CN216611834U

CN216611834U - Grabbing manipulator for packing bag and packing bag feeding system

Info

Publication number: CN216611834U
Application number: CN202122985138.XU
Authority: CN
Inventors: 王保国; 周炳; 周佳冰
Original assignee: Jiangsu Guofan Intelligent Technology Co ltd
Current assignee: Jiangsu Guofan Intelligent Technology Co ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-05-27
Anticipated expiration: 2031-11-30

Abstract

The utility model discloses a grabbing manipulator for a packaging bag, which comprises a multi-axis mechanical arm and a paw, wherein the multi-axis mechanical arm is provided with a plurality of moving joints, so that the tail end of the multi-axis mechanical arm can move in multiple degrees of freedom; the paw is arranged on the tail end and comprises a sucker assembly and a clamping assembly; the two groups of clamping assemblies are symmetrically arranged on two sides of the sucker assembly. According to the gripping manipulator for the packing bag and the packing bag feeding system, the paw with the sucker component and the clamping component is arranged, when the packing bag is fed, the packing bag is firstly adsorbed by the sucker component to be separated out, and then two sides of the packing bag are clamped by the two groups of clamping components, so that the packing bag cannot slide or shift relative to the paw in the feeding process, and the operation stability is high.

Description

Grabbing manipulator for packing bag and packing bag feeding system

Technical Field

The utility model relates to the technical field of automatic feeding of packaging equipment, in particular to a grabbing manipulator for a packaging bag and a packaging bag feeding system.

Background

In equipment for packing, need carry out the automatic bag that supplies to the wrapping bag, among the equipment for packing that has now, mainly absorb the wrapping bag through the sucking disc and transport the wrapping bag to specific point position department, the mode of absorbing the wrapping bag through the sucking disc is mainly applicable to and goes on the bag to the wrapping bag of plastics material, the packing bag that is used for the shipment when commodity delivery is generally the braided bag, the braided bag has certain gas permeability, and the area is great, and weight is heavier, only rely on the sucking disc to absorb and carry out the words of transporting, the braided bag probably breaks away from the sucking disc or takes place the aversion for the sucking disc, consequently only rely on the sucking disc to carry out the material loading reliability to the wrapping bag lower.

SUMMERY OF THE UTILITY MODEL

The purpose of the utility model is as follows: in order to overcome the defects in the prior art, the utility model provides a grabbing manipulator for reliably grabbing a packaging bag, such as a woven bag, which has heavier weight, and a packaging bag feeding system.

The technical scheme is as follows: in order to achieve the above object, the gripping manipulator for a bale bag of the present invention comprises:

a multi-axis robot arm having a plurality of kinematic joints such that a tip thereof can perform multi-degree-of-freedom motion;

the gripper is arranged on the tail end and comprises a sucker assembly and a clamping assembly; the two groups of clamping assemblies are symmetrically arranged on two sides of the sucker assembly.

Further, the paw also comprises a paw bracket; the paw bracket is fixedly arranged on the tail end; the sucker assembly and the clamping assembly are both mounted on the paw support.

Furthermore, the clamping assembly comprises two clamping blocks and a driving unit, wherein the two clamping blocks are respectively a fixed clamping block and a movable clamping block;

the fixed clamping block is fixed on the paw bracket; the movable clamping blocks are rotatably mounted relative to the paw support, and the rotation of the movable clamping blocks is driven by the driving unit, so that the two clamping blocks are switched between a relatively closed state and a relatively opened state.

Further, the driving unit is a cylinder.

Furthermore, the paw bracket is U-shaped, and the periphery of the paw bracket is provided with a front end face and two side end faces arranged at two sides of the front end face;

the sucker assembly and the fixed clamping block are arranged on the front end face;

the driving units corresponding to the two clamping assemblies are respectively arranged on the two side end faces.

Furthermore, the sucking disc subassembly includes two sets of sucking discs, and two sets of sucking discs symmetry are installed the both sides of preceding terminal surface.

A packaging bag feeding system comprises the gripping manipulator of the packaging bag and a storage device; the storage device is provided with a containing position, and batch packaging bags can be stacked and placed at the containing position.

Further, storage device is including putting the thing platform, put the four sides of thing platform and all install the limiting plate.

Further, still include marking machine, marking machine install the top of holding the position.

Has the advantages that: according to the gripping manipulator for the packing bag and the packing bag feeding system, the paw with the sucker component and the clamping component is arranged, when the packing bag is fed, the packing bag is firstly adsorbed by the sucker component to be separated out, and then two sides of the packing bag are clamped by the two groups of clamping components, so that the packing bag cannot slide or shift relative to the paw in the feeding process, and the operation stability is high.

Drawings

FIG. 1 is a block diagram of a gripping robot for bagging;

FIG. 2 is a view of the structure of the gripper portion;

fig. 3 is a block diagram of a bag feeding system.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The gripping manipulator for the bag making shown in fig. 1 comprises a multi-axis mechanical arm 1 and a gripper 2.

The multi-axis robot arm 1 has a plurality of kinematic joints, so that the end 11 thereof can perform multi-degree-of-freedom motion, and in this embodiment, the multi-axis robot arm 1 is a six-axis industrial robot.

The paw 2 is arranged on the tail end 11, as shown in fig. 2, the paw 2 comprises a sucker assembly 21, a clamping assembly 22 and a paw support 23; the paw support 23 is fixedly arranged on the tail end 11; the sucker assembly 21 and the clamping assembly 22 are both arranged on the paw bracket 23; the two groups of clamping assemblies 21 are arranged, and the two groups of clamping assemblies 22 are symmetrically arranged on two sides of the sucker assembly 21.

