A bag placing robot

Abstract

The utility model relates to a kind of upper bag mechanical hand, it includes moving arm, driving shaft group and driven assembly are rotationally arranged on the moving arm, the driving shaft group includes first driving shaft and second driving shaft, the driving shaft group is transmission connection with power pack, the driven assembly includes first follower and second follower, the first follower is sleeved with the second follower, the first follower is transmission connection with the first driving shaft, the first follower is connected with first clamping arm, the second follower is transmission connection with the second driving shaft, the second follower is connected with second clamping arm, power pack drives driven assembly rotation by driving shaft group, first clamping arm and second clamping arm swing towards each other or reverse swing realize the clamping and loosening of bag body, clamping sound is small, clamping is stable.

Description

Technical Field

[0001] This utility model relates to a bag-loading robotic arm. Background Technology

[0002] The existing bag-loading robot uses pneumatic clamping, which generates a lot of noise when clamping the bag. Therefore, it is proposed to use an electric motor as the power source, with the two clamping arms swinging in opposite directions to clamp and release the bag, resulting in less noise and more stable clamping. Utility Model Content

[0003] In view of the technical problems existing in the background art, the present utility model aims to provide a bag-loading robot, wherein the first follower and the second follower drive the first clamping arm and the second clamping arm to swing, and the first clamping plate and the second clamping plate clamp or release the bag body.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This bag-loading robot includes a movable arm, a drive shaft assembly, and a driven component, all rotatably mounted on the movable arm. The drive shaft assembly includes a first drive shaft and a second drive shaft, which are drivenly connected to a power assembly. The driven component includes a first driven member and a second driven member, which are sleeved together. The first driven member is drivenly connected to the first drive shaft. The first driven member is connected to a first clamping arm, and the second driven member is drivenly connected to the second drive shaft. The second driven member is connected to a second clamping arm.

[0005] In this design, the power unit drives the driven component to rotate through the active shaft assembly. The first and second clamping arms swing in opposite directions to clamp and release the bag. The clamping noise is low and the clamping is stable.

[0006] Preferably, the first drive shaft is sleeved outside the second drive shaft.

[0007] In this design, the first drive shaft and the second drive shaft are sleeved together, resulting in a compact transmission structure.

[0008] Preferably, the movable arm is connected to a third drive shaft, the third drive shaft is sleeved outside the first drive shaft, the third drive shaft and the drive shaft group are rotatably mounted on the fixed base, the power assembly is mounted on the fixed base, the power assembly includes a rotary motor, and the rotary motor is drively connected to the third drive shaft.

[0009] In this design, a rotary motor drives the third drive shaft to rotate, and the moving arm swings around the axis of the third drive shaft. The power unit is mounted on a fixed base and is not affected by the swing of the moving arm, resulting in a stable structure.

[0010] Preferably, the power assembly includes a first motor and a second motor. The first motor is drivenly connected to the first drive shaft, and the second motor is drivenly connected to the second drive shaft. Both the first clamping arm and the second clamping arm have an avoidance state and a bag clamping state. The first clamping arm and the second clamping arm swing in the same direction to switch between the avoidance state and the bag clamping state.

[0011] In this solution, when connected to a vacuum packaging machine, the first and second clamping arms switch to an avoidance state during the swing of the moving arm to prevent collision with the side clamps of the vacuum packaging machine.

[0012] Preferably, the first drive shaft, the second drive shaft, and the third drive shaft are all connected to driven arms, and the output shafts of the first motor, the second motor, and the rotary motor are all connected to drive arms. The drive arms and the driven arms are respectively hinged to both ends of the transmission rod.

[0013] In this scheme, the driving arm drives the driven arm to swing and the corresponding driving shaft to rotate through the transmission rod, resulting in fewer transmission links and faster transmission.

[0014] Preferably, the fixed base is provided with a connected transmission cavity and a power cavity, the driven arm, the driving arm and the transmission rod are disposed in the transmission cavity, and the rotating motor, the first motor and the second motor are disposed in the power cavity from top to bottom.

[0015] In this design, the rotating motor, the first motor, and the second motor are arranged sequentially from top to bottom, which is a reasonable layout.

[0016] Preferably, the fixed base is fixedly connected to a support sleeve, and the support sleeve has an inner hole for the third drive shaft to pass through.

[0017] In this design, the support sleeve reliably supports the third spindle.

[0018] Preferably, both the first drive shaft and the second drive shaft are connected to a drive gear, the drive gear meshes with an intermediate gear, both the first driven member and the second driven member have a driven tooth segment, the driven tooth segment meshes with the intermediate gear, the intermediate gear has more teeth than the drive gear, the intermediate gear is coaxially arranged, the first clamping arm is connected to a first clamping plate, and the second clamping arm is connected to a second clamping plate.

