Manipulator for packaging bag turnover box

Abstract

The utility model provides a mechanical arm for a packaging bag turnover box, which belongs to the technical field of mechanical arms and comprises a mechanical arm body, a plurality of hooking pieces are arranged at four corners of the free end of the mechanical arm body, and a pressing piece is arranged on the mechanical arm body and located in the middle area of the hooking pieces. The lifting part is arranged on the manipulator body, the driving end of the lifting part is connected with the abutting part, the lifting part is used for driving the abutting part to reciprocate in the extending direction of the extending section of the hooking part, the included angle alpha between the extending section and the inner side of the hooking section is a right angle, and the included angle beta between the extending section and the outer side of the hooking section is an acute angle; the two side walls of the hooking section obliquely extend downwards, so that a tip end is formed at the lower end of the hooking section; according to the mechanical arm, the hooking piece is provided with the unique hooking section design, the acute-angle outer side included angle, the downwards-inclined side wall and the pointed end design, so that the hooking piece is more easily inserted into a gap between turnover boxes, and the difficulty of alignment and insertion is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, concretely relates to a manipulator for packaging bag turnover box. BACKGROUND

[0002] On the packaging production line, conveying device is generally used to convey the packaging bag turnover box, which may need to be transferred in the process, at which time the manipulator device is needed to lift and unload the packaging bag turnover box.

[0003] The manipulator device in the prior art generally uses a hooking device to transfer the packaging bag turnover box. For example, the clamping mechanism capable of effectively preventing the turnover box from shaking disclosed in Chinese patent document CN209988688U uses a robot to drive a clamping jaw unit to clamp the turnover box, wherein a pressing plate for abutting the upper surface of the turnover box is arranged in the middle of the clamping jaw unit, which is used in cooperation with the clamping jaw to stably clamp the turnover box.

[0004] However, in the above-mentioned scheme, when used for the turnover box of the packaging bag, the clamping jaw of the clamping jaw unit cannot smoothly clamp the outer wall between the adjacent two turnover boxes due to the close arrangement of the multiple turnover boxes of the packaging bag, resulting in the need to set a gap for the clamping jaw between the adjacent two turnover boxes when transporting multiple turnover boxes. UTILITY MODEL CONTENTS

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the defect that the manipulator in the prior art cannot guarantee clamping of the closely arranged packaging bag turnover box, thereby providing a manipulator for packaging bag turnover box.

[0006] In order to solve the above-mentioned technical problem, the utility model provides a manipulator for packaging bag turnover box, comprising:

[0007] The manipulator body;

[0008] The hooking piece has multiple, is arranged on the free end of the manipulator body in a quadrangle, is rotationally installed on the free end of the manipulator body, the rotation plane of the hooking piece is parallel to the end face of the free end of the manipulator body, the rotation driving device for driving the rotation of the hooking piece is connected with the hooking piece on the manipulator body; the hooking piece has an extension section and a hooking section, one end of the extension section is connected to the manipulator body, the other end extends downward along the vertical direction, the hooking section is connected to the free end of the extension section at an angle; the included angle α between the inner sides of the extension section and the hooking section is a right angle, the included angle β between the outer sides of the extension section and the hooking section is an acute angle, the two side walls of the hooking section extend downward at an angle to form a sharp end at the lower end of the hooking section;

[0009] A pressing member is arranged on the mechanical arm body and located in the middle region of the plurality of hook members;

[0010] A lifting member is arranged on the mechanical arm body, a driving end of the lifting member is connected with the pressing member, and the lifting member is used to drive the pressing member to reciprocate along the extension direction of the extension segment of the hook member.

[0011] The hook member has a unique hook segment design. Specifically, the hook segment is connected to the free end of the extension segment at an angle, the inner side angle of the extension segment and the hook segment is a right angle, the outer side angle is an acute angle, and the two side walls of the hook segment extend downward to form a sharp end. The right angle of the inner side angle facilitates the hook member to penetrate into the corresponding hooking position of the turnover box, providing reliable hooking connection; the acute angle of the outer side angle and the downwardly inclined side wall and the sharp end design make the hook member more easily inserted into the gap between the turnover boxes, reducing the difficulty of alignment and insertion. In actual operation, this design can facilitate the sequential clamping and carrying of multiple turnover boxes arranged compactly, saving grabbing time and further improving carrying efficiency.

