CN112978411A - Bagged material loading manipulator - Google Patents

Abstract

The invention relates to a bagged material loading manipulator, comprising a lifting mechanism, a first horizontal joint mechanical arm and a first bag dropping mechanism; wherein, the first horizontal joint mechanical arm is connected with the lifting mechanism, and the first bag dropping mechanism is connected with the first bag drop mechanism. A horizontal joint mechanical arm is movably connected; the lifting mechanism is used to drive the first horizontal joint mechanical arm to move up and down in the vertical direction, the first horizontal joint mechanical arm is used to drive the first bag dropping mechanism to move in the horizontal direction, and the first bag dropping mechanism It can rotate in the horizontal direction, and the first bag drop mechanism is used to receive the bagged material conveyed on the belt conveyor and release the bagged material to a preset position. The bagged material loading manipulator provided by the present invention has a compact structure, can stack bagged materials in the carriage of the truck during loading, the height of the bag drop mechanism can be adjusted up and down, which is convenient for stacking at a suitable height, and the bag drop mechanism can be horizontally adjusted. The direction is rotated, so that the cart can be packed horizontally or vertically, which is suitable for different loading requirements.

Description

Bagged material loading manipulator

technical field

The invention relates to the technical field of bagged material loading equipment, and more particularly, to a bagged material loading manipulator.

Background technique

After the bagged materials such as cement are packaged, they need to be transported or transported by trucks. At this time, the packaged bagged cement needs to be loaded into the carriage of the truck. In order to reduce the labor intensity of workers and improve the loading efficiency, most cement plants have adopted automatic loading machines for loading of bagged cement.

At present, when the existing bagged cement automatic loading machine is loaded, the packing device is parked above the fence of the truck, and then the cement bag is dropped into the carriage by moving the pallet to a designated position to open the flap. In this way, there is a large drop between the cement bag and the bottom surface of the carriage, especially for vehicles with high railings. The cement bag falls into the carriage and raises dust, which is easy to shift and the packing is not neat. And the direction of bag drop can only be horizontal or vertical, which cannot meet the needs of horizontal and vertical packaging vehicles at the same time.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a bagged material loading manipulator, which aims to solve the problems existing in the prior art.

According to the present invention, a bagged material loading manipulator is provided, comprising a lifting mechanism, a first horizontal joint mechanical arm and a first bag dropping mechanism; wherein,

The first horizontal joint mechanical arm is connected with the lifting mechanism, and the first bag-dropping mechanism is movably connected with the first horizontal joint mechanical arm;

The lifting mechanism is used to drive the first horizontal joint mechanical arm to move up and down in the vertical direction, the first horizontal joint mechanical arm is used to drive the first bag drop mechanism to move in the horizontal direction, and the first drop The bagging mechanism can rotate in the horizontal direction, and the first bagging mechanism is used for receiving the bagged material conveyed on the belt conveyor and releasing the bagged material to a preset position.

Preferably, the first horizontal joint mechanical arm includes a fixed support, a first swing arm, and a second swing arm, the fixed support is provided on the lifting mechanism, and the first end of the first swing arm is rotatably connected to the fixed support, and the first end of the second swing arm is rotatably connected to the second end of the first swing arm;

A first drive device is provided between the first end of the first swing arm and the fixed support, and the first swing arm can rotate horizontally relative to the fixed support under the driving of the first drive device; A second drive device is provided between the first end of the second swing arm and the second end of the first swing arm, and the second swing arm can be driven by the second drive device relative to the first swing arm. A swing arm rotates horizontally.

Preferably, the first bag drop mechanism is rotatably connected to the second end of the second swing arm, and a third drive is provided between the second end of the second swing arm and the first bag drop mechanism The first bag-dropping mechanism can rotate horizontally relative to the second swing arm under the driving of the third driving device.

Preferably, the first driving device, the second driving device and the third driving device are all servo motors.

Preferably, the first bag drop mechanism includes a bag drop frame, a turning plate driving device, a turning plate transmission mechanism and two turning plates;

The turning plate driving device is fixed on the bag dropping frame, and the two turning plates are symmetrically arranged and rotatably connected to the bottom of the bag dropping frame;

The output shaft of the turning plate driving device is connected with the turning plate transmission mechanism, the turning plate driving device drives the turning plate transmission mechanism to move, and the turning plate driving mechanism drives the two turning plates to turn over to The bagged material is released to a preset position.

