WO2022012105A1 - 包装袋抓取卸料机构及其抓取卸料方法 - Google Patents

包装袋抓取卸料机构及其抓取卸料方法 Download PDF

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Publication number
WO2022012105A1
WO2022012105A1 PCT/CN2021/088349 CN2021088349W WO2022012105A1 WO 2022012105 A1 WO2022012105 A1 WO 2022012105A1 CN 2021088349 W CN2021088349 W CN 2021088349W WO 2022012105 A1 WO2022012105 A1 WO 2022012105A1
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WO
WIPO (PCT)
Prior art keywords
lifting
shaped hook
arm
bag
shaped
Prior art date
Application number
PCT/CN2021/088349
Other languages
English (en)
French (fr)
Inventor
程洪波
冯玉军
高坤
Original Assignee
扬州中欧工业机器人有限公司
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Application filed by 扬州中欧工业机器人有限公司 filed Critical 扬州中欧工业机器人有限公司
Publication of WO2022012105A1 publication Critical patent/WO2022012105A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B69/00—Unpacking of articles or materials, not otherwise provided for
    • B65B69/0033—Unpacking of articles or materials, not otherwise provided for by cutting
    • B65B69/0041—Unpacking of articles or materials, not otherwise provided for by cutting by puncturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/04—Loading land vehicles

Definitions

  • the invention relates to an automatic unloading mechanism, in particular to a grabbing and unloading mechanism for packaging bags; the invention also relates to a grabbing and discharging method for packaging bags, which can be applied to feed, grain and oil, food, chemical industry, medicine, Unloading of bagged materials in plastics and other fields.
  • woven bags are often used to package materials.
  • trucks are often used to transport materials.
  • the packaging bags are stacked in the carriage in multiple layers. When they reach the unloading location, they are mainly manually transported bag by bag, then unpacked, and then transported by hand. The material in the bag is dumped into the silo for storage, and the work efficiency is low. During the operation, a lot of raw material dust will be generated, which will affect the health of the operator.
  • the primary purpose of the present invention is to overcome the problems existing in the prior art, and to provide a packaging bag grabbing and unloading mechanism, which can adapt to different layer heights of packaging bags, reliably grab the packaging bags and transfer them, without affecting the unloading station. It is convenient and reliable to unload the bag after unloading.
  • a bag grabbing and unloading mechanism of the present invention includes a moving frame, and the left and right sides of the moving frame are respectively provided with X-direction walking rollers that can move along the X-direction guide rails.
  • a scissor arm is connected below the scissors arm, a lifting frame is connected to the bottom of the scissor arm, and a plurality of rows of C-shaped hooks whose lower ends can be opened and closed are arranged under the lifting frame.
  • the limit plate is evenly distributed with a plurality of limit plate hook holes for the C-shaped hooks to pass through.
  • the present invention achieves the following beneficial effects: the lifting frame first descends with the limit plate and the C-shaped hook, and when the limit plate contacts the top packaging bag, the C-shaped hook extends from the hook hole of the limit plate out, tie into the top of the packaging bag, then the lifting frame rises, the scissor arm shrinks, and the top packaging bag is lifted up, and then the moving frame can carry the scissor arm, the lifting frame and the grabbed bag to the unloading station.
  • the present invention can automatically grab the packaging bag from the tray through the insertion of the C-shaped hook, the lifting of the elevating frame and the translation of the moving frame, and transfer to the unloading station for breaking the bag for unloading, with a high degree of automation.
  • the hook tips of the two adjacent rows of C-shaped hooks in the front and rear are facing and staggered from each other, the hook tips of the front C-shaped hooks are rearward, and the fixed ends of the front C-shaped hooks in the same row are fixed on the same front C-shaped hook.
  • the two ends of the front C-shaped hook square tube are respectively coaxially connected with the front C-shaped hook rotation shaft, and the two ends of the front C-shaped hook rotation shaft are respectively supported on the lifting frame through the front C-shaped hook bearing and its bracket.
  • the hook tip of the rear C-shaped hook is forward, and the fixed ends of the rear C-shaped hooks in the same row are fixed on the same rear C-shaped hook square tube, and the two ends of the rear C-shaped hook square tube are respectively connected with the rear C-shaped hook shaft. Coaxially connected, the two ends of the rear C-shaped hook rotating shaft are respectively supported on the lifting frame through the rear C-shaped hook bearing and its bracket.
  • the front C-shaped hook and the rear C-shaped hook are staggered to each other, which can not only increase the grasping point, but also avoid tearing of the grasping part of the woven bag when lifting.
  • the body of each front C-shaped hook is fixed on the front C-shaped hook square tube to avoid relative rotation.
  • the front C-shaped hook rotating shaft rotates
  • the front C-shaped hook square tube drives the front C-shaped hooks to extend or retract synchronously; at the same time,
  • the rear C-shaped hook rotating shaft drives the rear C-shaped hooks to extend or retract synchronously through the rear C-shaped hook square tube.
  • each front C-shaped hook square tube is respectively connected with a front C-shaped hook swing arm, the upper end of each front C-shaped hook swing arm is hinged on the front C-shaped hook link, and one of the front C-shaped hook swing arms is respectively hinged on the front C-shaped hook link.
  • the C-shaped hook swing arm extends upward and is hinged with the end of the piston rod of the front C-shaped hook cylinder, the front C-shaped hook cylinder is fixed on the lifting frame; the other ends of the rear C-shaped hook square tubes are respectively connected with Rear C-shaped hook swing arm, the upper end of each rear C-shaped hook swing arm is hinged on the rear C-shaped hook link, one of the rear C-shaped hook swing arms extends upward and is connected with the end of the piston rod of the rear C-shaped hook cylinder. Hinged, the rear C-shaped hook cylinder is fixed on the lifting frame.
  • each front C-shaped hook connecting rod drives the upper end of each front C-shaped hook swing arm to swing forward synchronously, and each front C-shaped hook swing arm synchronously drives each front C-shaped hook rotation shaft forward direction.
  • each front C-shaped hook protrudes from the hook hole of the limit plate to complete the bagging;
  • the piston rod of the rear C-shaped hook cylinder extends synchronously with the front C-shaped hook cylinder, and the rear C-shaped hook connecting rod drives each rear C-shaped hook.
  • each rear C-shaped hook swing arm synchronously drives each rear C-shaped hook rotating shaft to rotate in the opposite direction, and each rear C-shaped hook extends from the hook hole of the limit plate to complete the bagging.
  • a traveling deceleration motor is installed on the moving frame, an output end of the traveling deceleration motor is installed with a traveling drive shaft extending in the Y direction, and two ends of the traveling drive shaft are respectively installed with X X-direction travel sprocket that meshes with the chain.
  • the travel deceleration motor drives the X-direction travel sprocket to rotate through the travel drive shaft, and the X-direction travel sprocket and the corresponding chain can translate along the X-direction with the entire moving frame.
  • a lift reduction box is installed on the moving frame, the input end of the lift reduction box is driven by a lift motor, and the output end of the lift reduction box is installed with a lift drive shaft extending along the Y direction,
  • the two ends of the lifting drive shaft are symmetrically fixed with belt winding drums, and lifting belts are respectively wound on the belt winding drums, the lower ends of the two lifting belts are respectively fixed on the lifting lifting lugs, and the lower ends of the two lifting lifting lugs are symmetrical fixed to the top of the lift frame.
  • the lift motor drives the lift drive shaft to rotate through the lift reduction box, the lift drive shaft drives the two belt winding drums to rotate forward synchronously, and the two belt winding drums release the lifting belt synchronously downward, and the lifting frame goes down; otherwise, the belt winding drum Synchronous and reverse rotation, the two belt winding drums wind up the lifting belt synchronously, and the lifting belt lifts the lifting frame upward through the lifting lugs.