[0012] Specifically, in use, the hook member is first rotated to be parallel to the gap between the adjacent two turnover boxes, and then the mechanical arm is moved downward to be inserted into the gap. This operation mode greatly improves the accuracy of hooking. In an environment where turnover boxes are densely stacked, the space is often very limited. This operation mode of the hook member can fully utilize the narrow gap between the turnover boxes, and the grabbing can be completed without a large operation space. For warehouses or workshops with limited storage space, efficient carrying of turnover boxes can be realized without changing the storage layout, improving the space utilization rate and reducing the storage cost. Moreover, the horizontal rotation of the hook member enables it to hook the turnover box wall, and this hooking mode can provide a relatively stable connection. The hook member fully contacts and hooks the turnover box wall, increasing the contact area and friction, and can better withstand the weight of the turnover box during carrying, preventing the turnover box from falling.

[0013] Optionally, the lower surface of the pressing member is a hole-bearing plane. Through the above arrangement, the turnover box can be quickly separated from the pressing member. Specifically, if the lower surface of the pressing member is adsorbed to the top of the turnover box, the adsorption force may hinder the separation of the pressing member from the turnover box when the turnover box needs to be released, resulting in prolonged operation time and reduced efficiency. The hole-bearing plane design allows air to flow freely between the pressing member and the turnover box, avoiding the generation of adsorption force. When the mechanical arm finishes carrying and needs to put down the turnover box, the pressing member can quickly and smoothly separate from the turnover box, improving the work efficiency.

[0014] Optionally, the lower surface of the pressing member has a plurality of protruding columns, the bottom ends of the protruding columns are located on the same plane. The plurality of protruding columns provide a plurality of supporting points, and the protruding columns can more effectively disperse the pressure on the turnover box than a flat pressing surface.

[0015] Optionally, the protruding column is a structure capable of extending and retracting in the axial direction, and an elastic member is arranged in the protruding column, the elastic member has an elastic force for driving the protruding column to extend in the axial direction. Through the above arrangement, the pressing member can better adapt to the turnover box top with various shapes and surface conditions. When the pressing member contacts the turnover box, the protruding column can automatically adjust the length according to the uneven conditions such as ups and downs, concave and convex of the turnover box top.

[0016] Optionally, the lifting member is a lifting cylinder.

[0017] Optionally, the spacing between the plurality of hooking members can be adjusted along a direction parallel to the extension direction of the hooking segment. Through the above arrangement, the mechanical hand can adapt to the packaging bag turnover box with different sizes. For smaller size turnover boxes, the spacing between the hooking members can be reduced to ensure that the hooking members can accurately hook the hooking position of the turnover box; and for larger size turnover boxes, the spacing is increased, so that the hooking members can still effectively hook.

[0018] Optionally, the hooking member is installed on a horizontal sliding block, and the horizontal sliding block is slidably installed on the mechanical hand body.

[0019] Optionally, the mechanical hand body is provided with an electric control driving device connected with the horizontal sliding block.

[0020] Optionally, the extension segment of the hooking member has a circular or elliptical cross section, the lower end of the extension segment has two symmetrical inclined surfaces, and the inclined surfaces are smoothly connected with the inclined structures on both sides of the hooking segment.

[0021] Optionally, the major axis of the elliptical shape is parallel to the direction of the hooking segment. Through the arrangement, the resistance of the extension segment 301 of the hooking member 3 when inserted between the gaps of the two turnover boxes 2 can be reduced. Specifically, when the hooking segment 302 of the hooking member 3 is inserted into the gap between the two turnover boxes 2, as the hooking member 3 continues to extend, the transition from the hooking segment 302 to the extension segment 301 at the gap has a smaller cross-sectional change, so the resistance is smaller.

[0022] The technical scheme of the utility model has the following advantages:

[0023] 1.The mechanical hand for the turnover box of the packaging bag, wherein a pressing piece is arranged in the middle region of the plurality of hooking pieces, the pressing piece is driven to lift by a lifting piece, and when the periphery of the turnover box is hooked by the plurality of hooking pieces, the pressing piece is driven by the lifting piece to press the turnover box downward, thereby increasing the connection between the turnover box and the hooking piece and ensuring the stable hooking of the turnover box.

[0024] 2.The mechanical hand for the turnover box of the packaging bag, wherein the spacing between the plurality of hooking pieces is adjustable, thereby realizing the transfer of the turnover boxes of various specifications.

