Full-automatic bag grabbing mechanical hand device

Abstract

The application provides a full-automatic bag grabbing manipulator device, and relates to the field of mechanical packaging equipment.The full-automatic bag grabbing manipulator device comprises a mechanical arm body, a connecting frame and a bag grabbing mechanism.The mechanical arm body comprises a hollow stand and a driving mechanism.The hollow stand is rotationally connected with a rotating shaft fixing seat at the top.The bottom of the hollow stand is provided with a connecting seat.The connecting frame comprises a hollow frame and a plurality of groups of bolt rods which are bolted with the connecting seat.The bag grabbing mechanism comprises two groups of bag grabbing modules which are located at the two sides of the bottom of the connecting frame.The full-automatic bag grabbing manipulator device can accurately control the use position of the sliding seat and the bag grabbing mechanism by the setting of the transverse adjusting mechanism, i.e.by the movement of the sliding seat along the stroke notch driven by the electric telescopic rod, so that the synchronous / independent distance adjustment of the two groups of bag grabbing modules can be realized, and different sizes of packaging bags can be adapted.The whole structure is simple, and is especially suitable for use in narrow or limited space conditions.

Description

Technical Field

[0001] This application relates to the field of mechanical packaging equipment technology, specifically to a fully automatic bag-gripping robot device. Background Technology

[0002] In the packaging industry, the gripping and sorting of empty bags (such as plastic woven bags and paper bags) is a key link in the production line. The use of bag gripping robot devices can greatly reduce manual labor and has high production efficiency, strong stability and high safety performance.

[0003] However, existing fully automatic bag-grabbing robotic arms often rely on manual disassembly and reassembly to adjust the spacing of the multiple grippers in the bag-grabbing mechanism. This makes it difficult to adapt to the gripping of empty bags of different sizes, resulting in poor adaptability during use and inconvenient subsequent maintenance of the bag-grabbing mechanism. Therefore, there is an urgent need for a fully automatic bag-grabbing robotic arm that combines rapid adaptive adjustment with modular tool-free maintenance. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this application provides a fully automatic bag-grabbing robot device, which solves the problems mentioned in the background section.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this application provides the following technical solution: A fully automatic bag-grabbing robot device, comprising a robot arm body, a connecting frame, and a bag-grabbing mechanism. The robot arm body includes a hollow column and a drive mechanism. A rotating shaft fixing seat is rotatably connected to the top of the hollow column, and a connecting seat is provided at the bottom of the hollow column. The connecting frame includes a hollow frame and multiple sets of bolt rods bolted to the connecting seat. The bag-grabbing mechanism includes two sets of bag-grabbing modules located on both sides of the bottom of the connecting frame. Two sets of lateral adjustment mechanisms for adjusting the distance between the two sets of bag-grabbing modules are symmetrically arranged on both sides inside the hollow frame. The lateral adjustment mechanism includes a stroke slot opened at the bottom of the hollow frame, an electric telescopic rod fixedly installed inside the hollow frame, and a sliding seat. The bag-grabbing module includes a rotating plate, a docking plate that engages with the sliding seat, and a pneumatic gripper for performing bag-grabbing operations. The pneumatic gripper is bolted to the outer surface of the rotating plate.

[0008] By adopting the above technical solution, the robotic arm body provides basic rotation and support, the connecting frame serves as an intermediate connector and integrates key adjustment functions, the bag gripping mechanism directly performs the gripping action, and the horizontal adjustment mechanism set inside the connecting frame can easily adjust the distance between the two bag gripping modules to adapt to the gripping needs of packaging bags of different sizes.

[0009] Preferably, the sliding seat is fixedly installed on the telescopic end of the electric telescopic rod, and a through slot is provided on one side of the bottom of the sliding seat for the connecting plate to pass through. Two sets of limiting springs are fixedly installed on the top of the sliding seat, and limiting blocks are fixedly installed on the outer ends of the two sets of limiting springs.

[0010] By adopting the above technical solution, the design of directly fixing the sliding seat to the telescopic end of the electric telescopic rod ensures the linearity and stability of the adjustment action. The through slot provides a precise guide channel for the installation and sliding of the docking plate. The combination design of the limiting spring and the limiting block makes the installation of the docking plate on the sliding seat convenient and quick (through locking) and provides effective axial limiting to prevent the bag grabbing module from accidentally falling out or shaking during adjustment or operation.

[0011] Preferably, the top of the docking plate has a limiting groove that engages with the limiting block, and the bottom of the docking plate has a semi-annular groove.

