A robot unpacking and grasping mechanism

Abstract

The application relates to a robot unpacking and bag grabbing mechanism applied to the field of unpacking, comprising a mounting frame arranged at the output end of a mechanical hand, oppositely arranged mounting rods are rotationally connected to the mounting frame, pin parts are respectively arranged on the two mounting rods, and a driving device for driving the two pin parts to be turned away from or towards each other to grab a bag is arranged on the mounting frame. The application has the technical effect that: the pin parts are turned away from each other to grab a bag, an operation space is left for a cutter to cut, the risk of interference between the pin parts and the cutter is reduced, the cutting path is optimized, the cutter can cut a bag according to an optimal path without frequently avoiding the pin parts, the cutting area of the cutter on the bag is increased, the material discharging and emptying efficiency is improved, and the production efficiency and reliability are improved.

Description

Technical Field

[0001] This application relates to the field of unpacking technology, and in particular to a robotic unpacking and grabbing mechanism. Background Technology

[0002] A robotic arm is an industrial robot that mimics the movements of a human arm and is equipped with a specialized end effector to automatically perform tasks such as grasping, handling, unpacking, and unloading goods.

[0003] The output end of the robotic arm is equipped with a robotic unpacking and gripping mechanism to grasp bags. In related technologies, the robotic unpacking and gripping mechanism has pins that are positioned opposite each other. The robotic arm moves to insert the pins into the bag, and the drive device is activated to drive the two pins to move relative to each other, causing the pins to flip inward and close to grasp the bag. Then the robotic arm moves the bag to the unloading process. The cutter in the unloading process cuts from the middle of the bag to the four corners of the bag, thereby unloading the material inside the bag. Finally, the robotic arm moves to the unloading process to remove the unloaded bag from the robotic unpacking and gripping mechanism.

[0004] During the use of the above-mentioned robot unpacking and gripping mechanism, since the two insert parts flip inward to close and grip the bags, the cutter in the material feeding process is prone to interfering with the closed insert parts when cutting the stack of bags. Both the cutter and the insert parts are at risk of damage, resulting in production interruption and reduced efficiency. If the cutter path avoids the insert parts, a large space needs to be reserved when unpacking, resulting in incomplete bag breaking and poor material feeding. Summary of the Invention

[0005] To address the issue that the cutting blade in the unloading process easily interferes with the closed inner pins when cutting stacked bags due to the two pins flipping inwards to grip the bags, posing a risk of damage to both the cutting blade and the pins, leading to production interruptions and reduced efficiency, and if the cutting blade path avoids the pins, a large space needs to be reserved during unpacking, resulting in incomplete bag breaking and poor material unloading, this application provides a robotic unpacking and gripping mechanism with the following technical solution: It includes a mounting frame set at the output end of the robotic arm, with opposing mounting rods rotatably connected to the mounting frame. Each of the two mounting rods has a pin. The mounting frame is equipped with a driving device that drives the two mounting rods to rotate so that the two pins flip in opposite directions to grip the bags.

[0006] In one specific implementation, the driving device includes two bag-grabbing cylinders disposed opposite to each other on the mounting frame. The output ends of the two bag-grabbing cylinders are rotatably connected to connecting rods, and the ends of the two connecting rods opposite to the bag-grabbing cylinders are respectively disposed on two mounting rods.

[0007] In one specific implementation, the bag-grabbing cylinder is equipped with a solenoid valve.

[0008] In one specific implementation, the pin section includes a plurality of pin blocks respectively disposed on the mounting rod by a plurality of connecting components, and the plurality of pin blocks are evenly distributed along the mounting rod array.

[0009] In one specific implementation, several of the connecting components each include mounting holes formed on the mounting rod, the end of the pin block facing the mounting bracket passing through the mounting hole and the end of the pin block facing the mounting bracket passing through a threaded cylindrical pin, and a screw passing through the threaded cylindrical pin.

[0010] In one specific implementation, the ends of the pin blocks facing away from the mounting bracket are provided with several inclined surfaces.

[0011] In one specific implementation, the mounting frame is equipped with a lifting cylinder, and the output end of the lifting cylinder is equipped with a feeding frame, which is located between two mounting rods.

