CN211309125U - Opposite-pinch pull type bag opening manipulator and bag inserting device - Google Patents

Abstract

The utility model discloses a pinch-pull type bag opening manipulator, which comprises a left pull finger component, a right pull finger component and a linkage component, wherein the two pull finger components are arranged left and right, and the linkage component is in transmission connection with the left pull finger and the right pull finger and drives the left pull finger and the right pull finger to be linked and opened; the pulling finger assembly comprises a finger mounting frame, a pinching driving device, a main finger assembly, a secondary finger assembly and a suction head arranged on the main finger assembly and the secondary finger assembly; the master finger assembly and the slave finger assembly are respectively rotatably arranged on the finger mounting rack and are in transmission connection; the opposite-pinching driving device is arranged on the finger mounting frame, and the driving end of the opposite-pinching driving device drives the master finger assembly and the slave finger assembly to synchronously rotate in the opposite direction or relatively rotate. The utility model discloses well be located pulling of one side and point the subassembly outwards pull the opening part of material bag again when inwards holding between the fingers and getting, accomplish in one go and open the bag action, do not rely on the vacuum system of negative pressure, it is more stable to open the bag operation.

Description

Opposite-pinch pull type bag opening manipulator and bag inserting device

Technical Field

The utility model belongs to the technical field of insert a bag equipment, concretely relates to holding between the fingers and dragging formula division bag manipulator and insert a bag device.

Background

In dust production workshops of cement factories and flour factories, materials need to be quantitatively packaged by soft packaging bags such as chemical fiber bags, snakeskin bags and the like. In order to reduce the harm of dust to the body of workers, the whole process of supplying, picking, opening and conveying the material bags needs to be automatically operated.

The existing bag opening and feeding machine for picking up an empty material bag, opening the empty material bag and aligning the opening with a discharge nozzle to feed the bag is as follows: publication number CN 208439956U; the invention discloses a swing arm type bag grabbing manipulator, which comprises a swing arm motor, a swing arm, a hand-grabbing rotary motor, a horizontal sliding seat and a bag grabbing manipulator, wherein the swing arm is transversely arranged, the swing arm motor drives the swing arm to horizontally rotate, the hand-grabbing rotary motor and the bag grabbing manipulator are installed at the free end of the swing arm, and the bag grabbing manipulator comprises a bag taking device and a bag opening device; the top of the horizontal sliding seat is connected with a hand-held rotating motor, and the hand-held rotating motor drives the horizontal sliding seat to rotate; the bag grabbing manipulator is connected with the horizontal sliding seat in a sliding mode. In the technical scheme, the bag grabbing mechanical arm controls the opening and closing of the bag taking device and the bag opening device through the first driving device, the main linkage arm and the auxiliary linkage arm.

Publication number CN 208439497U; the invention discloses a Chinese utility model patent named a bag grabbing manipulator of an automatic loading and inserting machine, and further discloses a bag grabbing manipulator of an automatic loading and inserting machine, which comprises a fixed mounting seat, a driving mechanical arm, a mechanical connecting rod, a first driving device, a mechanical connecting rod, a bag taking device and a bag opening device; the first driving device simultaneously drives the main linkage arm and the auxiliary linkage arm to open or close mutually, and the main linkage arm and the auxiliary linkage arm form a clamping opening structure; the bag taking device and the bag opening device are correspondingly arranged at the neck clamping opening and the free end of the main linkage arm and the auxiliary linkage arm and are used for clamping packaging bags and opening the openings of the packaging bags to receive materials. Furthermore, the bag opening device comprises a vacuum adsorption mechanism and a support rod, and the vacuum adsorption mechanism is connected with the main linkage arm and the auxiliary linkage arm through the support rod respectively.

The structure for realizing bag opening in the structure is realized by directly and transversely pulling the vacuum adsorption mechanisms on two sides of the material bag, and the stability requirement on the adsorption acting force of the vacuum adsorption mechanisms is higher.

SUMMERY OF THE UTILITY MODEL

The utility model provides a opposite-pinch pulling type bag opening manipulator different from the prior art, which is symmetrically provided with two pulling finger components which can be respectively contacted with a bag body on one side of a material bag; open dragging of bag manipulator one side and pointing the subassembly and divide into the main finger subassembly of linkage again, from pointing the subassembly, main finger subassembly, form the action of holding between the fingers when pointing the subassembly to the middle motion of the two, the action of getting the thing pocket is held between the fingers to anthropomorphic dummy one-hand thumb and forefinger each other, dragging of both sides points the subassembly and holds between the fingers respectively and transversely pulls again behind the bag body of getting the thing pocket, the operation is more stable, and replace vacuum suction head with the ordinary suction head that does not communicate the negative pressure and also can stably accomplish to hold between the fingers, pull the action of opening the bag after, consequently, can reduce vacuum device's configuration and improved the stability of automatic bag operation of opening.

The utility model discloses a following technical scheme realizes: a pinch-pull type bag opening manipulator comprises a left pull finger assembly, a right pull finger assembly and a linkage assembly, wherein the two pull finger assemblies are arranged one by one, and the linkage assembly is in transmission connection with the left pull finger and the right pull finger assembly and drives the left pull finger and the right pull finger assembly to open and close in a linkage manner; the pulling finger assembly comprises a finger mounting frame, a pinching driving device, a main finger assembly, a secondary finger assembly and a suction head arranged on the main finger assembly and the secondary finger assembly; the main finger assembly and the auxiliary finger assembly are respectively rotatably arranged on the finger mounting rack and are in transmission connection; the body of the opposite-pinching driving device is arranged on the finger mounting frame, and the driving end of the opposite-pinching driving device drives the master finger assembly and the slave finger assembly to synchronously move in opposite directions or synchronously move in opposite directions.

