阅读说明：本技术 一种打包系统及一出一智能理袋机器人 (Packaging system and one-outlet intelligent bag arranging robot ) 是由 徐崇友 于 2021-06-11 设计创作，主要内容包括：本发明属于理袋机技术领域,特别是涉及一种打包系统及一出一智能理袋机器人。该打包系统中,送料装置包括设有送料驱动件、顶升组件以及储料空间和顶升通孔的旋转储料箱；顶升通孔连通储料空间,送料驱动件安装在安装基座上；顶升组件包括顶升驱动件和安装在顶升驱动件输出端的顶料板,顶料板位于顶升通孔中；顶升驱动件和旋转储料箱均安装在送料驱动件的输出端；机械手装置包括压板组件、安装在安装基座上的械手驱动组件,以及用于抓取储料空间中待打包件的自动夹爪组件；压板组件安装在自动夹爪组件上,且用于压紧储料空间中的待打包件；械手驱动组件的输出端连接自动夹爪组件。该打包系统输送包装袋的稳定性高。(The invention belongs to the technical field of bag arranging machines, and particularly relates to a packaging system and an intelligent bag arranging robot. In the packaging system, the feeding device comprises a rotary material storage box which is provided with a feeding driving part, a jacking assembly, a material storage space and a jacking through hole; the jacking through hole is communicated with the material storage space, and the feeding driving part is arranged on the mounting base; the jacking assembly comprises a jacking driving piece and a jacking plate arranged at the output end of the jacking driving piece, and the jacking plate is positioned in the jacking through hole; the jacking driving piece and the rotary material storage box are both arranged at the output end of the feeding driving piece; the manipulator device comprises a pressing plate assembly, a manipulator driving assembly and an automatic clamping jaw assembly, wherein the manipulator driving assembly is installed on the installation base, and the automatic clamping jaw assembly is used for grabbing a to-be-packaged piece in the material storage space; the pressing plate assembly is arranged on the automatic clamping jaw assembly and is used for pressing the to-be-packaged piece in the material storage space; the output end of the manipulator driving assembly is connected with the automatic clamping jaw assembly. This packaging system transports the stability of wrapping bag high.)

1. A packaging system is characterized by comprising an installation base, a feeding device and a manipulator device;

the feeding device comprises a rotary material storage box provided with a feeding driving part, a jacking assembly, a material storage space and a jacking through hole; the jacking through hole is communicated with the material storage space, and the feeding driving piece is installed on the installation base; the jacking assembly comprises a jacking driving piece and a jacking plate arranged at the output end of the jacking driving piece, and the jacking plate is positioned in the jacking through hole and used for jacking the to-be-packaged piece in the storage space; the jacking driving piece and the rotary material storage box are both arranged at the output end of the feeding driving piece;

the manipulator device comprises a pressing plate assembly, a manipulator driving assembly and an automatic clamping jaw assembly, wherein the manipulator driving assembly is installed on the installation base, and the automatic clamping jaw assembly is used for grabbing the to-be-packaged piece in the storage space; the pressing plate assembly is mounted on the automatic clamping jaw assembly and is used for pressing the to-be-packaged piece in the storage space; the output end of the manipulator driving assembly is connected with the automatic clamping jaw assembly.

2. The baling system of claim 1 wherein said automatic jaw assembly includes an automatic clamp member and first and second automatic jaws for clamping a member to be baled; the automatic clamping piece comprises a clamping driving piece arranged on the manipulator driving assembly and a clamping screw rod arranged at the output end of the clamping driving piece; the clamping screw rod is provided with a first thread section and a second thread section which are opposite in turning direction, the first automatic clamping jaw is provided with a first thread hole in threaded connection with the first thread section, and the second automatic clamping jaw is provided with a second thread hole in threaded connection with the second thread section.

3. The baling system of claim 2 wherein said first automatic jaw includes a first jaw drive, a first rotary joint, a first jaw connecting rod, a first clamp block, and a first connecting bracket having a first mounting space; first clamping jaw connecting rod is installed in the first installation space, first rotary joint rotates to be installed on the first clamping jaw connecting rod, first clamping jaw driving piece is installed on the first linking bridge, the output of first clamping jaw driving piece rotates to be connected first rotary joint, just first clamping jaw driving piece passes through first rotary joint drives first clamp splice rotates.

4. The baling system of claim 1, wherein said platen assembly includes a collating platen, a first resilient member, and a connecting top plate mounted on said automated jaw assembly; one end of the first elastic piece is installed on the automatic clamping jaw assembly, and the other end of the first elastic piece is connected with the arranging pressing plate.

