Mechanical arm for grabbing and transferring packaging bags

Abstract

The utility model discloses a mechanical arm for grabbing and transferring packaging bags. The mechanical arm comprises a mechanical arm moving device; the manipulator unit is mounted on the manipulator moving device and is used for grabbing the packaging bag; the mechanical arm unit comprises a fixed clamping plate, a movable clamping plate arranged corresponding to the fixed clamping plate and a telescopic air cylinder connected with the fixed clamping plate and the movable clamping plate, and the movable clamping plate is driven by the telescopic air cylinder to be close to or away from the fixed clamping plate. The contraction over-travel limit switch is mounted in the telescopic cylinder; and the manipulator moving device, the contraction over-travel limiting switch and the telescopic air cylinder are electrically connected with the control mechanism. The mechanical arm provided by the utility model can avoid the phenomenon of empty grabbing and the problem that an air-leaking packaging bag is mistakenly loaded into a packaging box.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, specifically to a robotic arm for grasping and transferring packaging bags. Background Technology

[0002] In automated packaging lines, robotic arms are a common and indispensable automated device. They can quickly and neatly stack and box packaging bags, and can add padding layers of different specifications according to customer requirements. Robotic arms are characterized by high speed, high efficiency, and low labor costs.

[0003] In the existing packaging line, air leakage occurs when sealing the bags. If the leakage is slow, the leakage detection mechanism in the preceding stage may not detect it in time, leading to leakage and softening of the bags during packing. However, the existing robotic arm lacks the ability to distinguish between empty and soft bags, causing it to sometimes miss during grasping and incorrectly pack soft bags into the boxes. Furthermore, the system lacks warning devices, fails to automatically stop in case of malfunction, and operators cannot promptly detect and repair the problem. Ultimately, these defective bags are delivered to customers, causing adverse effects.

[0004] In related technologies, the existing process of a robotic arm picking up a packaging bag from an automated packaging line includes the following steps:

[0005] Step 1: The palletizer arranges the packaging bags into 2 columns and 3 rows, for a total of 6 packaging bags;

[0006] Step 2: The robotic arm descends;

[0007] Step 3: After the robot arm has reached its designated position, all six of its grippers begin to tighten.

[0008] Step 4: After the robotic arm transfers the gripped packaging bag into the packaging box, it releases the robotic gripper.

[0009] Step 5: The robotic arm lifts up and sorts the packaging bags.

[0010] The tightening and loosening of the robotic arm's grippers are all controlled by telescopic cylinders. These cylinders are positioned above the robotic arm according to the arrangement of the packaging bags, controlling the arm's six grippers. Once the cylinders are in position, the next step is executed.

[0011] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0012] Purpose of this utility model: The technical problem to be solved by this utility model is to address the shortcomings of the existing technology by providing a robotic arm for gripping and transferring packaging bags, which can avoid the problem of missing the target bag and incorrectly putting leaking packaging bags into the packaging box.

[0013] To solve the above-mentioned technical problems, this utility model discloses a robotic arm for grasping and transferring packaging bags, comprising:

[0014] robotic arm movement device;

[0015] A robotic arm unit is installed on the robotic arm moving device and is used to grasp packaging bags; the robotic arm unit includes a fixed clamping plate, a movable clamping plate corresponding to the fixed clamping plate, and a telescopic cylinder connecting the fixed clamping plate and the movable clamping plate; the movable clamping plate moves closer to or away from the fixed clamping plate under the drive of the telescopic cylinder.

[0016] A retraction overtravel limit switch is installed inside the telescopic cylinder;

[0017] The system includes a control mechanism, wherein the robotic arm moving device, the retraction overtravel limit switch, and the telescopic cylinder are electrically connected to the control mechanism. The control mechanism is configured to control the extension and retraction of the telescopic cylinder and the movement of the robotic arm moving device based on the electrical signal output by the retraction overtravel limit switch.

[0018] In some embodiments, the telescopic cylinder includes a cylinder body for connection with the fixed clamping plate and a valve stem for connection with the movable clamping plate, the other end of the valve stem being located within the cylinder body and capable of moving along the cylinder body; the position of the retraction overtravel limit switch corresponds to the position where the other end of the valve stem retracts when a non-leaking packaging bag is grasped.

[0019] In some embodiments, the clamping surfaces of the movable clamping plate and the fixed clamping plate are arranged opposite each other and are both perpendicular to the extension and retraction direction of the valve stem.