  • the lower ends of the two lifting belts are wrapped around the corresponding lifting ears and fixed by the lifting belt joints, and the lifting belt joints are fixed with eccentric weight blocks;
  • the eccentric weight probe is installed on the upper end of the eccentric weight detection bracket, the bottom of the eccentric weight detection bracket is fixed on the lifting top plate, and the lifting top plate is fixed above the lifting frame.
  • the two belt winding drums continue to release the lifting belt, and the eccentric weight block gradually tilts downward, and is separated from the detection of the eccentric weight block probe.
  • the winding drum stops releasing the lifting belt, and the lifting belt is always kept in a taut state, preventing excessive release from causing mess and ensuring the reliable operation of the lifting system. It can automatically adapt to the change of the layer height of the packaging bag. No matter the packaging bag to be grabbed is on the top layer or the bottom layer, the lifting motor can stop accurately, so that the C-shaped hook can accurately grasp the packaging bag.
  • the upper end of the eccentric weight detection bracket is provided with a vertical long groove of the bracket, and the eccentric weight probes respectively pass through the vertical long grooves of the bracket and protrude toward the direction of the eccentric weight block.
  • the height of the eccentric weight probe corresponds to the height of the eccentric weight block when the lifting belt is in a taut state; the middle part of the lifting lug passes through the avoidance groove of the lifting top plate.
  • the eccentric weight probe can adjust its installation height through the vertical long slot of the bracket, so as to accurately send signals to control the operation of the lifting motor.
  • a position detection mechanism is installed below the moving frame, the position detection mechanism includes a position detection bracket, and two guide rods are connected between the top plate and the bottom plate of the position detection bracket, and the two The guide rod is provided with a floating signal slider, the middle part of the signal slider is connected with a sliding rod extending downward, the lower end of the sliding rod passes through the bottom plate of the position detection bracket and extends downward, the The top plate of the position detection bracket is fixed below the moving frame, the vertical plate of the position detection bracket is provided with a position detection bracket long slot extending vertically, and the detection signal slider is installed in the position detection bracket long slot Height position detection probe.
  • the position detection probes can include variable speed point probes, stop point probes and limit position probes, and the position detection probes and the weighted block probes can be travel switches, proximity switches or photoelectric switches.
  • the belt winding drum synchronously winds the lifting belt upwards, the lifting belt lifts the lifting frame upwards.
  • the lifting top plate touches the lower end of the sliding rod, the sliding rod and the signal slider are pushed up, and the two guide rods are opposite to the signal slider.
  • the lifting motor decelerates and the lifting belt continues to wind; when the height of the signal slider rises to the stop point position, the lifting motor stops and the lifting The belt stops winding; if the lifting belt unexpectedly continues to be wound and the signal slider is raised to the limit position, the entire equipment will stop to prevent the lifting belt from being pulled off and causing an accident.
  • the upper end surface of the limiting plate is provided with a plurality of pairs of upwardly erected guide vertical plates, and each pair of guiding vertical plates is respectively located on the left and right sides of the upper port of the hook hole of the limiting plate.
  • the C-shaped hook is easily deformed after being bagged for many times and subjected to force, and it is easy to tie on the edge of the hook hole of the limit plate when it is extended, causing damage. After the plate, the C-shaped hook is restricted from skewing to both sides, and even if it is skewed, it can smoothly enter and exit the hook hole of the limit plate.
  • the upper left part of the scissors arm is hinged in the upper hinge seat of the scissors arm, and the upper right part of the scissors arm is supported in the horizontal long groove of the upper sliding seat of the scissors arm through the upper roller of the scissors arm.
  • the upper hinge seat of the scissors arm and the upper sliding seat of the scissors arm are respectively fixed under the moving frame; the lower left part of the scissors arm is hinged in the lower hinge seat of the scissors arm, and the lower right part of the scissor arm is supported by the lower roller of the scissors arm
  • the scissors arm lower hinge seat and the scissors arm sliding seat are respectively fixed above the lifting frame.
  • one side of the moving frame in the forward direction is connected with an L-shaped bracket extending forward and then downward, and the lower end of the L-shaped bracket is hinged with a pocket swinging arm.
  • the front end is fixed with a Y-direction dial beam, and the Y-direction dial beam is evenly connected with a plurality of dial rods extending downward;
  • the middle of the Y-direction dial beam is fixed with a bag-pulling drive arm, and the front end of the bag-pulling drive arm is fixed It is hinged with the lower end of the piston rod of the bag-removing cylinder, and the cylinder body of the bag-removing cylinder is fixed in the middle of the upper end of the L-shaped bracket.
  • the moving frame carries the bag and translates to the unloading station.
  • the piston rod of the bag shifting cylinder is retracted, and the Y-direction shifting beam is driven by the bag shifting arm to rotate, and the Y-direction shifting beam is on the
  • Each lever is swiped in the forward direction, which can push the left bag skin on the bag grid into the bag skin collection bucket, so as to prevent the residual bag skin from being carried into the silo by the material.
  • Another object of the present invention is to overcome the problems in the prior art and provide a method for grabbing and unloading packaging bags, which can adapt to different layer heights of packaging bags, and can reliably grab and transport the packaging bags.
  • the grabbing and unloading method of the packaging bag of the present invention includes the following steps in sequence: (1) The belt winding drum releases the lifting belt downward, the lifting frame and the limit plate are lowered, and the scissor arm is extended; (2) When the limit After the plate falls on the packaging bag, with the continuous release of the belt, the eccentric weight block tilts away from the detection range of the eccentric weight block probe, and the belt winding drum stops at this time; (3) Each C-shaped hook extends from the hook hole of the limit plate and inserts In the packaging bag; (4) the belt winding drum winds up the lifting belt, the lifting frame lifts the grabbed bags, and the scissor arm shrinks; (5) when the lifting frame reaches the speed change point, the belt winding drum decelerates; (6) the lifting frame reaches the setting point. After the height is fixed, the belt winding drum stops; (7)The moving frame carries the grabbed bag and translates it to the next station.
  • the eccentric weight block can keep the lifting belt in a taut state all the time, send a signal in time to stop the operation of the lifting motor, prevent excessive release from causing chaos, and ensure the reliable operation of the lifting system; It can adapt to the change of the layer height of the packaging bag. No matter the packaging bag to be grabbed is on the top layer or the bottom layer, the C-shaped hook can accurately grasp it. During the upward process of the lifting frame, firstly decelerate and then stop, which is safe.
  • FIG. 1 is a front view of the bag grabbing and unloading mechanism of the present invention.
  • FIG. 2 is a left side view of FIG. 1 .
  • FIG. 3 is a right side view of FIG. 1 .
  • FIG. 4 is a perspective view 1 of FIG. 1 .
  • FIG. 5 is a second perspective view of FIG. 1 .
  • FIG. 6 is a perspective view of the present invention with the upper part of the lifting frame removed.
  • FIG. 7 is a perspective view of the position detection mechanism in the present invention.
  • Moving frame 1a. X-direction walking roller; 2. Scissor arm; 2a. Upper hinge seat of scissors arm; 2b. Lower hinge seat of scissors arm; 2c. Upper sliding seat of scissors arm; 2d. ;2e. Upper roller of scissor arm; 2f. Lower roller of scissor arm; 3. Travel gear motor; 3a. Travel drive shaft; 3b. X-direction travel sprocket; Shaft; 4c. Belt winding drum; 4d. Lifting belt; 4e. Lifting lug; 4f. Overweight block; 4g. Overweight block probe; 4h. mechanism; 5a. position detection bracket; 5a1. position detection bracket long slot; 5b. guide rod; 5c. signal slider; 5d.
  • the bag grabbing and unloading mechanism of the present invention includes a moving frame 1.
  • the left and right sides of the moving frame 1 are respectively provided with X-direction walking rollers 1a that can move along the X-direction guide rails.
