Ton bag storing and taking device

Abstract

The utility model relates to a ton bag storing and taking device, and belongs to the field of ton bag storing and replacing. According to the technical scheme, the container bag automatic feeding device comprises a container bag storage frame and a mechanical gripper, stand columns are arranged on the two sides of the container bag storage frame, swing pressing arms are arranged on the stand columns, pressing arm air cylinders are arranged at the rear ends of the swing pressing arms, container bag openings of the swing pressing arms are folded upwards to be placed on the container bag storage frame, and four sets of pushing ropes are arranged at the four corners respectively. The lifting rope and the ton bag body are made of materials with different shades and colors, and the lifting rope is cylindrical; the mechanical gripper comprises a mechanical arm, a rotating frame, a cross frame, an extension mechanism and a gripper body. A platform for stacking the ton bags and a bag pressing mechanism are arranged, so that the ton bags can be conveniently separated by a manipulator, and interference and winding of adjacent ton bags during bag taking are avoided; and a special ton bag lifting structure is used, so that the lifting accuracy and efficiency of grabbing the ton bag by the mechanical arm can be effectively improved.

Description

Technical Field

[0001] This utility model relates to a ton bag storage bag and a bag retrieval device, belonging to the field of ton bag storage bag replacement. Background Technology

[0002] Currently, robotic arms are used to load ton bags to reduce the risk to operators.

[0003] The robotic arm, in conjunction with the bag storage mechanism, can effectively improve the bag loading efficiency of ton bags.

[0004] The ton bag mechanism employs either a double-lifting or four-lifting-rope structure. For double-lifting-rope ton bags, maintaining a level bag opening during filling requires balancing the gripping and bag-hanging positions of the two lifting ropes, making automated operation difficult. Four-lifting-rope ton bags effectively level the bag opening, avoiding the leakage risk associated with unilateral tilting. However, the bag storage stage for four-lifting-rope ton bags is twice as challenging as with double-lifting ton bags, necessitating the design of a suitable bag storage mechanism and alternative mechanical components to improve bag loading efficiency. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a ton bag storage bag and a bag retrieval device, thereby improving the bag retrieval efficiency of ton bags.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] This utility model includes a ton bag storage bag and a bag retrieval device, comprising a ton bag storage rack and a mechanical gripper. The ton bag storage rack is characterized by having columns on both sides, with swinging pressure arms on the columns. A pressure arm cylinder is installed at the rear end of the swinging pressure arm. The ton bag opening is folded upwards by the swinging pressure arm to prevent it from being placed on the ton bag storage rack. Four sets of push ropes are located at the four corners. The lifting ropes and the ton bag body are made of different shades of materials, and the lifting ropes are cylindrical.

[0008] The mechanical gripper consists of a robotic arm, a rotating frame, a cross, an extension mechanism, and a gripper. The fixed end of the robotic arm is located on one side of the ton bag storage rack. The rotating frame is rectangular, with a servo motor at the end of the robotic arm connected to one side via a rotary support, and the cross is located on the other side. The four corners of the cross are staggered with the rotating frame, and the gripper is located at the intersection of the cross via an extension structure.

[0009] According to the ton bag storage bag and bag retrieval device described above, the extension mechanism includes a fixed plate and a sliding plate located on the cross. Two sets of slots are opened on the sliding plate, and a through hole is provided on the fixed plate through the cross mechanism. After the slots and through holes are aligned, bolts are used for fixing. The position of the bolts can be adjusted during operation to adjust the contact position of the sliding plate and the fixed plate.

[0010] According to the ton bag storage bag and bag retrieval device described above, the sliding plate is equipped with a guide rod cylinder fixedly installed, the extended end of the guide rod cylinder faces downward, and a lower extension frame is provided at the end. The lower extension frame is fixed with a rotary motor on the side of the guide rod cylinder, and the output end of the rotary motor is connected to the gripper.

