CN111994393B - Packaging bag grabbing and discharging mechanism and grabbing and discharging method thereof - Google Patents
Packaging bag grabbing and discharging mechanism and grabbing and discharging method thereof Download PDFInfo
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- CN111994393B CN111994393B CN202010678675.7A CN202010678675A CN111994393B CN 111994393 B CN111994393 B CN 111994393B CN 202010678675 A CN202010678675 A CN 202010678675A CN 111994393 B CN111994393 B CN 111994393B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0033—Unpacking of articles or materials, not otherwise provided for by cutting
- B65B69/0041—Unpacking of articles or materials, not otherwise provided for by cutting by puncturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Supplying Of Containers To The Packaging Station (AREA)
Abstract
The invention relates to a packaging bag grabbing and discharging mechanism and a packaging bag grabbing and discharging method. A walking speed reducing motor is arranged on the movable frame, a walking driving shaft is arranged at the output end of the walking speed reducing motor, and X-direction walking chain wheels meshed with the X-direction chains are respectively arranged at two ends of the walking driving shaft. The grabbing and unloading method sequentially comprises the following steps: the belt winding drum releases the lifting belt downwards, and the lifting frame and the limiting plate descend; when the limiting plate falls on the packaging bag, the belt winding drum stops; each C-shaped hook extends out and is inserted into the packaging bag; winding the lifting belt to lift each captured packaging bag; the belt winding drum is decelerated and then stopped; the moving frame carries the gripped packages to translate to the next station. The invention can grab and transport the packaging bag and has reliable action.
Description
Technical Field
The invention relates to an automatic discharging mechanism, in particular to a packaging bag grabbing and discharging mechanism; the invention also relates to a grabbing and unloading method of the packaging bag, which can be applied to unloading of the packaged materials in the fields of feed, grain and oil, food, chemical industry, medicine, plastics and the like.
Background
At present, in industries such as feed, grain and oil, food and the like, materials are often packaged by woven bags, trucks are mostly adopted for transferring after packaging, the packaging bags are stacked in a carriage in multiple layers, the packaging bags are transported to a discharging place manually one by one, then the bags are removed, the materials in the bags are poured into a storage bin for storage, the working efficiency is low, a lot of raw material dust can be generated in the operation process, and the health of operators is influenced.
In order to reduce the labor intensity of workers, a plurality of goods gathering and transportation stations adopt a forklift for assisting in discharging, the labor intensity is reduced to a certain extent, however, the forklift is not convenient to insert below the packaging bags, the forklift is usually inserted into the tray, the forklift can only lift the tray to one side of the carriage of the discharging vehicle, and then the workers are still required to stack the packaging bags on the tray one by one. After the forklift is transferred to a position, workers still need to complete secondary unloading from the tray, the working environment does not accord with the national standards of related environmental protection and occupational safety and health, the workload is still large, and the efficiency is still low.
Disclosure of Invention
The invention aims to overcome the problems in the prior art, and provides a packaging bag grabbing and unloading mechanism which can adapt to different layer heights of packaging bags, can grab and transport the packaging bags very reliably, does not influence bag breaking and unloading of an unloading station, and is convenient and reliable to unload the packaging bags.
In order to solve the technical problems, the packaging bag grabbing and unloading mechanism comprises a moving frame, wherein X-direction walking rollers capable of moving along an X-direction guide rail are respectively arranged on the left side and the right side of the moving frame, a shear arm is connected below the moving frame, a lifting frame is connected to the bottom of the shear arm, a plurality of rows of C-shaped hooks with lower ends capable of being opened and closed are arranged below the lifting frame, a limiting plate is arranged below each C-shaped hook, and a plurality of limiting plate hook holes for the C-shaped hooks to penetrate through are uniformly distributed in the limiting plate.
Compared with the prior art, the invention has the following beneficial effects: lifting frame takes limiting plate and C shape hook earlier and descends, and when the limiting plate contacted top layer wrapping bag, C shape hook stretches out from limiting plate hook hole, pricks the top of wrapping bag, and then lifting frame rises, and the scissors arm shrink is carried the wrapping bag on top layer, then removes the frame and can take scissors arm, lifting frame and the wrapping bag translation that is snatched to the station of unloading. The grabbing part is arranged at the top of the packaging bag, so that bag breaking and discharging at the bottom are not influenced; after unloading, the C-shaped hook retracts from the hook hole of the limiting plate, the limiting plate blocks the bag skin below the bag skin, and the bag skin is completely separated from the C-shaped hook, so that the bag skin is prevented from being brought to the upper side by the C-shaped hook. According to the invention, the packaging bag can be automatically grabbed from the tray by pricking the C-shaped hook, lifting the lifting frame and translating the moving frame, and is transferred to the unloading station for breaking the bag and unloading, so that the automation degree is high.
