Ton bag hanging mechanism

Abstract

The utility model relates to a ton bag hanging mechanism, and belongs to the field of packaging. According to the technical scheme, the ton bag transfer device comprises a ton bag transfer manipulator, a ton bag lifting rope hook and a bag storage mechanism, the ton bag lifting rope hook and the bag storage mechanism are arranged on the lower portion of the filling machine, the ton bag transfer manipulator comprises a mechanical arm and a ton bag lifting rope gripper mechanism arranged at the front end of the mechanical arm, and the ton bag lifting rope gripper mechanism comprises a gripper frame, a gripper lifting mechanism, a rotating hand rotating mechanism, a gripper air cylinder and a gripper. The mechanical arm is arranged on one side of the filling machine, a rotating motor is arranged at the load end of the mechanical arm, and the output end of the rotating motor is connected with the gripper frame. The gripper frame is of a cross structure, the gripper lifting mechanisms are arranged at the four corners of the cross structure, each gripper lifting mechanism comprises an air cylinder arranged on the gripper frame and guide cylinders arranged on the two sides of the air cylinder, and the gripper rotating mechanisms are installed at the front ends of piston rods of the air cylinders and the bottoms of guide rods in the guide cylinders. And a rotating output shaft of the rotating hand rotating mechanism is provided with a gripper. The bag taking, conveying and hanging integrated function is achieved, and the bag hanging efficiency is improved.

Description

Technical Field

[0001] This utility model relates to a ton bag hanging mechanism, belonging to the field of packaging. Background Technology

[0002] Currently, the filling site for ton bags is not suitable for manual bag hanging operations due to the large size of the bag structure and the high level of dust.

[0003] For ton bags with multiple lifting ropes, especially those with four lifting ropes, robotic arms are currently used to hang the bags before filling. However, multiple lifting ropes require multiple robotic arms. Even if one robotic arm is controlled to hold two lifting ropes, interference issues can arise from external transport. If a single set of robotic arms is used, the question of how to pick up and hang the bags arises. Summary of the Invention

[0004] To address the above problems, this invention provides a ton bag hanging mechanism to solve the problem of ton bag retrieval and hanging.

[0005] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0006] A ton bag hanging mechanism includes a ton bag transfer robot, a ton bag lifting rope hook at the bottom of a filling machine, and a bag storage mechanism.

[0007] Its characteristic is that the ton bag transfer robot includes a robotic arm and a ton bag lifting rope gripper mechanism at the front end of the robotic arm. The ton bag lifting rope gripper mechanism includes a gripper frame, a gripper lifting mechanism, a rotary motor, a gripper cylinder, and a gripper. The robotic arm is set on one side of the filling machine, and a rotary motor is set on the load end of the robotic arm. The output end of the rotary motor is connected to the gripper frame.

[0008] The gripper frame has a cross-shaped structure, and the gripper lifting mechanism is located at the four corners of the cross-shaped structure. The gripper is installed at the extended end of the gripper lifting mechanism. The gripper lifting mechanism includes a cylinder and guide cylinders on both sides of the cylinder, and a rotary motor is installed at the front end of the piston rod of the cylinder and the bottom of the guide rod in the guide cylinder. The gripper is installed on the rotation output shaft of the rotary motor.

[0009] The ton bag lifting rope hook consists of four sets, including a hook frame, a hook connecting rod, a hook tilting cylinder, and a hook. The hook frame is located at the bottom of the filling machine and is arranged in a rectangular shape at the four corners. The fixed end of the hook is hinged to the bottom of the hook frame, the middle of the hook is hinged to one end of the hook connecting rod, and the other end of the hook connecting rod is hinged to the front end of the telescopic rod of the hook tilting cylinder. The cylinder body of the hook tilting cylinder is hinged inside the hook frame.

[0010] The range of motion of the ton bag lifting rope gripper mechanism, driven by the robotic arm, is above the bag storage mechanism and below the filling machine.

[0011] The ton bag hanging mechanism further includes a hook moving mechanism. The top of the hook frame is provided with hook moving wheels, and the side is provided with a moving connecting plate. The hook moving mechanism includes a pair of Y-axis rails and a pair of X-axis rails. X-axis moving wheel sets are provided at both ends of the X-axis rails on the two Y-axis rails. The hook moving wheels are respectively provided to contact the X-axis rails at the upper and lower parts of the X-axis rails. A hook X-axis drive is provided between the ton bag lifting rope hook and the ton bag lifting rope hook. A hook Y-axis drive is provided between the Y-axis rails and the X-axis moving wheel sets at the ends of the X-axis rails.