  • the moving frame 1 A scissor arm 2 is connected to the bottom of the scissors arm 2, a lifting frame 6 is connected to the bottom of the scissors arm 2, and a plurality of rows of C-shaped hooks whose lower ends can be opened and closed are arranged below the lifting frame 6.
  • the position plate 9 is connected with the lifting frame 6 through connecting plates 9c around it, and a plurality of limit plate hook holes 9a for the C-shaped hooks to pass through are evenly distributed on the limit plate 9 .
  • the lifting frame 6 first descends with the limit plate 9 and the C-shaped hook.
  • the C-shaped hook protrudes from the hook hole 9a of the limit plate, and is inserted into the top of the packaging bag.
  • the lifting frame 6 rises, the scissor arm 2 shrinks, and the top packaging bag is lifted, and then the moving frame 1 can carry the scissor arm 2, the lifting frame 6 and the captured packaging bag to the unloading station. Since the grasped part is at the top of the packaging bag, it does not affect the bag breaking and discharging at the bottom; after the discharging is completed, the C-shaped hook retracts from the hook hole 9a of the limiter plate, and the limiter plate 9 blocks the bag skin at the bottom of the bag.
  • the present invention can automatically grab the packaging bag from the pallet through the insertion of the C-shaped hook, the lifting of the lifting frame 6 and the translation of the moving frame 1, and transfer it to the unloading station for breaking the bag and discharging, with a high degree of automation.
  • the hook tips of the two adjacent rows of C-shaped hooks in the front and rear are facing and staggered from each other, the hook tips of the front C-shaped hooks 7 are rearward, and the fixed ends of the front C-shaped hooks 7 in the same row are fixed on On the same front C-shaped hook square tube 7a, both ends of the front C-shaped hook square tube 7a are respectively coaxially connected with the front C-shaped hook rotation shaft 7b, and both ends of the front C-shaped hook rotation shaft 7b pass through the front C-shaped hook bearing 7c respectively.
  • the hook tip of the rear C-shaped hook 8 is forward, and the fixed ends of the rear C-shaped hooks 8 in the same row are all fixed on the same rear C-shaped hook square tube 8a, and the rear C-shaped hook Both ends of the square tube 8a are respectively coaxially connected with the rear C-shaped hook rotating shaft 8b, and both ends of the rear C-shaped hook rotating shaft 8b are respectively supported on the lifting frame 6 through the rear C-shaped hook bearing 8c and its bracket.
  • the front C-shaped hook 7 and the rear C-shaped hook 8 are staggered with each other, which can not only increase the grasping point, but also avoid tearing of the grasping part of the woven bag when lifting.
  • each front C-shaped hook 7 is fixed on the front C-shaped hook square tube 7a to avoid relative rotation.
  • the front C-shaped hook rotating shaft 7b rotates
  • the front C-shaped hook square tube 7a drives each front C-shaped hook 7 synchronously extends or extends.
  • the rear C-shaped hook rotating shaft 8b drives each rear C-shaped hook 8 to extend or retract synchronously through the rear C-shaped hook square tube 8a.
  • each front C-shaped hook square tube 7a is respectively connected with a front C-shaped hook swing arm 7d, and the upper end of each front C-shaped hook swing arm 7d is hinged to the front C-shaped hook respectively.
  • one of the front C-shaped hook swing arms 7d extends upward and is hinged with the end of the piston rod of the front C-shaped hook cylinder 7f, and the front C-shaped hook cylinder 7f is fixed on the lifting frame 6;
  • the other end of the hook square tube 8a is respectively connected with a rear C-shaped hook swing arm 8d, the upper end of each rear C-shaped hook swing arm 8d is hinged on the rear C-shaped hook link 8e, and one of the rear C-shaped hook swing arms 8d
  • the rear C-shaped hook cylinder 8f is fixed to the lifting frame 6, extending upward and hinged with the end of the piston rod of the rear C-shaped hook cylinder 8f.
  • the front C-shaped hook link 7e drives the upper ends of the front C-shaped hook swing arms 7d to swing forward synchronously, and the front C-shaped hook swing arms 7d synchronously drive the front C-shaped hook swing arms 7d.
  • the hook rotating shaft 7b rotates in the forward direction, and each front C-shaped hook 7 protrudes from the hook hole 9a of the limit plate to complete the bagging;
  • the hook link 8e drives the upper end of each rear C-shaped hook swing arm 8d to swing backward synchronously, each rear C-shaped hook swing arm 8d synchronously drives each rear C-shaped hook rotation shaft 8b to rotate in the opposite direction, and each rear C-shaped hook 8 rotates from the limit.
  • the hook hole 9a of the bit plate protrudes to complete the bagging.
  • a traveling deceleration motor 3 is installed on the moving frame 1, the output end of the traveling deceleration motor 3 is installed with a traveling drive shaft 3a extending along the Y direction, and the two ends of the traveling drive shaft 3a are respectively installed with The X-direction travel sprocket 3b with which the X-direction chain engages.
  • the travel deceleration motor 3 drives the X-direction travel sprocket 3b to rotate through the travel drive shaft 3a, and the X-direction travel sprocket 3b cooperates with the corresponding chain to translate the entire moving frame 1 along the X-direction.
  • a lift reduction box 4a is installed on the moving frame 1.
  • the input end of the lift reduction box 4a is driven by the lift motor 4, and the output end of the lift reduction box 4a is installed with a lift drive shaft extending along the Y direction.
  • the two ends of the lifting drive shaft 4b are symmetrically fixed with a belt winding drum 4c
  • the belt winding drum 4c is respectively wound with a lifting belt 4d
  • the lower ends of the two lifting belts 4d are respectively fixed on the lifting ears 4e.
  • the lower ends of the ears 4e are fixed to the top of the lifting frame 6 symmetrically.
  • the lift motor 4 drives the lift drive shaft 4b to rotate through the lift reduction box 4a, the lift drive shaft 4b drives the two belt winding drums 4c to rotate in the forward direction synchronously, and the two belt winding drums 4c release the lifting belt 4d downward synchronously, then the lifting frame 6
  • the belt winding drum 4c rotates in the opposite direction synchronously, the two belt winding drums 4c wind up the lifting belt 4d synchronously, and the lifting belt 4d lifts the lifting frame 6 upward through the lifting lugs 4e.
  • the lower ends of the two lifting belts 4d are wrapped around the corresponding lifting ears 4e and fixed by the lifting belt joints, and the lifting belt joints are fixed with an overweight block 4f; one side of the overweight block 4f is respectively provided with
  • the eccentric weight probe 4g for detecting its position is respectively installed on the upper end of the eccentric weight detection bracket 4h, and the bottom of the eccentric weight detection bracket 4h is fixed on the lifting top plate 6a, and the lifting top plate 6a is fixed above the lifting frame 6.
  • the two belt winding drums 4c continue to release the lifting belt 4d, then the eccentric weight block 4f is gradually inclined downward, and is separated from the detection of the eccentric weight block probe 4g, the eccentric weight block probe 4g is triggered, and the control system stops
  • the elevating motor 4 is running, the belt winding drum 4c stops releasing the elevating belt 4d, and the elevating belt 4d is always kept in a taut state, preventing excessive release from causing confusion and ensuring the reliable operation of the elevating system. It can automatically adapt to the change of the layer height of the packaging bag. No matter whether the packaging bag to be grabbed is on the top layer or the bottom layer, the lifting motor 4 can accurately stop, so that the C-shaped hook can accurately grasp the packaging bag.
  • the upper end of the eccentric weight detection bracket 4h is provided with a vertical long slot 4h1 of the bracket, and the eccentric weight probes 4g respectively pass through the vertical long grooves 4h1 of the bracket and protrude in the direction of the eccentric weight block 4f.
  • the height of 4g corresponds to the height of the eccentric weight 4f when the lifting belt 4d is in a taut state; the middle part of the lifting lug 4e passes through the escape groove of the lifting top plate 6a.