5. The baling system of claim 1 wherein said rotary magazine includes a magazine drive, a rack, a gear, a slide, a guide rail, and a magazine with said storage space and said ejector through-holes; the bin driving piece is installed at the output end of the feeding driving piece, the gear is installed on the storage box, the rack is installed on the sliding block, and the rack is meshed with the gear; the sliding block is connected with the guide rail in a sliding mode, and the guide rail is arranged in parallel with the rack;

the output end of the bin driving piece is connected with the sliding block, and the bin driving piece is used for driving the sliding block to slide along the guide rail and is used for driving the storage box to rotate through the rack and the gear.

6. An intelligent bag arranging robot is characterized by comprising a detection conveying device, a waste discharge device, a double-layer fork material device and the packaging system according to any one of claims 1 to 5;

the detection conveying device comprises a conveying belt component used for conveying the to-be-packaged piece to the double-layer material forking device, and a visual detection component used for detecting whether the to-be-packaged piece on the conveying belt component is qualified or not; the transmission belt assembly is mounted on the mounting base;

the waste discharge device comprises a waste box and a waste discharge assembly used for conveying the unqualified to-be-packaged pieces on the conveying belt assembly to the waste box;

the double-layer fork material device is arranged on the mounting base and is used for conveying qualified pieces to be packaged on the conveying belt assembly to the feeding device.

7. The intelligent bag arranging robot as claimed in claim 6, wherein the double-layer material forking device comprises a first material forking driving member, a second material forking driving member, a first material fork, a second material fork and a diversion box provided with a conveying space and a material forking through hole; the conveying space is opposite to the conveying belt assembly, and the conveying space is opposite to the rotary material storage box and the conveying belt assembly;

the first material forking driving piece and the diversion box are both arranged on the installation base, and the second material forking driving piece is arranged on the diversion box; the first material fork is connected with the output end of the first material fork driving piece, the second material fork is connected with the output end of the second material fork driving piece, the first material fork and the second material fork penetrate through the material fork through hole and extend into the conveying space, and the second material fork is located above the first material fork.

8. The intelligent bag arranging robot as claimed in claim 6, wherein the conveyor belt assembly comprises a first conveyor belt and a second conveyor belt, both mounted on the mounting base, with a waste gap therebetween;

the waste discharge assembly is located above the waste discharge gap and used for discharging unqualified to-be-packaged pieces on the first conveying belt into the waste bin through the waste discharge gap.

9. An intelligent bag arranging robot as claimed in claim 8, wherein the visual inspection assembly comprises a first visual inspection member for inspecting whether the first conveyor belt is qualified for the bag to be packed, and a second visual inspection member for inspecting the second conveyor belt for the quantity of the bag to be packed.

10. The one-out intelligent bag arranging robot according to claim 6, further comprising a material distributing device for conveying the pieces to be packed one by one to the conveyor belt assembly, and a binding device for binding the pieces to be packed, wherein the material distributing device and the binding device are both mounted on the mounting base.

Technical Field

The invention belongs to the technical field of bag arranging machines, and particularly relates to a packaging system and an intelligent bag arranging robot.

Background

With the continuous development of market economy, food, tools and the like do not simply meet the requirements of people, and people can package the food, tools and the like to sell the food to other consumers, so that the packaging bag has a very wide market. The bag arranging machine is used as an intelligent bag arranging mechanism, can automatically complete detection of packaging bags, waste discharge of unqualified packaging bags, bundling of bundled packaging bags and other work, and greatly reduces the cost of manual inspection. However, the bag arranging machine in the prior art is easy to scatter when grabbing the packaging bags, so that the packaging bags are not convenient to pack and case.

Disclosure of Invention

The invention solves the technical problems that a bag arranging machine is easy to scatter when grabbing packaging bags and the like, and provides a packaging system and an intelligent bag arranging robot.

In view of the above problems, an embodiment of the present invention provides a packaging system, which includes a mounting base, a feeding device, and a manipulator device;

the feeding device comprises a rotary material storage box provided with a feeding driving part, a jacking assembly, a material storage space and a jacking through hole; the jacking through hole is communicated with the material storage space, and the feeding driving piece is installed on the installation base; the jacking assembly comprises a jacking driving piece and a jacking plate arranged at the output end of the jacking driving piece, and the jacking plate is positioned in the jacking through hole and used for jacking the to-be-packaged piece in the storage space; the jacking driving piece and the rotary material storage box are both arranged at the output end of the feeding driving piece;

the manipulator device comprises a pressing plate assembly, a manipulator driving assembly and an automatic clamping jaw assembly, wherein the manipulator driving assembly is installed on the installation base, and the automatic clamping jaw assembly is used for grabbing the to-be-packaged piece in the storage space; the pressing plate assembly is mounted on the automatic clamping jaw assembly and is used for pressing the to-be-packaged piece in the storage space; the output end of the manipulator driving assembly is connected with the automatic clamping jaw assembly.