Furthermore, in order to better realize the utility model, the master finger assembly comprises a first swing frame and a first connecting rod, the slave finger assembly comprises a second swing frame and a second connecting rod, one end of the first swing frame adjacent to the second swing frame is respectively hinged through a hinge transmission shaft, and the hinge transmission shaft is hinged with the driving end of the opposite-pinch driving device; the other end of the first swinging frame is hinged with one end of a first connecting rod, and the other end of the first connecting rod is hinged with the upper end of the finger mounting frame; the other end of the second swinging frame is hinged with one end of a second connecting rod, and the other end of the second connecting rod is hinged with the lower end of the finger mounting frame; the suction heads are eccentrically arranged on the first swing frame and the second swing frame respectively.

Further, for better realization the utility model discloses, first swing span includes first swing board, first installation piece, first synchronizing rod, it is articulated with articulated transmission shaft that first swing board is close to the one end from the finger subassembly, the other end of first swing board is articulated with the one end of first connecting rod, first swing board sets up a plurality of first installation pieces along length direction on being close to one side of finger mounting bracket, one side of first installation piece is provided with the suction head, connects through first synchronizing rod between the adjacent first installation piece.

Further, for better realization the utility model discloses, the second swing span includes second swing board, second installation piece, the second swing board is close to the one end of main finger subassembly and is articulated with articulated transmission shaft, the other end of second swing board is articulated with the one end of second connecting rod, the second swing board sets up a plurality of second installation pieces along length direction on being close to one side of finger mounting bracket, one side of second installation piece is provided with the suction head.

Further, for better realization the utility model discloses, to holding between the fingers drive arrangement for sharp drive arrangement, sharp drive arrangement's drive end is articulated with articulated transmission shaft.

Furthermore, in order to better realize the utility model, the main finger assembly comprises a first suction cup frame, a first mounting shaft and a main transmission shaft, wherein the first mounting shaft and the main transmission shaft are mounted at two ends of the first suction cup frame and are coaxially mounted on the finger mounting frame; the slave finger assembly comprises a second sucking disc frame, a second mounting shaft and a slave transmission shaft, wherein the second mounting shaft and the slave transmission shaft are mounted at two ends of the second sucking disc frame and coaxially mounted on the finger mounting frame; the main transmission shaft and the auxiliary transmission shaft are directly or indirectly in synchronous reverse transmission; the suction heads are respectively eccentrically arranged on a first suction disc frame which can rotate along the first mounting shaft and the main transmission shaft and a second suction disc frame which can rotate along the second mounting shaft and the auxiliary transmission shaft.

Furthermore, in order to better realize the utility model, the first suction cup frame consists of two first lugs provided with shaft holes and a first suction cup mounting part connected between the two first lugs, wherein a first mounting shaft is mounted in the shaft hole of one first lug and a main transmission shaft is mounted in the shaft hole of the other first lug; the axis of the first mounting shaft and the axis of the main transmission shaft which are overlapped are virtual rotating shafts of the first suction cup frame which can rotate along the first mounting shaft and the main transmission shaft; the first suction cup mounting part is offset from a virtual rotation axis of the first suction cup frame.

Further, for better realization the utility model discloses, to holding between the fingers drive arrangement and be sharp drive arrangement, sharp drive arrangement's drive end articulates the first sucking disc installation department at first sucking disc frame.

Furthermore, in order to better realize the utility model, the second sucker frame is composed of two second lugs with shaft holes and a second sucker mounting part connected between the two second lugs, a second mounting shaft is mounted in the shaft hole of one second lug, and a driven transmission shaft is mounted in the shaft hole of the other second lug; the axis of the second mounting shaft and the axis of the second mounting shaft which is superposed with the driven shaft are virtual rotating shafts of a second suction cup frame which can rotate along the second mounting shaft and the driven shaft; the second suction cup mounting portion is offset from a virtual axis of rotation of the second suction cup holder.

Furthermore, in order to better realize the utility model, the first mounting shaft is fixedly sleeved with the main driving wheel, and the second mounting shaft is fixedly sleeved with the auxiliary driving wheel; the main driving wheel is in direct transmission or indirect transmission with the auxiliary driving wheel.

Further, for better realization the utility model discloses, the suction head quantity on the first sucking disc frame is unanimous, the position corresponds with the suction head on the second sucking disc frame.

Further, for better realization the utility model discloses, the structure that the finger was dragged to the right side is the same with the structure that the finger was dragged to the left side.

Furthermore, in order to better realize the utility model, the linkage component adopts a finger cylinder; and the two clamping jaws of the finger cylinder are respectively connected with the left pulling finger and the right pulling finger.

The utility model also provides a bag inserting device for pulling and opening bags by opposite pinching, which comprises a swing arm mechanism, a rotating motor arranged at the bag inserting end of the swing arm mechanism, a linear bag conveying driving assembly arranged at the output end of the rotating motor, and a bag opening manipulator arranged on a sliding block of the linear bag conveying driving assembly; the bag opening manipulator adopts the opposite-pinch pull type bag opening manipulator.