[0025] 3.The mechanical hand for the turnover box of the packaging bag, wherein the plurality of hooking pieces can rotate with the end surface of the free end of the mechanical hand body as the rotating plane, when the turnover box is hooked, the hooking piece can be rotated to be parallel to the gap between the adjacent two turnover boxes first, then inserted into the gap, and then the hooking piece is rotated, thereby realizing the hooking of one of the two adjacent turnover boxes and ensuring the stability of the hooking. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0027] Figure 1 It is a perspective view of one specific embodiment of the mechanical hand for the turnover box of the packaging bag provided in the embodiments of the utility model;

[0028] Figure 2 It is Figure 1 It is a bottom view of the free end of the mechanical hand body;

[0029] Figure 3 It is a front view of one specific embodiment of the free end of the mechanical hand body provided in the embodiments of the utility model;

[0030] Figure 4 It is a perspective view of one specific embodiment of the mechanical hand for the turnover box of the packaging bag provided in the embodiments of the utility model;

[0031] Figure 5 It is Figure 4 It is an enlarged view of the front view of the hooking piece;

[0032] Figure 6 It is Figure 4 It is an enlarged view of the side view of the hooking piece;

[0033] Figure 7 is a perspective view of another hooking piece provided in an embodiment of the present application;

[0034] Figure 8 is a perspective view of a third hooking piece provided in an embodiment of the present application;

[0035] Figure 9 is a top view of the hooking piece shown in FIG. 1; Figure 8

[0036] Figure 10 is a perspective view of another specific implementation of the mechanical hand for the turnover box of the packaging bag provided in an embodiment of the present application;

[0037] Figure 11 is a top view of the hooking piece shown in FIG. 1; Figure 10 is a schematic view of the hooking piece in the mechanical hand after rotation.

[0038] Explanation of reference signs:

[0039] 1, mechanical hand body; 2, turnover box; 3, hooking piece; 4, pressing piece; 5, lifting piece; 6, horizontal sliding block; 7, sliding rail; 8, rotating block; 301, extension section; 302, hooking section; 9, protruding column. DETAILED DESCRIPTION

[0040] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0042] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication between the two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.​

[0043] In addition, the technical features involved in the different embodiments of the utility model described below can be combined with each other as long as they do not conflict with each other.

[0044] As Figure 1 shown, a specific embodiment of the mechanical hand for packaging bag turnover box 2 provided by the embodiment comprises a mechanical hand body 1 and a hooking piece 3, a pressing piece 4 and a lifting piece 5 connected to the free end of the mechanical hand body 1. In use, the hooking piece 3, the pressing piece 4 and the lifting piece 5 are used to lift or unload the turnover box 2, and the mechanical hand body 1 is used to transfer the turnover box 2.

[0045] As Figure 2 , Figure 3 shown, in the mechanical hand for packaging bag turnover box 2 provided by the embodiment, the hooking piece 3 is provided in plurality and arranged in quadrangle on the free end of the mechanical hand body 1. Specifically, the hooking piece 3 is rotatably installed on the free end of the mechanical hand body 1, the rotation plane of the hooking piece 3 is parallel to the end face of the free end of the mechanical hand body 1, the mechanical hand body 1 is provided with a rotation driving device connected with the hooking piece 3 for driving the hooking piece 3 to rotate, and the rotation driving device can specifically adopt a motor. In use, the hooking piece 3 is driven by the rotation driving device to rotate on the end face of the free end of the mechanical hand body 1. In addition, in some alternative embodiments, the rotation driving device can also adopt other driving structures, for example, a linear driving device such as a pneumatic cylinder or a hydraulic cylinder can be used for eccentric pivot connection with the rotating block 8.

[0046] As Figure 4 , Figure 5 , Figure 6 shown, in the embodiment, the hooking piece 3 has an extension section 301 and a hooking section 302, one end of the extension section 301 is connected to the mechanical hand body 1, the other end extends downward in the vertical direction, and the hooking section 302 is connected to the free end of the extension section 301 at an angle; the included angle α between the inner sides of the extension section 301 and the hooking section 302 is a right angle, the included angle β between the outer sides of the extension section 301 and the hooking section 302 is an acute angle, and the two side walls of the hooking section 302 extend downward at an angle to form a pointed end at the lower end of the hooking section 302; in use, the periphery of the turnover box 2 is hooked by the hooking section 302. Specifically, first, the hooking piece 3 is rotated to be parallel to the gap between the adjacent two turnover boxes 2, then the mechanical hand is moved downward to insert into the gap, and then the hooking piece 3 is rotated on the end face of the free end of the mechanical hand body 1 to hook the periphery of the turnover box 2.