As an improvement of the invention, the hook tips of two adjacent rows of front and back C-shaped hooks are opposite and staggered with each other, the hook tips of the front C-shaped hooks are backward, the fixed ends of the front C-shaped hooks in the same row are fixed on the same front C-shaped hook square tube, two ends of the front C-shaped hook square tube are coaxially connected with a front C-shaped hook rotating shaft respectively, and two ends of the front C-shaped hook rotating shaft are supported on the lifting frame through a front C-shaped hook bearing and a bracket thereof respectively; the hook point of back C shape hook is forward, and the stiff end of C shape hook all fixes behind the same root on C shape hook side pipe, the both ends of back C shape hook side pipe respectively with back C shape hook pivot coaxial coupling, the both ends of back C shape hook pivot are supported through back C shape hook bearing and support respectively on the lifting frame. The front C-shaped hook and the rear C-shaped hook are staggered with each other, so that grabbing points can be increased, and the grabbing part of the woven bag can be prevented from being torn when the woven bag is lifted. The main body of each front C-shaped hook is fixed on the front C-shaped hook square tube to avoid relative rotation, and when the front C-shaped hook rotating shaft rotates, the front C-shaped hook square tube drives each front C-shaped hook to synchronously extend or retract; meanwhile, the rear C-shaped hook rotating shaft drives each rear C-shaped hook to synchronously extend or retract through the rear C-shaped hook square tube, hook tips of the front C-shaped hook and the rear C-shaped hook face to each other, and the rear C-shaped hook rotating shaft is reliably combined with the packaging bag when extending.
As a further improvement of the invention, one end of each front C-shaped hook square tube is connected with a front C-shaped hook swing arm, the upper end of each front C-shaped hook swing arm is hinged to a front C-shaped hook connecting rod, one front C-shaped hook swing arm extends upwards and is hinged to the end of a piston rod of a front C-shaped hook cylinder, and the front C-shaped hook cylinder is fixed on the lifting frame; the other end of each rear C-shaped hook square tube is connected with a rear C-shaped hook swing arm respectively, the upper end of each rear C-shaped hook swing arm is hinged to a rear C-shaped hook connecting rod respectively, one rear C-shaped hook swing arm extends upwards and is hinged to the end part of a piston rod of a rear C-shaped hook cylinder, and the rear C-shaped hook cylinder is fixed on the lifting frame. When a piston rod of the front C-shaped hook cylinder extends out, the front C-shaped hook connecting rod drives the upper end of each front C-shaped hook swinging arm to synchronously swing forwards, each front C-shaped hook swinging arm synchronously drives each front C-shaped hook rotating shaft to rotate forwards, each front C-shaped hook extends out of a limiting plate hook hole, and bag bundling is completed; and a piston rod of the rear C-shaped hook cylinder and the front C-shaped hook cylinder synchronously extend out, the rear C-shaped hook connecting rod drives the upper ends of the rear C-shaped hook swing arms to synchronously swing backwards, the rear C-shaped hook swing arms synchronously drive the rear C-shaped hook rotating shafts to reversely rotate, and the rear C-shaped hooks extend out of the hook holes of the limiting plate to finish bag bundling.
As a further improvement of the invention, a walking speed reducing motor is arranged on the movable frame, a walking driving shaft extending along the Y direction is arranged at the output end of the walking speed reducing motor, and X-direction walking chain wheels meshed with the X-direction chains are respectively arranged at the two ends of the walking driving shaft. The walking speed reducing motor drives the X-direction walking chain wheel to rotate through the walking driving shaft, and the X-direction walking chain wheel can drive the whole moving frame to translate along the X direction by matching with the corresponding chain.
As a further improvement of the invention, a lifting reduction box is mounted on the movable frame, the input end of the lifting reduction box is driven by a lifting motor, the output end of the lifting reduction box is provided with a lifting driving shaft extending along the Y direction, two ends of the lifting driving shaft are symmetrically fixed with belt winding drums, lifting belts are respectively wound on the belt winding drums, the lower ends of the two lifting belts are respectively fixed on lifting lugs, and the lower ends of the two lifting lugs are symmetrically fixed on the top of the lifting frame. The lifting motor drives the lifting driving shaft to rotate through the lifting reduction gearbox, the lifting driving shaft drives the two belt winding drums to synchronously rotate in the forward direction, the two belt winding drums synchronously release the lifting belt downwards, and then the lifting frame moves downwards; on the contrary, the belt winding drums synchronously rotate reversely, the two belt winding drums synchronously wind the lifting belt upwards, and the lifting belt lifts the lifting frame upwards through the lifting lugs.
As a further improvement of the invention, the lower ends of the two lifting belts are wrapped on the corresponding lifting lugs and fixed by lifting belt joints, and the lifting belt joints are fixed with the eccentric weights; and one side of the weight deviation block is respectively provided with a weight deviation block probe for detecting the position of the weight deviation block, the weight deviation block probes are respectively arranged at the upper end of the weight deviation block detection support, the bottom of the weight deviation block detection support is fixed on the lifting top plate, and the lifting top plate is fixed above the lifting frame. When the lifting top plate falls on the packaging bag, the two belt winding drums continue to release the lifting belt, the weight blocks gradually incline downwards to be separated from the detection of the weight block probe, the weight block probe is triggered, the control system stops the operation of the lifting motor, the belt winding drums stop releasing the lifting belt, the lifting belt is always kept in a tight state, the excessive release is prevented from causing disorder, and the reliable operation of the lifting system is ensured. Can adapt to the change of wrapping bag layer height automatically, no matter the wrapping bag that waits to snatch is in top layer or bottom, elevator motor can both accurately park, makes the C-shaped hook accurately snatch the wrapping bag.
As a further improvement of the invention, a support vertical elongated slot is arranged at the upper end of the weight bias detecting support, the weight bias probes respectively penetrate through the support vertical elongated slot and extend out towards the weight bias, and the height of the weight bias probe corresponds to the height of the weight bias when the lifting belt is in a tight state; the middle part of the lifting lug passes through the avoidance groove of the lifting top plate. The offset weight probe can adjust the installation height of the offset weight probe through the vertical elongated slot of the bracket so as to accurately send a signal to control the operation of the lifting motor.