[0020] In some embodiments, a robot arm mounting base is included, wherein the fixing clamp and the telescopic cylinder are both mounted on the lower end of the robot arm mounting base, and the upper end of the robot arm mounting base is connected to the end of the robot arm moving device, so as to realize the robot arm unit being mounted on the robot arm moving device.

[0021] In some embodiments, the robotic arm includes a solenoid valve disposed in the air path of the telescopic cylinder.

[0022] In some embodiments, the robotic arm further includes an audio prompting device electrically connected to the control mechanism.

[0023] Specifically, the sound prompting device is installed above the robotic arm mounting base.

[0024] Specifically, the sound prompting device is a buzzer.

[0025] In some embodiments, multiple robotic arm units are provided, and the multiple robotic arm units are arranged opposite each other in pairs and share the fixing clamp.

[0026] In some embodiments, the control mechanism is a PLC cabinet with a control interface.

[0027] Beneficial effects:

[0028] 1. The robotic arm of this application is equipped with a retraction overtravel limit switch for detecting whether the telescopic cylinder has retracted beyond its travel range. When the telescopic cylinder retracts beyond its travel range due to missing a package or grabbing a leaking soft package, the voltage of the retraction overtravel limit switch changes. The control mechanism controls the extension of the telescopic cylinder, causing the movable clamp in the corresponding robotic arm unit to move away from the fixed clamp relative to the ground. This releases the robotic arm and prevents it from performing the packing action, thereby avoiding empty or leaking soft packages from being delivered to the customer.

[0029] 2. In one embodiment of this application, an audible prompting device is added. When the telescopic cylinder retracts beyond its travel due to missing a grip or gripping a leaky soft bag, the control mechanism controls the audible prompting device to remind the maintenance personnel, so that the maintenance personnel can immediately detect the soft bag phenomenon when the robotic arm grips and carry out timely repairs.

[0030] 3. In one embodiment of this application, the robotic arm is provided with multiple robotic arm units to improve packaging efficiency. Attached Figure Description

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0032] Figure 1 This is a three-dimensional schematic diagram of a robotic arm for grasping and transferring packaging bags, provided as an embodiment of the present invention.

[0033] Figure 2 A front view of a robotic arm for gripping and transferring packaging bags, provided as an embodiment of the present invention.

[0034] The accompanying figure labels are explained as follows:

[0035] 100. Robotic arm moving device; 200. Robotic arm unit; 210. Fixed clamping plate; 220. Movable clamping plate; 230. Telescopic cylinder; 231. Cylinder body; 232. Valve stem; 233. Solenoid valve; 240. Robotic arm mounting base; 300. Retraction overtravel limit switch; 400. Sound prompt device. Detailed Implementation

[0036] Example 1

[0037] An embodiment of this utility model discloses a robotic arm for gripping and transferring packaging bags, see [link to relevant documentation]. Figures 1 to 2 The robotic arm includes a robotic arm moving device 100, a robotic arm unit 200, a retraction overtravel limit switch 300, and a control mechanism. The robotic arm unit 200 is mounted on the robotic arm moving device 100 and is used to grasp packaging bags. The robotic arm unit 200 includes a fixed clamping plate 210, a movable clamping plate 220 corresponding to the fixed clamping plate 210, and a telescopic cylinder 230 connecting the fixed clamping plate 210 and the movable clamping plate 220. A clamping space is formed between the movable clamping plate 220 and the fixed clamping plate 210. The movable clamping plate 220 moves closer to or further away from the fixed clamping plate 210 to clamp or release under the drive of the telescopic cylinder 230. The retraction overtravel limit switch 300 is installed inside the telescopic cylinder 230. The robotic arm moving device 100, the retraction overtravel limit switch 300, and the telescopic cylinder 230 are electrically connected to the control mechanism. The control mechanism is configured to control the extension and retraction of the telescopic cylinder 230 and the movement of the robotic arm moving device 100 according to the electrical signal output by the retraction overtravel limit switch 300.

[0038] Specifically, the robotic arm moving device 100 can adopt existing devices for moving robotic arms, which are prior art and will not be described in detail here.