[0012] According to the ton bag hanging mechanism, synchronous wheels are set at both ends of the two X-axis tracks of the moving connecting plate. One set of synchronous wheels is connected to a servo motor, and a synchronous belt is set on the two synchronous wheels. One end of the synchronous belt is connected to the moving connecting plate.

[0013] According to the ton bag hanging mechanism, two parallel Y-axis tracks are provided with end frames at their ends, and X-axis drive cylinders are provided on the end frames. The pistons of the cylinders are connected to the adjacent X-axis tracks.

[0014] According to the ton bag hanging mechanism, the ton bag lifting rope hook is also equipped with a limiting link and a lower extension plate. The lower extension plate is fixed to the lower part of the hook frame. The bottom of the lower extension plate is hinged to one end of the limiting link, and the other end of the limiting link is hinged to the front end of the telescopic rod of the hook tilting cylinder. The hook link and the limiting link are on the same plane.

[0015] According to the ton bag hanging mechanism, the hook of the ton bag lifting rope hook faces the filling port in the middle of the filling machine.

[0016] According to the ton bag hanging mechanism, a filling hook lifting mechanism is also provided, including a lifting frame and a lifting drive mechanism. The Y-axis rail is installed on the lower part of the lifting frame, and the lifting drive mechanism is installed between the filling machine and the lifting frame.

[0017] According to the ton bag hanging mechanism, the lifting drive mechanism is one of a chain mechanism, a gear and rack mechanism, or an electric actuator mechanism.

[0018] The advantage of this utility model is that it can realize the functions of bag picking, bag delivery and bag hanging in one unit, thus improving the bag hanging efficiency.

[0019] This device, when paired with a camera recognition system, can automate the loading of ton bags. Attached Figure Description

[0020] Figure 1 This is a side structural view of the present invention.

[0021] Figure 2 This is a top view of the hanging bag position of this utility model.

[0022] Figure 3This is a side view of the storage bag and bag retrieval structure of this utility model.

[0023] Figure 4 This is a structural diagram of the ton bag lifting rope hook of this utility model.

[0024] Figure 5 This is a structural diagram of the robotic arm of this utility model.

[0025] Figure 6 This utility model relates to a ton bag lifting rope gripper mechanism.

[0026] Figure label:

[0027] 1. Ton bag transfer robot, 11. Robotic arm, 12. Grip frame, 13. Grip lifting mechanism, 14. Rotary hand motor, 15. Grip cylinder, 16. Grip, 17. Guide cylinder, 18. Guide rod, 2. Bag storage mechanism, 3. Ton bag lifting rope hook, 31. Hook frame, 32. Hook connecting rod, 33. Hook tilting cylinder, 34. Hook, 35. Hook moving wheel, 36. Y-axis track, 37. X-axis track, 38. Limiting link, 39. Lower extension plate, 4. Hook X-axis drive, 5. Hook drive, 6. Lifting frame, 7. Lifting drive mechanism, 8. Filling machine, 9. Ton bag. Detailed Implementation

[0028] This utility model is used for the bag loading operation of ton bags.

[0029] The present invention relates to a ton bag hanging mechanism, which includes a ton bag transfer robot 1, a ton bag lifting rope hook 3 at the bottom of the filling machine, and a bag storage mechanism 2.

[0030] The storage bag mechanism of this device is used for storing ton bags, with the ton bags facing upwards and four sets of lifting and folding mechanisms arranged towards the middle position.

[0031] The ton bag transfer robot 1 of this device is used to grab the ton bag lifting rope and then move it to the ton bag lifting rope hook at the bottom of the filling machine;

[0032] The ton bag lifting rope hook at the bottom of the filling machine of this device descends until it reaches the ton bag transfer robot 1. The hook catches the four sets of lifting of the ton bag. Then the ton bag transfer robot 1 releases the lifting and withdraws from the bottom of the filling machine. The ton bag lifting rope hook moves upward to put the filling port of the ton bag into the filling equipment, or the filling equipment descends to fill the ton bag.