As a further improvement of the present invention, a position detection mechanism is installed below the moving frame, the position detection mechanism includes a position detection support, two guide rods are connected between a top plate and a bottom plate of the position detection support, a floatable signal slider is arranged on the two guide rods, a downwardly extending slide rod is connected to the middle of the signal slider, the lower end of the slide rod passes through the bottom plate of the position detection support and extends downwardly, the top plate of the position detection support is fixed below the moving frame, a position detection support elongated slot extending vertically is arranged on a vertical plate of the position detection support, and a position detection probe for detecting the height of the signal slider is installed in the position detection support elongated slot. The position detection probe can comprise a speed change point probe, a stop point probe and an extreme position probe from bottom to top in sequence, and the position detection probe and the weight bias probe can be travel switches, proximity switches or photoelectric switches. When the belt winding drum synchronously winds the lifting belt upwards, the lifting belt lifts the lifting frame upwards, when the lifting top plate contacts the lower end of the sliding rod, the sliding rod and the signal sliding block are lifted upwards, the two guide rods play a role in guiding the lifting of the signal sliding block, when the height of the signal sliding block is increased to the position of a speed change point, the lifting motor decelerates, and the lifting belt continues to wind; when the height of the signal slide block rises to the stop point position, the lifting motor stops, and the lifting belt stops winding; if the lifting belt is accidentally wound continuously, the signal sliding block is lifted to the limit position, the whole equipment is stopped, and the lifting belt is prevented from being broken to cause accidents.
As a further improvement of the invention, the upper end surface of the limiting plate is provided with a plurality of pairs of upright guide vertical plates, and each pair of guide vertical plates are respectively positioned at the left side and the right side of the upper port of the hook hole of each limiting plate. The C-shaped hook is easy to deform after being repeatedly tied and stressed, is easy to be tied at the edge of the hook hole of the limiting plate when extending out, and causes damage, and after the guide vertical plates are arranged at the left side and the right side of the upper port of the hook hole of the limiting plate, the C-shaped hook is limited to be inclined towards two sides, and even if the C-shaped hook is inclined, the C-shaped hook can smoothly enter and exit the hook hole of the limiting plate.
As a further improvement of the invention, the left upper part of the scissor arm is hinged in a scissor arm upper hinged support, the right upper part of the scissor arm is supported in a horizontal elongated slot of a scissor arm upper sliding seat through a scissor arm upper roller, and the scissor arm upper hinged support and the scissor arm upper sliding support are respectively fixed below the movable frame; the left lower part of the scissor arm is hinged in the scissor arm lower hinged support, the right lower part of the scissor arm is supported in a horizontal long groove of the scissor arm lower sliding seat through the scissor arm lower roller, and the scissor arm lower hinged support and the scissor arm lower sliding seat are respectively fixed above the lifting frame. When the scissor arm extends or contracts, the distance between the left hinge point and the right hinge point can be changed, the upper roller of the scissor arm slides in the horizontal long groove of the upper sliding seat of the scissor arm, and the lower roller of the scissor arm slides in the horizontal long groove of the lower sliding seat of the scissor arm, so that the width change of the scissor arm can be adapted.
As a further improvement of the invention, one side of the advancing direction of the moving frame is connected with an L-shaped support which extends forwards and downwards, the lower end of the L-shaped support is hinged with a bag shifting swing arm, the front end of the bag shifting swing arm is fixedly provided with a Y-direction shifting beam, and a plurality of shifting rods which extend downwards are uniformly connected on the Y-direction shifting beam; and a bag shifting driving arm is fixed in the middle of the Y-direction shifting beam, the front end of the bag shifting driving arm is hinged with the lower end of a piston rod of a bag shifting cylinder, and a cylinder body of the bag shifting cylinder is fixed in the middle of the upper end of the L-shaped support. After the bag is grabbed and the bag is lifted in place, the movable frame carries the packaging bag to translate to the unloading station, the piston rod of the bag pulling cylinder retracts, the Y is driven to rotate to the pulling beam through the bag pulling swing arm, the Y is pulled to the advancing direction of the pulling rods on the pulling beam, the bag leaving-over sheets on the bag supporting grid can be pushed into the bag sheet collecting hopper, and the bag remaining sheets are prevented from being brought into the storage bin by the material.
Another object of the present invention is to overcome the problems in the prior art, and to provide a method for gripping and discharging a packaging bag, which can adapt to different heights of the packaging bag, and can reliably grip and transport the packaging bag.
In order to solve the technical problems, the grabbing and discharging method of the packaging bag sequentially comprises the following steps of: the lifting frame and the limiting plate descend, and the scissor arm extends; after the limiting plate falls on the packaging bag, the weight blocks are inclined to be separated from the detection range of the weight block probe along with the continuous release of the belt, and at the moment, the belt winding drum stops; each C-shaped hook extends out of the hook hole of the limiting plate and is inserted into the packaging bag; fourthly, the belt winding drum winds the lifting belt upwards, the lifting frame lifts each grabbed packaging bag, and the scissor arms contract; fifthly, when the lifting frame reaches the speed change point, the belt winding drum is decelerated; sixthly, stopping the belt winding drum after the lifting frame reaches a set height; the moving frame is translated to the next station carrying the gripped packages.
Compared with the prior art, the invention has the following beneficial effects: the weight bias can keep the lifting belt in a tight state all the time, and timely sends a signal to stop the operation of the lifting motor, so that disorder caused by excessive release is prevented, and the reliable operation of the lifting system is ensured; the height of the packaging bag can be adapted to the change of the layer height of the packaging bag, and the C-shaped hook can accurately grab the packaging bag no matter the packaging bag to be grabbed is positioned at the top layer or the bottom layer. The ascending process of the lifting frame is firstly decelerated and then stopped, so that the safety is good.