[0019] In this scheme, during the swinging process of the moving arm, the intermediate gear swings around the driving gear and rotates relative to the driving gear, driving the corresponding driven parts to rotate synchronously. The first clamping plate and the second clamping plate hold the bag body in position. The first clamping arm and the second clamping arm are circumferentially misaligned along the rotation axis. The first clamping plate and the second clamping plate extend axially to achieve clamping.

[0020] Preferably, the movable arm has an inner cavity, and the drive gear and the intermediate gear are disposed within the inner cavity.

[0021] In this design, the drive gear and intermediate gear are housed inside the cavity, making them waterproof and dustproof.

[0022] Preferably, the movable arm is provided with a through groove, one side wall of the through groove is provided with a first mounting hole for the second follower to pass through, and the other side wall of the through groove is provided with a second mounting hole for the first follower and the second follower to pass through.

[0023] In this design, the groove wall provides reliable support to both ends of the second driven member.

[0024] The beneficial effects of this utility model are as follows: the power assembly drives the driven assembly to rotate via the drive shaft assembly; the first and second clamping arms swing in opposite directions to clamp and release the bag, resulting in low clamping noise and stable clamping; the rotary motor drives the third drive shaft to rotate, and the moving arm swings around the axis of the third drive shaft. The power assembly is mounted on a fixed base and is not affected by the swing of the moving arm, ensuring structural stability. Therefore, this utility model has substantial features and progress compared with the prior art. Attached Figure Description

[0025] The following description, in conjunction with the accompanying drawings, details the embodiments and working principles of this utility model.

[0026] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0027] Figure 2 This is a cross-sectional view of the drive shaft assembly in this utility model.

[0028] Figure 3 This is a cross-sectional view of the driven component in this utility model.

[0029] Figure 4 This is a three-dimensional structural diagram of the movable arm in this utility model.

[0030] Figure 5 This is a three-dimensional structural diagram of the power component in this utility model.

[0031] Figure 6 This is a three-dimensional structural diagram of the first and second clamping plates in this utility model.

[0032] In the diagram: 1. Moving arm; 2. Drive shaft assembly; 3. Driven component; 4. First drive shaft; 5. Second drive shaft; 6. Power assembly; 7. First driven component; 8. Second driven component; 9. First clamping arm; 10. First clamping plate; 11. Second clamping arm; 12. Second clamping plate; 13. Third drive shaft; 14. Fixed base; 15. Rotary motor; 16. First motor; 17. Second motor; 18. Driven arm; 19. Drive arm; 20. Transmission rod; 21. Transmission cavity; 22. Support sleeve; 23. Drive gear; 24. Intermediate gear; 25. Driven tooth segment; 26. Inner cavity; 27. Through groove. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the implementation of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0034] In the description of this application, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] In the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0036] See appendix Figure 1-2 In this embodiment, a bag-loading robot includes a movable arm 1, a drive shaft assembly 2, and a driven component 3, all rotatably mounted on the movable arm 1. The drive shaft assembly 2 includes a first drive shaft 4 and a second drive shaft 5, with the first drive shaft 4 sleeved outside the second drive shaft 5. The movable arm 1 is connected to a third drive shaft 13, which is sleeved outside the first drive shaft 4. The third drive shaft 13 and the drive shaft assembly 2 are rotatably mounted on a fixed base 14.

[0037] See appendix Figure 5The power assembly 6 is mounted on the fixed base 14. The power assembly 6 includes a rotary motor 15, a first motor 16, and a second motor 17. The first drive shaft 4, the second drive shaft 5, and the third drive shaft 13 are all connected to driven arms 18. The output shafts of the first motor 16, the second motor 17, and the rotary motor 15 are all connected to drive arms 19. The drive arms 19 and the driven arms 18 are respectively hinged to both ends of the transmission rod 20.

[0038] See appendix Figure 5 The fixed base 14 is provided with a transmission cavity 21 and a power cavity that are connected. The driven arm 18, the driving arm 19 and the transmission rod 20 are arranged in the transmission cavity 21. The rotating motor 15, the first motor 16 and the second motor 17 are arranged in the power cavity from top to bottom. The fixed base 14 is fixedly connected with a support sleeve 22. The support sleeve 22 is provided with an inner hole for the third drive shaft 13 to pass through.