Preferably, the flap transmission mechanism comprises a driving gear fixedly connected to the output shaft of the flap driving device, a driven gear meshed with the driving gear, and the driving gear and the driven gear respectively Two connected and symmetrically arranged transmission link assemblies;

The transmission link assembly includes an upper swing rod, a connecting rod and a lower swing rod, the upper swing rod is fixedly connected with the driving gear or the driven gear, the lower swing rod is fixedly connected with the turning plate, and the connecting rod The two ends of the upper swing rod and the lower swing rod are respectively rotatably connected.

Preferably, the turning plate comprises an idler connecting shaft, an idler connecting plate and a plurality of small idlers arranged in parallel, the idler connecting shaft and the idler connecting plate are arranged in parallel at a preset distance, and a plurality of all the small idlers are arranged in parallel. The small idler is rotatably connected between the idler connection shaft and the idler connection plate, the two ends of the idler connection shaft are rotatably connected to the bag drop frame, and the idler connection shaft is rotatably connected. One end extends out of the bag drop frame and is fixedly connected with the lower swing rod.

Preferably, the front end of the bag drop frame is provided with a front baffle, the rear end of the bag drop frame is an inlet for bagged materials, and a transition roller is rotatably connected to the bottom of the inlet port, and the inside of the bag drop frame is Side baffles are symmetrically arranged on the left and right sides; wherein, the front end of the bag drop frame is further provided with a buffer, and the buffer abuts on the side of the front baffle away from the inlet.

Preferably, the flap drive device includes a flap servo motor and a reducer, the flap servo motor is drive-connected to the reducer, the reducer is a right-angle reducer, and the input shaft of the right-angle reducer is located at vertical and the output shaft is horizontal.

Preferably, it also includes a second horizontal joint mechanical arm and a second bag drop mechanism; wherein,

The second horizontal joint mechanical arm is connected with the lifting mechanism, and the second horizontal joint mechanical arm and the first horizontal joint mechanical arm are arranged in parallel and symmetrically on the lifting mechanism, and the second horizontal joint mechanical arm and the first horizontal joint mechanical arm are arranged in parallel and symmetrically on the lifting mechanism. The bag mechanism is movably connected with the second horizontal joint mechanical arm.

The bagged material loading manipulator provided by the invention has a compact structure, and can stack the bagged materials in the carriage of the truck during loading. Therefore, the bag-dropping mechanism can be adjusted up and down in the height direction. When the bagged materials are loaded into the truck, the horizontal joint mechanical arm can be adjusted to a suitable height on the upgrading mechanism, so that the distance between the bag-dropping mechanism and the bottom surface of the carriage is moderate, which can be reduced when loading the bag. Dust; the bag-dropping mechanism can rotate in the horizontal direction, so that it can pack the car horizontally or vertically. There are various coding schemes, which are suitable for different loading requirements.

Description of drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings.

FIG. 1 shows a schematic structural diagram of a bagged material loading robot according to an embodiment of the present invention.

FIG. 2 shows a schematic structural diagram of a first horizontal joint mechanical arm in a bagged material loading robot according to an embodiment of the present invention.

FIG. 3 and FIG. 4 are respectively three-dimensional schematic diagrams of the first bag dropping mechanism in the bagged material loading robot according to the embodiment of the present invention when viewed from different directions.

Fig. 5 shows a schematic structural diagram of a lifting mechanism in a bagged material loading manipulator according to an embodiment of the present invention.

In the figure: the first horizontal joint mechanical arm 1, the fixed support 11, the first swing arm 12, the second swing arm 13, the first drive device 14, the second drive device 15, the third drive device 16, the first bag drop Mechanism 2, bag drop frame 21, flap servo motor 22, reducer 23, flap transmission mechanism 24, driving gear 241, driven gear 242, upper swing rod 243, connecting rod 244, lower swing rod 245, rod end joint bearing 246, turning plate 25, idler connecting shaft 251, idler connecting plate 252, small idler 253, bearing seat 254, side baffle 26, front baffle 27, buffer 28, transition idler 29, second horizontal joint Robot arm 3 , second bag drop mechanism 4 , lifting mechanism 5 , upright column 51 , movable mounting seat 52 , base 53 , and lifting drive device 54 .

Detailed ways

Various embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. In the various figures, the same elements are designated by the same or similar reference numerals. For the sake of clarity, various parts in the figures have not been drawn to scale.

