A bag-retrieving gripper

Abstract

This utility model discloses a bag-retrieving gripper, including a base and at least one clamping device, the clamping device being disposed on the base; the clamping device includes two clamping members and a clamping member opening and closing mechanism capable of driving the two clamping members to open and close, the clamping members having clamping portions, characterized in that: the clamping device further includes an adjustment mechanism capable of adjusting the distance between the clamping portions of the two clamping members in the clamped state, the adjustment mechanism being disposed on the base. This bag-retrieving gripper can adjust the distance between the clamping portions of the two clamping members in the clamped state as needed through the adjustment mechanism, thereby adjusting the clamping force and achieving stable clamping of liquid packaging bags.

Description

Technical Field

[0001] This utility model relates to clamping devices, and more particularly to a bag-removing gripper. Background Technology

[0002] In the production process of dialysate (such as peritoneal dialysis solution), after the dialysate is filled into liquid packaging bags, the empty drainage bag needs to be pre-connected to the drainage tube, infusion tubing, etc. Then, the end of the infusion tubing is connected to the corresponding fitting (such as a break-stop plug) on ​​the liquid packaging bag filled with dialysate. Finally, the liquid packaging bag and the empty drainage bag are placed together into an outer packaging bag, and the outer packaging bag is sealed. The fittings are usually made of plastic, such as PVC (polyvinyl chloride) or PP (polypropylene).

[0003] Before connecting, the liquid packaging bag needs to be gripped and then flipped from a vertical position (with the tube connector facing up) to a flat position and transferred to the predetermined position. For example, a cannulation machine published on September 5, 2023, with publication number CN116692091A, includes a liquid packaging bag picking and placing mechanism that can grip the liquid packaging bag during the flipping process. This mechanism simultaneously adsorbs the liquid packaging bag and grips the pipe connector, thus stably gripping the liquid packaging bag. The pipe connector gripping device uses a structure where an upper gripping device and a lower gripping device work together. The upper gripping device uses a finger cylinder, and the lower gripping device includes a lower gripping device base, a lower pipe connector claw opening and closing mechanism, and two lower pipe connector claws. The lower gripping device base is mounted on an adsorption positioning base plate, and the two lower pipe connector claws are arranged side by side. The middle part of the lower pipe connector claws is hinged to the lower gripping device base. The lower pipe connector claw opening and closing mechanism includes a first push rod and a first push rod position switching cylinder that can drive the first push rod to reciprocate. However, since the lower clamping device uses a cylinder as a power source, it is difficult to adjust the clamping force. Excessive clamping force can easily damage the pipe joint, while insufficient clamping force can easily cause the liquid packaging bag to fall directly during the flipping process. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a bag-removing gripper, which can adjust the gripping force as needed.

[0005] To solve the above technical problems, the following technical solution is adopted:

[0006] A bag-retrieving gripper includes a base and at least one clamping device, the clamping device being disposed on the base; the clamping device includes two clamping members and a clamping member opening and closing mechanism capable of driving the two clamping members to open and close, the clamping members having clamping portions, characterized in that: the clamping device further includes an adjustment mechanism capable of adjusting the distance between the clamping portions of the two clamping members in the clamped state, the adjustment mechanism being disposed on the base.

[0007] The aforementioned bag-retrieving gripper is an improvement upon the lower clamping device in the tube insertion machine disclosed in CN116692091A. In this invention, the upper and lower orientation refers to the direction of the bag-retrieving gripper when the liquid packaging bag is placed onto the packaging bag conveyor belt by the liquid packaging bag handling mechanism. During use, the clamping mechanism drives the clamping parts of the two clamping members to clamp or separate, clamping or releasing the pipe connector. This, combined with the liquid packaging bag adsorption device in the liquid packaging bag handling mechanism, achieves stable clamping of the liquid packaging bag. The clamping force can be adjusted by adjusting the distance between the clamping parts of the two clamping members in the clamped state using an adjustment mechanism.

