Grabbing and clearing mechanism for unpacking robot

Abstract

The utility model discloses a kind of grab bag material cleaning mechanisms for unpacking robot, belong to industrial robot technical field.The mechanism includes manipulator connecting plate, cylinder fixed plate, bag shaking cylinder, claw bag grabbing mechanism and bag withdrawal limiting plate, cylinder fixed plate is connected with manipulator connecting plate by movable connection structure, is shaken relatively by bag shaking cylinder drive;Bag withdrawal limiting plate is set below claw bag grabbing mechanism, and the four corners of bag withdrawal limiting plate are respectively fixed with downward extending nozzle, the lower end of each nozzle is equipped with the conical tip for piercing packaging bag, middle section is equipped with multiple spray holes, and is connected with compressed air pipeline controlled by pulse solenoid valve.The utility model is automatically pierced into bag after grabbing packaging bag, is blown from inside by pulse compressed air, can efficiently remove residual powder in bag inner wall and corner, significantly reduce material waste, improve working environment, improve the overall efficiency and cleanliness of automated unpacking process.

Description

Technical Field

[0001] This utility model relates to a package-grabbing and cleaning mechanism for an unpacking robot, belonging to the field of industrial robot technology. Background Technology

[0002] Currently, in industries such as feed and food, woven bags are frequently used to package powdered materials. Upon arrival at the unloading point, these bags need to be unloaded and the material poured into storage silos. Traditional manual labor is inefficient and generates a lot of raw material dust, which can affect the health of operators. Robots are increasingly being used to drive robotic arms to complete this task.

[0003] In existing technologies, the bag-grabbing and cleaning mechanisms used in unpacking robots are generally divided into suction cup type and hook-tooth type. Chinese patent application CN118723263A discloses "an automatic unpacking clamp and an automatic unpacking gripping method," which achieves the gripping function by inserting material from above and flipping the hook teeth. While this method can prevent material from falling off to some extent, its operation is relatively complex, and it is prone to puncturing the bottom of thin-bag packaging, leading to material spillage during transport.

[0004] Chinese utility model patent CN223339455U discloses a "claw for unpacking and discharging materials." It uses two rows of hooks to grip the top of the packaging bag, then a robot's robotic arm transfers the bag to a hopper, where a cutter cuts open the bottom to allow the material to flow out. However, its shortcomings include: some material tends to accumulate at the corners of the bag, especially powders like flour, which cannot be completely removed. Some flour may remain at the corners or adhere to the inner wall of the bag, making complete removal difficult. Furthermore, the claw lacks a dedicated powder-cleaning structure, leading to some powder being wasted or spilled on the ground, polluting the environment and hindering the collection of packaging bags. Utility Model Content

[0005] The purpose of this invention is to overcome the problems of serious material residue in packaging bags after robot unpacking, incomplete cleaning, and easy material waste and environmental pollution in the prior art. It provides a bag-grabbing and cleaning mechanism for unpacking robots, which can minimize material waste, prevent dust pollution, and improve the overall efficiency and cleanliness of the automated unpacking process.

[0006] To solve the above technical problems, this utility model provides a package-grabbing and cleaning mechanism for an unpacking robot, comprising: Robotic arm connection plate, used to connect to the robotic arm; The cylinder fixing plate is connected to the robot arm connecting plate through a movable connection structure, so that the cylinder fixing plate can move relative to the robot arm connecting plate; A shaking cylinder is mounted on the cylinder fixing plate, and its driving end acts on the robot arm connecting plate or the movable connecting structure to drive the cylinder fixing plate to shake relative to the robot arm connecting plate. The hook-claw bag-gripping mechanism is installed below the cylinder fixing plate and is used to grip the packaging bag; A bag-removal limiting plate is fixedly installed below the cylinder fixing plate and below the hook gripping mechanism, and has a slot for the hook of the hook gripping mechanism to extend out. The four corners of the bag retraction limiting plate are respectively fixed with downward-extending nozzles. Each nozzle is provided with a compressed air interface and is connected to a compressed air pipeline through the compressed air interface. The lower end of each nozzle is provided with a conical tip for piercing the packaging bag.

[0007] Furthermore, the outer periphery of the middle section of each nozzle, located above the conical tip, is provided with multiple circumferentially evenly distributed spray holes.