[0039] See appendix Figure 3 , 6 The driven component 3 includes a first driven member 7 and a second driven member 8. The first driven member 7 is drivenly connected to the first drive shaft 4. The first driven member 7 is connected to a first clamping arm 9. The first clamping arm 9 is connected to a first clamping plate 10. The second driven member 8 is drivenly connected to the second drive shaft 5. The second driven member 8 is connected to a second clamping arm 11. The second clamping arm 11 is connected to a second clamping plate 12. Both the first clamping arm 9 and the second clamping arm 11 have an avoidance state and a bag clamping state. The first clamping arm 9 and the second clamping arm 11 swing in the same direction to switch between the avoidance state and the bag clamping state.

[0040] In this embodiment, when clamping and releasing the bag, the first motor 16 and the second motor 17 drive the first drive shaft 4 and the second drive shaft 5 to rotate in opposite directions through the transmission structure of the drive arm 19, the transmission rod 20 and the driven arm 18. The first drive shaft 4 and the second drive shaft 5 drive the first driven member 7 and the second driven member 8 to rotate in opposite directions. The first clamping arm 9 and the second clamping arm 11 swing towards each other or in opposite directions to complete the clamping and releasing of the bag.

[0041] When the moving arm 1 is in place and when the moving arm 1 returns to its original position, the rotating motor 15 drives the third drive shaft 13 through the transmission structure of the driving arm 19, the transmission rod 20 and the driven arm 18, causing the moving arm 1 to swing around the third main shaft axis.

[0042] When the bag is loaded, the first motor 16 and the second motor 17 drive the first drive shaft 4 and the second drive shaft 5 to rotate synchronously. The first clamping plate 10 and the second clamping plate 12 clamp the bag body and swing to avoid the side clamp of the vacuum packaging machine waiting to hold the bag body. After the bag is in place, the first clamping plate 10 and the second clamping plate 12 reset.

[0043] The corresponding clamping arms and corresponding clamping plates can be designed as a single unit. The connection points of the corresponding clamping arms and the corresponding driven parts are staggered in the axial direction. Only by connecting the corresponding clamping plates can relative clamping surfaces be formed. For the connection between the shaft and the arm, the arm is provided with a through hole for the shaft to pass through. An opening on the hole wall forms a clamping part at the end of the arm, and the clamping part is fastened to clamp the shaft. The driven arm 18 on the second drive shaft 5 can axially limit the first drive shaft 4, and the driven arm 18 on the first drive shaft 4 can axially limit the third drive shaft 13. The power assembly 6 is fastened to the fixed seat 14 through the mounting plate. The first clamping plate 10 is detachably connected with a pad to adapt to different bag thicknesses.

[0044] In other alternative embodiments, the power assembly 6 can be mounted on the moving arm 1, and the first drive shaft 4 and the second drive shaft 5 can be set independently, with the transmission structures offset radially. The moving arm 1 can be raised, lowered, and moved horizontally, driven by a motor, screw and nut transmission, or pneumatic. The drive structure is diverse and not limited to these. A synchronous pulley and synchronous belt transmission structure can be used to replace the transmission structure of the drive arm 19, transmission rod 20, and driven arm 18. Alternatively, a single motor can be designed to drive the first drive shaft 4 and the second drive shaft 5, with gear reversal to achieve synchronous reverse drive. In addition to clamping the bag opening, it can also clamp the bag bottom and the side of the bag body. It can be vertical or horizontal conveying. A synchronous pulley and synchronous belt transmission can be used between the drive shaft group 2 and the driven assembly 3.

[0045] See appendix Figure 4 Both the first drive shaft 4 and the second drive shaft 5 are connected to a drive gear 23, and the drive gear 23 meshes with an intermediate gear 24. Both the first driven member 7 and the second driven member 8 have a driven tooth segment 25, which meshes with the intermediate gear 24. The moving arm 1 is provided with an inner cavity 26, and the drive gear 23 and the intermediate gear 24 are disposed in the inner cavity 26. The intermediate gear 24 is coaxially arranged. The diameter of the drive gear 23 is equal to the diameter of the driven tooth segment 25, and the number of teeth of the intermediate gear 24 is greater than the number of teeth of the drive gear 23.

[0046] In this embodiment, the intermediate gear 24 rotates around the driving gear 23, and drives the corresponding clamping arm to swing through the corresponding driven member, so that the corresponding clamping plate swings to counteract the angle change caused by the swing of the moving arm 1 and maintain the posture of the bag.

[0047] In this configuration, the intermediate gear 24 rotates around the driving gear 23 with the moving arm 1. Assuming the gear backlash is fixed and the number of gear teeth is positively correlated with the gear diameter, the circumferential distance of the intermediate gear 24 around the driving gear 23 is proportional to the circumference of the driving gear 23. Correspondingly, the circumferential distance of the driven member is equal to the circumferential distance of the intermediate gear 24 around the driving gear 23. The rotation angle of the driven member is inversely proportional to the radius of the driven tooth segment 25. That is, the first driven member 7 and the second driven member 8 must rotate by the same angle. In the corresponding transmission structures, the ratio of the radius of the driving gear 23 to that of the driven tooth segment 25 must be equal. The rotation angle of the two driven members must correspond to the swing angle of the moving arm 1. The radius of the driving gear 23 and that of the driven tooth segment 25 must be equal.