According to the invention, the feeding driving part drives the rotary storage box to move to the receiving position, after the rotary storage box receives the packaging bags conveyed by the double-layer material forking device and the like in the first preset number (the first preset number can be set according to actual requirements, such as 10 packaging bags, 15 packaging bags and the like), the rotary storage box rotates for 180 degrees, and then the packaging bags conveyed by the double-layer material forking device and the like in the first preset number are received, so that the head part of the upper layer packaging bag of the rotary storage box is aligned with the tail part of the upper layer packaging bag, and the tail part of the lower layer packaging bag of the rotary storage box is aligned with the head part of the upper layer packaging bag, thereby improving the uniformity of the packaging bags. In addition, after the rotary storage box stores twice of the first preset number of packaging bags, the feeding driving part drives the rotary storage box to move to a feeding position; the jacking driving piece jacks up the packaging bag in the storage space through the jacking plate, meanwhile, the manipulator driving assembly drives the automatic clamping jaw assembly to move to the upper part of the rotary storage box and drives the pressing plate assembly and the automatic clamping jaw assembly to extend into the storage space, at the moment, the pressing plate assembly compresses the packaging bag on the jacking plate downwards, and the automatic clamping jaw assembly lifts the packaging bag from the lower part; and then, the manipulator driving assembly drives the automatic clamping jaw assembly to move to a packing position for packing. According to the packaging bag conveying system, the packaging bag is clamped to realize the functions of compressing and arranging the packaging bags, so that the size of the packaging bags is reduced, the packaging bag is convenient to pack, the stability of conveying the packaging bags is high, and the packaging bags are convenient to grab.

The invention also provides an intelligent bag arranging robot, which is characterized by comprising a detection conveying device, a waste discharge device, a double-layer material forking device and the packaging system;

the detection conveying device comprises a conveying belt component used for conveying the to-be-packaged piece to the double-layer material forking device, and a visual detection component used for detecting whether the to-be-packaged piece on the conveying belt component is qualified or not; the transmission belt assembly is mounted on the mounting base;

the waste discharge device comprises a waste box and a waste discharge assembly used for conveying the unqualified to-be-packaged pieces on the conveying belt assembly to the waste box;

the double-layer fork material device is arranged on the mounting base and is used for conveying qualified pieces to be packaged on the conveying belt assembly to the feeding device.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic structural diagram of an intelligent bag arranging robot according to an embodiment of the present invention;

fig. 2 is a schematic view of a partial structure of an intelligent bag arranging robot according to an embodiment of the present invention;

fig. 3 is a schematic view of a part of the structure of an intelligent bag arranging robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a manipulator device of an intelligent bag arranging robot according to an embodiment of the present invention;

fig. 5 is a schematic partial structural diagram of a manipulator device of an intelligent bag arranging robot according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a feeding device of an intelligent bag arranging robot according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of another view of a feeding device of an intelligent bag arranging robot according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a double-layer material forking device of an intelligent bag arranging robot according to an embodiment of the invention;

fig. 9 is a partial structural schematic view of a double-layer material forking device of an intelligent bag arranging robot according to an embodiment of the invention.

The reference numerals in the specification are as follows:

1. mounting a base; 2. a feeding device; 21. a feeding driving member; 22. a jacking assembly; 221. jacking a driving piece; 222. a material ejecting plate; 23. rotating the material storage box; 231. a material storage space; 232. a bin driving member; 233. a rack; 234. a gear; 235. a slider; 236. a guide rail; 237. a material storage box; 2371. a material box bottom plate; 2372. a blocking plate; 234. a material box mounting seat; 24. a first limit piece; 25. a second limiting member;

3. a manipulator device; 31. a platen assembly; 311. arranging a pressing plate; 312. a first elastic member; 313. connecting the top plate; 32. a manipulator drive assembly; 321. a first packing support; 322. a second packing support; 323. a first packing driving module; 324. a second packing driving module; 33. an automatic jaw assembly; 331. an automatic clamping member; 3311. clamping the driving member; 3312. clamping the screw rod; 332. a first automatic gripper; 3321. a first jaw drive; 3322. a first rotary joint; 3323. a first jaw connecting rod; 3324. a first clamping block; 3325. a first connecting bracket; 3326. a first installation space; 333. a second automated gripper;

4. detecting the conveying device; 41. a conveyor belt assembly; 411. a first conveyor belt; 412. a second conveyor belt; 413. a waste discharge gap; 42. a visual inspection assembly; 421. a first visual inspection piece; 422. a second visual inspection piece; 5. a waste discharge device; 51. a waste bin; 52. a waste discharge assembly; 6. a double-layer fork material device; 61. a first forking driving piece; 62. a second material forking driving member; 63. a first material fork; 64. a second fork; 65. a flow guide box; 651. a conveying space; 652. a forking through hole; 653. a flow guide top plate; 654. a first baffle; 655. a second baffle; 656. a back plate; 66. clapping the driving part; 67. beating the plate; 7. a material distributing device.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

It is understood that the to-be-packaged member in the present application includes, but is not limited to, a packaging bag, etc., and the to-be-packaged member is hereinafter described as a packaging bag.

