Material grabbing device facilitating bag breaking

Abstract

The utility model discloses a material grabbing device facilitating bag breaking, and belongs to bag breaking manipulators. The device comprises a mounting plate, one side of the mounting plate is movably connected with a bag breaking gripper mounting plate through an upper rotating vertical plate and an upper rotating shaft, and a shaking mechanism is arranged on the other side of the mounting plate; the shaking mechanism is provided with a sliding rail based on a bag breaking gripper mounting plate, the sliding rail is connected with a sliding plate, the sliding plate is driven by a telescopic control air cylinder, the sliding plate and the mounting plate are movably connected through a connecting piece, the sliding plate reciprocates on the sliding rail under the driving of the telescopic control air cylinder, and the sliding plate is connected with the bag breaking gripper mounting plate under the control of the connecting piece. The bag breaking gripper mounting plate and components fixedly connected with the bag breaking gripper mounting plate can shake up and down; the bag breaking gripper mounting plate is provided with a contact pin rotating shaft through a contact pin rotating vertical plate, contact pins are distributed on the contact pin rotating shaft, and the contact pin rotating shaft is controlled by a contact pin rotating air cylinder to rotate so as to grab a material bag; the device is further provided with a waste bag removing mechanism, a removing air cylinder is arranged on the basis of the bag breaking gripper mounting plate, and the end of a telescopic rod of the removing air cylinder is connected with a bag pushing pressing plate so that waste bags can be removed.

Description

TECHNICAL FIELD

[0001] The utility model belongs to a bag breaking manipulator, in particular to a material grabbing device facilitating bag breaking. BACKGROUND

[0002] The bag breaking manipulator is a mechanical device commonly used in automatic packaging production lines, which is used to automatically break the packaging bag filled with materials and pour the materials into the subsequent production link.

[0003] The mechanical bag breaking manipulator usually adopts a mechanical arm for operation, and the mechanical arm is equipped with a bag breaking device and an inclination mechanism. When the mechanical arm reaches the center of the bag, the bag breaking device can easily break the packaging bag, and the inclination mechanism can control the pouring direction and speed of the materials to ensure the safe and efficient pouring of the materials. In comparison, the pneumatic bag breaking manipulator is driven by a pneumatic cylinder, and the bag breaking, pouring and other actions are realized by controlling the pressure difference.

[0004] The bag breaking manipulator is mainly suitable for the packaging and pouring of bulk materials, such as chemical fertilizers, feed, cement, sand, etc. Compared with the traditional manual bag breaking and pouring method, the bag breaking manipulator has the advantages of high efficiency, high automation, high precision, simple operation, etc., and can effectively reduce the labor cost and the environmental pollution caused by residual materials. SUMMARY

[0005] The utility model provides a material grabbing device facilitating bag breaking, which can improve the operation convenience and efficiency of material bag breaking and pouring.

[0006] Technical scheme: A material grabbing device facilitating bag breaking, comprising a mounting plate, a bag breaking gripper mounting plate movably connected to one side of the mounting plate through an upper rotating vertical plate and an upper rotating shaft, and a shaking mechanism arranged on the other side of the mounting plate.

[0007] The shaking mechanism is a slide rail arranged on the bag breaking gripper mounting plate, and a sliding plate is connected to the slide rail. The sliding plate is driven by a telescopic control cylinder, and the sliding plate and the mounting plate are movably connected through a connecting piece. Under the driving of the telescopic control cylinder, the sliding plate reciprocates on the slide rail, and under the control of the connecting piece, the bag breaking gripper mounting plate and the components fixedly connected thereto can move up and down.

[0008] The bag breaking gripper mounting plate is provided with a pin rotating shaft through a pin rotating vertical plate, and pins are distributed on the pin rotating shaft. The pin rotating shaft is controlled to rotate by a pin rotating cylinder to realize the grabbing of the material bag.