  • the eccentric weight probe 4g can adjust its installation height through the vertical long slot 4h1 of the bracket, so as to accurately send a signal to control the operation of the lifting motor 4 .
  • a position detection mechanism 5 is installed below the moving frame 1 , and the position detection mechanism 5 includes a position detection bracket 5a.
  • Two guide rods 5b are connected between the top plate and the bottom plate of the position detection bracket 5a.
  • the two guide rods 5b A floating signal slider 5c is provided on the upper part.
  • the middle of the signal slider 5c is connected with a sliding rod 5d extending downward.
  • the lower end of the sliding rod 5d passes through the bottom plate of the position detection bracket 5a and extends downward.
  • the top plate is fixed below the moving frame 1, the vertical plate of the position detection bracket 5a is provided with a position detection bracket long slot 5a1 extending vertically, and a position detection probe for detecting the height of the signal slider 5c is installed in the position detection bracket long slot 5a1. 5e.
  • the position detection probe 5e may include a variable speed point probe, a stop point probe and a limit position probe in order from bottom to top, and the position detection probe 5e and the weighted block probe 4g may be a travel switch, a proximity switch or a photoelectric switch.
  • the belt winding drum 4c winds up the lifting belt 4d synchronously, the lifting belt 4d lifts the lifting frame 6 upward, and when the lifting top plate 6a contacts the lower end of the sliding rod 5d, the sliding rod 5d and the signal slider 5c are lifted upwards , the two guide rods 5b play a guiding role in the lifting of the signal slider 5c.
  • the upper end surface of the limiter plate 9 is provided with a plurality of pairs of upwardly erected guide vertical plates 9b, each pair of guide vertical plates 9b are respectively located on the left and right sides of the upper port of each limiter plate hook hole 9a.
  • the C-shaped hook is easily deformed after being bagged for many times and subjected to force, and it is easy to tie on the edge of the limit plate hook hole 9a when it is extended, causing damage.
  • the C-shaped hooks After being guided to the vertical plate 9b, the C-shaped hooks are restrained from being skewed to both sides, and even if skew occurs, they can smoothly enter and exit the stopper plate hook holes 9a.
  • the upper left part of the scissor arm 2 is hinged in the upper hinge seat 2a of the scissors arm, the upper right part of the scissors arm is supported in the horizontal long groove of the upper sliding seat 2c of the scissors arm through the upper roller 2e of the scissors arm, and the upper hinge seat 2a of the scissors arm is connected to the scissors arm.
  • the upper sliding seat 2c is respectively fixed under the moving frame 1; the lower left part of the scissor arm is hinged in the lower hinge seat 2b of the scissors arm, and the lower right part of the scissor arm is supported on the horizontal long groove of the lower sliding seat 2d of the scissors arm through the lower roller 2f of the scissors arm , the scissor arm lower hinge seat 2b and the scissor arm sliding seat 2d are respectively fixed above the lifting frame 6 .
  • One side of the moving frame 1 in the forward direction is connected with an L-shaped bracket 10 extending forward and downward.
  • the lower end of the L-shaped bracket 10 is hinged with a bag-shifting swing arm 10e, and the front end of the bag-shifting swing arm 10e is fixed with a Y-direction shifting beam 10c , the Y-direction dial beam 10c is evenly connected with a plurality of downwardly extending dial rods 10d; the middle of the Y-direction dial beam 10c is fixed with a bag dialing drive arm 10b, and the front end of the bag dialing drive arm 10b is connected with the piston rod of the bag dialing cylinder 10a
  • the lower ends are hinged, and the cylinder body of the bag-pulling cylinder 10a is fixed in the middle of the upper end of the L-shaped bracket 10 .
  • the moving frame 1 After the bag is grasped and lifted into place, the moving frame 1 carries the packaging bag and translates to the unloading station. At this time, the piston rod of the bag-pulling cylinder 10a is retracted, and the Y-direction beam 10c is driven by the bag-pulling swing arm 10e to rotate. By swiping the levers 10d on the lever 10c in the forward direction, the leftover bags on the bag grille can be pushed into the bag collection bucket, so as to prevent the remaining bags from being carried into the silo by the material.
  • the grabbing and unloading method of the packaging bag of the present invention includes the following steps in sequence: (1) The belt winding drum 4c releases the lifting belt 4d downward, the lifting frame 6 and the limit plate 9 are lowered, and the scissor arm 2 is extended; (2) When the limit plate 9 After falling on the packaging bag, with the continuous release of the belt, the eccentric weight block 4f tilts away from the detection range of the eccentric weight block probe 4g, and the belt winding drum 4c stops at this time; Extend it and insert it into the packaging bag; (4) The belt winding drum 4c winds up the lifting belt 4d, the lifting frame 6 lifts the grabbed packaging bags, and the scissor arm 2 shrinks; (5) When the lifting frame 6 reaches the speed change point, the belt rolls The winding drum 4c decelerates; (6) After the lifting frame 6 reaches the set height, the belt winding drum 4c stops; (7) The moving frame 1 carries the grabbed packaging bag and translates it to the next station.
  • the eccentric weight block 4f can keep the lifting belt 4d in a taut state all the time, and send a signal in time to stop the lifting motor 4 from running, preventing excessive release from causing mess, and ensuring the reliable operation of the lifting system; it can also adapt to the change of the height of the packaging bag, regardless of the waiting time. Whether the bag being grabbed is on the top layer or the bottom layer, the C-shaped hook can accurately grasp it. During the upward process of the lifting frame 6, the speed is first decelerated, and then the vehicle is stopped, and the safety is good.