Compared with the prior art, the utility model, following advantage and beneficial effect have:

(1) the bag opening manipulator of the utility model is symmetrically provided with two pulling finger components which can be respectively contacted with the bag body on one side of the material bag; the pulling finger assembly positioned on one side is divided into the main finger assembly and the slave finger assembly which are linked, the main finger assembly and the slave finger assembly form the action of pinching when moving towards the middle of the main finger assembly and the slave finger assembly, the single-hand thumb and the index finger of the anthropomorphic dummy are close to each other to pinch the action of fetching the material bag, the pulling finger assemblies on the two sides transversely pull the bag body of the fetching material bag respectively, and the operation is more stable.

(2) The utility model discloses can adopt the ordinary suction head of no negative pressure with the suction head of the contact of the bag body of material bag, only rely on frictional force just can hold between the fingers the bag body, hold between the fingers the bag body after and transversely drag to the left and right sides again and can accomplish the action of opening the bag, reduce negative pressure device's configuration.

(3) The utility model discloses when being located the left side of material bag both sides and pulling finger, right side and pulling the finger and hold between the fingers and get the material bag, be ordered about by the linkage subassembly and remove to both sides, tear the opening of material bag, the action is in one go, and is stable smooth.

(4) The utility model discloses well adoption finger cylinder or connecting rod structure can realize that the left side is dragged and is pointed, the right side is dragged the action of dragging transversely of dragging the finger, and compact structure just retrencies.

Drawings

FIG. 1 is a schematic view of the overall three-dimensional structure of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a schematic view of the three-dimensional structure of the left pulling finger of the present invention;

FIG. 4 is a schematic view of the left side of the left pulling finger;

FIG. 5 is a schematic view of the cross section B-B in FIG. 4;

FIG. 6 is a schematic view showing a state of use when a left pulling finger and a right pulling finger are closed to clamp a material bag to be opened;

FIG. 7 is a front view of the bag opening robot of FIG. 6 in use just picking up a bag of material without tearing the bag open;

FIG. 8 is a schematic view showing a state in which a left pulling finger and a right pulling finger respectively pinch the bag body of the material bag and pull the bag body outwards to open the opening of the material bag;

FIG. 9 is a front view of the bag-opening robot of FIG. 8 in use tearing open the opening of the bag;

FIG. 10 is a schematic view of the bag opening robot as an end effector mounted at the bag insertion end of the boom apparatus;

FIG. 11 is a perspective view of the master finger assembly and the slave finger assembly;

FIG. 12 is a cross-sectional view of the master finger assembly and slave finger assembly prior to oscillation;

FIG. 13 is a cross-sectional view of the master finger assembly and the slave finger assembly after oscillation;

FIG. 14 is a schematic structural view of the first swing frame and the second swing frame;

FIG. 15 is a schematic view of the initial adsorption of a material bag by the suction head;

FIG. 16 is a schematic view showing the state in which the suction head is swung to open the material bag;

FIG. 17 is a schematic view of the linkage assembly in the form of a link structure;

FIG. 18 is a schematic view of the primary finger assembly and the secondary finger assembly gripping the material bag;

FIG. 19 is a schematic view of the primary finger set and the secondary finger set initially opening the material bag;

FIG. 20 is a schematic view showing a state where the suction head swings to open the material bag.

Wherein:

001. a material bag; 111. the transmission shaft is hinged;

100. pulling the finger to the left; 200. pulling the finger to the right; 300. a finger cylinder; 400. a linear drive assembly;

1. a finger mount; 2. a kneading drive device; 3. a master finger assembly; 31. a first suction cup frame; 32. a first mounting shaft; 33. a main drive shaft; 34. a main transmission wheel; 4. a slave finger assembly; 41. a second suction cup holder; 42. a second mounting shaft; 43. a driven shaft; 44. a driven wheel; 5. a suction head; 6. a dust cover;

301. a first swing frame; 311. a first link; 402. a second swing frame; 422. a second link; 3011. a first swing plate; 3012. a first mounting block; 3013. a first synchronization lever; 4021. a second swing plate; 4022. and a second mounting block.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments presented in the drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Example 1:

as shown in fig. 1, 2 and 17, the opposite-pinch pull-type bag opening manipulator comprises two pull finger assemblies, namely a left pull finger 100 and a right pull finger 200, wherein the left pull finger 100 and the right pull finger 200 which are arranged on the left and the right are simultaneously arranged on a linkage assembly. The linkage assembly urges the left and right pulling fingers 100, 200 toward and away from each other. The left pulling finger 100 and the right pulling finger 200 can move close to or away from each other by a linear motion or a rotational motion. When the drive end of the linkage assembly is in linear output, for example: the linkage assembly adopts any one structure of a linear motor module, a linear air cylinder module, a gear rack transmission module, a slide block lead screw module and a finger air cylinder 300, and the left pulling finger 100 and the right pulling finger 200 move linearly; when the drive end of the linkage assembly is the rotary output, for example: the linkage assembly adopts structures such as a gear pair assembly, a connecting rod assembly and the like, and the left pulling finger 100 and the right pulling finger 200 are rotary motion.

The linear electric motor module comprises two linear electric motor, and two linear electric motor's output shaft sets up in reverse and is connected with dragging finger 100, dragging finger 200 on the right side respectively with the left side, drags finger 100, dragging finger 200 on the right side to be close to each other or keep away from each other through the flexible action of linear electric motor output shaft.

The straight line cylinder module comprises two straight line cylinders, and the output shaft of two straight line cylinders sets up in reverse and pulls to point 100, the right side with the left side respectively and pull to point 200 and be connected, pulls to point 100, the right side through the flexible action of straight line cylinder output shaft and pulls to pull to point 200 and be close to each other or keep away from each other for the left side.