[0008] Furthermore, the inlet of the compressed air pipeline is connected to the outlet of the compressed air package via a pulse solenoid valve.

[0009] Furthermore, the bag ejection limiting plate is suspended below the cylinder fixing plate by a limiting bracket plate. The limiting bracket plate has multiple hanging holes along the height direction, and the height of the bag ejection limiting plate relative to the cylinder fixing plate can be adjusted by selecting different hanging holes.

[0010] Compared with existing technologies, this utility model achieves the following beneficial effects: 1. Thorough and efficient cleaning, reducing material waste: Multiple nozzles integrated into the bag-grabbing mechanism can automatically penetrate into the bag after grabbing it, and powerfully blow from the inside using pulsed compressed air. This internal blowing method can effectively remove residual materials from the inner wall and dead corners of the bag, significantly improving the cleaning rate and directly reducing waste caused by material residue.

[0011] 2. Improved working environment and cleaner production: The highly efficient internal cleaning process significantly reduces the amount of lightweight powders such as flour adhering to the surface of waste bags. During the disposal of waste bags to the collection hopper, dust is effectively prevented from scattering from the bags, thus significantly improving the environmental hygiene of the robot unpacking station and the surrounding area, meeting the requirements of cleaner production.

[0012] 3. Highly integrated processes, improving work cycle time: The three major functions of bag gripping, shaking unloading, and air blowing cleaning are integrated into one compact structure. There is no need to transfer the packaging bags to a separate cleaning station. The cleaning action can be completed synchronously or sequentially during the gripping and moving process, making the entire unpacking process smooth and efficient, and significantly improving the overall operating efficiency of the automated production line.

[0013] 4. Controllable and energy-saving material cleaning with strong adaptability: Airflow is controlled by a pulse solenoid valve, allowing adjustment of the blowing intensity, duration, and frequency according to material characteristics. The pulsed impact airflow provides superior material cleaning while saving more compressed air than continuous blowing. Combined with an adjustable-height bag ejection limit plate, it can accommodate packaging bags of different sizes and filling levels, ensuring reliable bag piercing and material blowing.

[0014] 5. Ingenious structural design and high reliability: The shaking function is achieved through the cooperation of the movable connection structure and the shaking cylinder, and the nozzles arranged at the four corners achieve thorough cleaning without dead angles. All functional modules work together efficiently. The overall mechanism is ingeniously designed with a high degree of integration, reducing reliance on complex external devices, ensuring stable operation and convenient maintenance. Attached Figure Description

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The drawings are provided for reference and illustration only and are not intended to limit the present invention.

[0016] Figure 1 This is a front view of the package-grabbing and cleaning mechanism for the unpacking robot of this utility model; Figure 2 for Figure 1 The left view; Figure 3 This is a structural diagram of the nozzle used for cleaning powder in this utility model; In the diagram: 1. Robot arm connecting plate; 1a. Connecting flange; 2. Connecting plate lug; 3. Vertical support plate; 4. Rotating shaft; 5. Cylinder fixing plate; 6. Shaking cylinder; 6a. Short pin; 7. Bag gripping frame plate; 8. Bag gripping cylinder lug; 9. Bag gripping cylinder; 10. Swing arm; 11. Front hook rotating rod; 11a. Front hook; 12. Rear hook rotating rod; 12a. Rear hook; 13. Limiting bracket plate; 13a. Suspension hole; 14. Bag withdrawal limiting plate; 15. Nozzle; 15a. Spray hole; 15b. Conical tip; 15c. Compressed air interface. Detailed Implementation

[0017] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the following description, in conjunction with specific illustrations, further elaborates on this utility model.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0019] like Figures 1 to 3As shown, the bag-grabbing and cleaning mechanism for the unpacking robot of this utility model includes a robotic arm connecting plate 1, a connecting plate lug 2, a vertical support plate 3, a rotating shaft 4, a cylinder fixing plate 5, a bag-shaking cylinder 6, a bag-grabbing frame plate 7, a bag-grabbing cylinder lug 8, a bag-grabbing cylinder 9, a swing arm 10, a front hook claw rotating rod 11, a rear hook claw rotating rod 12, a limiting bracket plate 13, and a bag-removing limiting plate 14.