As shown in fig. 2, a packaging system is characterized by comprising a mounting base 1, a feeding device 2 and a manipulator device;

as shown in fig. 6 and 7, the feeding device 2 includes a rotary material storage box 23 having a feeding driving element 21, a jacking assembly 22, a material storage space 231 and a jacking through hole; the jacking through hole is communicated with the material storage space 231, and the feeding driving piece 21 is installed on the installation base 1; the jacking assembly 22 comprises a jacking driving piece 221 and a jacking plate 222 installed at the output end of the jacking driving piece 221, wherein the jacking plate 222 is located in the jacking through hole and is used for jacking the to-be-packaged piece in the storage space 231; the jacking driving piece 221 and the rotary material storage box 23 are both arranged at the output end of the feeding driving piece 21; as can be understood, the feeding driving member 21 can drive the jacking assembly 22 and the rotary storage box 23 to move in the horizontal direction, so as to achieve the function of conveying the packaging bags; rotatory storage case 23 can rotate to the adjustment is stored the orientation of wrapping bag in the storage case 237 makes the packing bag piles up more level and more smooth in storage space 231, is favorable to the packing of wrapping bag to be handled.

As shown in fig. 4, the robot device 3 includes a platen assembly 31, a robot driving assembly 32 mounted on the mounting base 1, and an automatic gripper assembly 33 for gripping the to-be-packaged parts in the magazine 231; the pressing plate assembly 31 is mounted on the automatic clamping jaw assembly 33 and is used for pressing the to-be-packaged piece in the storage space 231; the output of the robot drive assembly 32 is connected to the automated gripper assembly 33. It can be understood that the manipulator driving assembly 32 can drive the automatic clamping jaw assembly 33 to realize the movement in the horizontal direction and the vertical direction, the manipulator driving assembly 32 drives the automatic clamping jaw assembly 33 to move between the grabbing position and the placing position in the horizontal direction, and the manipulator driving assembly 32 drives the manipulator to move up and down in the vertical direction, so that the action of grabbing materials and placing materials is realized.

In the invention, the feeding driving member 21 drives the rotary storage box 23 to move to the receiving position, after the rotary storage box 23 receives the first preset number (the first preset number can be set according to actual requirements, for example, 10 or 15) of packaging bags conveyed by the double-layer material forking device 6 and the like, the rotary storage box 23 rotates 180 degrees, and then the first preset number of packaging bags conveyed by the double-layer material forking device 6 and the like are connected, so that the head of the upper-layer packaging bag of the rotary storage box 23 is aligned with the tail of the upper-layer packaging bag, and the tail of the lower-layer packaging bag of the rotary storage box 23 is aligned with the head of the upper-layer packaging bag, thereby improving the uniformity of the packaging bags. In addition, after the rotary storage box 23 stores twice of the first preset number of packaging bags, the feeding driving part 21 drives the rotary storage box 23 to move to a feeding position; the lifting driving element 221 lifts up the packaging bag in the storage space 231 through the lifting plate 222, and at the same time, the manipulator driving assembly 32 drives the automatic clamping jaw assembly 33 to move to the upper side of the rotary storage box 23, and drives the pressing plate assembly 31 and the automatic clamping jaw assembly 33 to extend into the storage space 231, at this time, the pressing plate assembly 31 compresses the packaging bag on the lifting plate 222 downwards, and the automatic clamping jaw assembly 33 lifts up the packaging bag from the lower side; thereafter, the robot driving unit 32 drives the automatic gripper assembly 33 to move to the packing position, and the packing process is performed. According to the packaging bag conveying system, the packaging bag is clamped to realize the functions of compressing and arranging the packaging bags, so that the size of the packaging bags is reduced, the packaging bag is convenient to pack, the stability of conveying the packaging bags is high, and the packaging bags are convenient to grab.

In one embodiment, as shown in fig. 4, the automatic jaw assembly 33 comprises an automatic clamp 331 and first and second automatic jaws 332, 333 for clamping a piece to be baled; the automatic clamp 331 includes a clamp driving member 3311 installed on the robot driving assembly 32, and a clamp screw 3312 installed at an output end of the clamp driving member 3311; the clamping screw 3312 is provided with a first thread section and a second thread section with opposite turning directions, the first automatic clamping jaw 332 is provided with a first thread hole in threaded connection with the first thread section, and the second automatic clamping jaw 333 is provided with a second thread hole in threaded connection with the second thread section. It is to be understood that the clamp drive 3311 includes, but is not limited to, a servo motor or the like; the first automatic clamping jaw 332 is provided with a first nut, and the first nut is provided with a first threaded hole; and a second nut is arranged on the second automatic clamping jaw 333, and the second nut is provided with the second threaded hole.