[0011] According to the ton bag storage bag and bag retrieval device, the gripper includes a pair of clamping arms, a swing arm, a moving block, a gripper cylinder, and a gripper frame. The gripper frame is rectangular and has a gripper cylinder installed inside. The upper end is connected to the output end of a rotary motor. The rear end of the clamping arm is hinged to the lower end of the gripper frame, and the two clamping arms are arranged symmetrically. A moving block is provided at the front end of the extension rod of the gripper cylinder. The moving block is rectangular and has its two ends hinged to one end of the swing arm, and the other end of the swing arm is hinged to the middle position of the clamping arm.

[0012] According to the ton bag storage bag and bag retrieval device, the gripper frame includes two sets of rectangular plates and connecting columns. The two rectangular plates are connected at the four corners by the connecting columns. The gripper cylinder is installed in the middle opening of the rectangular plate. The output end of the rotary motor is fixed to the rear rectangular plate. The front rectangular plate has an opening for the piston rod of the gripper cylinder to pass through. The two ends of the front rectangular plate are provided with symmetrical ear plates. The rear end of the gripper arm is hinged to the ear plates.

[0013] According to the ton bag storage bag and bag retrieval device described above, the lower extension frame is Z-shaped, the upper side of the lower structure is fixed with the moving end of the cylinder with guide rod, and the upper mechanism has an opening to install the rotary motor.

[0014] According to the ton bag storage bag and bag retrieval device described above, the column is provided with a lifting mechanism, and a lifting drive is provided between the lifting mechanism and the column. The cylinder body of the pressure arm cylinder and the pressure arm positioning ear plate are hingedly installed on the lifting mechanism. The rear end of the swinging pressure arm is hingedly connected to the front end of the pressure arm cylinder. The pressure arm positioning ear plate is hingedly installed at the rear of the swinging pressure arm and at a distance from one end.

[0015] According to the ton bag storage bag and bag retrieval device described above, the front end of the swing pressure arm is Y-shaped, and the lower end of the pressure block contacts the ton bag.

[0016] The advantages of this utility model are:

[0017] A platform for stacking ton bags and a bag-pressing mechanism are set up to facilitate the separation of ton bags by the robotic arm and avoid interference and entanglement between adjacent ton bags when picking them up; a dedicated ton bag lifting structure is used to effectively improve the accuracy and efficiency of the robotic arm in grasping and lifting ton bags; the robotic arm structure is equipped with four grippers, and guide cylinders and rotary motors are arranged through a Z-shaped downward extension frame to effectively reduce the vertical dimensions of the gripper positions;

[0018] The cross-shaped structure is installed with a gripper to reduce the structural size and minimize interference when the filling machine hangs the bags. Attached Figure Description

[0019] Figure 1 This is a structural diagram of the present invention.

[0020] Figure 2 This is a top view of the present invention.

[0021] Figure 3 This is a structural diagram of the mechanical gripper of this utility model.

[0022] Figure 4 This is a top view of the mechanical gripper of this utility model.

[0023] Figure 5 This is a side view of the mechanical gripper of this utility model.

[0024] Reference numerals: 1. Ton bag storage rack; 2. Column; 3. Swinging pressure arm; 4. Pressure arm cylinder; 5. Lifting mechanism; 6. Lifting drive; 7. Pressure arm positioning ear plate; 8. Mechanical arm; 9. Rotating frame; 10. Cross; 11. Extension mechanism; 12. Gripper; 13. Fixing plate; 14. Sliding plate; 15. Slot; 16. Cylinder with guide rod; 17. Lower extension frame; 18. Rotary motor; 19. Clamping arm; 20. Swing arm; 21. Moving block; 22. Gripper cylinder; 23. Gripper frame; 231. Rectangular plate; 232. Connecting column; 24. Lower convex pressure block; 25. Servo motor. Detailed Implementation

[0025] The structure of this utility model will be further described below:

[0026] This utility model relates to a ton bag storage and retrieval device, which includes a ton bag storage rack 1 and a mechanical gripper 12. The ton bag storage rack is used to store ton bags, and the mechanical gripper is used to pick up the lifting rope of the ton bag and move it to the filling machine, where the lifting rope is hooked by the hook of the filling machine.