[0012] By adopting the above technical solution, the bag-grabbing module can be reliably engaged and fixed on the sliding seat through the precise cooperation between the limiting slot at the top of the docking plate and the upper limiting block of the sliding seat. The semi-circular groove design at the bottom provides the necessary arc-shaped movement space for the angle adjustment of the rotating plate, which is the key structural basis for realizing the adjustable angle of the bag-grabbing module.

[0013] Preferably, a rotating shaft and a bolt limiting shaft are fixedly installed on one side of the top of the rotating plate. The rotating plate is rotatably connected to the docking plate through the rotating shaft. The bolt limiting shaft passes through the semi-annular groove, and a locking nut is threadedly connected to one end of the bolt limiting shaft that extends out of the semi-annular groove.

[0014] By adopting the above technical solution, the rotating plate is hinged to the docking plate through the rotating shaft, which enables the bag gripping module (mainly the pneumatic gripper) to rotate around the horizontal axis. This is crucial for gripping different stacking heights and angles or for scenarios where the gripper posture needs to be adjusted to adapt to the bag opening. The bolt limiting shaft passes through the semi-annular groove and cooperates with the locking nut to form a simple and effective angle adjustment and locking mechanism.

[0015] Preferably, the hollow column has a slot at the top, a connecting shaft is fixedly installed inside the slot, and a connecting pivot is provided in the middle section of the connecting shaft.

[0016] Preferably, the driving mechanism includes a driving cylinder, the telescopic end of the driving cylinder is provided with a coupling that is fixedly connected to the connecting shaft, and the outer end of the driving cylinder is fixedly installed with a fixed tailstock.

[0017] By adopting the above technical solution, the drive cylinder is used as a power source, and its extension and retraction motion is directly transmitted to the connecting shaft through the coupling, thereby driving the hollow column to rotate along the fixed seat of the shaft.

[0018] (III) Beneficial Effects

[0019] This application provides a fully automatic bag-grabbing robot device. It has the following advantages:

[0020] 1. This fully automatic bag-grabbing robot device, through the setting of the lateral adjustment mechanism, that is, the sliding seat is driven by the electric telescopic rod to move along the stroke groove, can precisely control the use position of the sliding seat and the bag-grabbing mechanism, thereby realizing the synchronous / independent spacing adjustment of the two sets of bag-grabbing modules, thus adapting to packaging bags of different sizes, and the overall structure is simple, especially suitable for use in narrow or limited space conditions.

[0021] 2. This fully automatic bag-grabbing robot, through the modular design of the bag-grabbing mechanism and the snap-fit ​​design between the bag-grabbing module and the sliding seat (the bottom of the sliding seat has a through slot, and after the docking plate is inserted, the limit spring pushes the limit block to automatically lock with the slot), can effectively facilitate the staff to perform convenient tool-free maintenance and replacement operations on the bag-grabbing mechanism. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall external structure of this application;

[0024] Figure 2 This is a schematic diagram of the rear view of the external structure of this application;

[0025] Figure 3 This is a schematic diagram of the external structure of this application from a bottom view;

[0026] Figure 4 This is a half-section structural diagram of the connection between the connecting frame and the lateral adjustment mechanism in this application;

[0027] Figure 5 This is a schematic diagram of the external structure of the bag-grabbing mechanism in this application.

[0028] In the diagram: 1. Robotic arm body; 101. Hollow column; 102. Rotary shaft fixing seat; 103. Connecting seat; 110. Drive cylinder; 111. Coupling; 112. Fixed tailstock; 120. Connecting shaft; 121. Connecting rotating shaft; 2. Connecting frame; 201. Hollow frame; 202. Bolt rod; 3. Lateral adjustment mechanism; 301. Electric telescopic rod; 302. Stroke slot; 310. Sliding seat; 311. Through slot; 312. Limiting spring; 313. Limiting block; 4. Bag gripping mechanism; 401. Pneumatic gripper; 410. Docking plate; 411. Limiting slot; 412. Semi-annular groove; 420. Rotating plate; 421. Rotating shaft; 422. Bolt limiting shaft. Detailed Implementation