[0012] In one specific implementation, the unloading rack is provided with clearance holes corresponding to a plurality of pin blocks, and the plurality of pin blocks pass through the plurality of clearance holes respectively.

[0013] In one specific implementation, the mounting bracket is provided with a bearing, and the mounting rod is provided with a connecting shaft, which is fixedly disposed on the inner edge of the bearing.

[0014] In one specific implementation scheme, the mounting bracket is provided with several weight-reduction holes.

[0015] In summary, this application has the following beneficial technical effects: When bag gripping is required, the palletizing robot moves the mounting frame and inserts the pins into the bag. Then, the drive device is activated, causing the two mounting rods to rotate and flip the two pins in opposite directions, thus opening them outwards to grip the bag. This method of gripping the bag by opening the pins in opposite directions provides operating space for the cutter, reduces the risk of interference between the pins and the cutter, and optimizes the cutting path. The cutter can cut the bag along the optimal path without frequently avoiding the pins, increasing the cutting area of ​​the cutter, improving material feeding and emptying efficiency, and enhancing production efficiency and reliability. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0017] Figure 2 This is a schematic diagram illustrating the structure of the bag-gripping cylinder in the embodiments of this application.

[0018] Figure 3This is a schematic diagram illustrating the structure of the lifting cylinder in the embodiments of this application.

[0019] Reference numerals: 1. Mounting bracket; 2. Mounting rod; 3. Bag gripping cylinder; 4. Connecting rod; 5. Needle insertion part; 6. Needle insertion block; 7. Threaded cylindrical pin; 8. Inclined surface; 9. Unloading rack; 10. Lifting cylinder; 11. Clearance hole; 12. Coupling shaft; 13. Bearing; 14. Weight reduction hole. Detailed Implementation

[0020] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0021] This application discloses a robot unpacking and grabbing mechanism.

[0022] Reference Figure 1 , Figure 2 and Figure 3 The robot unpacking and grabbing mechanism includes a mounting frame 1 set at the output end of the robot arm. Mounting rods 2 are rotatably connected to the mounting frame 1 and are respectively provided with pin parts 5 on the two mounting rods 2. The mounting frame 1 is provided with a driving device that drives the two mounting rods 2 to move so that the two pin parts 5 flip back and forth or face each other to grab the bag.

[0023] Therefore, when bag gripping is required, the palletizing robot moves the mounting frame 1 and inserts the pins 5 into the bag. Then, the drive unit is activated, moving the two mounting rods 2 to rotate the two pins 5 in opposite directions, causing them to open outwards to grip the bag. This method of gripping the bag by having the pins 5 open in opposite directions provides more operating space for the cutter. Whether cutting from the center of the bag towards the four corners or cutting along the length in one go, the risk of interference between the pins 5 and the cutter is reduced, improving production efficiency and reliability. Simultaneously, the cutting path is optimized, allowing the cutter to cut the bag along the optimal path without frequently avoiding the pins 5, increasing the cutting area of ​​the cutter and reducing the possibility of material residue inside the bag, thus improving material unloading and emptying efficiency.

[0024] Reference Figure 1 , Figure 2 and Figure 3 Two mounting rods 2 are fixedly connected to their ends with connecting shafts 12. Bearings 13, matching the dimensions of the connecting shafts 12, are mounted on the mounting frame 1. The connecting shafts 12 are fixedly positioned on the inner edge of the bearings 13. The bearings 13 provide precise positioning and guidance for the connecting shafts 12, reducing friction between the connecting shafts 12 and the mounting frame 1, thus reducing wear. Several weight-reducing holes 14 are provided on the mounting frame 1. While ensuring the structural strength and rigidity of the mounting frame 1, the weight-reducing holes 14 reduce the overall weight of the mounting frame 1, reducing the end load of the palletizing robot and improving its motion performance.