[0009] The device is also provided with a waste bag removing mechanism, and a removing cylinder is arranged on the bag breaking gripper mounting plate. The end of the telescopic rod of the removing cylinder is connected with a bag pushing plate to realize the removal of the waste bag.

[0010] Further, the device is used for material grabbing by being mounted on a robot, and the mounting plate is connected with the robot arm through the connecting flange.

[0011] Further, the upper rotating shaft is arranged on the upper rotating shaft mounting seat, is embedded into the upper rotating vertical plate, and the bearing is arranged on the upper rotating shaft to realize rotation.

[0012] Further, the shaking mechanism and the upper rotating vertical plate are arranged on opposite sides and are arranged close to the edge of the bag breaking gripper mounting plate, the sliding rail is fixed on the bag breaking gripper mounting plate, the sliding plate is slid through the sliding block, and the sliding rail is reciprocally slid under the driving of the telescopic control cylinder.

[0013] The sliding plate is provided with a shaking material lower connecting plate, the corresponding mounting plate is provided with a shaking material upper connecting plate, the two are connected through a connecting piece, and the length of the connecting piece is greater than that of the upper rotating vertical plate.

[0014] Further, the pin rotating shaft is rotatably arranged at two ends of the pin rotating vertical plate, the pin rotating shaft wrench is arranged on the pin rotating shaft, the pin rotating shaft wrench is connected with the telescopic shaft of the pin rotating cylinder, the tail of the pin rotating cylinder is movably connected with the bag breaking gripper mounting plate, and the pin rotating cylinder is driven to rotate through reciprocating telescopic movement.

[0015] Further, in the waste bag removing mechanism, the removing cylinder penetrates the limiting fixing hole in the middle of the bag breaking gripper mounting plate, and the bottom plate is arranged through the stand column, the telescopic shaft of the removing cylinder penetrates the bottom plate and is provided with the bag pushing plate, so that the waste bag at the pin can be removed.

[0016] Further, the device comprises a material detection sensor arranged at the pin and used for detecting whether the material bag is grabbed.

[0017] Further, the telescopic control cylinder, the removing cylinder and the two groups of pin rotating cylinders are assembled and controlled through the valve island on the bag breaking gripper mounting plate.

[0018] Beneficial effects: the grabbing mode adopted by the device is that the pin is inserted into the material bag and then rotated to a horizontal state, the material bag is extracted, the material is released by an external cutter after the material bag is cut open, the waste bag is transferred to a storage box by a robot, and the waste bag is removed by a removing mechanism, compared with the prior art, the grabbing, shaking and removing mechanisms are independently arranged, but are integrated on a mechanical hand, the structure is more convenient and simple to operate, and secondly, the ton bag can be placed in a feeding port to be cut open, dust in the material is not easy to overflow when the material is executed, and the device is more safe and environmentally friendly. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a structural schematic diagram of the upper rotating vertical plate side;

[0021] Figure 3 This is a structural diagram of the vibration mechanism side;

[0022] Figure 4 This is a structural diagram of the pin shaft;

[0023] Figure 5 This is a schematic diagram of the elimination mechanism;

[0024] Figure 6 This is a structural diagram showing the location of the valve island. Detailed Implementation

[0025] To illustrate the technical solution provided by this utility model in detail, further description is provided below with reference to the accompanying drawings.

[0026] Combination Figure 1 As shown, the mounting plate 1 in this utility model is used to connect the device and the gantry robot (six-axis robot) and is fixed with bolts. An upper rotating upright plate 2 is provided on the left side of the mounting plate 1, located at the bottom of the mounting plate 1. The lower end of the upper rotating upright plate 2 is connected via an upper rotating shaft 3. Figure 1 As can be seen from the structure shown, the upper rotating shaft 3 is connected to the rotating shaft mounting base 13. Figure 2 The structure shown has a rotating shaft mounting base 13 fixed to the upper surface of the bag-breaking gripper mounting plate 4, and the upper rotating shaft 3 includes a rotating shaft to achieve rotation at the connection point. On the opposite side of the upper rotating upright plate 2, i.e. Figure 1 On the right side shown, a shaking mechanism is deployed, combined with Figure 3 The working principle of the shaking mechanism is as follows:

[0027] The telescopic control cylinder 9 is connected to the slide plate 7 via a connecting shaft. The slide plate 7 reciprocates on the slider 14. This reciprocating motion of the slide plate 7 drives the connecting piece 8, which is connected to it, to move in a pendulum-like motion. The connecting piece 8 is connected to the slide plate 7 via a shaking lower connecting plate 701. The length of the connecting piece 8 is greater than the length of the upper rotating upright plate 2. Alternatively, when the upper rotating upright plate 2 is perpendicular to the mounting plate 1, the mounting plate 1 is parallel to the bag-breaking mounting plate 4, and the connecting piece 8 is greater than the vertical distance. Taking the mounting plate 1 as a horizontal reference, the bag-breaking mounting plate 4 moves repeatedly with the connection point between the upper rotating upright plate 2 and the upper rotating shaft 3 as the center. Under the control of the driving frequency of the telescopic control cylinder 9, the bag-breaking mounting plate 4 and the fixed components vibrate, completing the cleaning after material feeding.

[0028] For the grabbing operation, combined with Figure 4 As shown, the four corners of the bag breaking mounting plate 4 are provided with rotating vertical plate setting pin shafts 5, the pin shafts 5 are distributed with pins 10, the pin shafts 5 are provided with pin shaft wrenches 501, the pin rotating air cylinders 6 are in extension and retraction movement, driving the pin shaft wrenches 501 back and forth, the pins 10 on the pin shafts 5 will switch between the vertical and horizontal states, and the grabbing process is first inserted vertically into the material bag and then horizontally grabbed. Of course, for the extraction structure of different materials, the length and number of the pins 10 are adjusted, or the angle of the pin shafts 5 is adjusted, such as Figure 4 As shown, the pin shafts 5 are perpendicular to the pins 10, and the pin shafts 5 can also be inclined or adjacent to the pins 10.

[0029] Figure 5 As shown, the structure of the removing mechanism is shown, and the telescopic cylinder is also used, which is called a removing cylinder 12 in the removing mechanism. The removing cylinder 12 can be fixed on the bottom of the mounting plate 1 or the bag breaking mounting plate 4, and the removing cylinder 12 can be fixed or arranged through the bag breaking mounting plate 4. The bottom of the bag breaking mounting plate 4 is provided with a bottom plate 16 through a vertical column 15, and the vertical column 15 can also be an adjustable component, so that the distance between the bag pushing plate 11 below and the material bag is realized. The output shaft of the removing cylinder 12 is elongated, the bag pushing plate 11 is lowered, and the waste bag is removed. At this time, the pins 10 are in the vertical state.

[0030] Figure 6 The mounting assembly of the four telescopic cylinders in the above embodiment is given, mainly through the valve island 16 to connect the air source and the control switch, so as to realize the telescopic control of the cylinder.

[0031] When the device is operated, the pins 10 are first rotated to the vertical state, the gripper is moved to the material bag, the pins 10 are inserted into the material bag, the pins 10 are rotated to the horizontal state, the gripper is moved to the broken bag, the material in the bag is removed after the bag is broken, the gripper is moved to the waste bag, the waste bag is put into the waste bag basket, and the gripper returns to the original position and is re-operated.

[0032] The utility model ensures the stability of the material during conveying and bag breaking, and the structure of the pins for taking materials and the waste bag removal is integrated, which can realize various requirements of taking and placing materials, can be enlarged or reduced according to the size of the bag, has universality, can be additionally provided with a bag cleaning mechanism to realize the cleaning of the outer surface of the bag, and avoids the pollution of the internal material.