Drawings
The invention will be described in further detail with reference to the following drawings and detailed description, which are provided for reference and illustration purposes only and are not intended to limit the invention.
Fig. 1 is a front view of the packaging bag gripping and discharging mechanism of the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a right side view of fig. 1.
Fig. 4 is a first perspective view of fig. 1.
Fig. 5 is a second perspective view of fig. 1.
Fig. 6 is a perspective view of the present invention with the upper part of the lifting frame removed.
Fig. 7 is a perspective view of the position detection mechanism of the present invention.
In the figure: 1. moving the frame; 1a.X to the walking roller; 2. a scissor arm; a scissor arm upper hinge base; 2b, a scissor arm lower hinged support; 2c, a scissor arm upper sliding seat; 2d, a scissor arm lower sliding seat; 2e, a scissor arm upper roller; 2f, a lower roller of the scissor arm; 3. a walking speed reducing motor; 3a, a walking driving shaft; 3b.X to a walking sprocket; 4. a lifting motor; 4a, lifting a reduction gearbox; 4b, lifting the driving shaft; 4c, winding the belt on a drum; 4d, lifting the belt; 4e, lifting the lifting lug; 4f, a weight bias block; 4g, a weight bias block probe; 4h, detecting the support by the weight bias block; 4h1. vertical slot of bracket; 5. a position detection mechanism; 5a, a position detection bracket; 5a1. elongated slot of position detecting bracket; 5b, a guide rod; 5c, a signal slider; 5d, sliding the rod; 5e, a position detection probe; 6. a lifting frame; 6a, lifting the top plate; 7. a front C-shaped hook; 7a, front C-shaped hook square tubes; 7b, a front C-shaped hook rotating shaft; 7c. a front C-hook bearing; 7d, a front C-shaped hook swing arm; 7e, a front C-shaped hook connecting rod; 7f, a front C-shaped hook cylinder; 8. a rear C-shaped hook; 8a, a rear C-shaped hook square tube; 8b, a rear C-shaped hook rotating shaft; a rear C-hook bearing; 8d, swinging a rear C-shaped hook; 8e, a rear C-shaped hook connecting rod; 8f, a rear C-shaped hook cylinder; 9. a limiting plate; 9a, hook holes of a limiting plate; 9b, a guide vertical plate; 9c, connecting plates; an L-shaped bracket; 10a, a bag pulling cylinder; 10b, driving the bag-poking arm; 10c.Y deflector beam; 10d, a deflector rod; and 10e, pulling the bag swing arm.
Detailed Description
In the following description of the present invention, the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not mean that the apparatus must have a specific orientation.
As shown in fig. 1 to 6, the packaging bag grabbing and discharging mechanism of the present invention includes a moving frame 1, wherein X-direction traveling rollers 1a capable of moving along X-direction guide rails are respectively disposed on left and right sides of the moving frame 1, a scissor arm 2 is connected below the moving frame 1, a lifting frame 6 is connected to a bottom of the scissor arm 2, a plurality of rows of C-shaped hooks whose lower ends can be opened and closed are disposed below the lifting frame 6, a limiting plate 9 is disposed below each C-shaped hook, the limiting plate 9 is connected to the lifting frame 6 through a connecting plate 9C at the periphery, and a plurality of limiting plate hook holes 9a for the C-shaped hooks to pass through are uniformly distributed on the limiting plate 9.
Lifting frame 6 takes limiting plate 9 and C shape hook to descend earlier, and when limiting plate 9 contacted the top layer wrapping bag, C shape hook stretches out from limiting plate hook hole 9a, pricks the top of wrapping bag, and then lifting frame 6 rises, and scissors arm 2 contracts, carries up the wrapping bag on top layer, then removes frame 1 and can take scissors arm 2, lifting frame 6 and the wrapping bag translation that is snatched to the station of unloading. The grabbing part is arranged at the top of the packaging bag, so that bag breaking and discharging at the bottom are not influenced; after the discharging is finished, the C-shaped hook retracts from the hook hole 9a of the limiting plate, the limiting plate 9 blocks the bag skin below the bag skin, the bag skin is completely separated from the C-shaped hook, and the bag skin is prevented from being brought to the upper side by the C-shaped hook. According to the invention, the packaging bag can be automatically grabbed from the tray by pricking the C-shaped hook, lifting the lifting frame 6 and horizontally moving the moving frame 1, and is transferred to the unloading station for breaking the packaging bag and unloading, so that the degree of automation is high.