[0025] Reference Figure 1 , Figure 2 and Figure 3 The pin insertion part 5 includes a plurality of pin blocks 6 respectively disposed on the mounting rod 2 via a plurality of connecting components. Each pin block 6 has a plurality of inclined surfaces 8 at its end facing away from the mounting frame 1. In this embodiment, a single pin block 6 is described with four evenly distributed inclined surfaces 8, and the inclined surfaces 8 are disposed on the outer edge of the pin block 6. The inclined surfaces 8 form a sharp wedge angle, facilitating the insertion of the pin insertion part 5 into the bag by a robotic arm. The pin blocks 6 are evenly distributed along the mounting rod 2. In this embodiment, a single mounting rod 2 is described with seven evenly distributed pin blocks 6.

[0026] Reference Figure 1 , Figure 2 and Figure 3 Several connecting components include mounting holes opened on the mounting rod 2, a threaded cylindrical pin 7 passing through the mounting hole at one end of the pin block 6 facing the mounting bracket 1, and a screw passing through the threaded cylindrical pin 7. The screw is installed on the threaded cylindrical pin 7. Rotating the screw causes its head end to press against the mounting rod 2, thereby pulling the pin block 6 in the opposite direction. This achieves a detachable connection of the pin block 6, which is more flexible and facilitates subsequent maintenance and replacement of the pin block 6, while also improving the stability of the pin block 6 installation.

[0027] Reference Figure 1 , Figure 2 and Figure 3 The driving device includes two bag-grabbing cylinders 3 that are relatively mounted on the mounting frame 1. In this embodiment, the two bag-grabbing cylinders 3 are inclined as a whole according to the actual site conditions. The output ends of the two bag-grabbing cylinders 3 are respectively rotatably connected to connecting rods 4. The ends of the two connecting rods 4 that are away from the bag-grabbing cylinders 3 are respectively mounted on two mounting rods 2. Solenoid valves are respectively installed on the two bag-grabbing cylinders 3.

[0028] Therefore, when bag gripping is required, the palletizing robot moves the mounting frame 1 and inserts the pin part 5 into the bag. Simultaneously, the two gripping cylinders 3 are activated, causing the connecting rods 4 at the output ends of the two gripping cylinders 3 to retract. The two connecting rods 4 respectively drive the two mounting rods 2 to flip in opposite directions, thereby causing the pin block 6 to flip and open to the outside of the bag to grip the bag. After gripping, the palletizing robot transfers the bag to the unloading process in the relevant technology. The cutter in the unloading process cuts from the middle of the bag to the four corners of the bag, thereby unloading the material inside the bag. The control system (e.g., PLC) sends an electrical signal to the solenoid valve on the gripping cylinder 3, controlling the solenoid valve to intermittently and rapidly open and close, thereby controlling the mounting rod 2 connected to the gripping cylinder 3 to vibrate slightly and rapidly, causing the bag to vibrate slightly and rapidly, improving the material separation efficiency from the bag.

[0029] Reference Figure 1 , Figure 2 and Figure 3 A lifting cylinder 10 is vertically mounted on the mounting frame 1. A feeding frame 9 is mounted on the output end of the lifting cylinder 10. The feeding frame 9 is located between two mounting rods 2. In this embodiment, two lifting cylinders 10 are used as an example for explanation. The feeding frame 9 is mounted on the output ends of the two lifting cylinders 10. The feeding frame 9 has clearance holes 11 corresponding to the pin blocks 6. Several pin blocks 6 pass through several clearance holes 11. The clearance holes 11 provide sufficient space for the pin blocks 6 in the vertical direction, reducing the possibility of interference between the pin blocks 6 and the feeding frame 9.