[0008] In a preferred embodiment, the middle portions of the two clamping members are respectively hinged to the base. The clamping member opening and closing mechanism includes a position switching cylinder, a push block, and two connecting rods. The position switching cylinder is mounted on the base with its piston rod facing downwards. The push block is connected to the piston rod of the position switching cylinder. The upper ends of the two connecting rods are respectively hinged to the left and right ends of the push block, and the lower ends of the two connecting rods are respectively hinged to the upper ends of the two clamping members. The lower part of the clamping member constitutes the clamping part. When the piston rod of the position switching cylinder extends downwards, it drives the push block to move downwards accordingly. The push block drives the two clamping members to rotate around the hinge point in the middle portion through the two connecting rods, and the clamping parts of the two clamping members move closer to each other, thus clamping the pipe joint. When the piston rod of the position switching cylinder retracts, it drives the push block to move upwards accordingly. The push block drives the two clamping members to rotate in opposite directions around the hinge point in the middle portion through the two connecting rods, and the clamping parts of the two clamping members move away from each other, thus releasing the pipe joint. Typically, the clamping mechanism also includes a solenoid directional valve for controlling the inlet and outlet directions of the position switching cylinder.

[0009] In a further preferred embodiment, the adjustment mechanism includes a limiting component mounted on the base, and the position of the limiting component in the vertical direction is adjustable. The push block has a limiting extension, which corresponds to the position of the limiting component and is located above it. When the piston rod of the position switching cylinder extends downward and drives the push block downward, the limiting extension on the push block is stopped by the limiting component during descent, preventing the piston rod of the position switching cylinder from extending further downward. This limits the degree to which the lower ends of the two clamping members approach each other, thereby adjusting the clamping force. With this structure, the clamping force can be adjusted by changing the extension length of the piston rod of the position switching cylinder simply by adjusting the position of the limiting component in the vertical direction. When the piston rod of the position switching cylinder extends downward to its maximum distance (i.e., the piston rod of the position switching cylinder reaches its maximum stroke), if the limiting extension has not yet or has just contacted the limiting component, the distance between the clamping parts of the two clamping members is minimal, and the clamping device is at its maximum clamping force. If a reduction in clamping force is required, the position of the limiting component can be adjusted upwards. This causes the piston rod of the position switching cylinder to extend downwards, stopping before reaching its maximum stroke due to the limiting component blocking the limiting extension. This increases the distance between the clamping parts of the two clamping members, thus reducing the clamping force of the clamping device. The higher the position of the limiting component, the smaller the clamping force.

[0010] In a further preferred embodiment, the base is provided with a fixing block, and the fixing block has a through-hole threaded hole; the limiting component is an adjusting screw that matches the threaded hole, the adjusting screw is threadedly connected to the threaded hole, and the shank of the adjusting screw extends out of the upper end of the threaded hole; the limiting extension is located above the adjusting screw. During adjustment, simply turning the adjusting screw to move the shank up or down can adjust the clamping force. This method has a simple structure, allows for fine-tuning, and provides good adjustment results.

[0011] In a further preferred embodiment, the clamping member includes a connecting rod portion and a clamping portion. The upper end of the connecting rod portion is hinged to the connecting rod, and the lower end of the connecting rod portion is connected to the upper end of the clamping portion. An obtuse angle is formed between the connecting rod portion and the clamping portion. The connection portion between the connecting rod portion and the clamping portion is hinged to the base. Typically, the connecting rod portion and the clamping portion are integrally formed. The piston rod of the position switching cylinder drives the connecting rod portion to swing through the push block and the connecting rod, thereby causing the clamping member to rotate around its hinged position with the base, causing the clamping portion to swing accordingly, thus bringing the clamping portions of the two clamping members closer together or further apart.

[0012] In a further preferred embodiment, the push block includes a piston rod connecting part and a transverse connecting plate. The upper end of the piston rod connecting part is fixedly connected to the piston rod of the position switching cylinder, and the lower end of the piston rod connecting part is connected to the middle position of the transverse connecting plate. The transverse connecting plate is arranged in the left-right direction, and the upper ends of the two connecting rods are respectively hinged to the left and right ends of the transverse connecting plate. The piston rod connecting part and the transverse connecting plate can form an inverted T-shaped structure. When the piston rod of the position switching cylinder extends downward, it can drive the transverse connecting plate to descend through the piston rod connecting part. The two ends of the transverse connecting plate respectively drive the upper ends of the corresponding connecting rods to swing around the hinge point, and thus drive the connecting rod connecting part to swing, so that the clamping parts of the two clamping members can move closer to each other. When the piston rod of the position switching cylinder retracts, it can drive the transverse connecting plate to rise through the piston rod connecting part. The two ends of the transverse connecting plate respectively drive the upper ends of the corresponding connecting rods to swing in the opposite direction around the hinge point, and thus drive the connecting rod connecting part to swing in the opposite direction, so that the clamping parts of the two clamping members move away from each other. Typically, the base is provided with a guide groove or guide hole that matches the piston rod connection part, and the guide groove or guide hole extends in the vertical direction.