The rack-and-pinion transmission module comprises a servo motor, a gear and two racks arranged on two sides of the gear, the two racks are respectively connected with the left pulling finger 100 and the right pulling finger 200, the servo motor drives the gear to rotate through an output end, so that the two racks meshed with the gear move linearly simultaneously, the left pulling finger 100 is driven, and the right pulling finger 200 is close to or away from each other.

The slider lead screw module comprises a servo motor, a lead screw and two sliders sleeved on the lead screw, the lead screw is a positive and negative lead screw with opposite threads in the left and right sections, the sliders arranged on the two threads are respectively connected with the left pulling finger 100 and the right pulling finger 200, the output lead screw of the servo motor rotates to enable the sliders arranged in a limiting mode to move reversely along the axis of the lead screw, and therefore the left pulling finger 100 and the right pulling finger 200 are driven to be close to or away from each other.

The finger cylinder 300 is a mature product sold in the market, the two clamping jaws extending from the left side and the right side of the finger cylinder 300 are respectively connected with the left pulling finger 100 and the right pulling finger 200, and the finger cylinder 300 works to drive the two clamping jaws to drive the left pulling finger 100 and the right pulling finger 200 to be close to each other or be far away from each other.

The gear pair assembly is composed of a servo motor and a pair of gears meshed with each other, the left pulling finger 100 and the right pulling finger 200 are respectively eccentrically arranged on the two gears, and when the servo motor drives one gear to rotate, the other gear is driven, so that the left pulling finger 100 and the right pulling finger 200 are driven to rotate to be close to or far away from each other.

The linkage assembly may be publication number CN 208439497U; the invention provides a mechanical connecting rod structure disclosed in the Chinese utility model patent named as a bag grabbing mechanical arm of an automatic loading and inserting machine, which is not described in detail.

Of course, the linkage assembly for simultaneously approaching or simultaneously departing the left pulling finger 100 and the right pulling finger 200 has many other specific structures, which are not described in detail herein.

An important innovative aspect of this embodiment is the construction of the pulling finger assembly, as shown in figures 3, 4 and 5. Specifically, the structure of the right pulling finger 200 is the same as that of the left pulling finger 100, and both are pulling finger assemblies. The pulling finger assembly comprises a finger mounting frame 1, a pinching driving device 2, a main finger assembly 3, a secondary finger assembly 4 and a suction head 5 arranged on the main finger assembly 3 and the secondary finger assembly 4; the main finger component 3 and the auxiliary finger component 4 are respectively rotatably arranged on the finger mounting rack 1, and the main finger component 3 and the auxiliary finger component 4 are in transmission connection; the body of the opposite-pinching driving device 2 is arranged on the finger mounting frame 1, and the driving end of the opposite-pinching driving device 2 drives the master finger assembly 3 and the slave finger assemblies 4 to synchronously rotate in opposite directions or synchronously rotate relatively.

The main finger component 3 and the auxiliary finger component 4 are rotatably arranged on the finger mounting rack 1 in a shaft connection mode respectively, and the main finger component 3 and the auxiliary finger component 4 are in transmission connection; after the opposite-pinching driving device 2 is eccentrically connected with the main finger assembly 3, the main finger assembly 3 is driven to actively rotate around the rotating shaft of the main finger assembly 3, and the auxiliary finger assembly 4 in transmission connection with the main finger assembly is driven to rotate around the rotating shaft of the auxiliary finger assembly 4.

Thus, as shown in fig. 6, 7, 8 and 9, the master finger assembly 3 and the slave finger assembly 4 can synchronously rotate to approach or separate from each other under the driving of the pinching driving device 2. When the master finger assembly 3 and the slave finger assembly 4 rotate to approach each other, the suction heads 5 respectively arranged on the master finger assembly 3 and the slave finger assembly 4 rub the surface of the bag body of the material bag 001 to pinch the material bag, which is similar to the action that the thumb and the forefinger of one hand of a person approach each other to pinch the bag body on one side of the material bag 001. When the left pulling finger 100 and the right pulling finger 200 on the two sides of the material bag 001 pinch the material bag 001, the material bag 001 is driven by the linkage assembly to move towards the two sides, and the opening of the material bag 001 is torn open, so that preparation is prepared for subsequent bag inserting filling.

As shown in fig. 17, the opposite-kneading driving device 2 drives the main finger assembly 3 and the auxiliary finger assembly 4 to synchronously approach or synchronously separate through the link structure, and further drives the suction heads 5 respectively disposed on the main finger assembly 3 and the auxiliary finger assembly 4 to synchronously approach or synchronously separate, and the inclination angle between the suction surface of the suction head 5 and the surface of the material bag 001 is adjusted. When the master finger assembly 3 and the slave finger assembly 4 rotate to approach each other, the suction heads 5 respectively arranged on the master finger assembly 3 and the slave finger assembly 4 rub the surface of the bag body of the material bag 001 to pinch the material bag, which is similar to the action that the thumb and the forefinger of one hand of a person approach each other to pinch the bag body on one side of the material bag 001. When the left pulling finger 100 and the right pulling finger 200 on the two sides of the material bag 001 pinch the material bag 001, the material bag 001 is driven by the linkage assembly to move towards the two sides, and the opening of the material bag 001 is torn open, so that preparation is prepared for subsequent bag inserting filling.

As shown in FIG. 18, the main finger assemblies 3 and the suction heads 5 attached to the finger assemblies 4 are in a state of clamping the left and right surfaces of the material bag 001, respectively.