[0047] AsFigure 2 , Figure 3 As shown, in this embodiment, the pressing member 4 is disposed on the robot body 1 and located in the middle area of ​​the plurality of hooks 3; the lifting member 5 is disposed on the robot body 1, and the driving end of the lifting member 5 is connected to the pressing member 4. The lifting member 5 is used to drive the pressing member 4 to reciprocate along the extension direction of the extension section 301 of the hook 3. In use, after the periphery of the turnover box 2 is hooked by the plurality of hooks 3, the lifting member 5 drives the pressing member 4 to press the turnover box 2 downward, thereby increasing the connection between the turnover box 2 and the hooks 3 and ensuring the stable hooking of the turnover box 2. Furthermore, the lower surface of the pressing member 4 is a perforated plane. With this setting, after pressing the turnover box 2 downward, the problem of sticking to the turnover box 2 can be avoided, thereby better separating it from the upper surface of the turnover box 2. Of course, the above description is not limiting. In some alternative embodiments, the through hole on the lower surface of the pressing member 4 can be omitted.

[0048] like Figure 10 As shown, in some alternative embodiments, the lower surface of the pressing member 4 has a plurality of protrusions 9, the bottom ends of which are located on the same plane. By providing a plurality of protrusions 9, the problem of the member adhering to the turnover box 2 can be avoided when pressing it downwards. Furthermore, the protrusions 9 are structures capable of extending and retracting along the axial direction, and an elastic element is provided inside each protrusion 9, which has an elastic force that drives the protrusion 9 to extend axially. This design allows the pressing member 4 to better adapt to the top of the turnover box 2 with various shapes and surface conditions. Specifically, when the pressing member 4 contacts the turnover box 2, the protrusions 9 can automatically adjust their length according to the unevenness of the top of the turnover box 2, such as undulations or bumps.

[0049] It should be noted that in this embodiment, the lifting component 5 is a lifting cylinder. Alternatively, in some alternative embodiments, the lifting component 5 may be other lifting devices, such as a lifting hydraulic cylinder, an electric push rod, etc.

[0050] like Figure 2 , Figure 3As shown, the spacing between the plurality of hooking pieces 3 in this embodiment can be adjusted along a direction parallel to the extension direction of the hooking section 302. Specifically, the mechanical arm body 1 has two parallel slide rails 7, and the hooking pieces 3 are installed on horizontal sliding blocks 6 that are slidably installed on the slide rails 7 of the mechanical arm body 1. The mechanical arm body 1 is provided with an electrically controlled driving device connected to the horizontal sliding blocks 6. Specifically, the electrically controlled driving device can be an electric push rod that is installed on the mechanical arm body 1, with its driving end connected to the horizontal sliding blocks 6. The electric push rod is driven to slide the horizontal sliding blocks 6 along the slide rails 7. The electrically controlled driving device is driven to electrically control the spacing between the two opposite hooking pieces 3, so as to adapt to various specifications of the turnover boxes 2. Of course, the above description is not restrictive, and in some alternative embodiments, the electrically controlled driving device can also be a cylinder, an oil cylinder, or the like. In addition, in some alternative embodiments, the slide rails 7 can be omitted or replaced by other similar structures, such as a sliding groove.

[0051] As shown in Figure 7 , Figure 8 and Figure 9 , the extension section 301 of the hooking piece 3 has a circular or elliptical cross-section, and the lower end of the extension section 301 has two symmetrical inclined surfaces that are smoothly connected to the inclined structures on both sides of the hooking section 302. Through this arrangement, when the extension section 301 of the hooking piece 3 rotates between the gaps of two adjacent turnover boxes 2, it can rotate more smoothly. Specifically, the circular or elliptical cross-section of the extension section 301 has a smoother contact with the inner wall of the gap of the turnover box 2 during rotation, and the friction force is more evenly distributed. This is because the circular and elliptical curves do not have sharp corners, and during rotation, there is no sudden increase in friction force due to the sudden change in local contact area. For example, when the hooking piece 3 rotates in the gap, the circular or elliptical cross-section allows the hooking piece 3 to maintain a relatively stable friction force during rotation, avoiding jamming.