[0030] The implementation principle of this application embodiment is as follows: When it is necessary to grip the bag, the palletizing robot moves the mounting frame 1 and inserts the pin part 5 into the bag. Simultaneously, the two gripping cylinders 3 are activated, which drives the connecting rods 4 at the output ends of the two gripping cylinders 3 to retract. The two connecting rods 4 respectively drive the two mounting rods 2 to flip in opposite directions, thereby causing the pin block 6 to flip and open outward to both sides of the bag to grip the bag. After gripping the bag, the palletizing robot transfers the bag to the unloading process in the relevant technology. The cutter in the unloading process cuts from the middle of the bag to the four corners of the bag, thereby unloading the material inside the bag. The control system (e.g., PLC) supplies power to the gripping cylinders 3. The solenoid valve sends an electrical signal to control the solenoid valve to intermittently and rapidly open and close, thereby controlling the mounting rod 2 connected to the bag-grabbing cylinder 3 to vibrate slightly and rapidly, causing the bag to vibrate slightly and rapidly for unloading. After the material is unloaded, the palletizing robot moves the empty bag to the bag unloading process, and then starts the two bag-grabbing cylinders 3 again, causing the connecting rods 4 at the output end of the two bag-grabbing cylinders 3 to extend. The two connecting rods 4 respectively drive the two mounting rods 2 to flip relative to each other, thereby resetting the pin block 6. Then, the lifting cylinder 10 is started, causing the unloading frame 9 at the output end of the lifting cylinder 10 to extend, so that the empty bag is detached from the pin block 6 under the action of the unloading frame 9.

[0031] By using the back-to-back opening of the needle section 5 to grip the bag, a larger operating space is provided for the cutter. Whether cutting from the middle of the bag to the four corners or cutting along the length in one go, the risk of interference between the needle section 5 and the cutter is reduced, improving production efficiency and reliability. At the same time, the cutting path is optimized, and the cutter can cut the bag along the optimal path without frequently avoiding the needle section 5, increasing the cutting area of ​​the cutter on the bag, thereby reducing the possibility of material residue inside the bag and improving material unloading and emptying efficiency.

[0032] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A robotic package unpacking and gripping mechanism, characterized in that: It includes a mounting frame (1) set at the output end of the robot arm, on which mounting rods (2) are rotatably connected. Each of the two mounting rods (2) is provided with a pin part (5). The mounting frame (1) is provided with a driving device that drives the two mounting rods (2) to move so that the two pin parts (5) flip in opposite directions or towards each other to grip the bag.

2. The robot unpacking and grasping mechanism according to claim 1, characterized in that: The driving device includes two bag-grabbing cylinders (3) arranged opposite to each other on the mounting frame (1). The output ends of the two bag-grabbing cylinders (3) are rotatably connected to connecting rods (4). The ends of the two connecting rods (4) away from the bag-grabbing cylinders (3) are respectively arranged on two mounting rods (2).

3. The robot unpacking and grasping mechanism according to claim 2, characterized in that: The bag-grabbing cylinder (3) is equipped with a solenoid valve.

4. The robot unpacking and grasping mechanism according to claim 1, characterized in that: The pin section (5) includes a plurality of pin blocks (6) respectively disposed on the mounting rod (2) by a plurality of connecting components, and the plurality of pin blocks (6) are evenly distributed in an array along the mounting rod (2).

5. The robot unpacking and grasping mechanism according to claim 4, characterized in that: Several of the connecting components include mounting holes formed on the mounting rod (2), the end of the pin block (6) facing the mounting bracket (1) passes through the mounting hole and the end of the pin block (6) facing the mounting bracket (1) is provided with a threaded cylindrical pin (7), and a screw is provided on the threaded cylindrical pin (7).

6. The robot unpacking and grasping mechanism according to claim 4, characterized in that: Several of the pin blocks (6) have several inclined surfaces (8) at the end opposite to the mounting frame (1).

7. The robot unpacking and grasping mechanism according to claim 4, characterized in that: The mounting frame (1) is equipped with a lifting cylinder (10), and the output end of the lifting cylinder (10) is equipped with a feeding rack (9), which is located between two mounting rods (2).

8. The robot unpacking and grasping mechanism according to claim 7, characterized in that: The unloading rack (9) is provided with clearance holes (11) corresponding to a plurality of pin blocks (6), and the plurality of pin blocks (6) pass through the plurality of clearance holes (11).

9. The robot unpacking and grasping mechanism according to claim 1, characterized in that: The mounting bracket (1) is provided with a bearing (13), and the mounting rod (2) is provided with a connecting shaft (12), which is fixedly arranged on the inner edge of the bearing (13).

10. The robot unpacking and grasping mechanism according to claim 1, characterized in that: The mounting bracket (1) has several weight-reducing holes (14).

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