[0027] Specifically, the ton bag storage rack 1 has columns 2 on both sides, and swing arms 3 on the columns 2. A pressure arm cylinder 4 is installed at the rear end of the swing arms 3. The ton bags are folded upwards by the swing arms 3 to secure them on the ton bag storage rack 1. Four sets of lifting ropes are located at the four corners. The lifting ropes and the ton bag body are made of different shades of material, and the lifting ropes are cylindrical. When the swing arms grip a single ton bag, they press down on the bag body. Due to the cylindrical structure of the lifting rope, the bag body separates from the lifting rope, making it easier for the mechanical gripper to grasp the lifting rope.

[0028] In this device, the mechanical gripper 12 comprises a mechanical arm 8, a rotating frame 9, a cross 10, an extension mechanism 11, and a gripper 12. The fixed end of the mechanical arm 8 is located on one side of the ton bag storage rack 1. The rotating frame 9 is rectangular, with a servo motor at the end of the mechanical arm 8 connected to one side via a rotary support, and the cross 10 is located on the other side. The four corners of the cross 10 are staggered with the rotating frame, and the gripper 12 is located at the intersection of the cross 10 via the extension mechanism 11.

[0029] The four sets of grippers are arranged in a rectangular shape to match the lifting layout at the four corners of the ton bag, and also to create a certain distance between the grippers to prevent interference.

[0030] The extension mechanism 11 includes a fixed plate 13 and a sliding plate 14 located on the cross 10. Two sets of slots 15 are formed on the sliding plate 14. A through hole is provided through the cross mechanism on the fixed plate 13. After the slots 15 and the through hole are aligned, bolts are used for fixing. The position of the bolts can be adjusted during operation to adjust the contact position between the sliding plate 14 and the fixed plate 13. Moving the sliding plate on the fixed plate can adjust the overall size of the cross, enlarging or reducing the rectangular size formed by the four grippers to match different ton bag lifting sizes. It also allows for adjustment of the gripper distance during installation to avoid interference with the femoral head at the bottom of the filling machine.

[0031] In this device, a guide rod cylinder 16 is fixedly mounted on the sliding plate 14. The extended end of the guide rod cylinder 16 faces downward, and a lower extension frame 17 is provided at the end. A rotary motor 18 is fixed on the side of the guide rod cylinder 16, and the output end of the rotary motor 18 is connected to the gripper 12.

[0032] Driven by the robotic arm, the gripper approaches the lifting rope of the ton bag. The rotation of the rotary motor adjusts the gripper to align with the lifting rope of the ton bag. The guide rod cylinder 16 drives the lower extension frame downward, causing the front end of the gripper to grab the lifting rope.

[0033] Furthermore, the gripper 12 includes a pair of clamping arms 19, a swing arm 20, a moving block 21, a gripper cylinder 22, and a gripper frame 23. The gripper frame 23 is rectangular and has the gripper cylinder 22 installed inside. The upper end is connected to the output end of the rotary motor 18. The rear end of the clamping arm 19 is hinged to the lower end of the gripper frame 23, and the two clamping arms 19 are arranged symmetrically. The front end of the extension rod of the gripper cylinder 22 is provided with a moving block 21. The moving block 21 is rectangular and has its two ends hinged to one end of the swing arm 20, and the other end of the swing arm 20 is hinged to the middle position of the clamping arm 19.

[0034] The piston rod of the gripper cylinder extends, causing the moving block to descend. The swing arm connected to the moving block is then pulled downward, causing the two gripping arms to move towards the middle and close, thus grabbing the ton bag's lifting rope.