As shown in fig. 2 and 6, the hook tips of two adjacent rows of front and rear C-shaped hooks are opposite and staggered with respect to each other, the hook tip of the front C-shaped hook 7 is rearward, the fixed ends of the front C-shaped hook 7 in the same row are fixed on the same front C-shaped hook square tube 7a, two ends of the front C-shaped hook square tube 7a are coaxially connected with a front C-shaped hook rotating shaft 7b respectively, and two ends of the front C-shaped hook rotating shaft 7b are supported on the lifting frame 6 through a front C-shaped hook bearing 7C and a bracket thereof respectively; the hook point of the back C-shaped hook 8 is forward, the fixed ends of the back C-shaped hooks 8 in the same row are fixed on the same back C-shaped hook square tube 8a, the two ends of the back C-shaped hook square tube 8a are coaxially connected with a back C-shaped hook rotating shaft 8b respectively, and the two ends of the back C-shaped hook rotating shaft 8b are supported on the lifting frame 6 through a back C-shaped hook bearing 8C and a support thereof respectively. Preceding C shape hook 7 staggers each other with back C shape hook 8, both can increase the point of grabbing, and the position of grabbing of braided bag is torn when can avoiding promoting again. The main body of each front C-shaped hook 7 is fixed on a front C-shaped hook square tube 7a to avoid relative rotation, and when the front C-shaped hook rotating shaft 7b rotates, the front C-shaped hook square tube 7a drives each front C-shaped hook 7 to synchronously extend or retract; meanwhile, the rear C-shaped hook rotating shaft 8b drives each rear C-shaped hook 8 to synchronously extend or retract through the rear C-shaped hook square tube 8a, the hook tips of the front C-shaped hook 7 and the rear C-shaped hook 8 are opposite, and the combination with the packaging bag is reliable when the front C-shaped hook and the rear C-shaped hook extend out.
As shown in fig. 2, 4 and 6, one end of each front C-shaped hook square tube 7a is connected with a front C-shaped hook swing arm 7d, the upper end of each front C-shaped hook swing arm 7d is hinged to a front C-shaped hook connecting rod 7e, one front C-shaped hook swing arm 7d extends upward and is hinged to the end of a piston rod of a front C-shaped hook cylinder 7f, and the front C-shaped hook cylinder 7f is fixed on the lifting frame 6; the other end of each rear C-shaped hook square tube 8a is connected with a rear C-shaped hook swing arm 8d, the upper end of each rear C-shaped hook swing arm 8d is hinged to a rear C-shaped hook connecting rod 8e, one rear C-shaped hook swing arm 8d extends upwards and is hinged to the end of a piston rod of a rear C-shaped hook cylinder 8f, and the rear C-shaped hook cylinder 8f is fixed on the lifting frame 6. When a piston rod of the front C-shaped hook cylinder 7f extends out, the front C-shaped hook connecting rod 7e drives the upper end of each front C-shaped hook swinging arm 7d to synchronously swing forwards, each front C-shaped hook swinging arm 7d synchronously drives each front C-shaped hook rotating shaft 7b to rotate forwards, each front C-shaped hook 7 extends out of a limiting plate hook hole 9a, and bag bundling is completed; the piston rod of the rear C-shaped hook cylinder 8f and the front C-shaped hook cylinder 7f synchronously extend out, the rear C-shaped hook connecting rod 8e drives the upper ends of the rear C-shaped hook swing arms 8d to synchronously swing backwards, the rear C-shaped hook swing arms 8d synchronously drive the rear C-shaped hook rotating shafts 8b to reversely rotate, and the rear C-shaped hooks 8 extend out of the limiting plate hook holes 9a to finish bag bundling.
As shown in fig. 1 and 4, the traveling reduction motor 3 is mounted on the moving frame 1, the traveling drive shaft 3a extending in the Y direction is mounted on the output end of the traveling reduction motor 3, and the X-direction traveling sprockets 3b engaged with the X-direction chain are mounted on both ends of the traveling drive shaft 3a, respectively. The walking speed reducing motor 3 drives the X-direction walking chain wheel 3b to rotate through the walking driving shaft 3a, and the X-direction walking chain wheel 3b is matched with a corresponding chain to drive the whole moving frame 1 to translate along the X direction.
As shown in fig. 1 to 4, a lifting reduction box 4a is mounted on a moving frame 1, an input end of the lifting reduction box 4a is driven by a lifting motor 4, a lifting driving shaft 4b extending along the Y direction is mounted at an output end of the lifting reduction box 4a, belt winding drums 4c are symmetrically fixed at two ends of the lifting driving shaft 4b, lifting belts 4d are respectively wound on the belt winding drums 4c, lower ends of the two lifting belts 4d are respectively fixed on lifting lugs 4e, and lower ends of the two lifting lugs 4e are symmetrically fixed at the top of a lifting frame 6. The lifting motor 4 drives the lifting driving shaft 4b to rotate through the lifting reduction gearbox 4a, the lifting driving shaft 4b drives the two belt winding drums 4c to synchronously rotate in the forward direction, the two belt winding drums 4c synchronously release the lifting belt 4d downwards, and then the lifting frame 6 descends; on the contrary, the belt winding drums 4c rotate reversely and synchronously, the two belt winding drums 4c wind the lifting belt 4d upwards synchronously, and the lifting belt 4d lifts the lifting frame 6 upwards through the lifting lugs 4e.
As shown in fig. 1 and 6, the lower ends of the two lifting belts 4d are wrapped on the corresponding lifting lugs 4e and fixed by lifting belt joints, and the lifting belt joints are fixed with the offset weights 4 f; one side of the weight deflection block 4f is respectively provided with a weight deflection block probe 4g for detecting the position of the weight deflection block 4f, the weight deflection block probes 4g are respectively arranged at the upper end of a weight deflection block detection support 4h, the bottom of the weight deflection block detection support 4h is fixed on a lifting top plate 6a, and the lifting top plate 6a is fixed above a lifting frame 6. When the lifting top plate 6a falls on the packaging bag, the two belt winding drums 4c continue to release the lifting belt 4d, the weight bias 4f gradually inclines downwards to be separated from the detection of the weight bias probe 4g, the weight bias probe 4g is triggered, the control system stops the operation of the lifting motor 4, the belt winding drums 4c stop releasing the lifting belt 4d, the lifting belt 4d is always kept in a tight state, the excessive release is prevented from causing disorder, and the reliable operation of the lifting system is guaranteed. Can adapt to the change of wrapping bag layer height automatically, no matter the wrapping bag that waits to snatch is in top layer or bottom, elevator motor 4 can both accurately park, makes the C-shaped hook accurately snatch the wrapping bag.