[0052] As shown in Figure 9 , when the cross-section of the extension section 301 of the hooking piece 3 is elliptical, the major axis of the ellipse is parallel to the direction of the hooking section 302. Through this arrangement, the resistance when the extension section 301 of the hooking piece 3 is inserted between the gaps of two turnover boxes 2 can be reduced. Specifically, after the hooking section 302 of the hooking piece 3 is inserted into the gap between two turnover boxes 2, as the hooking piece 3 continues to extend, the transition from the hooking section 302 to the extension section 301 at the gap has a smaller cross-sectional change, resulting in less resistance.

[0053] Working principle:

[0054] As shown in Figure 10 , Figure 11 , the mechanical hand for the turnover box of the packaging bag 2 provided by the embodiment can firstly drive the rotating block 8 to rotate, thereby driving the hooking section 302 of the hooking piece 3 to rotate 90 degrees; then the mechanical hand body 1 is used to vertically insert the rotated hooking piece 3 into the periphery of the turnover box 2, then the rotating block 8 is reversely rotated, the hooking piece 3 is rotated to hook the periphery of the turnover box; then the lifting piece 5 drives the pressing piece 4 to move downward to press against the turnover box 2, thereby improving the connection stability between the hooking piece 3 and the turnover box 2; finally, the mechanical hand body 1 is used to transfer the turnover box 2.

[0055] Obviously, the above embodiment is only an example for clearly illustrating, but not a limitation to the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to enumerate all the embodiments. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A robot for packaging bag turnover boxes, characterized in that, The utility model relates to a mechanical arm, comprising: a mechanical arm body (1); a plurality of hooking pieces (3) arranged in a quadrangle on the free end of the mechanical arm body (1), the hooking pieces (3) being rotatably mounted on the free end of the mechanical arm body (1), the rotation plane of the hooking pieces (3) being parallel to the end face of the free end of the mechanical arm body (1), the mechanical arm body (1) being provided with a rotation driving device connected to the hooking pieces (3) for driving the hooking pieces (3) to rotate; the hooking pieces (3) having an extension section (301) and a hooking section (302), one end of the extension section (301) being connected to the mechanical arm body (1) and the other end extending downward in a vertical direction, the hooking section (302) being angularly connected to the free end of the extension section (301); the included angle (alpha) between the inner sides of the extension section (301) and the hooking section (302) being a right angle, the included angle (beta) between the outer sides of the extension section (301) and the hooking section (302) being an acute angle, and the two side walls of the hooking section (302) extending downward at an angle to form a pointed end at the lower end of the hooking section (302); a pressing piece (4) arranged on the mechanical arm body (1) and located in the middle region of the plurality of hooking pieces (3); a lifting piece (5) arranged on the mechanical arm body (1), the driving end of the lifting piece (5) being connected to the pressing piece (4), and the lifting piece (5) being used for driving the pressing piece (4) to reciprocally move along the extension direction of the extension section (301) of the hooking piece (3).

2. The mechanical hand for a bag transfer box according to claim 1, characterized by, The lower surface of the pressing piece (4) is a plane with holes.

3. The mechanical hand for a bag tote according to claim 1, wherein, The lower surface of the pressing piece (4) is provided with a plurality of convex columns (9), the bottom ends of the convex columns (9) being located on the same plane.

4. The mechanical hand for a bag tote according to claim 3, wherein The convex column (9) is a structure capable of extending and retracting in the axial direction, the convex column (9) being provided with an elastic member, and the elastic member having an elastic force for driving the convex column (9) to extend in the axial direction.

5. The mechanical hand for a bag tote according to claim 1, wherein, The lifting piece (5) is a lifting cylinder.

6. The mechanical hand for a bag transfer box according to any one of claims 1 to 5, characterized in that, The spacing between the plurality of hooking pieces (3) can be adjusted along a direction parallel to the extension direction of the hooking section (302).

7. The mechanical hand for a bag tote according to claim 6, wherein The hooking piece (3) is mounted on a horizontal sliding block (6) which is slidably mounted on the mechanical arm body (1).

8. The mechanical hand for a bag tote according to claim 7, wherein The mechanical arm body (1) is provided with an electrically controlled driving device connected to the horizontal sliding block (6).

9. The mechanical hand for a bag tote according to any one of claims 1-5, wherein, The cross section of the extension section (301) of the hooking piece (3) is circular or elliptical, the lower end of the extension section (301) being provided with two symmetrical inclined surfaces which are smoothly connected to the inclined structures on the two sides of the hooking section (302).

10. The mechanical hand for a bag tote according to claim 9, wherein, The major axis of the elliptical shape is parallel to the direction of the hooking section (302).

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