As shown in fig. 19, the master finger assembly 3 and the slave finger assembly 4 on the left and right sides are moved away from each other by the linkage assembly along with the finger mounting frame 1, and the left and right side surfaces with the animal material bag 001 are primarily separated.

As shown in fig. 20, after the surfaces of the left side and the right side of the material bag 001 are initially separated, the main finger assembly 3 and the auxiliary finger assembly 4 are driven by the opposite-pinch driving device 2 to rotate by a certain angle respectively, so that the adsorption surfaces of the suction heads 5 on the main finger assembly 3 and the auxiliary finger assembly 4 are in a splayed shape, and the surfaces of the left side and the right side of the material bag 001 are further pulled to be separated, thereby facilitating subsequent filling into the material bag 001.

Example 2:

the present embodiment is optimized based on embodiment 1, the master finger assembly 3 includes a first swing frame 301 and a first connecting rod 311, the slave finger assembly 4 includes a second swing frame 402 and a second connecting rod 422, one ends of the first swing frame 301 adjacent to the second swing frame 402 are respectively rotatably hinged through a hinge transmission shaft 111, and the hinge transmission shaft 111 is hinged to a driving end of the opposite-kneading driving device 2; the other end of the first swinging frame 301 is hinged with one end of a first connecting rod 311, and the other end of the first connecting rod 311 is hinged with the upper end of the finger installation frame 1; the other end of the second swinging frame 402 is hinged with one end of a second connecting rod 422, and the other end of the second connecting rod 422 is hinged with the lower end of the finger mounting frame 1; the suction heads 5 are eccentrically arranged on the first swing frame 301 and the second swing frame 402, respectively.

As shown in fig. 11 and 12, an upper support and a lower support are respectively installed at the upper end and the lower end of one side of the finger installation frame 1, two upper lugs with through holes are linearly arranged on one side of the upper support away from the finger installation frame 1 along the length direction, a through hole is formed in one end of the first connecting rod 311 corresponding to the through hole on the upper lug, and a connecting hinge shaft is inserted into the through hole of the upper lug and the through hole of the first connecting rod 311 to realize the hinge joint of one end of the first connecting rod 311 and the upper lug; similarly, two lower support lugs with through holes are linearly arranged on one side, away from the finger mounting frame 1, of the lower support along the length direction, through holes are formed in one end of the second connecting rod 422 corresponding to the through holes in the lower support lugs, and the hinge shaft is inserted into the through holes in the lower support lugs and the through holes in the second connecting rod 422 to enable one end of the second connecting rod 422 to be hinged to the lower support lugs. And the other end of the first link 311 and the other end of the second link 422 are away from each other, i.e. the first link 311 and the second link 422 are arranged in a shape of a Chinese character 'ba'. The upper end of the first swing frame 301 is provided with a support lug corresponding to the other end of the first connecting rod 311, and the upper end of the first swing frame 301 is hinged with the other end of the first connecting rod 311 through the support lug; similarly, the lower end of the second swing frame 402 is provided with a support lug corresponding to the other end of the second connecting rod 422, and the lower end of the second swing frame 402 is hinged with the other end of the second connecting rod 422 through the support lug. The lower end of the first swing frame 301 and the upper end of the second swing frame 402 are both provided with connecting lugs along the length direction, connecting holes are coaxially arranged between the adjacent connecting lugs in a penetrating manner, and a hinge transmission shaft 111 is rotatably arranged in the connecting holes, namely, the lower end of the first swing frame 301 and the upper end of the second swing frame 402 are hinged through the hinge transmission shaft 111. Meanwhile, the finger mounting frame 1 is further provided with a pair-pinching driving device 2, the pair-pinching driving device 2 is a linear driving device such as a linear cylinder, a linear oil cylinder, a linear electric push rod and a linear screw rod, and a driving end of the linear driving device is hinged to the hinge transmission shaft 111.

As shown in fig. 13, the driving end of the linear driving device extends and retracts, and then the first swing frame 301 is driven to rotate clockwise around the hinge joint with the first connecting rod 311 by the hinge transmission shaft 111, and the second swing frame 402 is driven to rotate counterclockwise around the hinge joint with the second connecting rod 422 synchronously, so that the suction head 5 on the first swing frame 301 swings clockwise by a certain angle, and the suction head 5 on the second swing frame 402 swings counterclockwise by a certain angle.

Other parts of this embodiment are the same as embodiment 1, and thus are not described again.

Example 3:

the present embodiment is optimized based on embodiment 2, as shown in fig. 14, the first swing frame 301 includes a first swing plate 3011, a first mounting block 3012, and a first synchronization rod 3013, the first swing plate 3011 is hinged to the hinge transmission shaft 001 near one end of the finger assembly 4, the other end of the first swing plate 3011 is hinged to one end of the first connection rod 311, the first swing plate 3011 is provided with a plurality of first mounting blocks 3012 along the length direction on one side near the finger mounting frame 1, one side of the first mounting block 3012 is provided with a suction head 5, and adjacent first mounting blocks 3012 are connected through the first synchronization rod 3013.

As shown in fig. 14 and 15, the second swing frame 402 includes a second swing plate 4021 and a second mounting block 4022, one end of the second swing plate 4021 close to the main finger assembly 3 is hinged to the hinge transmission shaft 001, the other end of the second swing plate 4021 is hinged to one end of the second link 422, a plurality of second mounting blocks 4022 are disposed along the length direction on one side of the second swing plate 4021 close to the finger mounting frame 1, and a suction head 5 is disposed on one side of the second mounting block 4022.