When snatching the manipulator through the aforesaid and carry out the material loading operation, snatch the manipulator and can follow the packing bag group that piles up the setting and separate out and deliver to specific point location one by one the packing bag, specifically, the above-mentioned operation process that snatchs the manipulator does: firstly, the multi-axis mechanical arm 1 operates to enable the paw 2 to reach a grabbing point position in a specific posture; then, the sucker component 21 is controlled to adsorb the packaging bag at the uppermost end in the packaging bag group; then, the multi-axis mechanical arm 1 operates to enable the paw 2 to leave the grabbing point position, so that the packaging bag at the uppermost end is separated from the packaging bag group; then, controlling the two groups of clamping components 22 to clamp the two sides of the packaging bag; finally, the multi-axis mechanical arm 1 enables the gripper 2 to reach a target point in a specific posture to complete feeding.

Specifically, the clamping assembly 22 includes two clamping blocks and a driving unit 223, wherein the two clamping blocks are a fixed clamping block 221 and a movable clamping block 222; the fixed clamping block 221 is fixed on the paw support 23; the movable clamp blocks 222 are rotatably mounted with respect to the gripper brackets 23 and their rotation is driven by the drive unit 223 so that the two clamp blocks are switched between a relatively closed state and a relatively open state. In this embodiment, the driving unit 223 is a cylinder.

Preferably, the gripper bracket 23 has a U-shape, and the end 11 is connected to the bottom surface of the inside of the gripper bracket 23. The outer periphery of the gripper bracket 23 has a front end surface 231 and two side end surfaces 232 disposed on both sides of the front end surface 231; the suction cup assembly 21 and the fixing clamping block 221 are mounted on the front end surface 231; the driving units 223 corresponding to the two clamping assemblies 22 are respectively installed on the two side end surfaces 232. The movable clamping block 222 is in a strip shape, two ends of the movable clamping block are respectively a clamping end and a traction end, the middle part of the movable clamping block 222 is rotatably connected to the side end surface 232, and the cylinder seat and the telescopic rod of the driving unit 223 are respectively connected to the side end surface 232 and the traction end. The clamping ends and the fixed clamping blocks 221 act together on the packing bag, and when the two clamping assemblies 22 are both in the open state, the distance between the clamping ends of the two movable clamping blocks 222 is larger than the width of the packing bag, so that the movable clamping blocks 222 do not influence the operation of the sucker assembly 21.

Through the design and the whole layout design of the paw support 23, the whole structure of the paw 2 is compact, and the paw 2 enters a narrow space for operation.

The suction cup assembly 21 comprises two groups of suction cups 211, and the two groups of suction cups 211 are symmetrically arranged on two sides of the front end surface 231. Each set of suction cups 211 is mounted adjacent to the fixed clamp block 221 of the clamp assembly 22 on the same side as it.

The utility model also discloses a packaging bag feeding system, which comprises the gripping manipulator of the packaging bag and a storage device 3 as shown in figure 3; the storage device 3 has a receiving point, at which a batch of bags can be stacked.

Specifically, the storage device 3 includes a placement table 31, the four sides of the placement table 31 are provided with limiting plates 32, the placement positions are located between all limiting plates 32, and when the placement positions are initially stacked and placed with the packaging bag set, all limiting plates 32 surround the packaging bag set.

Preferably, the packaging bag feeding system further comprises a marking machine 4, and the marking machine 4 is installed above the containing position. The marking machine 4 is used for marking the packaging bag, and the marking content can be information such as a serial number, so that the specific goods can be conveniently traced according to the marking content.

According to the gripping manipulator for the packing bag and the packing bag feeding system, the paw with the sucker component and the clamping components is arranged, when the material is fed, the packing bag is firstly adsorbed by the sucker component to separate the packing bag, and then two sides of the packing bag are clamped by the two groups of clamping components, so that the packing bag cannot slide or shift relative to the paw in the feeding process, and the operation stability is high.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the utility model and these are intended to be within the scope of the utility model.

Claims

1. The utility model provides a manipulator is snatched in bale bag which characterized in that, it includes:

2. The bag gripping robot of claim 1, wherein the gripper further comprises a gripper bracket; the paw bracket is fixedly arranged on the tail end; the sucker assembly and the clamping assembly are both mounted on the paw support.

3. The grasping manipulator for the bale bag according to claim 2, wherein the clamping assembly comprises two clamping blocks and a driving unit, the two clamping blocks are respectively a fixed clamping block and a movable clamping block;

4. The bag gripping manipulator according to claim 3, wherein the driving unit is a pneumatic cylinder.

5. The grasping robot for the bale according to claim 3, wherein said gripper bracket is U-shaped, having a front end face at its periphery and two side end faces disposed at both sides of said front end face;

the sucking disc assembly and the fixed clamping block are arranged on the front end face;

6. The grasping manipulator for the bale according to claim 5, wherein said suction cup assembly comprises two sets of suction cups symmetrically installed on both sides of said front end surface.

7. A system for feeding a bag, characterized in that it comprises a gripping robot for the bag according to any one of claims 1 to 6, and also comprises storage means; the storage device is provided with a containing position, and batch packaging bags can be stacked and placed at the containing position.

8. The system according to claim 7, wherein the storage device comprises a shelf, and the shelf is provided with limiting plates on four sides.

9. The system of claim 7, further comprising a marking machine mounted above the receiving station.