[0039] Specifically, the telescopic cylinder 230 includes a cylinder body 231 for connection with the fixed clamping plate 210 and a valve stem 232 for connection with the movable clamping plate 220. The other end of the valve stem 232 is located inside the cylinder body 231 and is movable along the cylinder body 231. A retraction overtravel limit switch 300 is partially disposed on the outside of the cylinder body 231 and secured with a metal cable tie. The position of the retraction overtravel limit switch 300 corresponds to the position where the other end of the valve stem 232 retracts when gripping a non-leaking packaging bag.

[0040] If the packaging bag to be grasped is airtight, when the telescopic cylinder 230 retracts, it moves the movable clamping plate 220 towards the fixed clamping plate 210 to clamp the packaging bag. The telescopic cylinder 230 retracts without overtravel; that is, the other end of the valve stem 232 opposite to the end connected to the movable clamping plate 220 moves to the position that triggers the overtravel limit switch 300, and the overtravel limit switch 300 provides a normal feedback signal. Upon receiving the detection result from the overtravel limit switch 300, the control mechanism stops the telescopic cylinder 230, clamping the airtight packaging bag between the movable clamping plate 220 and the fixed clamping plate 210. It then controls the external robotic arm moving device 100 to move the grasped robotic arm, for example, transferring the grasped packaging bag to the packing area.

[0041] If the packaging bag to be grasped is leaking, when the telescopic cylinder 230 retracts, it moves the movable clamping plate 220 towards the fixed clamping plate 210 to clamp the packaging bag. However, the telescopic cylinder 230 retracts beyond its travel limit; that is, the other end of the valve stem 232, opposite to the end connected to the movable clamping plate 220, retracts beyond the position of the overtravel limit switch 300, causing the overtravel limit switch 300 to lose its signal. Upon receiving the detection result from the overtravel limit switch 300, the control mechanism controls the valve stem 232 of the telescopic cylinder 230 to extend and release the leaking packaging bag.

[0042] See Figure 1 The clamping surfaces of the movable clamping plate 220 and the fixed clamping plate 210 are arranged opposite each other and are both perpendicular to the extension and retraction direction of the valve stem 232, thereby ensuring stable gripping.

[0043] See Figure 1 The robot arm mounting base 240, the fixing clamp 210 and the telescopic cylinder 230 are all installed at the lower end of the robot arm mounting base 240. The upper end of the robot arm mounting base 240 is connected to the end of the robot arm moving device 100, so as to realize the robot arm unit 200 is installed on the robot arm moving device 100.

[0044] See Figure 2 The robotic arm includes a solenoid valve 233, which is located in the air path of the telescopic cylinder 230.

[0045] The control mechanism controls the extension and retraction of the valve stem 232 of the telescopic cylinder 230 through the solenoid valve 233.

[0046] See Figure 2 The robotic arm may also include a sound prompting device 400, which is electrically connected to the control mechanism.

[0047] See Figure 2 The sound prompt device 400 can be installed on top of the robotic arm mounting base 240.

[0048] Specifically, the sound prompting device 400 is a buzzer.

[0049] See Figure 1 There are six robotic arm units 200, which are arranged in pairs facing each other and share a fixing plate 210. It should be understood that the number of robotic arm units 200 can be set as needed.

[0050] The control mechanism can be a PLC cabinet. The PLC cabinet can have a control panel that allows maintenance personnel to manually operate and control it.

[0051] The following describes how the robotic arm in this embodiment is used to grasp packaging bags. An example is a PLC cabinet with a control panel.

[0052] When the packaging bag, after being thermo-sealed, is conveyed to the gripping position of the robotic arm, the PLC cabinet controls the robotic arm moving device 100 to drive the robotic arm unit 200 to descend.

[0053] Once the robotic arm unit 200 has descended to its designated position, the robotic arm moving device 100 stops operating. The PLC cabinet uses the solenoid valve 233 to retract the valve stem 232 of the telescopic cylinder 230, thereby moving the movable clamping plate 220 toward the fixed clamping plate 210 to grasp the packaging bag to be grasped.

[0054] When the packaging bag to be grasped is airtight, the other end of the valve stem 232, opposite to the end connected to the movable clamping plate 220, can move to the position that triggers the retraction overtravel limit switch 300, which provides a normal feedback signal. Upon receiving the detection result from the retraction overtravel limit switch 300, the PLC cabinet controls the telescopic cylinder 230 to stop, clamping the airtight packaging bag between the movable clamping plate 220 and the fixed clamping plate 210, and controls the robotic arm moving device 100 to drive the robotic arm unit 200 that grasps the packaging bag to operate, for example, transferring the grasped packaging bag to the packing area.