The top end of the first swing plate 3011 is hinged to one end of the first link 311 through a support lug with a through hole, and the bottom end of the second swing plate 4021 is hinged to one end of the second link 422 through a support lug with a through hole. One end of the first swing plate 3011 close to the second swing plate 4021 is provided with a connecting support lug with a connecting hole along the length direction, and similarly, one end of the second swing plate 4021 close to the first swing plate 3011 is provided with a connecting support lug with a connecting hole along the length direction, and a hinge transmission shaft 111 is rotatably mounted in the connecting hole between the adjacent connecting support lugs, so that the hinge between the adjacent ends of the first swing plate 3011 and the second swing plate 4021 is realized.

Three L-shaped first mounting blocks 3012 are arranged on one side of the first swing plate 3011 along the length direction, and a suction head 5 is arranged on one side of the first mounting block 3012; two L-shaped second mounting blocks 4022 are provided on one side of the second swing plate 4021 in the longitudinal direction, and a suction head 5 is provided on one side of the second mounting blocks 4022. The lengths of the first swing plate 3011 and the second swing plate 4021 are set to correspond to each other and are equal to or longer than the length of the material bag 001.

As shown in fig. 16, the driving end of the linear driving device is extended at ordinary times, and at this time, the first swing plate 3011 and the second swing plate 4021 are relatively stationary, and the suction surface of the suction head 5 attached to the first swing plate 3011 and the second swing plate 4021 is parallel to the vertical surface and sucks the side surface of the material bag 001 tightly.

As shown in the figure, the driving end of the linear driving device retracts, the first swing plate 3011 is driven to rotate clockwise by a certain angle around the hinge joint with the first connecting rod 311 through the hinge transmission shaft 111, the second swing plate 4021 is driven to rotate anticlockwise by a certain angle around the hinge joint with the second connecting rod 422, at this time, the adsorption surface of the suction head 5 mounted on the first swing plate 3011 and the adsorption surface of the suction head 5 mounted on the second swing plate 4021 rotate to be in a shape like a Chinese character 'ba', the side surface of the material bag 001 is pulled, and the subsequent opening of the material bag 001 is facilitated. In order to ensure synchronism of the rotation of the first mounting blocks 3012 accompanying the first swing plate 3011, the adjacent first mounting blocks 3012 are connected by the first synchronizing bar 3013.

Other parts of this embodiment are the same as embodiment 2, and thus are not described again.

Example 4:

the embodiment is optimized on the basis of embodiment 1, and the main finger assembly 3 comprises a first suction cup frame 31, a first mounting shaft 32 and a main transmission shaft 33, wherein the first mounting shaft 32 and the main transmission shaft 33 are mounted at two ends of the first suction cup frame 31 and are coaxially mounted on the finger mounting frame 1; the slave finger assembly 4 comprises a second suction cup frame 41, second mounting shafts 42 and slave transmission shafts 43, wherein the second mounting shafts 42 are mounted at two ends of the second suction cup frame 41 and are coaxially mounted on the finger mounting frame 1; the main transmission shaft 33 and the auxiliary transmission shaft 43 are directly or indirectly in synchronous reverse transmission; the suction heads 5 are eccentrically mounted on a first suction head holder 31 which is rotatable along a first mounting axis 32 and a main drive axis 33, and a second suction head holder 41 which is rotatable along a second mounting axis 42 and a secondary drive axis 43, respectively.

The first suction cup frame 31 consists of two first lugs provided with shaft holes and a first suction cup mounting part connected between the two first lugs, wherein a first mounting shaft 32 is mounted in the shaft hole of one first lug, and a main transmission shaft 33 is mounted in the shaft hole of the other first lug; the coincident axis of the first mounting shaft 32 and the main transmission shaft 33 is a virtual rotating shaft of the first suction cup frame 31 which can rotate along the first mounting shaft 32 and the main transmission shaft 33; the first suction pad mounting part is offset from the virtual rotation axis of the first suction pad frame 31.

The opposite-pinching driving device 2 is a linear driving device, and a driving end of the linear driving device is hinged to a first suction disc mounting portion of the first suction disc frame 31. Specifically, the opposite-kneading driving device 2 may employ a linear electric cylinder or a linear air cylinder.

The second suction cup frame 41 is composed of two second lugs provided with shaft holes and a second suction cup mounting part connected between the two second lugs, wherein a second mounting shaft 42 is mounted in the shaft hole of one second lug and a driven shaft 43 is mounted in the shaft hole of the other second lug; the axis of the second mounting shaft 42, which coincides with the drive shaft 43, is a virtual rotation axis of the second suction cup holder 41 that can rotate along the second mounting shaft 42 and from the drive shaft 43; the second suction cup mounting portion is offset from the virtual rotation axis of the second suction cup frame 41.

The first mounting shaft 32 is fixedly sleeved with the main driving wheel 34, and the second mounting shaft 42 is fixedly sleeved with the auxiliary driving wheel 44; the primary drive wheel 34 is in direct drive or indirect drive with the secondary drive wheel 44.

As shown in fig. 3, 4 and 5, the main transmission wheel 34 is in direct meshing transmission with the auxiliary transmission wheel 44, and the dust cover 6 is arranged outside the main transmission wheel 34 and the auxiliary transmission wheel 44 which are meshed with each other.

The suction heads 5 on the first suction head frame 31 correspond to the suction heads 5 on the second suction head frame 41 in number and position.

Other parts of this embodiment are the same as embodiment 1, and thus are not described again.