[0020] The manipulator connecting plate 1 has a connecting flange 1a at its center for connecting to the robot's robotic arm. Below the manipulator connecting plate 1, there is a cylinder fixing plate 5 parallel to it, and the lower end face of the manipulator connecting plate 1 is symmetrically connected with three downwardly extending connecting plate lugs 2. The two corners on the right side of the top surface of the cylinder fixing plate 5 are respectively fixed with upwardly erected vertical support plates 3. The vertical support plates 3 on the same side are connected by a rotating shaft 4 extending in the front-back direction. The rotating shaft 4 passes through the round holes of the two connecting plate lugs 2 on the right side, and the front and rear ends of the rotating shaft 4 are respectively supported on the upper end of the corresponding vertical support plate 3 by bearings.

[0021] A bag-shaking cylinder 6 is fixed on the left side of the cylinder fixing plate 5. The top fork of the piston rod of the bag-shaking cylinder 6 is hinged to the waist-shaped hole of the left connecting plate lug by a short pin 6a. The waist-shaped hole extends in the left and right direction.

[0022] The cylinder fixing plate 5 is connected to the left and right sides of the downward extending bag gripping frame plate 7, and the left and right bag gripping frame plates 7 are connected to the hook gripping mechanism.

[0023] The hook gripping mechanism includes a front hook gripping rod 11 and a rear hook gripping rod 12 that are parallel to each other. The front hook gripping rod 11 is provided with a plurality of front hooks with hook tips pointing forward, and the rear hook gripping rod 12 is provided with a plurality of rear hooks with hook tips pointing backward. The two ends of the front hook gripping rod 11 and the rear hook gripping rod 12 are respectively hinged to the bag gripping frame plate 7 and are respectively driven by the bag gripping cylinder 9.

[0024] The cylinder ends of the two bag-grabbing cylinders 9 are respectively hinged to the lower end of the bag-grabbing cylinder support 8. The bag-grabbing cylinder support 8 is respectively fixed to the lower front and rear sides of the cylinder fixing plate 5. The free end of the piston rod of the bag-grabbing cylinder 9 is respectively hinged to the free end of the swing arm 10. The swing arm 10 is respectively fixed on the front hook rotating rod 11 and the rear hook rotating rod 12.

[0025] The lower end face of the cylinder fixing plate 5 is connected to four corners of a downwardly extending limiting bracket plate 13. Each limiting bracket plate 13 has at least two hanging holes 13a along the height direction below it. Bolts pass through the hanging holes 13a to suspend the bag withdrawal limiting plate 14 below the limiting bracket plate 13. The bag withdrawal limiting plate 14 is parallel to the cylinder fixing plate 5 and has slots for each front hook and rear hook to pass through.

[0026] The four corners of the bag-removal limiting plate 14 are each fixed with a downwardly extending nozzle 15. The upper end of each nozzle 15 is connected to a compressed air interface 15c via a thread, and the compressed air interface 15c is connected to a compressed air pipeline and controlled by a pulse solenoid valve. The upper circumference of each nozzle 15 is symmetrically provided with a cutting surface for easy clamping with a wrench during installation. The lower part of each nozzle 15 is provided with a tapered tip 15b that is wider at the top and narrower at the bottom, and multiple spray holes 15a are evenly provided on the middle circumference of each nozzle 15.

[0027] When the packaging bag is thicker and the goods are heavier, the upper hanging hole 13a is used to position the bag withdrawal limit plate 14 higher, so that the front hook claw 11a and the rear hook claw 12a protrude higher from the bag withdrawal limit plate 14, and the bag is tied deeper.

[0028] When the packaging bag is thin and the goods are light, the lower hanging hole 13a is used to make the position of the bag withdrawal limiting plate 14 lower, so that the height of the front hook 11a and the rear hook 12a protruding from the bag withdrawal limiting plate 14 is short, the bag is tied shallowly, and the hooks are prevented from puncturing the bottom of the packaging bag.

[0029] Before the gripper operates, the piston rod of the bag-gripping cylinder 9 is extended, and the front hook 11a and rear hook 12a are retracted above the bag-removing limiting plate 14. When the bag-removing limiting plate 14 is attached to the packaging bag, the nozzles 15, each with a conical tip 15b at their bottom, will pierce into the bag. Then, the piston rod of the bag-gripping cylinder 9 retracts, driving the front hook rotating rod 11 and the rear hook rotating rod 12 to rotate in opposite directions via the swing arm 10. A row of front hooks 11a on the front hook rotating rod 11 extends forward from the slot of the bag-removing limiting plate, and a row of rear hooks 12a on the rear hook rotating rod 12 extends backward from the slot of the bag-removing limiting plate. During this process, the front hooks 11a and the rear hooks 12a pierce the upper layer of the packaging bag and continue to rotate to hook the packaging bag.