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  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
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Abstract

一种包装袋抓取卸料机构及其抓取卸料方法，包装袋抓取卸料机构的移动框架（1）的下方连接有剪刀臂（2），剪刀臂（2）的底部连接有升降框架（6），升降框架（6）下方设有C形钩，各C形钩下方设有限位板（9），限位板（9）上均匀分布有多个限位板钩孔（9a），移动框架（1）上安装有行走减速电机（3），行走减速电机（3）的输出端安装有行走驱动轴（3a），行走驱动轴（3a）的两端分别安装有与X向链条相啮合的X向行走链轮（3b）；抓取卸料方法依次包括如下步骤：皮带卷绕筒（4c）向下释放升降带（4d），升降框架（6）及限位板（9）下降，当限位板（9）落在包装袋上后，皮带卷绕筒（4c）停止，各C形钩伸出，插入包装袋中，升降带（4d）卷绕将抓取的各包装袋升起，皮带卷绕筒（4c）先减速后停止，移动框架（1）载着抓取的包装袋平移至下个工位。该包装袋抓取卸料机构可抓取包装袋转运，动作可靠。

Description

包装袋抓取卸料机构及其抓取卸料方法 技术领域
本发明涉及一种自动卸料机构，特别涉及一种包装袋抓取卸料机构；本发明还涉及一种包装袋的抓取卸料方法，可应用于饲料、粮油、食品、化工、医药、塑料等领域的袋装物料卸车。
背景技术
目前饲料、粮油、食品等行业，经常采用编织袋包装物料，包装后多采用卡车转运，包装袋多层叠置在车厢里，到了卸货地点，主要采用人工逐袋搬运，然后进行拆袋，再将袋中物料倾倒入料仓中存储，工作效率较低，在操作过程中会产生很多原料粉尘，影响操作人员的身体健康。
为减轻工人劳动强度，很多货物集输站采用铲车辅助卸料，一定程度上减轻了劳动强度，但是由于铲臂不便于插入包装袋下方，通常铲臂插在托盘中，铲车只能将托盘举升至卸货车辆的车厢一侧，然后仍然需要工人逐个将包装袋码放在托盘上。铲车转运到位置后，工人还需要从托盘上完成二次卸货，工作环境不符合相关环境保护及职业安全健康国家标准，工作量仍然很大，效率依然低下。
发明内容
本发明的首要目的在于，克服现有技术中存在的问题，提供一种包装袋抓取卸料机构，可以适应包装袋不同的层高，很可靠抓取包装袋转运，不影响卸料工位的破袋卸料，且卸料后脱袋方便可靠。
为解决以上技术问题，本发明的一种包装袋抓取卸料机构，包括移动框架，所述移动框架的左右两侧分别设有可沿X向导轨移动的X向行走滚轮，所述移动框架的下方连接有剪刀臂，所述剪刀臂的底部连接有升降框架，所述升降框架的下方设有多排下端可以启闭的C形钩，各C形钩的下方设有限位板，所述限位板上均匀分布有多个供C形钩穿过的限位板钩孔。
相对于现有技术，本发明取得了以下有益效果：升降框架先带着限位板及C形钩下降，当限位板接触到顶层包装袋时，C形钩从限位板钩孔中伸出，扎入包装袋的顶部，然后升降框架上升，剪刀臂收缩，将顶层的包装袋拎起，然后移动框架可以带着剪刀臂、升降框架及被抓取的包装袋平移至卸料工位。由于抓取的部位在包装袋的顶部，不影响底部的破袋及卸料；卸料完毕后，C形钩从限位板钩孔中缩回，限位板将袋皮阻挡在其下方，即完成袋 皮与C形钩的彻底分离，避免袋皮被C形钩带到上面。本发明通过C形钩扎入、升降框架提升及移动框架平移可以将包装袋从托盘上自动抓取，并转移至卸料工位破袋卸料，自动化程度高。
作为本发明的改进，前后相邻两排C形钩的钩尖相向且相互错开，前C形钩的钩尖向后，且同一排前C形钩的固定端均固定在同一根前C形钩方管上，前C形钩方管的两端分别与前C形钩转轴同轴连接，前C形钩转轴的两端分别通过前C形钩轴承及其支架支撑在所述升降框架上；后C形钩的钩尖向前，且同一排后C形钩的固定端均固定在同一根后C形钩方管上，后C形钩方管的两端分别与后C形钩转轴同轴连接，后C形钩转轴的两端分别通过后C形钩轴承及其支架支撑在所述升降框架上。前C形钩与后C形钩相互错开，既可以增加抓取点，又可以避免提升时编织袋的抓取部位撕裂。各前C形钩的本体固定在前C形钩方管上可避免相对转动，前C形钩转轴转动时，前C形钩方管带动各前C形钩同步伸出或缩回；同时，后C形钩转轴通过后C形钩方管带动各后C形钩同步伸出或缩回，前C形钩与后C形钩的钩尖相向，伸出时与包装袋的结合可靠。
作为本发明的进一步改进，各前C形钩方管的一端分别连接有前C形钩摆臂，各前C形钩摆臂的上端分别铰接在前C形钩连杆上，其中一根前C形钩摆臂向上延伸且与前C形钩气缸的活塞杆端部相铰接，所述前C形钩气缸固定在所述升降框架上；各后C形钩方管的另一端分别连接有后C形钩摆臂，各后C形钩摆臂的上端分别铰接在后C形钩连杆上，其中一根后C形钩摆臂向上延伸且与后C形钩气缸的活塞杆端部相铰接，所述后C形钩气缸固定在所述升降框架上。前C形钩气缸的活塞杆伸出时，前C形钩连杆驱动各前C形钩摆臂的上端同步向前摆动，各前C形钩摆臂同步驱动各前C形钩转轴正向转动，各前C形钩从限位板钩孔中伸出，完成扎袋；后C形钩气缸的活塞杆与前C形钩气缸同步伸出，后C形钩连杆驱动各后C形钩摆臂的上端同步向后摆动，各后C形钩摆臂同步驱动各后C形钩转轴反向转动，各后C形钩从限位板钩孔中伸出，完成扎袋。
作为本发明的进一步改进，所述移动框架上安装有行走减速电机，所述行走减速电机的输出端安装有沿Y向延伸的行走驱动轴，所述行走驱动轴的两端分别安装有与X向链条相啮合的X向行走链轮。行走减速电机通过行走驱动轴驱动X向行走链轮转动，X向行走链轮与相应的链条配合可以带着整个移动框架沿X向平移。
作为本发明的进一步改进，所述移动框架上安装有升降减速箱，所述升降减速箱的输入端由升降电机驱动，所述升降减速箱的输出端安装有沿Y向延伸的升降驱动轴，所述升降驱动轴的两端对称固定有皮带卷绕筒，所述皮带卷绕筒上分别卷绕有升降带，两升降带 的下端分别固定在升降吊耳上，两升降吊耳的下端对称固定在所述升降框架的顶部。升降电机通过升降减速箱驱动升降驱动轴转动，升降驱动轴带动两个皮带卷绕筒同步正向转动，两皮带卷绕筒同步向下释放升降带，则升降框架下行；反之，皮带卷绕筒同步反向转动，两皮带卷绕筒同步向上卷绕升降带，则升降带通过升降吊耳将升降框架向上提起。
作为本发明的进一步改进，两升降带的下端绕包在相应升降吊耳上且由升降带接头固定，所述升降带接头上固定有偏重块；所述偏重块的一侧分别设有探测其位置的偏重块探头，所述偏重块探头分别安装于偏重块探测支架的上端，所述偏重块探测支架的底部固定在升降顶板上，所述升降顶板固定在所述升降框架的上方。当升降顶板落在包装袋上时，两皮带卷绕筒继续释放升降带，则偏重块逐步向下倾斜，脱离偏重块探头的探测，偏重块探头被触发，控制系统停止升降电机的运行，皮带卷绕筒停止释放升降带，升降带始终保持在绷紧状态，防止过分释放造成凌乱，保证升降系统的可靠运行。可以自动适应包装袋层高的变化，无论待抓取的包装袋处于顶层还是底层，升降电机都能准确停车，使C形钩准确抓取包装袋。