As shown in fig. 6, the upper end of the weight detecting bracket 4h is provided with a bracket vertical elongated slot 4h1, the weight probes 4g respectively penetrate through the bracket vertical elongated slot 4h1 and extend out towards the weight 4f, and the height of the weight probes 4g corresponds to the height of the weight 4f when the lifting belt 4d is in a tight state; the middle part of the lifting lug 4e passes through the avoidance slot of the lifting top plate 6a. The installation height of the weight deflection probe 4g can be adjusted through the long vertical groove 4h1 of the bracket, so that the operation of the lifting motor 4 can be accurately controlled.
As shown in fig. 7, a position detection mechanism 5 is installed below the moving frame 1, the position detection mechanism 5 includes a position detection support 5a, two guide rods 5b are connected between a top plate and a bottom plate of the position detection support 5a, a floatable signal slider 5c is arranged on the two guide rods 5b, a downward extending slide rod 5d is connected to the middle of the signal slider 5c, the lower end of the slide rod 5d passes through the bottom plate of the position detection support 5a and extends downward, the top plate of the position detection support 5a is fixed below the moving frame 1, a position detection support elongated slot 5a1 extending vertically is arranged on a vertical plate of the position detection support 5a, and a position detection probe 5e for detecting the height of the signal slider 5c is installed in the position detection support elongated slot 5a1.
The position detection probe 5e can comprise a speed change point probe, a stop point probe and an extreme position probe from bottom to top in sequence, and the position detection probe 5e and the weight biasing probe 4g can be travel switches, proximity switches or photoelectric switches. When the belt winding drum 4c synchronously winds the lifting belt 4d upwards, the lifting belt 4d lifts the lifting frame 6 upwards, when the lifting top plate 6a contacts the lower end of the sliding rod 5d, the sliding rod 5d and the signal slider 5c are jacked upwards, the two guide rods 5b play a role in guiding the lifting of the signal slider 5c, when the height of the signal slider 5c is increased to the position of a speed change point, the lifting motor 4 decelerates, and the lifting belt 4d continues to wind; when the height of the signal slide block 5c is increased to the stop point position, the lifting motor 4 stops, and the lifting belt 4d stops winding; if the lifting belt 4d continues to be wound accidentally, the signal slide block 5c is lifted to the limit position, the whole equipment is stopped, and the lifting belt 4d is prevented from being pulled off to cause accidents.
As shown in fig. 4, the upper end surface of the stopper plate 9 is provided with a plurality of pairs of guide risers 9b standing upward, and each pair of guide risers 9b is located on the left and right sides of the upper end of each stopper plate hook hole 9a. The C-shaped hook is easy to deform after being tied for multiple times and stressed, is easy to be tied at the edge of the hook hole 9a of the limiting plate when extending out to cause damage, and is limited to be inclined towards two sides after the guide vertical plates 9b are arranged at the left side and the right side of the upper port of the hook hole 9a of the limiting plate, so that the C-shaped hook can smoothly enter and exit the hook hole 9a of the limiting plate even if being inclined.
The left upper part of the scissor arm 2 is hinged in a scissor arm upper hinged support 2a, the right upper part of the scissor arm is supported in a horizontal elongated slot of a scissor arm upper sliding seat 2c through a scissor arm upper roller 2e, and the scissor arm upper hinged support 2a and the scissor arm upper sliding seat 2c are respectively fixed below the movable frame 1; the left lower part of the scissor arm is hinged in the scissor arm lower hinged support 2b, the right lower part of the scissor arm is supported in a horizontal long groove of the scissor arm lower sliding seat 2d through the scissor arm lower roller 2f, and the scissor arm lower hinged support 2b and the scissor arm lower sliding seat 2d are respectively fixed above the lifting frame 6. When the scissor arm extends or contracts, the distance between the left hinge point and the right hinge point changes, the upper roller 2e of the scissor arm slides in the horizontal long groove of the upper sliding seat 2c of the scissor arm, and the lower roller 2f of the scissor arm slides in the horizontal long groove of the lower sliding seat 2d of the scissor arm, so that the width change of the scissor arm can be adapted.
One side of the advancing direction of the moving frame 1 is connected with an L-shaped support 10 which extends forwards and downwards, the lower end of the L-shaped support 10 is hinged with a bag shifting swing arm 10e, the front end of the bag shifting swing arm 10e is fixed with a Y-direction shifting beam 10c, and a plurality of shifting rods 10d which extend downwards are uniformly connected on the Y-direction shifting beam 10 c; a bag shifting driving arm 10b is fixed in the middle of the Y-direction shifting beam 10c, the front end of the bag shifting driving arm 10b is hinged with the lower end of a piston rod of a bag shifting cylinder 10a, and a cylinder body of the bag shifting cylinder 10a is fixed in the middle of the upper end of the L-shaped support 10. After the bag grabbing is completed and lifted in place, the movable frame 1 carries the packaging bag to translate to the unloading station, at the moment, the piston rod of the bag poking cylinder 10a retracts, the Y is driven to rotate to the poking beam 10c through the bag poking swing arm 10e, the Y pokes the poking rods 10d on the poking beam 10c in the advancing direction, the left-over bag skin on the bag supporting grid can be pushed into the bag skin collecting hopper, and the situation that the residual bag skin is brought into a storage bin by materials is avoided.