Specifically, press from both sides tight driving piece 3311 and drive it rotates to press from both sides tight lead screw 3312, press from both sides tight lead screw 3312 and pass through first screw thread section drives first automatic clamping jaw 332 removes, simultaneously passes through the second screw thread section drives second automatic clamping jaw 333 removes, thereby first automatic clamping jaw 332 with second automatic clamping jaw 333 can follow the left and right sides and press from both sides tightly and centering wrapping bag, has improved the stability that this manipulator device 3 carried the wrapping bag, has avoided the in-process of carrying the wrapping bag, and the phenomenon in disorder appears in the wrapping bag.

In one embodiment, as shown in fig. 4 and 5, the first automatic jaw 332 includes a first jaw drive 3321, a first rotary joint 3322, a first jaw connection rod 3323, a first clamp block 3324, and a first connection bracket 3325 having a first mounting space 3326; first clamping jaw connecting rod 3323 is installed in first installation space 3326, first rotary joint 3322 rotates to be installed on first clamping jaw connecting rod 3323, first clamping jaw driving piece 3321 is installed on first connecting support 3325, first clamping jaw driving piece 3321's output rotates to be connected first rotary joint 3322, just first clamping jaw driving piece 3321 passes through first rotary joint 3322 drives first clamp splice 3324 rotates. It will be appreciated that the first rotary joint 3322 may be rotatably mounted on the first jaw connecting rod 3323 by bearings; and the first jaw drive 3321 includes, but is not limited to, linear drives such as linear motors, lead screw and nut mechanisms, pneumatic cylinders, and hydraulic cylinders. Further, the first connection bracket 3325 is provided with the first threaded hole, so that the clamping screw 3312 drives the first connection bracket 3325 to move through the first threaded section.

In an embodiment, as shown in fig. 4 and 5, the second automatic jaw 333 includes a second jaw driving member, a second rotation joint, a second jaw connecting rod, a second clamping block, and a second connecting bracket provided with a second mounting space; the second clamping jaw connecting rod is installed in the second installation space, the second rotating joint is rotatably installed on the second clamping jaw connecting rod, the second clamping jaw driving piece is installed on the second connecting support, the output end of the second clamping jaw driving piece is rotatably connected with the second rotating joint, and the second clamping jaw driving piece drives the second clamping block to rotate through the second rotating joint; a clamping space is formed among the first clamping block 3324, the second clamping block and the tidying pressure plate 311. It is to be understood that the second automatic gripper 333 and the first automatic gripper 332 have the same function and structure, and thus, the description thereof is omitted; and the second connecting bracket is provided with the second threaded hole.

Specifically, after the clamping driving member 3311 drives the first connecting bracket 3325 and the second connecting bracket to clamp the packaging bag from the left and right ends thereof through the clamping screw 3312; when the output end of the first jaw driving member 3321 extends out, the output end thereof drives the first rotating joint 3322 to rotate around the first jaw connecting rod 3323, and the first rotating joint 3322 drives the first clamping block 3324 to lift upwards; meanwhile, when the output end of the second jaw driving member extends out, the output end of the second jaw driving member drives the second rotating joint to rotate around the second jaw connecting rod, and the second rotating joint drives the second clamping block to lift upwards, so that the first clamping block 3324 and the second clamping block lift the packaging bag on the ejector plate 222 from the left side and the right side below; at this time, the left and right sides of the packing bag are clamped by the first connecting bracket 3325 and the second connecting bracket, and the upper and lower sides of the packing bag are clamped by the pressing plate assembly 31 and the first clamping block 3324 (or the second clamping block). So that the stability of the robot device 3 for grasping the packing bag is high.

Similarly, the output end of the first jaw driving member 3321 retracts, and the output end thereof drives the first rotating joint 3322 to rotate around the first jaw connecting rod 3323, and the first rotating joint 3322 drives the first clamping block 3324 to turn downwards; meanwhile, the output end of the second clamping jaw driving piece retracts, the output end of the second clamping jaw driving piece drives the second rotating joint to rotate around the second clamping jaw connecting rod, and the second rotating joint drives the second clamping block to turn downwards; so that the packing bag clamped between the first clamp block 3324 and the pressure plate assembly 31 can be released. In the embodiment, the manipulator device 3 has a compact structure and low manufacturing cost; in addition, the manipulator assembly can realize the function of compressing tightly the wrapping bag, has avoided the in-process of carrying the wrapping bag, and the phenomenon that the wrapping bag appears scattering.