[0029] The present application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0030] Reference Figures 1 to 5 This application provides a fully automatic bag-grabbing robot device, including a robot arm body 1, a connecting frame 2, and a bag-grabbing mechanism 4. The robot arm body 1 includes a hollow column 101 and a drive mechanism. A rotating shaft fixing seat 102 is rotatably connected to the top of the hollow column 101, and a connecting seat 103 is provided at the bottom of the hollow column 101. The connecting frame 2 includes a hollow frame 201 and multiple sets of bolt rods 202 bolted to the connecting seat 103. The bag-grabbing mechanism 4 includes two sets of bag-grabbing modules located on both sides of the bottom of the connecting frame 2. Two sets of lateral adjustment mechanisms 3 are symmetrically arranged on both sides inside the hollow frame 201 for adjusting the distance between the two sets of bag-grabbing modules. The lateral adjustment mechanism 3 includes a stroke slot 302 opened at the bottom of the hollow frame 201, an electric telescopic rod 301 fixedly installed inside the hollow frame 201, and a sliding seat 310. The bag-grabbing module includes a rotating plate 420. The docking plate 410, which is engaged with the sliding seat 310, and the pneumatic gripper 401, which is used to perform bag gripping operations, are bolted to the outer surface of the rotating plate 420. The pneumatic gripper 401 can be an Aotu PET-1000 / 13 model. Through the lateral adjustment mechanism 3 (including electric telescopic rod 301, sliding seat 310 and stroke slot 302) set on both sides inside the hollow frame 201, the distance between the two sets of bag gripping modules (including docking plate 410, rotating plate 420 and pneumatic gripper 401) installed on it can be precisely and automatically adjusted according to the actual width of the packaging bag. This significantly improves the equipment's adaptability (versatility) and gripping efficiency for different sizes of packaging bags. The pneumatic gripper 401, as the execution end, is fixed to the rotating plate 420 by bolts, ensuring the speed, reliability and controllability of the gripping action.

[0031] Reference Figure 1 , Figure 4 and Figure 5In one aspect of this embodiment, the sliding seat 310 is fixedly installed on the telescopic end of the electric telescopic rod 301. The bottom side of the sliding seat 310 is provided with a through slot 311 through which the docking plate 410 passes. Two sets of limiting springs 312 are fixedly installed on the top of the sliding seat 310, and limiting blocks 313 are fixedly installed on the outer ends of the two sets of limiting springs 312.

[0032] The top of the docking plate 410 has a limiting groove 411 that engages with the limiting block 313, and the bottom of the docking plate 410 has a semi-annular groove 412. When this device is in use, by inserting the docking plate 410 of the bag-grabbing module into the through slot 311 of the sliding seat 310, the limiting block 313 automatically engages into the limiting groove 411 at the top of the docking plate 410 under the elastic force of the limiting spring 312. This allows for quick and stable installation of the bag-grabbing module on the sliding seat 310, effectively preventing axial loosening or detachment of the module during operation or adjustment, ensuring operational safety and connection reliability. The semi-annular groove 412 at the bottom of the docking plate 410 provides the necessary movement space for adjusting the angle of the rotating plate 420.

[0033] Reference Figures 3 to 5 In one aspect of this embodiment, a rotating shaft 421 and a bolt limiting shaft 422 are fixedly installed on one side of the top of the rotating plate 420. The rotating plate 420 is rotatably connected to the docking plate 410 through the rotating shaft 421. The bolt limiting shaft 422 passes through the semi-annular groove 412, and a locking nut is threaded to one end of the bolt limiting shaft 422 that extends out of the semi-annular groove 412. When the device is in use, by loosening the locking nut, the operator can manually or with the help of tools make the rotating plate 420 (together with the pneumatic gripper 401) rotate freely within the angle range defined by the semi-annular groove 412 to precisely adjust the clamping angle of the pneumatic gripper 401 (such as to adapt to the needs of bag opening tilt or different stacking heights). After adjusting to the optimal angle, tightening the locking nut will firmly press the bolt limiting shaft 422 into the corresponding position of the semi-annular groove 412, locking the rotating plate 420 and the pneumatic gripper 401 in the required posture, ensuring the stability and accuracy during gripping operations.

[0034] Reference Figure 1 , Figure 2 and Figure 4 In one aspect of this embodiment, a slot is provided at the top of the hollow column 101, and a connecting shaft 120 is fixedly installed inside the slot. A connecting shaft 121 is provided in the middle section of the connecting shaft 120.

[0035] The drive mechanism includes a drive cylinder 110. The telescopic end of the drive cylinder 110 is equipped with a coupling 111 fixedly connected to the connecting shaft 121. A fixed tailstock 112 is fixedly mounted on the outer end of the drive cylinder 110. The drive cylinder 110 can be a Sikali CMK2-00-40-80. When this device is in use, the telescopic movement of the drive cylinder 110 pushes or pulls the connecting shaft 121 via the coupling 111, thereby driving the hollow column 101 to move along the fixed shaft seat 102. The fixed tailstock 112 provides a solid mounting base for the drive cylinder 110, ensuring a smooth and stable drive process.