[0030] The robot then moves the packaging bag above the feeding port, where a cutter cleaves the bottom of the bag, allowing the material inside to fall into the collection hopper. Simultaneously, the piston rod of the bag-shaking cylinder 6 extends and retracts frequently. Because the robotic arm connecting plate 1 is fixed to the robotic arm, the cylinder fixing plate 5, along with the hook-and-grab mechanism below, vibrates. This shaking action ensures the material falls more thoroughly. The mounting hole for the cylinder connection is an oblong shape to prevent the bag-shaking cylinder from jamming during shaking. Next, the pulse solenoid valve opens, and compressed air is ejected from the nozzles 15a of each nozzle 15. The resulting pulsed airflow blows away any remaining flour inside and at the corners of the bag, achieving bag cleaning.

[0031] After the bags are cleaned and all material has fallen out, and the robot reaches the empty bag collection hopper, the piston rod of the bag-gripping cylinder 9 extends. This drives the front hook rod 11 and the rear hook rod 12 to rotate in the opposite direction via the swing arm 10. The front hook 11a and the rear hook 12a retract above the bag-removing limit plate, which then blocks the packaging bag below, causing it to fall into the empty bag collection hopper. The bag-removing limit plate prevents the front hook 11a and the rear hook 12a from getting caught on the corners or fabric of the bag and returning to the gripping position with the robot.

[0032] The above description is merely a preferred embodiment of the present utility model, showing and describing the basic principles, main features, and advantages of the present utility model. It is not intended to limit the scope of patent protection of the present utility model. Those skilled in the art should understand that the present utility model is not limited to the above embodiments. In addition to the above embodiments, the present utility model may have other implementations without departing from the spirit and scope of the present utility model. Various changes and improvements to the present utility model are also possible. All technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by the present utility model. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents. Technical features not described in the present utility model can be implemented by or using existing technology, and will not be elaborated here.

Claims

1. A package-grabbing and cleaning mechanism for an unpacking robot, comprising: Robotic arm connection plate (1), used to connect with the robot's robotic arm; The cylinder fixing plate (5) is connected to the robot arm connecting plate (1) through a movable connection structure, so that the cylinder fixing plate (5) can move relative to the robot arm connecting plate (1); Shaking cylinder (6) is set on the cylinder fixing plate (5), and its driving end acts on the robot arm connecting plate (1) or the movable connecting structure to drive the cylinder fixing plate (5) to shake relative to the robot arm connecting plate (1); The hook-claw bag-gripping mechanism is installed below the cylinder fixing plate (5) and is used to grip the packaging bag; The bag withdrawal limiting plate (14) is fixedly installed below the cylinder fixing plate (5) and located below the hook gripping mechanism. It has a slot for the hook gripping mechanism to extend out. The feature is that: the four corners of the bag retraction limiting plate (14) are respectively fixed with downwardly extending nozzles (15), each nozzle (15) is provided with a compressed air interface (15c) and is connected to a compressed air pipeline through the compressed air interface (15c), and the lower end of each nozzle (15) is provided with a conical tip (15b) for piercing the packaging bag.

2. The package-grabbing and cleaning mechanism for the unpacking robot according to claim 1, characterized in that: The outer periphery of the middle section of each nozzle (15) is located above the conical tip (15b) and has multiple circumferentially distributed spray holes (15a).

3. The package-grabbing and cleaning mechanism for the unpacking robot according to claim 1, characterized in that: The inlet of the compressed air pipeline is connected to the outlet of the compressed air package via a pulse solenoid valve.

4. The package-grabbing and cleaning mechanism for the unpacking robot according to claim 1, characterized in that: The bag ejection limiting plate (14) is suspended below the cylinder fixing plate (5) by the limiting bracket plate (13). The limiting bracket plate (13) has multiple hanging holes (13a) along the height direction. The height of the bag ejection limiting plate (14) relative to the cylinder fixing plate (5) can be adjusted by selecting different hanging holes (13a).

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