In one embodiment, as shown in fig. 2, the manipulator driving assembly 32 includes a first packing support 321, a second packing support 322, a first packing driving module 323 mounted on the first packing support 321, and a second packing driving module 324 mounted on the second packing support 322; the first packing bracket 321 and the second packing bracket 322 are both mounted on the mounting base 1; the second packing support 322 is installed at the output end of the first packing driving module 323, the first automatic clamping jaw 332 and the second automatic clamping jaw 333 are both installed (installed by means of screw connection, welding and the like) at the output end of the second packing driving module 324, and the moving direction of the first packing driving module 323 is perpendicular to the moving direction of the second packing driving module 324. It can be understood that the first packing driving module 323 can drive the second packing driving module 324 to move in the horizontal direction through the second packing support 322, and the second packing driving module 324 can drive the automatic clamping jaw assembly 33 to move in the vertical direction, so that the automatic clamping jaw assembly 33 can move in the horizontal direction and the vertical direction.

In one embodiment, as shown in fig. 4, the pressure plate assembly 31 includes a tidying pressure plate 311, a first elastic member 312, and a connection top plate 313 mounted on the automatic jaw assembly 33; one end of the first elastic member 312 is mounted on the automatic clamping jaw assembly 33, and the other end of the first elastic member 312 is connected to the tidying pressing plate 311. It is understood that the first elastic member 312 includes, but is not limited to, a spring, a pneumatic rod, a hydraulic rod, etc.; the tidying pressing plate 311 may press the packing bags downward from the upper end; and the connection is positioned between the first connection bracket 3325 and the second connection bracket.

Specifically, manipulator drive assembly 32 drives when moving down automatic clamping jaw subassembly 33 is towards rotatory storage case 23, the wrapping bag will be pressed down to arrangement clamp plate 311, the clamp plate compression first elastic component 312 and rebound, thereby arrangement clamp plate 311 is in the bounce-back line of first elastic component 312 compresses tightly the wrapping bag from upper and lower both sides arrangement clamp plate 311 with between the automatic clamping jaw subassembly 33 manipulator drive assembly 32 drives the family and holds the wrapping bag when the automatic clamping jaw subassembly 33 removes, the phenomenon that the wrapping bag is difficult for appearing scattering to the stability of manipulator device 3 removal wrapping bag has been improved.

In one embodiment, as shown in fig. 6 and 7, the rotary storage box 23 includes a bin driving member 232, a rack 233, a gear 234, a slider 235, a guide rail 236, and a storage box 237 provided with the storage space 231 and the ejection through hole; the bin driving piece 232 is installed at the output end of the feeding driving piece 21, the gear 234 is installed on the storage box 237, the rack 233 is installed on the sliding block 235, and the rack 233 is meshed with the gear 234; the sliding block 235 is slidably connected with the guide rail 236, and the guide rail 236 is arranged in parallel with the rack 233; it will be appreciated that the gear 234 is mounted to the bottom of the storage bin 237, and the rack 233 and the slider 235 may be integrally formed or may be two parts connected to each other.

The output end of the bin driving member 232 is connected to the sliding block 235, and the bin driving member 232 is used for driving the sliding block 235 to slide along the guide rail 236 and driving the storage box 237 to rotate through the rack 233 and the gear 234. It is understood that the bin drive 232 includes, but is not limited to, linear motors, pneumatic cylinders, hydraulic cylinders, etc.; preferably, the bin driver 232 is a pneumatic cylinder.

Specifically, when a first preset number of packaging bags are stacked on the double-layer material forking device 6, the double-layer material forking device 6 conveys the first preset number of packaging bags to the storage box 237; the bin driving member 232 drives the gear 234 to rotate 180 degrees through the rack 233, that is, drives the storage bin 237 to rotate 180 degrees; after the first preset number of packaging bags are stacked on the material forking device, the double-layer material forking device 6 conveys the first preset number of packaging bags to the storage box 237 again; at this time, the lower layer of the storage box 237 stores a first preset number of packaging bags, the upper layer of the storage box 237 also stores the first number of packaging bags, the head of the upper layer of packaging bags is aligned with the tail of the lower layer of packaging bags, and the tail of the upper layer of packaging bags is aligned with the head of the lower layer of packaging bags, and the first preset storage amount can be set according to actual requirements, for example, 10, 15, etc.; thereby improving the regularity of the packing bags stored in the storage box 237 and facilitating the gripping of the packing bags by the robot device 3. Moreover, the rotary material storage box 23 has a simple structure and low manufacturing cost.