The present invention provides a bagged material loading manipulator, comprising a lifting mechanism 5 , a first horizontal joint mechanical arm 1 and a first bag dropping mechanism 2 ; wherein the first horizontal joint mechanical arm 1 is in phase with the lifting mechanism 5 The first bag-dropping mechanism 2 is movably connected with the first horizontal joint mechanical arm 1; the lifting mechanism 5 is used to drive the first horizontal joint mechanical arm 1 to move up and down in the vertical direction. A horizontal joint mechanical arm 1 is used to drive the first bag dropping mechanism 2 to move in the horizontal direction, the first bag dropping mechanism 2 can rotate in the horizontal direction, and the first bag dropping mechanism 2 is used for receiving the belt conveyor. The bagged material is conveyed, and the bagged material is released to the preset position.

As shown in FIG. 2 , the first horizontal joint mechanical arm 1 includes a fixed support 11 , a first swing arm 12 , and a second swing arm 13 , the fixed support 11 is provided on the lifting mechanism 5 , and the first swing arm 13 The first end of the arm 12 is rotatably connected to the fixed support 11 , and the first end of the second swing arm 13 is rotatably connected to the second end of the first swing arm 12 . A first drive device 14 is provided between the first end of the first swing arm 12 and the fixed support 11 , and the first swing arm 12 can rotate horizontally relative to the fixed support 11 under the driving of the first drive device 14 ; A second drive device 15 is provided between the first end of the second swing arm 13 and the second end of the first swing arm 12 , and driven by the second drive device 15 , the second swing arm 13 can face the first The swing arm 12 rotates horizontally. As shown in FIG. 1 , the first bag drop mechanism 2 is rotatably connected to the second end of the second swing arm 13 , and a third bag drop mechanism is provided between the second end of the second swing arm 13 and the first bag drop mechanism 2 . The driving device 16, driven by the third driving device 16, the first bag drop mechanism 2 can rotate horizontally relative to the second swing arm 13.

Specifically, the first drive device 14 is fixedly connected to the first end of the first swing arm 12, and the power output end of the first drive device 14 is fixedly connected to the fixed support 11; the second The driving device 15 is fixedly connected to the second end of the first swing arm 12 , and the power output end of the second driving device 15 is fixedly connected to the first end of the second swing arm 13 . The third driving device 16 is fixedly connected to the second end of the second swing arm 13 , and the power output end of the third driving device 16 is fixedly connected to the first bag drop mechanism 2 . In this embodiment, the first driving device 14 , the second driving device 15 and the third driving device 16 are all servo motors. The servo motor can control the speed and position accuracy very accurately, and can convert the voltage signal into torque and speed to drive the control object. In other alternative embodiments, the first driving device 14 , the second driving device 15 and the third driving device 16 may adopt a combined structure of a servo motor and a reducer 23 , so that the output torque can be increased.

Referring to FIG. 1 , further, the bagged material loading manipulator further includes a second horizontal joint mechanical arm 3 and a second bag dropping mechanism 4 , wherein the second horizontal joint mechanical arm 3 has the same structure as the first horizontal joint mechanical arm 1 , the second bag-dropping mechanism 4 has the same structure as the first bag-dropping mechanism 2, the second horizontal joint mechanical arm 3 is connected with the lifting mechanism 5, and the second horizontal joint mechanical arm 3 and the first horizontal joint mechanical arm 1 are in the lifting mechanism. 5 are arranged side by side and symmetrically, and the second bag dropping mechanism 4 is movably connected with the second horizontal joint mechanical arm 3 .

As shown in FIG. 5 , which is a schematic structural diagram of the lifting mechanism in this embodiment, the lifting mechanism 5 includes a base 53 , a column 51 , a movable mounting seat 52 and a lifting driving device 54 , and the movable mounting seat 52 is slidably connected up and down. On the vertical column 51 , the movable mounting seat 52 is driven up and down along the height direction of the vertical column 51 by the driving of the lifting and lowering driving device 54 . Both the first horizontal joint mechanical arm 1 and the second horizontal joint mechanical arm 3 are fixedly connected to the movable mounting seat 52 of the lifting mechanism 5 through the fixed support 11 . In this embodiment, the lifting driving device 54 in the lifting mechanism 5 is a hydraulic cylinder. In other alternative embodiments, the lifting driving device 54 may also be other transmission structures such as ball screws. In addition, the lifting mechanism 5 is not limited to the structure shown in FIG. 5 , as long as the lifting mechanism 5 of other forms can be applied as long as the installation and lifting adjustment of the first horizontal joint robot arm 1 and the second horizontal joint robot arm 3 can be realized, The present invention does not make any limitation to this.