作为本发明的进一步改进，所述偏重块探测支架的上端设有支架竖向长槽，所述偏重块探头分别从所述支架竖向长槽中穿过且向所述偏重块的方向伸出，所述偏重块探头的高度与所述升降带绷紧状态时偏重块的高度相对应；所述升降吊耳的中部从所述升降顶板的避让槽中穿过。偏重块探头通过支架竖向长槽可以调整自身的安装高度，以准确发讯控制升降电机的运行。
作为本发明的进一步改进，所述移动框架的下方安装有位置检测机构，所述位置检测机构包括位置检测支架，所述位置检测支架的顶板与底板之间连接有两根导向杆，两所述导向杆上设有可浮动的信号滑块，所述信号滑块的中部连接有向下延伸的滑动杆，所述滑动杆的下端穿过所述位置检测支架的底板并向下延伸，所述位置检测支架的顶板固定在所述移动框架的下方，所述位置检测支架的竖板上设有沿竖向延伸的位置检测支架长槽，所述位置检测支架长槽中安装有探测信号滑块高度的位置检测探头。位置检测探头自下而上依次可以包括变速点探头、停止点探头和极限位置探头，位置检测探头和偏重块探头可以为行程开关、接近开关或光电开关。当皮带卷绕筒同步向上卷绕升降带，则升降带将升降框架向上提起，当升降顶板接触到滑动杆的下端时，将滑动杆及信号滑块向上顶起，两导向杆对信号滑块的升降起到导向作用，当信号滑块的高度升高至变速点位置时，升降电机减速，升降带继续卷绕；当信号滑块的高度升高至停止点位置时，升降电机停止，升降带停止卷绕；如果升降带意外继续卷绕，信号滑块升高至极限位置使，则整个设备停车，防止升降带被拉断造成事故。
作为本发明的进一步改进，所述限位板的上端面设有多对向上竖起的导向竖板，每 对导向竖板分别位于各所述限位板钩孔上端口的左右两侧。C形钩在多次扎袋并受力后，容易发生变形，在伸出时容易扎在限位板钩孔的边缘，造成损坏，在限位板钩孔上端口的左右两侧设置导向竖板后，限制C形钩向两侧歪斜，即使发生歪斜，也能够顺利出入限位板钩孔。
作为本发明的进一步改进，所述剪刀臂的左上部铰接在剪刀臂上铰座中，所述剪刀臂的右上部通过剪刀臂上滚轮支撑在剪刀臂上滑座的水平长槽中，所述剪刀臂上铰座与剪刀臂上滑座分别固定在所述移动框架的下方；所述剪刀臂的左下部铰接在剪刀臂下铰座中，所述剪刀臂的右下部通过剪刀臂下滚轮支撑在剪刀臂下滑座的水平长槽中，所述剪刀臂下铰座与剪刀臂下滑座分别固定在所述升降框架的上方。剪刀臂在伸长或收缩时，左右铰接点之间的距离会发生变化，剪刀臂上滚轮在剪刀臂上滑座的水平长槽中滑动，剪刀臂下滚轮在剪刀臂下滑座的水平长槽中滑动，可以适应剪刀臂宽度的变化。
作为本发明的进一步改进，所述移动框架前进方向的一侧连接有向前再向下延伸的L形支架，所述L形支架的下端铰接有拨袋摆臂，所述拨袋摆臂的前端固定有Y向拨梁，所述Y向拨梁上均匀连接有多根向下延伸的拨杆；所述Y向拨梁的中部固定有拨袋驱动臂，所述拨袋驱动臂的前端与拨袋气缸的活塞杆下端相铰接，所述拨袋气缸的缸体固定在所述L形支架的上端中部。在抓袋完成并提升到位后，移动框架载着包装袋向卸料工位平移，此时拨袋气缸的活塞杆缩回，通过拨袋摆臂驱动Y向拨梁转动，Y向拨梁上各拨杆向前进的方向划动，可以将托袋格栅上的遗留袋皮推入袋皮收集斗，避免残留的袋皮被物料带入料仓中。
本发明的另一个目的在于，克服现有技术中存在的问题，提供一种包装袋的抓取卸料方法，可以适应包装袋不同的层高，很可靠抓取包装袋后转运。
为解决以上技术问题，本发明包装袋的抓取卸料方法，依次包括如下步骤：⑴皮带卷绕筒向下释放升降带，升降框架及限位板下降，剪刀臂伸长；⑵当限位板落在包装袋上后，随着皮带的继续释放，偏重块倾斜脱离偏重块探头的探测范围，此时皮带卷绕筒停止；⑶各C形钩从限位板钩孔中伸出，插入包装袋中；⑷皮带卷绕筒向上卷绕升降带，升降框架将抓取的各包装袋升起，剪刀臂收缩；⑸升降框架到达变速点时，皮带卷绕筒减速；⑹升降框架到达设定高度后，皮带卷绕筒停止；⑺移动框架载着抓取的包装袋平移至下个工位。
相对于现有技术，本发明取得了以下有益效果：偏重块可以使升降带始终保持在绷紧状态，及时发讯使升降电机停止运行，防止过分释放造成凌乱，保证升降系统的可靠运行；也可以适应包装袋层高的变化，无论待抓取的包装袋处于顶层还是底层，C形钩都能准确抓取。升降框架上行过程中先减速，再停车，安全性好。
附图说明
下面结合附图和具体实施方式对本发明作进一步详细的说明，附图仅提供参考与说明用，非用以限制本发明。
图1为本发明包装袋抓取卸料机构的主视图。
图2为图1的左视图。
图3为图1的右视图。
图4为图1的立体图一。
图5为图1的立体图二。
图6为本发明去掉升降框架上方部件的立体图。
图7为本发明中位置检测机构的立体图。
图中：1.移动框架；1a.X向行走滚轮；2.剪刀臂；2a.剪刀臂上铰座；2b.剪刀臂下铰座；2c.剪刀臂上滑座；2d.剪刀臂下滑座；2e.剪刀臂上滚轮；2f.剪刀臂下滚轮；3.行走减速电机；3a.行走驱动轴；3b.X向行走链轮；4.升降电机；4a.升降减速箱；4b.升降驱动轴；4c.皮带卷绕筒；4d.升降带；4e.升降吊耳；4f.偏重块；4g.偏重块探头；4h.偏重块探测支架；4h1.支架竖向长槽；5.位置检测机构；5a.位置检测支架；5a1.位置检测支架长槽；5b.导向杆；5c.信号滑块；5d.滑动杆；5e.位置检测探头；6.升降框架；6a.升降顶板；7.前C形钩；7a.前C形钩方管；7b.前C形钩转轴；7c.前C形钩轴承；7d.前C形钩摆臂；7e.前C形钩连杆；7f.前C形钩气缸；8.后C形钩；8a.后C形钩方管；8b.后C形钩转轴；8c.后C形钩轴承；8d.后C形钩摆臂；8e.后C形钩连杆；8f.后C形钩气缸；9.限位板；9a.限位板钩孔；9b.导向竖板；9c.连接板；10.L形支架；10a.拨袋气缸；10b.拨袋驱动臂；10c.Y向拨梁；10d.拨杆；10e.拨袋摆臂。
具体实施方式
在本发明的以下描述中，术语“上”、“下”、“前”、“后”、“左”、“右”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指装置必须具有特定的方位。
如图1至图6所示，本发明的包装袋抓取卸料机构包括移动框架1，移动框架1的左右两侧分别设有可沿X向导轨移动的X向行走滚轮1a，移动框架1的下方连接有剪刀臂2，剪刀臂2的底部连接有升降框架6，升降框架6的下方设有多排下端可以启闭的C形钩，各C形钩的下方设有限位板9，限位板9是四周通过连接板9c与升降框架6相连，限位板9上均匀分布有多个供C形钩穿过的限位板钩孔9a。
升降框架6先带着限位板9及C形钩下降，当限位板9接触到顶层包装袋时，C形钩从限位板钩孔9a中伸出，扎入包装袋的顶部，然后升降框架6上升，剪刀臂2收缩，将顶层的包装袋拎起，然后移动框架1可以带着剪刀臂2、升降框架6及被抓取的包装袋平移至卸料工位。由于抓取的部位在包装袋的顶部，不影响底部的破袋及卸料；卸料完毕后，C形钩从限位板钩孔9a中缩回，限位板9将袋皮阻挡在其下方，即完成袋皮与C形钩的彻底分离，避免袋皮被C形钩带到上面。本发明通过C形钩扎入、升降框架6提升及移动框架1平移可以将包装袋从托盘上自动抓取，并转移至卸料工位破袋卸料，自动化程度高。