In an embodiment, as shown in fig. 6 and 7, the feeding device 2 further includes a first limiting member 24 and a second limiting member 25 for limiting a sliding space of the sliding block 235, and both the first limiting member 24 and the second limiting member 25 are mounted on the guide rail 236. Preferably, the first limiting member 24 and the second limiting member 25 are both electronic limiting members, and when the bin driving member 232 drives the sliding block 235 to slide along the guide rail 236 to contact with the first limiting member 24, the bin driving member 232 stops driving the sliding block 235 to move; when the bin driving member 232 drives the sliding block 235 to slide along the guide rail 236 to contact with the second limiting member 25, the bin driving member 232 stops driving the sliding block 235 to move. And when the bin driving member 232 drives the sliding block 235 to move from the first limiting member 24 to the second limiting member 25, the storage bin 237 rotates 180 degrees.

In one embodiment, as shown in fig. 6 and 7, the storage box 237 includes a bin bottom plate 2371 and a plurality of blocking plates 2372 spaced apart from the bin bottom plate 2371; the blocking plates 2372 are arranged at intervals, and the storage space 231 is enclosed between the blocking plates 2372 and the bin bottom plate 2371; it will be appreciated that a gap is left between two adjacent stop plates 2372 and the corners of the packages are located in the gap, thereby preventing the packages stored in the magazine 231 from being folded. In a specific embodiment, the bin bottom plate 2371 is a directional structure, the blocking plates 2372 are arranged on the periphery of the bottom plate, and gaps are reserved between the blocking plates 2372 on two adjacent sides of the bottom plate.

Keep away from fender board 2372 the one end of workbin bottom plate 2371 is equipped with water conservancy diversion portion, water conservancy diversion portion is used for will treating the piece of arranging leading-in the storage space 231. Understandably, the diversion part faces away from one side of the storage space 231, and the design of the diversion part facilitates the package bag to fall into the storage space 231. In this embodiment, the storage box 237 is simple in structure and light in weight.

In one embodiment, as shown in fig. 6 and 7, the rotary magazine 23 further includes a magazine mounting seat 234 having a second mounting space; a first through hole is formed in the bin mounting seat 234, the jacking driving piece 221 is mounted in the second mounting space, and the output end of the jacking driving piece 221 penetrates through the first through hole to be connected with the storage bin 237; the gear 234 is mounted (by means of screw connection, welding, etc.) on an end surface of the mounting seat facing away from the jacking driver 221. As can be understood, the output end of the jacking driving piece 221 passes through the first through hole to be connected with the ejector plate 222; the bin mounts 234 may function to mount the lift drives 221. In this embodiment, the bin mounting seat 234 further improves the compactness of the feeding device 2.

As shown in fig. 1 to fig. 3, another embodiment of the present invention further provides an intelligent bag arranging robot, which includes a detecting and conveying device 4, a waste discharging device 5, a double-layer fork material device 6 and the above-mentioned packaging system;

as shown in fig. 3, the detecting and conveying device 4 comprises a conveying belt assembly 41 for conveying the to-be-packaged piece to the double-layer fork material device 6, and a visual detecting assembly 42 for detecting whether the to-be-packaged piece on the conveying belt assembly 41 is qualified; the conveyor belt assembly 41 is mounted on the mounting base 1; it will be appreciated that the visual inspection assembly 42 may take a picture of the packages on the conveyor assembly 41 and compare the picture taken with a qualified package image file at the processor to identify whether the packages are qualified.

As shown in fig. 3, the waste discharging device 5 comprises a waste bin 51 and a waste discharging assembly 52 for conveying the unqualified to-be-packaged pieces on the conveyor belt assembly 41 to the waste bin 51; it will be appreciated that the waste assembly 52 may be a robotic or the like mechanism.

The double-layer material forking device 6 is installed on the installation base 1 and is used for conveying qualified pieces to be packaged on the conveying belt assembly 41 to the feeding device 2. As can be appreciated, the double-layer fork material device 6 is located at the output end of the conveyor belt assembly 41, so that the qualified packaging bags of the conveyor belt assembly 41 are conveyed one by one to the double-layer fork material device 6, and then the collected packaging bags are conveyed together to the rotary storage box 23 through the double-layer fork material device 6.