[0035] In this device, the gripper frame 23 includes two sets of rectangular plates 231 and connecting columns 232. The two rectangular plates 231 are connected at the four corners by the connecting columns 232. The gripper cylinder 22 is installed in the middle opening of the rectangular plate 231. The output end of the rotary motor 18 is fixed to the rectangular plate 231. The front rectangular plate 231 has an opening for the piston rod of the gripper cylinder 22 to pass through. The two ends of the front rectangular plate 231 are provided with symmetrical ear plates. The rear end of the gripper arm is hinged to the ear plates.

[0036] The lower extension frame 17 is Z-shaped, with the moving end of the guide rod cylinder 16 fixed to the upper side of the lower structure, and the rotary motor 18 installed through an opening in the upper structure. This structure allows the guide rod cylinder 16 and the rotary motor 18 to be positioned at the same horizontal height, reducing the overall vertical dimensions, avoiding interference at the bottom of the filling machine, and increasing the height of the ton bags to prevent the bottom of the ton bags from contacting or being worn by other structures.

[0037] The ton bags are stacked and grabbed one by one from top to bottom. To follow the downward movement of the ton bags as they are picked up, a lifting mechanism 5 is installed on the column 2. A lifting drive 6 is installed between the lifting mechanism 5 and the column 2. The cylinder body of the pressure arm cylinder 4 and the pressure arm positioning ear plate 7 are hinged to the lifting mechanism 5. The rear end of the swinging pressure arm 3 is hinged to the front end of the pressure arm cylinder 4. The pressure arm positioning ear plate 7 is hinged to the rear of the swinging pressure arm 3 at a distance from one end. When the piston rod of the pressure arm cylinder 4 is pushed out, it drives the swinging pressure arm 3 to press down on the ton bags during the lifting and grabbing process.

[0038] The front end of the swing arm 3 is Y-shaped, and the lower end protruding pressure block 24 contacts the ton bag. The Y-shaped swing arm extends from the middle of the two lifting ropes to the middle of the ton bag, avoiding crushing the lifting ropes.

[0039] After the gripper picks up the lifting rope, the piston rod of the pressure arm cylinder 4 actuates, causing the swing pressure arm 3 to flip upwards and separate from the ton bag. The mechanical gripper then removes the upper ton bag. Next, the lifting mechanism 5 descends, causing the swing pressure arm 3 to descend a short distance. The pressure arm cylinder 4 actuates, causing the swing pressure arm 3 to press down on the exposed ton bag structure, which is then picked up by the mechanical gripper. Following these steps, the ton bags are picked up one by one.

[0040] This invention features a platform for stacking ton bags and a bag-pressing mechanism, facilitating the separation of ton bags by the robotic arm and preventing interference and entanglement between adjacent ton bags during bag retrieval. A dedicated ton bag lifting structure effectively improves the accuracy and efficiency of the robotic arm in grasping and lifting ton bags. The robotic arm structure is equipped with four grippers, with guide cylinders and rotary motors arranged via a Z-shaped downward extension frame, effectively reducing the vertical dimensions of the grippers. The device also features a cross-shaped structure for mounting the grippers, reducing structural dimensions and minimizing interference when the filling machine hangs bags.

Claims

1. A ton bag storage and retrieval device comprising a ton bag storage rack (1) and a mechanical gripper (12), characterised in that, The ton bag storage rack (1) is provided with a stand (2) on both sides, the stand (2) is provided with a swing pressing arm (3), the rear end of the swing pressing arm (3) is provided with a pressing arm air cylinder (4), the ton bag bag opening is folded upwards to prevent on the ton bag storage rack (1), four groups of lifting ropes are arranged at four corners, the lifting ropes and the ton bag bag body are made of different color materials with different depths, and the lifting ropes are in a cylindrical shape. The mechanical grab hand (12) comprises a mechanical arm (8), a rotating frame (9), a cross frame (10), an extension mechanism (11) and a grab hand (12), the fixed end of the mechanical arm (8) is arranged on one side of the ton bag storage rack (1), the rotating frame (9) is in the shape of a rectangular frame, one side is connected with a servo motor at the end of the mechanical arm (8) through rotary support, and the other side is provided with the cross frame (10); the cross frame (10) is arranged in the cross four corner ends of the rotating frame; the cross intersection end of the cross frame (10) is provided with the grab hand (12) through the extension mechanism (11).

