup assembly, clamping assembly and controller; The connecting piece is used for being connected with a mechanical arm to realize rotation at any angle; The pickup assembly includes a connecting rod fixedly connected horizontally on the lower surface of the connecting piece, a plurality of suction cups fixedly connected on the connecting rod, the suction cup mouths of the suction cups facing downward, and the suction cups providing negative pressure by a gas pump; The clamping assembly includes two mirror-symmetrical clamping rods one, one end of the two clamping rods one fixedly connected on the two side edges of the connecting piece, the ends of the two clamping rods one away from the connecting piece each fixedly connected with a vertically arranged clamping plate, the two clamping plates facing each other, the sides of the two clamping plates away from each other each fixedly connected with a clamping cylinder, the output shaft of the clamping cylinder transversely penetrating through the clamping plate and located on the other side of the clamping plate, and a clamping plate fixedly connected on the output shaft of each clamping cylinder; The controller is electrically connected with the mechanical arm and the gas pump, an optical sensor electrically connected on the controller is used for positioning the ton bag and transmitting the position signal of the ton bag to the controller.

2. The mechanical arm gripper of a ton bag automatic packaging production line according to claim 1, characterized in that: The lower surface of the connecting piece is fixedly connected with a light supplementing lamp, and the light supplementing lamp is electrically connected with the controller.

3. The mechanical arm gripper of a ton bag automatic packaging production line according to claim 2, characterized in that: The optical sensor adopts a structured light projector.

4. The mechanical arm gripper of the ton bag automatic packaging production line according to claim 3, characterized in that: Each clamping plate is fixedly connected with two cylinders, the two cylinders are located on the upper part of the clamping plate, the output shafts of the two cylinders penetrate through the clamping plate and are fixedly connected with clamping plates.

5. The mechanical arm gripper of a ton bag automatic packaging production line according to claim 4, characterized in that: The bottom end of each clamping plate is outwardly bent.

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