[0048] The driven element can be an incomplete gear with the clamp arm connected to the toothless part, or it can be a complete gear with the clamp arm connected to the side, or it can be a gear shaft with the driven elements sleeved together and the clamp arm connected to the shaft.

[0049] The above description represents the preferred embodiment of this utility model. It should be noted that the protection scope of this utility model is not limited thereto. For those skilled in the art, various improvements, modifications, or equivalent substitutions can be made without departing from the equivalent inventive concept disclosed in this utility model, and these modifications and substitutions are also considered to be within the protection scope of this utility model.

Claims

1. A bag-loading robot, characterized in that: The moving arm (1), the drive shaft assembly (2) and the driven assembly (3) are all rotatably mounted on the moving arm (1). The drive shaft assembly (2) includes a first drive shaft (4) and a second drive shaft (5). The drive shaft assembly (2) is connected to the power assembly (6) for transmission. The driven assembly (3) includes a first driven member (7) and a second driven member (8). The first driven member (7) is connected to the first drive shaft (4) for transmission. The first driven member (7) is connected to a first clamping arm (9). The second driven member (8) is connected to the second drive shaft (5) for transmission. The second driven member (8) is connected to a second clamping arm (11).

2. The bag-loading robot as described in claim 1, characterized in that: The first drive shaft (4) is sleeved outside the second drive shaft (5).

3. The bag-loading robot as described in claim 2, characterized in that: The moving arm (1) is connected to a third drive shaft (13), which is sleeved outside the first drive shaft (4). The third drive shaft (13) and the drive shaft group (2) are rotatably mounted on the fixed seat (14). The power assembly (6) is mounted on the fixed seat (14). The power assembly (6) includes a rotating motor (15), which is connected to the third drive shaft (13) in a transmission manner.

4. The bag-loading robot as described in claim 3, characterized in that: The power assembly (6) includes a first motor (16) and a second motor (17). The first motor (16) is connected to the first drive shaft (4), and the second motor (17) is connected to the second drive shaft (5). The first clamping arm (9) and the second clamping arm (11) both have a clearance state and a bag clamping state. The first clamping arm (9) and the second clamping arm (11) swing in the same direction to switch between the clearance state and the bag clamping state.

5. A bag-loading robot as described in claim 4, characterized in that: The first drive shaft (4), the second drive shaft (5) and the third drive shaft (13) are all connected to driven arms (18), and the output shafts of the first motor (16), the second motor (17) and the rotary motor (15) are all connected to drive arms (19). The drive arms (19) and the driven arms (18) are respectively hinged to both ends of the transmission rod (20).

6. The bag-loading robot as described in claim 5, characterized in that: The fixed base (14) is provided with a transmission cavity (21) and a power cavity that are connected. The driven arm (18), the driving arm (19) and the transmission rod (20) are arranged in the transmission cavity (21). The rotating motor (15), the first motor (16) and the second motor (17) are arranged in the power cavity from top to bottom.

7. A bag-loading robot as described in claim 3, characterized in that: The fixed base (14) is fixedly connected to a support sleeve (22), and the support sleeve (22) has an inner hole for the third drive shaft (13) to pass through.

8. A bag-loading robot as described in claim 3, characterized in that: The first drive shaft (4) and the second drive shaft (5) are both connected to a drive gear (23), the drive gear (23) meshes with an intermediate gear (24), the first driven member (7) and the second driven member (8) both have a driven tooth segment (25), the driven tooth segment (25) meshes with the intermediate gear (24), the intermediate gear (24) has more teeth than the drive gear (23), the intermediate gear (24) is coaxially arranged, the first clamping arm (9) is connected to a first clamping plate (10), and the second clamping arm (11) is connected to a second clamping plate (12).

9. A bag-loading robot as described in claim 8, characterized in that: The movable arm (1) has an inner cavity (26), and the drive gear (23) and the intermediate gear (24) are disposed in the inner cavity (26).

10. A bag-loading robot as described in claim 1, characterized in that: The first follower (7) is sleeved with the second follower (8). The moving arm (1) is provided with a through groove (27). One side of the through groove (27) is provided with a first mounting hole for the second follower (8) to pass through. The other side of the through groove (27) is provided with a second mounting hole for the first follower (7) and the second follower (8) to pass through.

Images