By symmetrically arranging two horizontal joint mechanical arms and two bag drop mechanisms on the lifting mechanism 5, the loading efficiency of bagged materials can be improved. The bag drop mechanism is used to receive the bagged material conveyed by the belt conveyor. The two bag drop mechanisms correspond to two bag receiving positions respectively. After the bagged material is transported to the bag drop mechanism through the belt conveyor, the swing amplitude of the horizontal joint mechanical arm is controlled by , translate the bag-dropping mechanism to the position where the bag needs to be dropped; through the rotation of the bag-dropping mechanism itself, horizontal or vertical bag-dropping can be realized to meet various bag-dropping requirements; the lifting mechanism 5 can adjust the bag-dropping mechanism and the bottom surface of the carriage distance, so as to reduce the dust when the bagged material is loaded into the truck.

The first bag-dropping mechanism 2 includes a bag-dropping frame 21, a turning plate driving device, a turning plate transmission mechanism 24 and two turning plates 25; the turning plate driving device is fixed on the bag dropping frame 21, and the two turning plates 25 are symmetrical It is arranged and rotatably connected to the bottom of the bag drop frame 21, and the two turning plates 25 are used to carry and release bagged materials; the output shaft of the turning plate driving device is connected with the turning plate transmission mechanism 24, and the turning plate driving device drives the turning plate. The plate transmission mechanism 24 moves, and the flap transmission mechanism 24 drives the two inversion plates 25 to turn over, so as to release the bagged material to a preset position.

The flap transmission mechanism 24 includes a driving gear 241 fixedly connected to the output shaft of the flap driving device, a driven gear 242 meshed with the driving gear 241 and connected to the driving gear 241 and the driven gear 242 respectively. Two transmission link assemblies arranged symmetrically; the transmission link assembly includes an upper swing rod 243, a connecting rod 244 and a lower swing rod 245, the upper swing rod 243 is fixedly connected with the driving gear 241 or the driven gear 242, and the lower swing rod 245 is connected with The turning plate 25 is fixedly connected, and the two ends of the connecting rod 244 are respectively connected in rotation with the upper swing rod 243 and the lower swing rod 245 .

The bag drop frame 21 is a frame structure made of profile welding, and the whole is a gate-shaped structure. The power output end of the third driving device 16 is fixedly connected to the top of the bag drop frame 21. The closed flip plate 25 is closed, the front end of the bag drop frame 21 is provided with a front baffle 27, the front end of the bag drop frame 21 is closed by the front baffle 27, the rear end of the bag drop frame 21 is an open structure, and the rear end is open. It is the inlet port for bagged materials. The bagged materials conveyed from the belt conveyor enter the inside of the bag drop frame 21 through the rear end opening, and are blocked by the front baffle plate 27 and stay on the upper part of the two turning plates 25 . A transition idler 29 is rotatably connected to the bottom of the inlet port, and the transition idler 29 is used to reduce friction when the bagged material enters the inside of the bag drop frame 21, so that the entry is smoother. Two side baffles 26 are symmetrically arranged on the left and right sides of the bag drop frame 21, and the two side baffles 26 are located at the rear end of the bag drop frame 21 in an "eight"-shaped structure for guiding the bagged materials. The front end of the bag drop frame 21 is further provided with a buffer 28, and the buffer 28 abuts on the side of the front baffle 27 away from the inlet. The bumper 28 can be a urethane bumper or a spring bumper. When the bagged material enters the inside of the bag drop frame 21 and hits the front baffle 27 , the impact force of the bagged material on the front baffle 27 is buffered by the buffering action of the buffer 28 .

The turning plate 25 includes an idler connecting shaft 251, an idler connecting plate 252 and a plurality of small idler rollers 253 arranged in parallel. The roller 253 is rotatably connected between the idler connecting shaft 251 and the idler connecting plate 252 , both ends of the idler connecting shaft 251 are rotatably connected to the ladle frame 21 , and one end of the idler connection shaft 251 extends out of the ladle frame 21 It is fixedly connected with the sway rod 245 . Specifically, both ends of the idler connecting shaft 251 can be installed with rolling bearings, and the front and rear ends of the drop frame are correspondingly installed with bearing seats 254 , and the rolling bearings are arranged in the bearing seats 254 . The axial direction of the small supporting roller 253 is perpendicular to the entering direction of the bagged material, so that the bagged material can move smoothly on the small supporting roller 253 after entering.