[0036] All electrical devices in this plan are powered by an external power source.

[0037] Working principle: When using this fully automatic bag-grabbing robot, first insert the docking plate 410 of the bag-grabbing module into the through slot 311 of the sliding seat 310 (during this process, the limiting block 313 automatically engages with the limiting slot 411 at the top of the docking plate 410 under the elastic force of the limiting spring 312, achieving quick and stable installation of the bag-grabbing module on the sliding seat 310), completing the combined installation of the bag-grabbing mechanisms 4 on both sides of the bottom of the connecting frame 2. The operating angle of the rotating plate 420 and the pneumatic gripper 401 can be adjusted by loosening and tightening the locking nut to complete the pre-use preparation of the device. During use, the device... The extension and retraction of the electric telescopic rod 301 in the lateral adjustment mechanism 3 can drive the sliding seat 310 to move laterally along the stroke slot 302, causing the bag gripping modules on both sides to slide towards or away from each other, thereby realizing the automatic adjustment of the spacing between the pneumatic grippers 401 to adapt to different bag widths. During this process, the extension and retraction of the drive cylinder 110 can directly drive the rotating shaft 121 through the coupling 111, causing the hollow column 101 and the connecting frame 2 to rotate as a whole along the rotating shaft fixed seat 102, so that the pneumatic gripper 401 is accurately positioned to the target bag opening. After the pneumatic gripper 401 performs bag gripping, the transfer is completed by the robotic arm body 1 or an external mechanism, and all components are reset after release.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0039] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fully automatic bag-grabbing robot device, comprising a robot arm body (1), a connecting frame (2), and a bag-grabbing mechanism (4), wherein the robot arm body (1) comprises a hollow column (101) and a drive mechanism, a rotating shaft fixing seat (102) is rotatably connected to the top of the hollow column (101), and a connecting seat (103) is provided at the bottom of the hollow column (101), and the connecting frame (2) comprises a hollow frame (201) and multiple sets of bolt rods (202) bolted to the connecting seat (103), characterized in that: The bag-grabbing mechanism (4) includes two sets of bag-grabbing modules located on both sides of the bottom of the connecting frame (2). The hollow frame (201) is symmetrically provided with two sets of lateral adjustment mechanisms (3) for adjusting the distance between the two sets of bag-grabbing modules. The lateral adjustment mechanism (3) includes a stroke slot (302) opened at the bottom of the hollow frame (201), an electric telescopic rod (301) fixedly installed inside the hollow frame (201), and a sliding seat (310). The bag-grabbing module includes a rotating plate (420), a docking plate (410) that engages with the sliding seat (310), and a pneumatic gripper (401) for performing bag-grabbing operations. The pneumatic gripper (401) is bolted to the outer surface of the rotating plate (420).

2. The fully automatic bag-grabbing robot device according to claim 1, characterized in that: The sliding seat (310) is fixedly installed on the telescopic end of the electric telescopic rod (301). The bottom side of the sliding seat (310) is provided with a through slot (311) for the docking plate (410) to pass through. Two sets of limiting springs (312) are fixedly installed on the top of the sliding seat (310), and the outer ends of the two sets of limiting springs (312) are fixedly installed with limiting blocks (313).

3. The fully automatic bag-grabbing robot device according to claim 2, characterized in that: The top of the docking plate (410) is provided with a limiting groove (411) that engages with the limiting block (313), and the bottom of the docking plate (410) is provided with a semi-annular groove (412).

4. The fully automatic bag-grabbing robot device according to claim 3, characterized in that: A rotating shaft (421) and a bolt limiting shaft (422) are fixedly installed on one side of the top of the rotating plate (420). The rotating plate (420) is rotatably connected to the docking plate (410) through the rotating shaft (421). The bolt limiting shaft (422) penetrates the semi-annular groove (412), and a locking nut is threaded to one end of the bolt limiting shaft (422) that protrudes from the semi-annular groove (412).

5. The fully automatic bag-grabbing robot device according to claim 1, characterized in that: The hollow column (101) has a slot at the top, and a connecting shaft (120) is fixedly installed inside the slot. A connecting shaft (121) is provided in the middle section of the connecting shaft (120).

6. The fully automatic bag-grabbing robot device according to claim 5, characterized in that: The driving mechanism includes a driving cylinder (110), the extension end of the driving cylinder (110) is provided with a coupling (111) which is fixedly connected to the connecting shaft (121), and the outer end of the driving cylinder (110) is fixedly installed with a fixed tailstock (112).

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