[0013] Typically, in the clamped state, there is a gap between the inner surfaces of the two clamping parts in the same clamping device. To avoid over-clamping the pipe fitting wall during clamping and causing damage, the width of the gap is usually not less than twice the thickness of the corresponding pipe fitting wall. The aforementioned inner surface refers to the side of the clamping part that contacts the pipe fitting in the clamped state.

[0014] In a further preferred embodiment, the connecting rod is constructed using chain links. Using chain links allows for quick assembly and disassembly.

[0015] In a preferred embodiment, the bag-retrieving gripper further includes a hose ejection device. This device comprises a push plate and a lifting drive mechanism that drives the push plate to move up and down. The lifting drive mechanism is mounted on the base, and the push plate corresponds to the position of the clamping member and is located in front of or behind it. After the liquid packaging bag has been flipped and moved to the corresponding station, the clamping device releases the hose connector, and the hose ejection device assists in ejecting the hose connector, preventing it from sticking to the clamping member during clamping. During ejection, the lifting drive mechanism drives the push plate downwards, causing it to eject the hose connector from above. Subsequently, the lifting drive mechanism drives the push plate upwards again. The lifting drive mechanism can be a cylinder, mounted on the base with the piston rod pointing downwards. Typically, the push plate has an L-shaped cross-section.

[0016] The beneficial effects of this utility model are as follows: this bag-removing gripper can adjust the distance between the clamping parts of the two clamping members in the clamping state as needed through the adjustment mechanism, thereby adjusting the clamping force and achieving stable clamping of liquid packaging bags. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the bag-retrieving gripper in the clamping state in an embodiment of this utility model;

[0018] Figure 2 This is a side view of the bag-retrieving gripper in the clamping state in an embodiment of this utility model.

[0019] Figure 3 This is a schematic diagram of the bag-retrieving gripper in the released state in an embodiment of this utility model. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0021] like Figure 1-3 The bag-retrieving gripper shown includes a base 1 and two gripping devices 2, which are disposed on the base 1. The gripping devices 2 include two gripping members 201 with gripping portions 2011, a gripping member opening and closing mechanism 202 capable of driving the two gripping members 201 to open and close, and an adjustment mechanism 203 capable of adjusting the distance between the gripping portions 2011 of the two gripping members 201 in the clamped state.

[0022] The aforementioned bag-retrieving gripper is an improvement upon the lower clamping device 2 in the tube insertion machine disclosed in CN116692091A. In this invention, the upper and lower orientation refers to the direction of the bag-retrieving gripper when the liquid packaging bag is placed onto the packaging bag conveyor belt by the liquid packaging bag handling mechanism. During use, the clamping member opening and closing mechanism 202 drives the clamping portions 2011 of the two clamping members 201 to clamp or separate, clamping or releasing the pipe connector. This, combined with the liquid packaging bag adsorption device in the liquid packaging bag handling mechanism, achieves stable clamping of the liquid packaging bag. The clamping force can be adjusted by adjusting the distance between the clamping portions 2011 of the two clamping members 201 in the clamped state using the adjusting mechanism 203.

[0023] The middle portions of the two clamping members 201 are respectively hinged to the base 1; the clamping member opening and closing mechanism 202 includes a position switching cylinder 2021, a push block 2022 and two connecting rods 2023. The position switching cylinder 2021 is mounted on the base 1 with its piston rod facing downward. The push block 2022 is connected to the piston rod of the position switching cylinder 2021. The upper ends of the two connecting rods 2023 are respectively hinged to the left and right ends of the push block 2022, and the lower ends of the two connecting rods 2023 are respectively hinged to the upper ends of the two clamping members 201; the lower part of the clamping member 201 constitutes the clamping part 2011. When the piston rod of the position switching cylinder 2021 extends downward, it drives the push block 2022 to move downward as well. The push block 2022, through two connecting rods 2023, drives the two clamping members 201 to rotate around the hinge in the middle. The clamping parts 2011 of the two clamping members 201 move closer to each other, thus clamping the pipe joint. When the piston rod of the position switching cylinder 2021 retracts, it drives the push block 2022 to move upward as well. The push block 2022, through two connecting rods 2023, drives the two clamping members 201 to rotate in opposite directions around the hinge in the middle. The clamping parts 2011 of the two clamping members 201 move further apart, thus releasing the pipe joint. Typically, the clamping member opening and closing mechanism 202 also includes an electromagnetic directional valve for controlling the air inlet and outlet direction of the position switching cylinder 2021.