如图2及图6所示，前后相邻两排C形钩的钩尖相向且相互错开，前C形钩7的钩尖向后，且同一排前C形钩7的固定端均固定在同一根前C形钩方管7a上，前C形钩方管7a的两端分别与前C形钩转轴7b同轴连接，前C形钩转轴7b的两端分别通过前C形钩轴承7c及其支架支撑在升降框架6上；后C形钩8的钩尖向前，且同一排后C形钩8的固定端均固定在同一根后C形钩方管8a上，后C形钩方管8a的两端分别与后C形钩转轴8b同轴连接，后C形钩转轴8b的两端分别通过后C形钩轴承8c及其支架支撑在升降框架6上。前C形钩7与后C形钩8相互错开，既可以增加抓取点，又可以避免提升时编织袋的抓取部位撕裂。各前C形钩7的本体固定在前C形钩方管7a上可避免相对转动，前C形钩转轴7b转动时，前C形钩方管7a带动各前C形钩7同步伸出或缩回；同时，后C形钩转轴8b通过后C形钩方管8a带动各后C形钩8同步伸出或缩回，前C形钩7与后C形钩8的钩尖相向，伸出时与包装袋的结合可靠。
如图2、图4及图6所示，各前C形钩方管7a的一端分别连接有前C形钩摆臂7d，各前C形钩摆臂7d的上端分别铰接在前C形钩连杆7e上，其中一根前C形钩摆臂7d向上延伸且与前C形钩气缸7f的活塞杆端部相铰接，前C形钩气缸7f固定在升降框架6上；各后C形钩方管8a的另一端分别连接有后C形钩摆臂8d，各后C形钩摆臂8d的上端分别铰接在后C形钩连杆8e上，其中一根后C形钩摆臂8d向上延伸且与后C形钩气缸8f的活塞杆端部相铰接，后C形钩气缸8f固定在升降框架6上。前C形钩气缸7f的活塞杆伸出时，前C形钩连杆7e驱动各前C形钩摆臂7d的上端同步向前摆动，各前C形钩摆臂7d同步驱动各前C形钩转轴7b正向转动，各前C形钩7从限位板钩孔9a中伸出，完成扎袋；后C形钩气缸8f的活塞杆与前C形钩气缸7f同步伸出，后C形钩连杆8e驱动各后C形钩摆臂8d的上端同步向后摆动，各后C形钩摆臂8d同步驱动各后C形钩转轴8b反向转动，各后C形钩8从限位板钩孔9a中伸出，完成扎袋。
如图1、图4所示，移动框架1上安装有行走减速电机3，行走减速电机3的输出端 安装有沿Y向延伸的行走驱动轴3a，行走驱动轴3a的两端分别安装有与X向链条相啮合的X向行走链轮3b。行走减速电机3通过行走驱动轴3a驱动X向行走链轮3b转动，X向行走链轮3b与相应的链条配合可以带着整个移动框架1沿X向平移。
如图1至图4所示，移动框架1上安装有升降减速箱4a，升降减速箱4a的输入端由升降电机4驱动，升降减速箱4a的输出端安装有沿Y向延伸的升降驱动轴4b，升降驱动轴4b的两端对称固定有皮带卷绕筒4c，皮带卷绕筒4c上分别卷绕有升降带4d，两升降带4d的下端分别固定在升降吊耳4e上，两升降吊耳4e的下端对称固定在升降框架6的顶部。升降电机4通过升降减速箱4a驱动升降驱动轴4b转动，升降驱动轴4b带动两个皮带卷绕筒4c同步正向转动，两皮带卷绕筒4c同步向下释放升降带4d，则升降框架6下行；反之，皮带卷绕筒4c同步反向转动，两皮带卷绕筒4c同步向上卷绕升降带4d，则升降带4d通过升降吊耳4e将升降框架6向上提起。
如图1、图6所示，两升降带4d的下端绕包在相应升降吊耳4e上且由升降带接头固定，升降带接头上固定有偏重块4f；偏重块4f的一侧分别设有探测其位置的偏重块探头4g，偏重块探头4g分别安装于偏重块探测支架4h的上端，偏重块探测支架4h的底部固定在升降顶板6a上，升降顶板6a固定在升降框架6的上方。当升降顶板6a落在包装袋上时，两皮带卷绕筒4c继续释放升降带4d，则偏重块4f逐步向下倾斜，脱离偏重块探头4g的探测，偏重块探头4g被触发，控制系统停止升降电机4的运行，皮带卷绕筒4c停止释放升降带4d，升降带4d始终保持在绷紧状态，防止过分释放造成凌乱，保证升降系统的可靠运行。可以自动适应包装袋层高的变化，无论待抓取的包装袋处于顶层还是底层，升降电机4都能准确停车，使C形钩准确抓取包装袋。
如图6所示，偏重块探测支架4h的上端设有支架竖向长槽4h1，偏重块探头4g分别从支架竖向长槽4h1中穿过且向偏重块4f的方向伸出，偏重块探头4g的高度与升降带4d绷紧状态时偏重块4f的高度相对应；升降吊耳4e的中部从升降顶板6a的避让槽中穿过。偏重块探头4g通过支架竖向长槽4h1可以调整自身的安装高度，以准确发讯控制升降电机4的运行。
如图7所示，移动框架1的下方安装有位置检测机构5，位置检测机构5包括位置检测支架5a，位置检测支架5a的顶板与底板之间连接有两根导向杆5b，两导向杆5b上设有可浮动的信号滑块5c，信号滑块5c的中部连接有向下延伸的滑动杆5d，滑动杆5d的下端穿过位置检测支架5a的底板并向下延伸，位置检测支架5a的顶板固定在移动框架1的下方，位置检测支架5a的竖板上设有沿竖向延伸的位置检测支架长槽5a1，位置检测支架长槽5a1 中安装有探测信号滑块5c高度的位置检测探头5e。
位置检测探头5e自下而上依次可以包括变速点探头、停止点探头和极限位置探头，位置检测探头5e和偏重块探头4g可以为行程开关、接近开关或光电开关。当皮带卷绕筒4c同步向上卷绕升降带4d，则升降带4d将升降框架6向上提起，当升降顶板6a接触到滑动杆5d的下端时，将滑动杆5d及信号滑块5c向上顶起，两导向杆5b对信号滑块5c的升降起到导向作用，当信号滑块5c的高度升高至变速点位置时，升降电机4减速，升降带4d继续卷绕；当信号滑块5c的高度升高至停止点位置时，升降电机4停止，升降带4d停止卷绕；如果升降带4d意外继续卷绕，信号滑块5c升高至极限位置使，则整个设备停车，防止升降带4d被拉断造成事故。
如图4所示，限位板9的上端面设有多对向上竖起的导向竖板9b，每对导向竖板9b分别位于各限位板钩孔9a上端口的左右两侧。C形钩在多次扎袋并受力后，容易发生变形，在伸出时容易扎在限位板钩孔9a的边缘，造成损坏，在限位板钩孔9a上端口的左右两侧设置导向竖板9b后，限制C形钩向两侧歪斜，即使发生歪斜，也能够顺利出入限位板钩孔9a。
剪刀臂2的左上部铰接在剪刀臂上铰座2a中，剪刀臂的右上部通过剪刀臂上滚轮2e支撑在剪刀臂上滑座2c的水平长槽中，剪刀臂上铰座2a与剪刀臂上滑座2c分别固定在移动框架1的下方；剪刀臂的左下部铰接在剪刀臂下铰座2b中，剪刀臂的右下部通过剪刀臂下滚轮2f支撑在剪刀臂下滑座2d的水平长槽中，剪刀臂下铰座2b与剪刀臂下滑座2d分别固定在升降框架6的上方。剪刀臂在伸长或收缩时，左右铰接点之间的距离会发生变化，剪刀臂上滚轮2e在剪刀臂上滑座2c的水平长槽中滑动，剪刀臂下滚轮2f在剪刀臂下滑座2d的水平长槽中滑动，可以适应剪刀臂宽度的变化。