[0033] The range of motion of the ton bag lifting rope gripper 16, driven by the robotic arm 11, is above the bag storage mechanism 2 and below the filling machine.

[0034] Specifically, the ton bag storage mechanism of this device is a storage bag tray, with the four corners of the ton bag laid flat, the lifting ropes at the four corners laid flat towards the center, and the holes of the lifting ropes arranged in a ring.

[0035] The ton bag transfer robot 1 in this device includes a robot arm 11 and a ton bag lifting rope gripper mechanism at the front end of the robot arm 11. The ton bag lifting rope gripper mechanism includes a gripper frame 12, a gripper lifting mechanism 13, a rotary motor 14, a gripper 16, a cylinder 15, and a gripper 16. The robot arm 11 is set on one side of the filling machine, and a rotary motor is set on the load end of the robot arm. The output end of the rotary motor is connected to the gripper frame 12.

[0036] The front end of the gripper frame 12 of this device is provided with four sets of grippers arranged in a rectangle. The specific gripper lifting mechanism 13 is set at the four corners of the rectangle. The gripper 16 is installed at the extended end of the gripper lifting mechanism 13. The gripper lifting mechanism 13 includes a cylinder and guide cylinders 17 on both sides of the cylinder. A rotary motor 14 is installed at the front end of the piston rod of the cylinder and the bottom of the guide rod 18 in the guide cylinder. The gripper 16 is set on the rotation output shaft of the rotary motor 14.

[0037] The ton bag lifting rope hooks 3 of this device are also in four sets, including hook frame 31, hook connecting rod 32, hook tilting cylinder 33 and hook. The hook frame 31 is set at the bottom of the filling machine and arranged in a rectangular shape at the four corners. The fixed end of the hook is hinged to the bottom of the hook frame 31. The middle of the hook is hinged to one end of the hook connecting rod 32. The other end of the hook connecting rod 32 is hinged to the front end of the telescopic rod of the hook tilting cylinder 33. The cylinder body of the hook tilting cylinder 33 is hinged and installed inside the hook frame 31.

[0038] Furthermore, this device is also equipped with a hook moving mechanism. The top of the hook frame 31 is equipped with a hook moving wheel 35, and the side is equipped with a moving connecting plate. The hook moving mechanism includes a pair of Y-axis rails 36 and a pair of X-axis rails 37. X-axis moving wheel sets are provided at both ends of the X-axis rails 37 on the two Y-axis rails 36. The hook moving wheel 35 is respectively provided to contact the X-axis rails 37 at the upper and lower parts of the X-axis rails 37. A hook X-axis drive 4 is provided between the ton bag lifting rope hook 3 and the ton bag lifting rope hook 3. A hook Y-axis drive 5 is provided at the X-axis moving wheel sets at the ends of the Y-axis rails 36 and X-axis rails 37.

[0039] Synchronous pulleys are installed at both ends of the two X-axis tracks 37 of the movable connecting plate. One set of synchronous pulleys is connected to a servo motor, and a synchronous belt is installed on the two synchronous pulleys. One end of the synchronous belt is connected to the movable connecting plate.

[0040] Two parallel Y-axis rails 36 are provided with end frames at their ends, and X-axis drive cylinders are provided on the end frames. The pistons of the cylinders are connected to the adjacent X-axis rails 37.

[0041] The hook moving mechanism enables four sets of hooks to move closer and further away, so as to transfer the ton bag on the ton bag transfer robot 1 to the hook.

[0042] In this device, the ton bag lifting rope hook 3 is also equipped with a limiting link 38 and a lower extension plate 39. The lower extension plate 39 is fixed to the lower part of the hook frame 31. The bottom of the lower extension plate 39 is hinged to one end of the limiting link 38, and the other end of the limiting link 38 is hinged to the front end of the telescopic rod of the hook tilting cylinder 33. The hook link 32 and the limiting link 38 are on the same plane. The hook of the ton bag lifting rope hook 3 faces the filling port in the middle of the filling machine.

[0043] This device is also equipped with a filling hook lifting mechanism, including a lifting frame 6 and a lifting drive mechanism 7. The Y-axis rail 36 is installed on the lower part of the lifting frame 6, and the lifting drive mechanism 7 is installed between the filling machine and the lifting frame 6.

[0044] The specific lifting drive mechanism 7 is one of a chain mechanism, a gear and rack mechanism, or an electric actuator mechanism.