Example 5:

as shown in fig. 10, the bag inserting device for pinching and pulling apart the bag comprises a swing arm mechanism, a rotating motor installed at the bag inserting end of the swing arm mechanism, a linear driving assembly 400 installed at the output end of the rotating motor, and a bag opening manipulator installed on a slide block of the linear bag feeding driving assembly.

The bag opening manipulator comprises a left pulling finger 100, a right pulling finger 200, two pulling finger assemblies arranged from left to right, and a finger cylinder 300 which is simultaneously in transmission connection with the left pulling finger 100 and the right pulling finger 200 and drives the left pulling finger 100 and the right pulling finger 200 to be linked and opened; the pulling finger assembly comprises a finger mounting frame 1, a pair-pinching driving device 2 adopting a linear cylinder, a main finger assembly 3, a secondary finger assembly 4 and a suction head 5 arranged on the main finger assembly 3 and the secondary finger assembly 4.

The main finger assembly 3 comprises a first suction cup frame 31, a first mounting shaft 32 and a main transmission shaft 33, wherein the first mounting shaft 32 and the main transmission shaft 33 are mounted at two ends of the first suction cup frame 31 and are coaxially mounted on the finger mounting frame 1; the first suction cup frame 31 consists of two first lugs provided with shaft holes and a first suction cup mounting part connected between the two first lugs, wherein a first mounting shaft 32 is mounted in the shaft hole of one first lug, and a main transmission shaft 33 is mounted in the shaft hole of the other first lug; the coincident axis of the first mounting shaft 32 and the main transmission shaft 33 is a virtual rotating shaft of the first suction cup frame 31 which can rotate along the first mounting shaft 32 and the main transmission shaft 33; the first suction pad mounting part is offset from the virtual rotation axis of the first suction pad frame 31. The suction heads 5 on the first suction head frame 31 are arranged on a first suction head mounting part with a rotating path deviating from the virtual rotating shaft of the first suction head frame 31.

The cylinder body of the linear cylinder as the opposite-pinching driving device 2 is arranged on the finger mounting frame 1, and the telescopic shaft is hinged with the first sucking disc mounting part. The slave finger assembly 4 comprises a second suction cup frame 41, second mounting shafts 42 and slave transmission shafts 43, wherein the second mounting shafts 42 are mounted at two ends of the second suction cup frame 41 and are coaxially mounted on the finger mounting frame 1; the second suction cup frame 41 is composed of two second lugs provided with shaft holes and a second suction cup mounting part connected between the two second lugs, wherein a second mounting shaft 42 is mounted in the shaft hole of one second lug and a driven shaft 43 is mounted in the shaft hole of the other second lug; the axis of the second mounting shaft 42, which coincides with the drive shaft 43, is a virtual rotation axis of the second suction cup holder 41 that can rotate along the second mounting shaft 42 and from the drive shaft 43; the second suction cup mounting portion is offset from the virtual rotation axis of the second suction cup frame 41. The suction head 5 of the second suction cup frame 41 is arranged on a second suction cup mounting part with a rotation path deviating from the virtual rotation axis of the second suction cup frame 41.

In another embodiment, the primary driving wheel 34 is fixedly sleeved on the first mounting shaft 32, and the secondary driving wheel 44 is fixedly sleeved on the second mounting shaft 42; the primary drive wheel 34 is in direct mesh with the secondary drive wheel 44 for synchronous drive.

In this embodiment, the pulling finger assembly located on one side pulls the opening of the material bag 001 outwards while pinching inwards, so that the bag opening operation is completed in one go, and the bag opening operation is more stable without depending on a vacuum system with negative pressure.

The above is only the preferred embodiment of the present invention, not to the limitation of the present invention in any form, all the technical matters of the present invention all fall into the protection scope of the present invention to any simple modification and equivalent change of the above embodiments.

Claims (14)

1. The opposite-pinch pulling type bag opening manipulator is characterized by comprising a left pulling finger assembly and a right pulling finger assembly, wherein the two pulling finger assemblies are arranged one by one and the other on the left side of a left pulling finger (100) and a right pulling finger (200), and a linkage assembly which is in transmission connection with the left pulling finger (100) and the right pulling finger (200) and drives the left pulling finger (100) and the right pulling finger (200) to open and close in a linkage manner; the pulling finger assembly comprises a finger mounting frame (1), a pinching driving device (2), a main finger assembly (3), a secondary finger assembly (4) and a suction head (5) arranged on the main finger assembly (3) and the secondary finger assembly (4); the main finger component (3) and the auxiliary finger component (4) are respectively rotatably mounted on the finger mounting rack (1), and the main finger component (3) and the auxiliary finger component (4) are in transmission connection; the body of the pair of pinching driving device (2) is arranged on the finger mounting frame (1), and the driving end of the pair of pinching driving device (2) drives the main finger component (3) and the auxiliary finger component (4) to synchronously move in opposite directions or synchronously move relatively.

2. A double-pinch-pull type bag opening manipulator according to claim 1, wherein the master finger assembly (3) comprises a first swing frame (301) and a first connecting rod (311), the slave finger assembly (4) comprises a second swing frame (402) and a second connecting rod (422), one ends of the first swing frame (301) and the second swing frame (402) adjacent to each other are respectively hinged in a rotating manner through a hinge transmission shaft (111), and the hinge transmission shaft (111) is hinged with a driving end of the double-pinch driving device (2); the other end of the first swinging frame (301) is hinged with one end of a first connecting rod (311), and the other end of the first connecting rod (311) is hinged with the upper end of the finger mounting frame (1); the other end of the second swinging frame (402) is hinged with one end of a second connecting rod (422), and the other end of the second connecting rod (422) is hinged with the lower end of the finger mounting frame (1); the suction heads (5) are respectively eccentrically arranged on the first swing frame (301) and the second swing frame (402).