2. The bale wrap storage and retrieval apparatus of claim 1 wherein, The extension mechanism (11) comprises a fixed plate (13) on the cross frame (10) and a sliding plate (14), two groups of slot holes (15) are formed in the sliding plate (14), a through hole is formed in the cross frame mechanism on the fixed plate (13), and the slot hole (15) is provided with a bolt after being centered with the through hole; the bolt is used for adjusting the contact position of the sliding plate (14) and the fixed plate (13) in the operation.

3. The bale wrap storage and retrieval apparatus of claim 2, wherein, The sliding plate (14) is provided with a fixed installation guide rod air cylinder (16), the extending end of the guide rod air cylinder (16) faces downwards, a lower extension frame (17) is arranged at the end, a rotary motor (18) is fixed on the side of the guide rod air cylinder (16), and the output end of the rotary motor (18) is connected with the grab hand (12).

4. The bale wrap storage and retrieval apparatus of claim 3, wherein, The grab hand (12) comprises a pair of clamping arms (19), a swing arm (20), a moving block (21), a grab hand cylinder (22) and a grab hand frame (23), the grab hand frame (23) is in the shape of a rectangular frame, the grab hand cylinder (22) is arranged in the interior, the upper end is connected with the output end of the rotary motor (18), the rear end of the clamping arm (19) is hingedly connected with the lower end of the grab hand frame (23), the two clamping arms (19) are symmetrically arranged, the extending rod front end of the grab hand cylinder (22) is provided with the moving block (21), the moving block (21) is in the shape of a rectangle, the two ends are respectively hingedly connected with one end of the swing arm (20), and the other end of the swing arm (20) is hingedly connected with the middle position of the clamping arm (19).

5. The bale wrap bagging and unbagging apparatus of claim 4 wherein, The grab hand frame (23) comprises two upper and lower rectangular plates (231) and a connecting column (232), the two rectangular plates (231) are connected through the connecting column (232) at the four corner positions, the middle of the rectangular plate (231) is provided with a hole for mounting the grab hand cylinder (22), the output end of the rotary motor (18) is fixed on the rear rectangular plate (231), the front rectangular plate (231) is provided with a hole for the piston rod of the grab hand cylinder (22) to pass through, the two ends of the front rectangular plate (231) are provided with symmetrical ear plates, and the rear end of the grab hand arm is hingedly connected with the ear plates.

6. The bale wrap bagging and unbagging apparatus of claim 3 wherein, The lower extension frame (17) is in the shape of Z, the upper side of the lower structure is fixed with the moving end of the guide rod air cylinder (16), and the upper mechanism is provided with a hole for mounting the rotary motor (18).

7. The bale wrap bagging and unbagging apparatus of claim 1 wherein, The column (2) is provided with a lifting mechanism (5), and a lifting drive (6) is arranged between the lifting mechanism (5) and the column (2). The cylinder body of the pressing arm cylinder (4) and the pressing arm positioning lug plate (7) are hingedly installed on the lifting mechanism (5). The rear end of the swinging pressing arm (3) is hingedly connected to the front end of the pressing arm cylinder (4), and the pressing arm positioning lug plate (7) is hingedly installed at a position away from one end of the rear end of the swinging pressing arm (3).

8. The ton bag storing and taking apparatus according to claim 7, wherein The front end of the swinging pressing arm (3) is Y-shaped, and the end portion is provided with a lower protruding pressing block (24) for contacting the ton bag.

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