Claims

1. A material grabbing device for facilitating bag breaking, characterized in that, Including the installation plate (1), one side of the installation plate (1) is movably connected to the broken bag gripper mounting plate (4) through the upper rotary vertical plate (2) and the upper rotating shaft (3), and the other side of the installation plate (1) is provided with a shaking mechanism; The shaking mechanism is that a slide rail is arranged at one end of the broken bag gripper mounting plate (4), a sliding plate is connected to the slide rail, the sliding plate is driven by a telescopic control cylinder, the sliding plate and the installation plate (1) are movably connected through a connecting piece, under the driving of the telescopic control cylinder, the sliding plate reciprocates on the slide rail, and under the control of the connecting piece, the broken bag gripper mounting plate (4) and the components fixedly connected thereto can realize up-down movement. The broken bag gripper mounting plate (4) is provided with a pin rotating shaft (5) through a pin rotating vertical plate, pins (10) are distributed on the pin rotating shaft (5), and the pin rotating shaft (5) is controlled to rotate through a pin rotating cylinder (6) to realize the grabbing of the material bag. The device is further provided with a waste bag removing mechanism, the removing cylinder (12) is arranged on the basis of the broken bag gripper mounting plate (4), and the end of the telescopic rod of the removing cylinder (12) is connected with a bag pushing plate (11) to realize the removal of the waste bag.

2. The material gripping device of claim 1, wherein, The device is used for grabbing materials by being mounted on a robot, and the installation plate (1) is connected with the robot arm through a connecting flange.

3. The material grabbing device of claim 1, wherein, The broken bag gripper mounting plate (4) is provided with the upper rotating shaft (3) through an upper rotating shaft mounting seat (13), the upper rotating shaft (3) is embedded into the upper rotary vertical plate (2), a bearing is sleeved on the upper rotating shaft (3) to realize rotation, and the bearing is located at the connection between the upper rotary vertical plate (2) and the upper rotating shaft (3) and in the upper rotating shaft mounting seat (13).

4. The material grabbing device of claim 1, wherein, The shaking mechanism and the upper rotary vertical plate (2) are arranged on opposite sides and are arranged close to the edge of the broken bag gripper mounting plate (4), the slide rail is fixed to the broken bag gripper mounting plate (4), the sliding of the sliding plate (7) is realized through a sliding block, and the sliding plate (7) reciprocally slides under the driving of the telescopic control cylinder (9). The sliding plate (7) is provided with a material shaking lower connecting plate (701), a material shaking upper connecting plate is arranged on the corresponding installation plate (1), and the two are connected through the connecting piece (8), and the length of the connecting piece (8) is greater than the length of the upper rotary vertical plate (2).

5. The material grabbing device of claim 1, wherein, The pin rotating shaft (5) is rotatably arranged at both ends of the pin rotating vertical plate, the pin rotating shaft (5) is provided with a pin rotating shaft wrench (501), the pin rotating shaft wrench (501) is connected with the telescopic shaft of the pin rotating cylinder (6), the tail of the pin rotating cylinder (6) is movably connected with the broken bag gripper mounting plate (4), the pin rotating cylinder (6) reciprocally extends and contracts to drive the pin rotating shaft (5) to rotate.

6. The material grabbing device of claim 1, wherein, In the waste bag removing mechanism, the removing cylinder (12) penetrates through the limiting fixing hole in the middle of the broken bag gripper mounting plate (4), a bottom plate (16) is arranged through a stand (15), the telescopic shaft of the removing cylinder (12) penetrates through the bottom plate (16) to arrange the bag pushing plate (11), and thus the waste bag located at the pins (10) can be removed.

7. The material grabbing device of claim 1, wherein, The device includes a material detection sensor arranged at the needle (10) for detection of whether a material bag is grabbed.

8. The material grabbing device of claim 1, wherein, The telescopic control air cylinder, the reject air cylinder (12) and the two groups of needle rotating air cylinders (6) are assembled and controlled by the valve island on the bag breaking gripper mounting plate (4).

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