3. A pair of pinching and pulling type bag opening manipulator according to claim 2, wherein the first swinging frame (301) comprises a first swinging plate (3011), a first mounting block (3012) and a first synchronizing rod (3013), the first swinging plate (3011) is hinged to the hinged transmission shaft (111) near one end of the finger assembly (4), the other end of the first swinging plate (3011) is hinged to one end of the first connecting rod (311), a plurality of first mounting blocks (3012) are arranged along the length direction on one side of the first swinging plate (3011) near the finger mounting frame (1), a suction head (5) is arranged on one side of the first mounting block (3012), and adjacent first mounting blocks (3012) are connected through the first synchronizing rod (3013).

4. A double-pinch-pull type bag opening manipulator according to claim 2, wherein the second swing frame (402) comprises a second swing plate (4021) and a second mounting block (4022), one end of the second swing plate (4021) close to the main finger assembly (3) is hinged to the hinge transmission shaft (111), the other end of the second swing plate (4021) is hinged to one end of the second connecting rod (422), a plurality of second mounting blocks (4022) are arranged along the length direction on one side of the second swing plate (4021) close to the finger mounting frame (1), and a suction head (5) is arranged on one side of the second mounting block (4022).

5. A double-pinching-and-pulling type bag opening manipulator as claimed in claim 3 or 4, characterized in that the double-pinching driving device (2) is a linear driving device, and the driving end of the linear driving device is hinged with the hinged transmission shaft (111).

6. A double-pinch-and-pull type bag opening manipulator as claimed in claim 1, wherein the main finger assembly (3) comprises a first suction cup frame (31) and a first mounting shaft (32) mounted on both ends of the first suction cup frame (31) and coaxially mounted on the finger mounting frame (1), a main drive shaft (33); the slave finger assembly (4) comprises a second suction cup frame (41), a second mounting shaft (42) and a slave transmission shaft (43), wherein the second mounting shaft (42) is mounted at two ends of the second suction cup frame (41) and is coaxially mounted on the finger mounting frame (1); the main transmission shaft (33) and the auxiliary transmission shaft (43) are directly or indirectly in synchronous reverse transmission; the suction heads (5) are respectively eccentrically arranged on a first suction head frame (31) which can rotate along a first mounting shaft (32) and a main transmission shaft (33) and a second suction head frame (41) which can rotate along a second mounting shaft (42) and a driven transmission shaft (43).

7. A double-pinch-and-pull type bag opening manipulator as claimed in claim 6, wherein the first suction cup frame (31) is composed of two first lugs provided with shaft holes and a first suction cup mounting part connected between the two first lugs, the shaft hole of one first lug is provided with the first mounting shaft (32) and the shaft hole of the other first lug is provided with the main transmission shaft (33); the axis of the first mounting shaft (32) and the axis of the main transmission shaft (33) which are overlapped are virtual rotating shafts of the first suction cup frame (31) which can rotate along the first mounting shaft (32) and the main transmission shaft (33); the first suction pad mounting part is offset from a virtual rotation axis of the first suction pad frame (31).

8. A double-pinch-and-pull type bag opening manipulator as claimed in claim 7, wherein the double-pinch driving device (2) is a linear driving device, and a driving end of the linear driving device is hinged to the first suction cup mounting part of the first suction cup frame (31).

9. A double-pinch-and-pull type bag opening manipulator as claimed in claim 6, wherein the second suction cup frame (41) is composed of two second lugs provided with shaft holes and a second suction cup mounting part connected between the two second lugs, the shaft hole of one second lug is provided with the second mounting shaft (42) and the shaft hole of the other second lug is provided with the driven shaft (43); the axis of the second mounting shaft (42) and the axis of the second mounting shaft (43) overlapped with the transmission shaft (43) are virtual rotating shafts of a second suction disc frame (41) which can rotate along the second mounting shaft (42) and the transmission shaft (43); the second suction cup mounting portion is offset from a virtual rotation axis of the second suction cup frame (41).

10. A double-pinch-and-pull type bag opening manipulator as claimed in claim 6, wherein the suction heads (5) on the first suction head frame (31) correspond to the suction heads (5) on the second suction head frame (41) in number and position.

11. The opposite-pinch-pull type bag opening manipulator according to claim 6, wherein the primary driving wheel (34) is fixedly sleeved on the first mounting shaft (32), and the secondary driving wheel (44) is fixedly sleeved on the second mounting shaft (42); the main driving wheel (34) is in direct transmission or indirect transmission with the auxiliary driving wheel (44).

12. A double pinch-and-pull manipulator according to any one of claims 1 to 4 and 6 to 11, wherein the right pulling finger (200) has the same structure as the left pulling finger (100).

13. A double pinch-and-pull manipulator according to any one of claims 1 to 4 and 6 to 11, wherein the linkage assembly employs a finger cylinder (300); the two clamping jaws of the finger cylinder (300) are respectively connected with the left pulling finger (100) and the right pulling finger (200).

14. The bag inserting device is characterized by comprising a swing arm mechanism, a rotating motor, a linear bag feeding driving assembly and a bag opening manipulator, wherein the rotating motor is mounted at a bag inserting end of the swing arm mechanism; the bag opening manipulator adopts a double-pinch-pull type bag opening manipulator of any one of claims 1 to 13.

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