[0055] When the packaging bag to be grasped is leaking or there is no packaging bag at the grasping position, the other end of the valve stem 232, opposite to the end connected to the movable clamp 220, can retract beyond the position of the retraction overtravel limit switch 300, i.e., the retraction overtravel limit switch 300 loses signal. The PLC cabinet receives the detection result from the retraction overtravel limit switch 300 and controls the valve stem 232 of the telescopic cylinder 230 to extend and release the leaking packaging bag. Furthermore, the PLC cabinet also controls the audible alert device 400 to remind operators, such as maintenance personnel. After hearing the alarm, the operator can manually control the system on the PLC cabinet control panel. For example, the operator can first control the robotic arm moving device 100 to raise the robotic arm unit 200. After confirming that the robotic arm unit 200 is raised, the operator can go to the grasping position to troubleshoot, such as replacing the leaking packaging bag with an intact one. After troubleshooting, the PLC cabinet can automatically control the robotic arm moving device 100 and the telescopic cylinder 230 to perform the next grasping operation.

[0056] This utility model provides a concept and method for a robotic arm used to grasp and transfer packaging bags. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. All components not explicitly stated in this embodiment can be implemented using existing technology.

Claims

1. A robotic arm for grasping and transferring packaging bags, characterized in that, include: Robotic arm moving device (100); A robotic arm unit (200) is installed on the robotic arm moving device (100) and is used to grasp packaging bags; the robotic arm unit (200) includes a fixed clamping plate (210), a movable clamping plate (220) corresponding to the fixed clamping plate (210), and a telescopic cylinder (230) connecting the fixed clamping plate (210) and the movable clamping plate (220). The movable clamping plate (220) moves closer to or further away from the fixed clamping plate (210) under the drive of the telescopic cylinder (230). A retraction overtravel limit switch (300) is installed inside the telescopic cylinder (230); The robotic arm moving device (100), the retraction overtravel limit switch (300), and the telescopic cylinder (230) are electrically connected to the control mechanism.

2. The robotic arm for grasping and transferring packaging bags according to claim 1, characterized in that, The telescopic cylinder (230) includes a cylinder body (231) for connection with the fixed clamping plate (210) and a valve stem (232) for connection with the movable clamping plate (220). The other end of the valve stem (232) is located inside the cylinder body (231) and can move along the cylinder body (231). The position of the retraction overtravel limit switch (300) corresponds to the position where the other end of the valve stem (232) retracts when grabbing a non-leaking packaging bag.

3. The robotic arm for grasping and transferring packaging bags according to claim 2, characterized in that, The clamping surfaces of the movable clamping plate (220) and the fixed clamping plate (210) are arranged opposite to each other and are both perpendicular to the extension and retraction direction of the valve stem (232).

4. The robotic arm for grasping and transferring packaging bags according to claim 2, characterized in that, The device includes a robotic arm mounting base (240), with the fixed clamp (210) and the telescopic cylinder (230) both mounted on the lower end of the robotic arm mounting base (240). The upper end of the robotic arm mounting base (240) is connected to the end of the robotic arm moving device (100) to enable the robotic arm unit (200) to be mounted on the robotic arm moving device (100).

5. The robotic arm for grasping and transferring packaging bags according to claim 1, characterized in that, Includes a solenoid valve (233), which is disposed in the air path of the telescopic cylinder (230).

6. The robotic arm for grasping and transferring packaging bags according to claim 4, characterized in that, It also includes an audio prompting device (400), which is electrically connected to the control mechanism.

7. The robotic arm for grasping and transferring packaging bags according to claim 6, characterized in that, The sound prompting device (400) is mounted above the robotic arm mounting base (240).

8. The robotic arm for grasping and transferring packaging bags according to claim 6, characterized in that, The sound prompting device (400) is a buzzer.

9. The robotic arm for grasping and transferring packaging bags according to claim 1, characterized in that, Multiple robotic arm units (200) are provided, and the multiple robotic arm units (200) are arranged opposite each other and share the fixed clamping plate (210).

10. The robotic arm for grasping and transferring packaging bags according to claim 1, characterized in that, The control mechanism is a PLC cabinet with a control interface.

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