The invention discloses a grabbing and discharging method of a packaging bag, which sequentially comprises the following steps: firstly, the belt winding drum 4c releases the lifting belt 4d downwards, the lifting frame 6 and the limiting plate 9 descend, and the scissor arm 2 extends; after the limiting plate 9 falls on the packaging bag, the weight biasing block 4f inclines to be separated from the detection range of the weight biasing block probe 4g along with the continuous release of the belt, and at the moment, the belt winding drum 4c stops; each C-shaped hook extends out of the hook hole 9a of the limiting plate and is inserted into the packaging bag; fourth, the belt winding drum 4c winds the lifting belt 4d upwards, the lifting frame 6 lifts the captured bags, and the scissor arms 2 contract; when the lifting frame 6 reaches the speed change point, the belt winding drum 4c is decelerated; sixthly, stopping the belt winding drum 4c after the lifting frame 6 reaches a set height; the carriage frame 1 is translated to the next station with the gripped packages.
The weight bias 4f can keep the lifting belt 4d in a tight state all the time, and timely sends a signal to stop the operation of the lifting motor 4, so that disorder caused by excessive release is prevented, and the reliable operation of a lifting system is ensured; the height of the packaging bag can be adapted to the change of the layer height of the packaging bag, and the C-shaped hook can accurately grab the packaging bag no matter the packaging bag to be grabbed is positioned at the top layer or the bottom layer. The ascending process of the lifting frame 6 is firstly decelerated and then stopped, so that the safety is good.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention. In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention. Technical features of the present invention which are not described may be implemented by or using the prior art, and will not be described herein.
Claims (10)
1. The utility model provides a discharge mechanism is grabbed to wrapping bag, includes moving frame, moving frame's the left and right sides is equipped with respectively and follows X to the walking gyro wheel that X removes to the guide rail, its characterized in that: a shear arm is connected below the moving frame, a lifting frame is connected at the bottom of the shear arm, a plurality of rows of C-shaped hooks with the lower ends capable of being opened and closed are arranged below the lifting frame, a limiting plate is arranged below each C-shaped hook, and a plurality of limiting plate hook holes for the C-shaped hooks to penetrate through are uniformly distributed in the limiting plate; a lifting reduction box is arranged on the movable frame, the input end of the lifting reduction box is driven by a lifting motor, the output end of the lifting reduction box is provided with a lifting driving shaft extending along the Y direction, belt winding drums are symmetrically fixed at two ends of the lifting driving shaft, lifting belts are respectively wound on the belt winding drums, the lower ends of the two lifting belts are respectively fixed on lifting lugs, and the lower ends of the two lifting lugs are symmetrically fixed at the top of the lifting frame; the lower ends of the two lifting belts are wrapped on the corresponding lifting lugs and fixed by lifting belt joints, and the lifting belt joints are fixed with the eccentric weights; one side of the weight deviation block is respectively provided with a weight deviation block probe for detecting the position of the weight deviation block, the weight deviation block probes are respectively arranged at the upper end of a weight deviation block detection support, the bottom of the weight deviation block detection support is fixed on a lifting top plate, and the lifting top plate is fixed above the lifting frame; the upper end of the deflection block detection support is provided with a support vertical elongated slot, and the deflection block probes respectively penetrate through the support vertical elongated slot and extend out towards the direction of the deflection block; when the lifting top plate falls on the packaging bag, the two belt winding drums continue to release the lifting belt, the weight bias blocks incline downwards and are separated from the weight bias block probes, the weight bias block probes are triggered, and the mounting heights of the weight bias block probes are adjusted through the vertical elongated slots of the support, so that the lifting belt is always kept in a tight state when the lifting belt sends a signal to the control system to stop the lifting motor.
2. The bag gripping and discharging mechanism according to claim 1, wherein: the hook tips of two adjacent rows of front and rear C-shaped hooks are opposite and staggered with each other, the hook tips of the front C-shaped hooks are backward, the fixed ends of the front C-shaped hooks in the same row are fixed on the same front C-shaped hook square tube, the two ends of the front C-shaped hook square tube are coaxially connected with the front C-shaped hook rotating shaft respectively, and the two ends of the front C-shaped hook rotating shaft are supported on the lifting frame through a front C-shaped hook bearing and a bracket thereof respectively; the hook point of back C shape hook is forward, and the stiff end of C shape hook all fixes behind the same root on C shape hook side pipe, the both ends of back C shape hook side pipe respectively with back C shape hook pivot coaxial coupling, the both ends of back C shape hook pivot are supported through back C shape hook bearing and support respectively on the lifting frame.
3. The bag gripping and discharging mechanism according to claim 2, wherein: one end of each front C-shaped hook square tube is connected with a front C-shaped hook swing arm, the upper end of each front C-shaped hook swing arm is hinged to a front C-shaped hook connecting rod, one front C-shaped hook swing arm extends upwards and is hinged to the end part of a piston rod of a front C-shaped hook cylinder, and the front C-shaped hook cylinder is fixed on the lifting frame; the other end of each rear C-shaped hook square tube is connected with a rear C-shaped hook swing arm respectively, the upper end of each rear C-shaped hook swing arm is hinged to a rear C-shaped hook connecting rod respectively, one rear C-shaped hook swing arm extends upwards and is hinged to the end part of a piston rod of a rear C-shaped hook cylinder, and the rear C-shaped hook cylinder is fixed on the lifting frame.