[0024] The adjustment mechanism 203 includes a limiting component mounted on the base 1, and its position in the vertical direction is adjustable. The push block 2022 has a limiting extension 20221, which corresponds to and is located above the limiting component. When the piston rod of the position switching cylinder 2021 extends downwards and moves the push block 2022 downwards, the limiting extension 20221 on the push block 2022 is stopped by the limiting component during descent, preventing the piston rod of the position switching cylinder 2021 from extending further downwards. This limits the degree to which the lower ends of the two clamping members 201 approach each other, thus adjusting the clamping force. With this structure, the clamping force can be adjusted by changing the length of the piston rod extension of the position switching cylinder 2021 simply by adjusting the position of the limiting component in the vertical direction. When the piston rod of the position switching cylinder 2021 extends downward to its maximum distance (i.e., the piston rod of the position switching cylinder 2021 reaches its maximum stroke), if the limiting extension 20221 has not yet or has just contacted the limiting component, the distance between the clamping portions 2011 of the two clamping members 201 is at its minimum, and the clamping device 2 is at its maximum clamping force. If it is necessary to reduce the clamping force, the position of the limiting component can be adjusted upward, so that when the piston rod of the position switching cylinder 2021 extends downward, it stops because the limiting extension 20221 is blocked by the limiting component before the piston rod reaches its maximum stroke, thereby increasing the distance between the clamping portions 2011 of the two clamping members 201, and the clamping force of the clamping device 2 decreases. The higher the position of the limiting component, the smaller the clamping force.

[0025] The base 1 is equipped with a fixing block 101, which has a through-hole threaded hole. The limiting component is an adjusting screw that matches the threaded hole. The adjusting screw is threadedly connected to the threaded hole, and the shank of the adjusting screw extends out of the upper end of the threaded hole. The limiting extension 20221 is located above the adjusting screw. During adjustment, simply turning the adjusting screw to move the shank up or down will adjust the clamping force. This method has a simple structure, allows for fine-tuning, and provides good adjustment results.

[0026] The clamping member 201 includes a clamping part 2011 and a connecting rod connecting part 2012. The upper end of the connecting rod connecting part 2012 is hinged to the connecting rod 2023, and the lower end of the connecting rod connecting part 2012 is connected to the upper end of the clamping part 2011. An obtuse angle is formed between the connecting rod connecting part 2012 and the clamping part 2011. The connection part between the connecting rod connecting part 2012 and the clamping part 2011 is hinged to the base 1. The connecting rod connecting part 2012 and the clamping part 2011 are integrally formed. The piston rod of the position switching cylinder 2021 drives the connecting rod connecting part 2012 to swing through the push block 2022 and the connecting rod 2023, thereby causing the clamping member 201 to rotate around its hinged position with the base 1, causing the clamping part 2011 to swing accordingly, so that the clamping parts 2011 of the two clamping members 201 move closer or further apart.

[0027] The push block 2022 includes a piston rod connecting part 20222 and a transverse connecting plate 20223. The upper end of the piston rod connecting part 20222 is fixedly connected to the piston rod of the position switching cylinder 2021, and the lower end of the piston rod connecting part 20222 is connected to the middle position of the transverse connecting plate 20223. The transverse connecting plate 20223 is arranged in the left-right direction, and the upper ends of the two connecting rods 2023 are respectively hinged to the left and right ends of the transverse connecting plate 20223. The piston rod connecting part 20222 and the transverse connecting plate 20223 can form an inverted T-shaped structure. When the piston rod of the position switching cylinder 2021 extends downward, it drives the transverse connecting plate 20223 to descend via the piston rod connecting part 20222. The two ends of the transverse connecting plate 20223 respectively drive the upper ends of the corresponding connecting rods 2023 to swing around the hinge point, and consequently drive the connecting rod connecting part 2012 to swing, causing the clamping parts 2011 of the two clamping members 201 to move closer together. When the piston rod of the position switching cylinder 2021 retracts, it drives the transverse connecting plate 20223 to rise via the piston rod connecting part 20222. The two ends of the transverse connecting plate 20223 respectively drive the upper ends of the corresponding connecting rods 2023 to swing in the opposite direction around the hinge point, and consequently drive the connecting rod connecting part 2012 to swing in the opposite direction, causing the clamping parts 2011 of the two clamping members 201 to move away from each other. The base 1 is provided with a guide groove that matches the piston rod connecting part 20222, and the guide groove extends in the vertical direction.