Specifically, as shown in FIG. 3 and FIG. 4 , in this embodiment, the flap driving device includes a flap servo motor 22 and a reducer 23 , the flap servo motor 22 is connected to the reducer 23 in a driving manner, and the reducer 23 It is a right angle reducer, the input shaft of the right angle reducer is located in the vertical direction and the output shaft is located in the horizontal direction. The reducer 23 is fixedly connected to the top of the bag drop frame 21 through the mounting seat, the output shaft of the reducer 23 is arranged horizontally, and the output shaft of the reducer 23 is fixedly connected with the driving gear 241, and the driven ruler gear is rotatably connected to the reducer 23. on the mounting seat, and the driven gear 242 meshes with the driving gear 241 for transmission. The first ends of the upper swing rods 243 of the two transmission link assemblies are fixedly connected to the driving gear 241 and the driven gear 242 respectively, and the first ends of the upper swing rods 243 are fixedly connected to the outer end surface of the driving gear 241 or the driven gear 242. On the outer end face of the outer end of the frame, the end faces of the driving gear 241 and the driven gear 242 extend out of the side surface of the bag frame 21 . The first ends of the lower swing rods 245 of the two transmission link assemblies are respectively fixedly connected to one end of the roller connecting shafts 251 of the two turning plates 25 extending out of the bag frame 21 . Both ends of the connecting rod 244 are respectively provided with a rod end joint bearing 246 , and the two ends of the connecting rod 244 are respectively connected to the second end of the upper swing rod 243 and the second end of the lower swing rod 245 through the rod end joint bearing 246 . Wherein, in the same transmission link assembly, the second end of the upper swing rod 243 and the second end of the lower swing rod 245 are disposed opposite to each other, that is, the first end of the upper swing rod 243 and the first end of the lower swing rod 245 are located in the connecting Therefore, when the upper swing rod 243 rotates clockwise, the upper swing rod 243 drives the lower swing rod 245 to rotate counterclockwise through the connecting rod 244 . 4, the driving gear 241 and the driven gear 242 are two cylindrical gears with the same specifications. When the flap driving device drives the driving gear 241 to rotate clockwise, the upper The swing rod 243 rotates clockwise around the center of the driving gear 241 , and the lower swing rod 245 is driven to rotate counterclockwise around the center of the idler connecting shaft 251 through the transmission action of the connecting rod 244 . When the driving gear 241 rotates clockwise, since the driven gear 242 meshes with the driving gear 241 for transmission, the driven gear 242 rotates in the counterclockwise direction, so that the turning plate 25 on the driven gear 242 side and the driving gear 241 side are connected. The turning plate 25 rotates synchronously in the opposite direction. When the turning plate 25 is rotated toward the lower part of the bag drop frame 21, the bagged materials in the bag drop frame 21 can be released and dropped.

The bagged material loading manipulator provided by the invention has a compact structure, and can stack the bagged materials in the carriage of the truck during loading. Therefore, the bag-dropping mechanism can be adjusted up and down in the height direction. When the bagged materials are loaded into the truck, the horizontal joint mechanical arm can be adjusted to a suitable height on the upgrading mechanism, so that the distance between the bag-dropping mechanism and the bottom surface of the carriage is moderate, which can be reduced when loading the bag. Dust; the bag-dropping mechanism can rotate in the horizontal direction, so that it can pack the car horizontally or vertically. There are various coding schemes, which are suitable for different loading requirements.

It should be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Finally, it should be noted that: obviously, the above-mentioned embodiments are only examples for clearly illustrating the present invention, and are not intended to limit the implementation manner. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. However, the obvious changes or changes derived from this are still within the protection scope of the present invention.

Claims (10)

1. The bagged material loading manipulator is characterized by comprising a lifting mechanism, a first horizontal joint mechanical arm and a first bag falling mechanism; wherein,

the first horizontal joint mechanical arm is connected with the lifting mechanism, and the first bag falling mechanism is movably connected with the first horizontal joint mechanical arm;

the lifting mechanism is used for driving the first horizontal joint mechanical arm to move up and down along the vertical direction, the first horizontal joint mechanical arm is used for driving the first bag falling mechanism to move along the horizontal direction, the first bag falling mechanism can rotate in the horizontal direction, and the first bag falling mechanism is used for receiving bagged materials conveyed on the belt conveyor and releasing the bagged materials to a preset position.