移动框架1前进方向的一侧连接有向前再向下延伸的L形支架10，L形支架10的下端铰接有拨袋摆臂10e，拨袋摆臂10e的前端固定有Y向拨梁10c，Y向拨梁10c上均匀连接有多根向下延伸的拨杆10d；Y向拨梁10c的中部固定有拨袋驱动臂10b，拨袋驱动臂10b的前端与拨袋气缸10a的活塞杆下端相铰接，拨袋气缸10a的缸体固定在L形支架10的上端中部。在抓袋完成并提升到位后，移动框架1载着包装袋向卸料工位平移，此时拨袋气缸10a的活塞杆缩回，通过拨袋摆臂10e驱动Y向拨梁10c转动，Y向拨梁10c上各拨杆10d向前进的方向划动，可以将托袋格栅上的遗留袋皮推入袋皮收集斗，避免残留的袋皮被物料带入料仓中。
本发明包装袋的抓取卸料方法，依次包括如下步骤：⑴皮带卷绕筒4c向下释放升降带4d，升降框架6及限位板9下降，剪刀臂2伸长；⑵当限位板9落在包装袋上后，随着 皮带的继续释放，偏重块4f倾斜脱离偏重块探头4g的探测范围，此时皮带卷绕筒4c停止；⑶各C形钩从限位板钩孔9a中伸出，插入包装袋中；⑷皮带卷绕筒4c向上卷绕升降带4d，升降框架6将抓取的各包装袋升起，剪刀臂2收缩；⑸升降框架6到达变速点时，皮带卷绕筒4c减速；⑹升降框架6到达设定高度后，皮带卷绕筒4c停止；⑺移动框架1载着抓取的包装袋平移至下个工位。
偏重块4f可以使升降带4d始终保持在绷紧状态，及时发讯使升降电机4停止运行，防止过分释放造成凌乱，保证升降系统的可靠运行；也可以适应包装袋层高的变化，无论待抓取的包装袋处于顶层还是底层，C形钩都能准确抓取。升降框架6上行过程中先减速，再停车，安全性好。
以上所述仅为本发明之较佳可行实施例而已，非因此局限本发明的专利保护范围。除上述实施例外，本发明还可以有其他实施方式。凡采用等同替换或等效变换形成的技术方案，均落在本发明要求的保护范围内。本发明未经描述的技术特征可以通过或采用现有技术实现，在此不再赘述。

Claims (12)

  1. 一种包装袋抓取卸料机构，包括移动框架，所述移动框架的左右两侧分别设有可沿X向导轨移动的X向行走滚轮，其特征在于：所述移动框架的下方连接有剪刀臂，所述剪刀臂的底部连接有升降框架，所述升降框架的下方设有多排下端可以启闭的C形钩，各C形钩的下方设有限位板，所述限位板上均匀分布有多个供C形钩穿过的限位板钩孔。
  2. 根据权利要求1所述的包装袋抓取卸料机构，其特征在于：前后相邻两排C形钩的钩尖相向且相互错开，前C形钩的钩尖向后，且同一排前C形钩的固定端均固定在同一根前C形钩方管上，前C形钩方管的两端分别与前C形钩转轴同轴连接，前C形钩转轴的两端分别通过前C形钩轴承及其支架支撑在所述升降框架上；后C形钩的钩尖向前，且同一排后C形钩的固定端均固定在同一根后C形钩方管上，后C形钩方管的两端分别与后C形钩转轴同轴连接，后C形钩转轴的两端分别通过后C形钩轴承及其支架支撑在所述升降框架上。
  3. 根据权利要求2所述的包装袋抓取卸料机构，其特征在于：各前C形钩方管的一端分别连接有前C形钩摆臂，各前C形钩摆臂的上端分别铰接在前C形钩连杆上，其中一根前C形钩摆臂向上延伸且与前C形钩气缸的活塞杆端部相铰接，所述前C形钩气缸固定在所述升降框架上；各后C形钩方管的另一端分别连接有后C形钩摆臂，各后C形钩摆臂的上端分别铰接在后C形钩连杆上，其中一根后C形钩摆臂向上延伸且与后C形钩气缸的活塞杆端部相铰接，所述后C形钩气缸固定在所述升降框架上。
  4. 根据权利要求1所述的包装袋抓取卸料机构，其特征在于：所述移动框架上安装有行走减速电机，所述行走减速电机的输出端安装有沿Y向延伸的行走驱动轴，所述行走驱动轴的两端分别安装有与X向链条相啮合的X向行走链轮。
  5. 根据权利要求1所述的包装袋抓取卸料机构，其特征在于：所述移动框架上安装有升降减速箱，所述升降减速箱的输入端由升降电机驱动，所述升降减速箱的输出端安装有沿Y向延伸的升降驱动轴，所述升降驱动轴的两端对称固定有皮带卷绕筒，所述皮带卷绕筒上分别卷绕有升降带，两升降带的下端分别固定在升降吊耳上，两升降吊耳的下端对称固定在所述升降框架的顶部。
  6. 根据权利要求5所述的包装袋抓取卸料机构，其特征在于：两升降带的下端绕包在相应升降吊耳上且由升降带接头固定，所述升降带接头上固定有偏重块；所述偏重块的一侧分别设有探测其位置的偏重块探头，所述偏重块探头分别安装于偏重块探测支架的上端，所述偏重块探测支架的底部固定在升降顶板上，所述升降顶板固定在所述升降框架的上方。
  7. 根据权利要求6所述的包装袋抓取卸料机构，其特征在于：所述偏重块探测支架的上端设有支架竖向长槽，所述偏重块探头分别从所述支架竖向长槽中穿过且向所述偏重块的方向 伸出，所述偏重块探头的高度与所述升降带绷紧状态时偏重块的高度相对应；所述升降吊耳的中部从所述升降顶板的避让槽中穿过。
  8. 根据权利要求1所述的包装袋抓取卸料机构，其特征在于：所述移动框架的下方安装有位置检测机构，所述位置检测机构包括位置检测支架，所述位置检测支架的顶板与底板之间连接有两根导向杆，两所述导向杆上设有可浮动的信号滑块，所述信号滑块的中部连接有向下延伸的滑动杆，所述滑动杆的下端穿过所述位置检测支架的底板并向下延伸，所述位置检测支架的顶板固定在所述移动框架的下方，所述位置检测支架的竖板上设有沿竖向延伸的位置检测支架长槽，所述位置检测支架长槽中安装有探测信号滑块高度的位置检测探头。
  9. 根据权利要求1所述的包装袋抓取卸料机构，其特征在于：所述限位板的上端面设有多对向上竖起的导向竖板，每对导向竖板分别位于各所述限位板钩孔上端口的左右两侧。
  10. 根据权利要求1所述的包装袋抓取卸料机构，其特征在于：所述剪刀臂的左上部铰接在剪刀臂上铰座中，所述剪刀臂的右上部通过剪刀臂上滚轮支撑在剪刀臂上滑座的水平长槽中，所述剪刀臂上铰座与剪刀臂上滑座分别固定在所述移动框架的下方；所述剪刀臂的左下部铰接在剪刀臂下铰座中，所述剪刀臂的右下部通过剪刀臂下滚轮支撑在剪刀臂下滑座的水平长槽中，所述剪刀臂下铰座与剪刀臂下滑座分别固定在所述升降框架的上方。
  11. 根据权利要求1所述的包装袋抓取卸料机构，其特征在于：所述移动框架前进方向的一侧连接有向前再向下延伸的L形支架，所述L形支架的下端铰接有拨袋摆臂，所述拨袋摆臂的前端固定有Y向拨梁，所述Y向拨梁上均匀连接有多根向下延伸的拨杆；所述Y向拨梁的中部固定有拨袋驱动臂，所述拨袋驱动臂的前端与拨袋气缸的活塞杆下端相铰接，所述拨袋气缸的缸体固定在所述L形支架的上端中部。
  12. 一种采用权利要求6所述包装袋抓取卸料机构进行的抓取卸料方法，其特征在于，依次包括如下步骤：⑴皮带卷绕筒向下释放升降带，升降框架及限位板下降，剪刀臂伸长；⑵当限位板落在包装袋上后，随着皮带的继续释放，偏重块倾斜脱离偏重块探头的探测范围，此时皮带卷绕筒停止；⑶各C形钩从限位板钩孔中伸出，插入包装袋中；⑷皮带卷绕筒向上卷绕升降带，升降框架将抓取的各包装袋升起，剪刀臂收缩；⑸升降框架到达变速点时，皮带卷绕筒减速；⑹升降框架到达设定高度后，皮带卷绕筒停止；⑺移动框架载着抓取的包装袋平移至下个工位。
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