[0028] In the clamped state, there is a gap between the inner surfaces of the two clamping parts 2011 in the same clamping device 2. To avoid over-clamping the pipe joint wall during clamping and causing damage, the width of the gap is not less than twice the thickness of the corresponding pipe joint wall. The aforementioned inner surface refers to the side of the clamping part 2011 that contacts the pipe joint in the clamped state.

[0029] The 2023 connecting rod is constructed using chain links. The use of chain links allows for quick assembly and disassembly.

[0030] The bag-removing gripper also includes a hose ejection device 3, which comprises a push plate 301 and a lifting drive mechanism 302 capable of driving the push plate 301 up and down. The lifting drive mechanism 302 is mounted on the base 1. The push plate 301 corresponds to the position of the clamping member 201 and is located in front of or behind the clamping member 201. After the liquid packaging bag has been flipped and moved to the corresponding station, the clamping device 2 releases the hose connector, and the hose ejection device 3 assists in ejecting the hose connector, preventing the hose connector from sticking to the clamping member 201 during the clamping process. During ejection, the lifting drive mechanism 302 drives the push plate 301 down, causing the push plate 301 to eject the hose connector from above. Subsequently, the lifting drive mechanism 302 drives the push plate 301 up again. The lifting drive mechanism 302 uses a cylinder, which is mounted on the base 1 with the piston rod facing downwards. The push plate 301 has an L-shaped cross-section.

Claims

1. A bag-retrieving gripper, comprising a base and at least one clamping device, the clamping device being disposed on the base; the clamping device comprising two clamping members and a clamping member opening and closing mechanism capable of driving the two clamping members to open and close, the clamping members having clamping portions, characterized in that: The clamping device also includes an adjustment mechanism that can adjust the distance between the clamping portions of the two clamping members in the clamped state, and the adjustment mechanism is disposed on the base.

2. The bag-retrieving gripper as described in claim 1, characterized in that: The middle portions of the two clamping members are respectively hinged to the base; the clamping member opening and closing mechanism includes a position switching cylinder, a push block and two connecting rods. The position switching cylinder is mounted on the base with its piston rod facing downward. The push block is connected to the piston rod of the position switching cylinder. The upper ends of the two connecting rods are respectively hinged to the left and right ends of the push block, and the lower ends of the two connecting rods are respectively hinged to the upper ends of the two clamping members; the lower part of the clamping member constitutes the clamping part.

3. The bag-retrieving gripper as described in claim 2, characterized in that: The adjustment mechanism includes a limiting component, which is mounted on the base and its position in the vertical direction is adjustable; the push block is provided with a limiting extension, which corresponds to the position of the limiting component and is located above the limiting component.

4. The bag-retrieving gripper as described in claim 3, characterized in that: The base is provided with a fixing block, and the fixing block has a through screw hole; the limiting component is an adjusting screw that matches the screw hole, the adjusting screw is threadedly connected to the screw hole, and the shank of the adjusting screw extends out of the upper end of the screw hole; the limiting extension is located above the adjusting screw.

5. A bag-retrieving gripper as described in claim 2, characterized in that: The clamping member includes a connecting rod connection part and a clamping part. The upper end of the connecting rod connection part is hinged to the connecting rod, and the lower end of the connecting rod connection part is connected to the upper end of the clamping part. An obtuse angle is formed between the connecting rod connection part and the clamping part. The connection part between the connecting rod connection part and the clamping part is hinged to the base.

6. A bag-retrieving gripper as described in claim 5, characterized in that: The push block includes a piston rod connecting part and a transverse connecting plate. The upper end of the piston rod connecting part is fixedly connected to the piston rod of the position switching cylinder, and the lower end of the piston rod connecting part is connected to the middle position of the transverse connecting plate. The transverse connecting plate is arranged in the left-right direction, and the upper ends of the two connecting rods are respectively hinged to the left and right ends of the transverse connecting plate.

7. A bag-retrieving gripper as described in claim 2, characterized in that: The connecting rod is composed of chain links.

8. A bag-retrieving gripper as described in claim 1, characterized in that: The bag-removing gripper also includes a hose ejection device, which includes a push plate and a lifting drive mechanism that can drive the push plate to rise and fall. The lifting drive mechanism is mounted on the base, and the push plate is positioned corresponding to the gripper and is located in front of or behind the gripper.

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