2. The bagged material loading manipulator of claim 1, wherein the first horizontal joint manipulator comprises a fixed support, a first swing arm and a second swing arm, the fixed support is arranged on the lifting mechanism, a first end of the first swing arm is rotatably connected to the fixed support, and a first end of the second swing arm is rotatably connected to a second end of the first swing arm;

a first driving device is arranged between the first end of the first swing arm and the fixed support, and the first swing arm can horizontally rotate relative to the fixed support under the driving of the first driving device; and a second driving device is arranged between the first end of the second swing arm and the second end of the first swing arm, and the second swing arm can horizontally rotate relative to the first swing arm under the driving of the second driving device.

3. The bagged material loading manipulator of claim 2, wherein the first bag dropping mechanism is rotatably connected to the second end of the second swing arm, a third driving device is disposed between the second end of the second swing arm and the first bag dropping mechanism, and the first bag dropping mechanism can horizontally rotate relative to the second swing arm under the driving of the third driving device.

4. The bagged material loading manipulator of claim 3, wherein the first driving device, the second driving device and the third driving device are all servo motors.

5. The bagged material loading manipulator of claim 1, wherein the first bag dropping mechanism comprises a bag dropping frame, a flap driving device, a flap transmission mechanism and two flap plates;

the turning plate driving device is fixedly arranged on the bag falling frame, and the two turning plates are symmetrically arranged and can be rotatably connected to the bottom of the bag falling frame;

the output shaft of the turning plate driving device is connected with the turning plate transmission mechanism, the turning plate driving device drives the turning plate transmission mechanism to move, and the turning plate transmission mechanism drives the two turning plates to turn over so as to release the bagged materials to a preset position.

6. The bagged material loading manipulator of claim 5, wherein the flap transmission mechanism comprises a driving gear fixedly connected to an output shaft of the flap driving device, a driven gear in meshing transmission connection with the driving gear, and two transmission connecting rod assemblies which are respectively connected with the driving gear and the driven gear and are symmetrically arranged;

the transmission connecting rod assembly comprises an upper swing rod, a connecting rod and a lower swing rod, the upper swing rod is fixedly connected with the driving gear or the driven gear, the lower swing rod is fixedly connected with the turnover plate, and two ends of the connecting rod are respectively rotatably connected with the upper swing rod and the lower swing rod.

7. The bagged material loading manipulator as claimed in claim 6, wherein the turning plate comprises a carrier roller connecting shaft, a carrier roller connecting plate and a plurality of small carrier rollers arranged in parallel, the carrier roller connecting shaft and the carrier roller connecting plate are arranged in parallel at a preset distance, the plurality of small carrier rollers are rotatably connected between the carrier roller connecting shaft and the carrier roller connecting plate, two ends of the carrier roller connecting shaft are rotatably connected to the bag dropping frame, and one end of the carrier roller connecting shaft extends out of the bag dropping frame and is fixedly connected with the lower swing rod.

8. The bagged material loading manipulator of claim 6, wherein a front baffle is arranged at the front end of the bag dropping frame, a bagged material inlet is arranged at the rear end of the bag dropping frame, a transition carrier roller is rotatably connected to the bottom of the inlet, and side baffles are symmetrically arranged on the left side and the right side inside the bag dropping frame; the front end of the bag falling frame is further provided with a buffer, and the buffer abuts against one side, far away from the inlet, of the front baffle.

9. The bagged material loading manipulator of claim 5, wherein the flap driving device comprises a flap servo motor and a speed reducer, the flap servo motor is in transmission connection with the speed reducer, the speed reducer is a right-angle speed reducer, and an input shaft of the right-angle speed reducer is located in a vertical direction and an output shaft of the right-angle speed reducer is located in a horizontal direction.

10. The bagged material loading manipulator of any one of claims 1-9, further comprising a second horizontal joint mechanical arm and a second bag dropping mechanism; wherein,

the second horizontal joint mechanical arm is connected with the lifting mechanism, the second horizontal joint mechanical arm and the first horizontal joint mechanical arm are arranged on the lifting mechanism in parallel and symmetrically, and the second bag falling mechanism is movably connected with the second horizontal joint mechanical arm.

Images