[0045] It can integrate bag picking, bag delivery and bag hanging functions, improving bag hanging efficiency; this device, when matched with camera recognition equipment, can realize automated bag loading of ton bags.

Claims

1. A ton bag hanging mechanism, comprising a ton bag transfer manipulator (1), a ton bag lifting rope hook (3) under the filling machine and a bag storage mechanism (2), characterized in that The ton bag transfer manipulator (1) comprises a mechanical arm (11) and a ton bag lifting rope gripper (16) mechanism at the front end of the mechanical arm (11), the ton bag lifting rope gripper (16) mechanism comprises a gripper frame (12) and a gripper (16); the mechanical arm (11) is arranged on one side of the filling machine, a rotary motor is arranged at the load end of the manipulator, the output end of the rotary motor is connected with the gripper frame (12), and the gripper frame is provided with four groups of grippers; a gripper lifting mechanism (13) is arranged at the four corners of the gripper frame (12), and the extending end of the gripper lifting mechanism (13) is provided with the gripper. The ton bag lifting rope hook (3) is provided with four groups, comprising a hook frame (31), a hook connecting rod (32), a hook tilting cylinder (33) and a hook, the hook frame (31) is arranged at the lower part of the filling machine and arranged in a rectangular shape at four corners, the fixed end of the hook is hingedly connected to the bottom of the hook frame (31), the middle of the hook is hingedly connected to one end of the hook connecting rod (32), the other end of the hook connecting rod (32) is hingedly connected to the front end of the telescopic rod of the hook tilting cylinder (33), and the cylinder body of the hook tilting cylinder (33) is hingedly arranged in the hook frame (31). The movement range of the ton bag lifting rope gripper (16) mechanism under the driving of the mechanical arm (11) is above the bag storage mechanism (2) and the lower part of the filling machine.

2. The ton bag hanger mechanism according to claim 1, wherein It also comprises a hook moving mechanism, the top of the hook frame (31) is provided with a hook moving wheel (35), the side is provided with a moving connecting plate, the hook moving mechanism comprises a pair of Y-axis rails (36) and a pair of X-axis rails (37), the two ends of the X-axis rail (37) are provided with X-axis moving wheel groups on the two Y-axis rails (36), the hook moving wheel (35) is arranged to contact the X-axis rail (37) at the upper part and the lower part of the X-axis rail (37) respectively, the ton bag lifting rope hook (3) and the ton bag lifting rope hook (3) are provided with a hook X-axis drive (4), the Y-axis rail (36) and the X-axis moving wheel group at the end of the X-axis rail (37) are provided with a hook Y-axis drive (5).

3. The ton bag hanger mechanism according to claim 2, wherein The two ends of the two X-axis rails (37) of the moving connecting plate are provided with synchronous wheels, one of the synchronous wheels is connected with a servo motor, and a synchronous belt is arranged on the two synchronous wheels.

4. The ton bag hanger mechanism according to claim 2, wherein The two parallel Y-axis rails (36) are provided with end frames at the ends, the end frames are provided with X-axis drive cylinders, and the pistons of the cylinders are connected with adjacent X-axis rails (37).

5. The ton bag hanger mechanism according to claim 2, wherein The ton bag lifting rope hook (3) is also provided with a limiting connecting rod (38) and a lower extension plate (39), the lower extension plate (39) is fixed to the lower part of the hook frame (31), the bottom of the lower extension plate (39) is hingedly connected with one end of the limiting connecting rod (38), the other end of the limiting connecting rod (38) is hingedly connected with the front end of the telescopic rod of the hook tilting cylinder (33), and the hook connecting rod (32) and the limiting connecting rod (38) are in the same plane.

6. The ton bag hanger mechanism according to claim 1, wherein The hook of the ton bag lifting rope hook (3) faces the filling port position in the middle of the filling machine.

7. The ton bag hanger mechanism according to claim 4, wherein There is also a filling hook lifting mechanism, comprising a lifting frame (6) and a lifting drive mechanism (7), the lower part of the lifting frame (6) is provided with the Y-axis rail (36), and the filling machine is provided with the lifting drive mechanism (7) between the lifting frames (6).

8. The ton bag hanger mechanism according to claim 7, wherein The lifting drive mechanism (7) is one of a chain mechanism, a gear and rack mechanism or an electric push rod mechanism.

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