4. The bag gripping and discharging mechanism according to claim 1, wherein: the traveling speed reducing motor is installed on the moving frame, a traveling driving shaft extending along the Y direction is installed at the output end of the traveling speed reducing motor, and X-direction traveling chain wheels meshed with the X-direction chains are installed at two ends of the traveling driving shaft respectively.
5. The bag gripping and discharging mechanism according to claim 1, wherein: the middle part of the lifting lug passes through the avoidance groove of the lifting top plate.
6. The bag gripping and discharging mechanism according to claim 1, wherein: the device comprises a movable frame, and is characterized in that a position detection mechanism is arranged below the movable frame and comprises a position detection support, two guide rods are connected between a top plate and a bottom plate of the position detection support, floatable signal sliders are arranged on the two guide rods, a sliding rod extending downwards is connected to the middle of the signal slider, the lower end of the sliding rod penetrates through the bottom plate of the position detection support and extends downwards, a top plate of the position detection support is fixed below the movable frame, a position detection support long groove extending vertically is arranged on a vertical plate of the position detection support, and a position detection probe for detecting the height of the signal slider is arranged in the position detection support long groove.
7. The bag gripping and discharging mechanism according to claim 1, wherein: the upper end face of the limiting plate is provided with a plurality of pairs of guide vertical plates which are erected upwards, and each pair of guide vertical plates are respectively positioned at the left side and the right side of the upper port of each limiting plate hook hole.
8. The bag gripping and discharging mechanism according to claim 1, wherein: the upper left part of the scissor arm is hinged in a scissor arm upper hinged support, the upper right part of the scissor arm is supported in a horizontal elongated slot of a scissor arm upper sliding seat through a scissor arm upper roller, and the scissor arm upper hinged support and the scissor arm upper sliding support are respectively fixed below the movable frame; the left lower part of the scissor arm is hinged in the scissor arm lower hinged support, the right lower part of the scissor arm is supported in a horizontal long groove of the scissor arm lower sliding seat through the scissor arm lower roller, and the scissor arm lower hinged support and the scissor arm lower sliding seat are respectively fixed above the lifting frame.
9. The bag gripping and discharging mechanism according to claim 1, wherein: one side of the advancing direction of the moving frame is connected with an L-shaped support which extends forwards and downwards, the lower end of the L-shaped support is hinged with a bag shifting swing arm, the front end of the bag shifting swing arm is fixed with a Y-direction shifting beam, and a plurality of shifting rods which extend downwards are uniformly connected onto the Y-direction shifting beam; and a bag shifting driving arm is fixed in the middle of the Y-direction shifting beam, the front end of the bag shifting driving arm is hinged with the lower end of a piston rod of a bag shifting cylinder, and a cylinder body of the bag shifting cylinder is fixed in the middle of the upper end of the L-shaped support.
10. A method for gripping and discharging the packaging bag by using the gripping and discharging mechanism for the packaging bag according to claim 1, which comprises the following steps in sequence: the lifting frame and the limiting plate descend, and the scissor arm extends; after the limiting plate falls on the packaging bag, the weight blocks are inclined to be separated from the detection range of the weight block probe along with the continuous release of the belt, and at the moment, the belt winding drum stops; each C-shaped hook extends out of the hook hole of the limiting plate and is inserted into the packaging bag; fourthly, the belt winding drum winds the lifting belt upwards, the lifting frame lifts each grabbed packaging bag, and the scissor arms contract; fifthly, when the lifting frame reaches the speed change point, the belt winding drum is decelerated; sixthly, stopping the belt winding drum after the lifting frame reaches a set height; the moving frame is translated to the next station carrying the gripped packages.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010678675.7A CN111994393B (en) | 2020-07-15 | 2020-07-15 | Packaging bag grabbing and discharging mechanism and grabbing and discharging method thereof |
| PCT/CN2021/088349 WO2022012105A1 (en) | 2020-07-15 | 2021-04-20 | Packaging bag grasping and unloading mechanism and grasping and unloading method therefor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010678675.7A CN111994393B (en) | 2020-07-15 | 2020-07-15 | Packaging bag grabbing and discharging mechanism and grabbing and discharging method thereof |
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| CN111994393A CN111994393A (en) | 2020-11-27 |
| CN111994393B true CN111994393B (en) | 2022-02-11 |
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| CN202010678675.7A Active CN111994393B (en) | 2020-07-15 | 2020-07-15 | Packaging bag grabbing and discharging mechanism and grabbing and discharging method thereof |
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| WO (1) | WO2022012105A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111994393B (en) * | 2020-07-15 | 2022-02-11 | 扬州中欧工业机器人有限公司 | Packaging bag grabbing and discharging mechanism and grabbing and discharging method thereof |
| CN212655099U (en) * | 2020-07-15 | 2021-03-05 | 扬州中欧工业机器人有限公司 | Bag grabbing mechanism for packaging bags |
| CN114130886B (en) * | 2022-01-25 | 2023-09-22 | 山东天鹅棉业机械股份有限公司 | Tooth-shaped punching device for velvet stripping saw cylinder |
| CN115180236B (en) * | 2022-07-21 | 2023-12-22 | 岳西县经丰智能设备有限公司 | Full-automatic bag making and supplying system for cone yarn package |
| CN115535613B (en) * | 2022-10-27 | 2023-09-15 | 深圳市赛平懋科技有限公司 | Mechanical manufacturing grabbing system and using method |
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| WO2022012105A1 (en) | 2022-01-20 |
| CN111994393A (en) | 2020-11-27 |
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