In the invention, the intelligent bag arranging robot finishes the intelligent detection work of the packaging bags through the visual detection assembly 42, and unqualified packaging bags can be removed through the waste discharge device 5, so that the quality of the packaging bags is ensured. Moreover, the double-layer fork material device 6 can intensively convey the qualified packaging bags on the conveying belt assembly 41 to the rotary storage box 23; specifically, after a first preset number of packaging bags are integrated on the double-layer material forking device 6, the double-layer material forking device 6 conveys the first preset number of packaging bags to the rotary material storage box 23; the rotary storage box 23 rotates 180 degrees, and when the double-layer material forking device 6 integrates a first preset number of packaging bags, the double-layer material forking device 6 conveys the first preset number of packaging bags to the rotary storage box 23; the prelude of the upper strata wrapping bag of rotatory storage case 23 aligns the afterbody of upper strata wrapping bag, just the prelude of the upper strata wrapping bag is aligned to the afterbody of the lower floor wrapping bag of rotatory storage case 23, has improved the regularity of wrapping bag. After twice as many packaging bags as the first preset number are stored in the rotary material storage box 23, the feeding driving part 21 drives the rotary material storage box 23 to move to a feeding position; the lifting driving element 221 lifts up the packaging bag in the storage space 231 through the lifting plate 222, and at the same time, the manipulator driving assembly drives the automatic clamping jaw assembly 33 to move to the upper side of the rotary storage box 23, and drives the pressing plate assembly 31 and the automatic clamping jaw assembly 33 to extend into the storage space 231, at this time, after the pressing plate assembly 31 compresses the packaging bag on the lifting plate 222 downwards, the automatic clamping jaw assembly 33 lifts up the packaging bag from the lower side; thereafter, the robot driving unit 32 drives the automatic gripper assembly 33 to move to the packing position, and the packing process is performed. According to the intelligent bag arranging robot, the stability of conveying the packaging bags is high, and the phenomenon that the packaging bags fall off is not prone to occurring.

In one embodiment, as shown in fig. 8 and 9, the double-layer forking device 6 includes a first forking driving member 61, a second forking driving member 62, a first fork 63, a second fork 64, and a diversion box 65 having a conveying space 651 and a forking through hole 652; the conveying space 651 is arranged opposite to the conveying belt assembly 41, and the conveying space 651 is arranged opposite to the rotary storage box 23 and the conveying belt assembly 41; it is understood that the front and the lower part of the conveying space 651 are both open, the conveyer belt assembly 41 conveys qualified packing bags from the front of the conveying space 651 into the conveying space 651, and the packing bags in the conveying space 651 drop into the rotary magazine 23 from the lower part.

The first fork material driving piece 61 and the diversion box 65 are both arranged on the installation base 1, and the second fork material driving piece 62 is arranged on the diversion box 65; the first fork 63 is connected to the output end of the first fork driving member 61, the second fork 64 is connected to the output end of the second fork driving member 62, both the first fork 63 and the second fork 64 penetrate through the fork through hole 652 and extend into the conveying space 651, and the second fork 64 is located above the first fork 63. It is understood that the first fork drive 61 and the second fork drive 62 include, but are not limited to, linear motors, pneumatic cylinders, hydraulic cylinders, etc.

Specifically, the conveyor belt assembly 41 conveys the packaging bags qualified thereon into the conveying space 651; after a first preset number of packaging bags are stored in the first material fork 63 (the first preset number may be determined according to actual needs, for example, 10, 15, etc.), the first fork driving member 61 drives the first material fork 63 to exit from the conveying space 651, the second fork driving member 62 drives the second material fork 64 to extend into the conveying space 651, and during the process that the first material fork 63 exits from the conveying space 651, the packaging bags on the first material fork 63 fall into the rotary storage box 23 from below, and after the rotary storage box 23 receives the first preset number of packaging bags, the rotary storage box 23 rotates 180 degrees; and the second fork 64 receives the packaging bag conveyed by the conveyor belt assembly 41 during the conveying process of the packaging bag by the first fork 63; after the first preset number of packages are stored in the second fork 64, the second fork driving member 62 drives the second fork 64 to exit from the conveying space 651, so that the first preset number of packages on the second fork 64 drop into the rotary storage box 23; meanwhile, the first fork driving member 61 drives the first fork 63 to extend into the conveying space 651. In this embodiment, this double-deck fork material device 6 can be continuous receive the wrapping bag, can not appear waiting for the problem of connecing the material, has improved one intelligent reason bag robot's work efficiency greatly.

In an embodiment, as shown in fig. 8 and 9, the double-layer fork device 6 further includes a beating-up driving member 66 and a beating-up plate 67 for beating up the pieces to be sorted on the first fork 63 or the second fork 64; the clapping driver 66 is mounted (by means of screw connection, welding and the like) on the mounting base 1, and the clapping plate 67 is connected (by means of screw connection, welding and the like) to the output end of the clapping driver 66. As can be appreciated, the clapper drive 66 includes, but is not limited to, a pneumatic cylinder, a hydraulic cylinder, a linear motor, a lead screw-nut mechanism, or the like; and the clapper 67 is positioned in front of the conveying space 651. Specifically, after the first material fork 63 or the second material fork 64 stores the packaging bags, the patting and aligning driving member 66 drives the patting and aligning plate 67 to move forward, so as to patte the packaging bags on the first material fork 63 or the second material fork 64 in order. In this embodiment, the arrangement of the clapping driving member 66 and the clapping plate 67 improves the neatness of the packaging bags in the conveying space 651, so that the packaging bags can be conveyed by the double-layer material fork device 6 conveniently. In addition, the packaging bags in the conveying space 651 can enter the rotary storage box 23 along the aligning plate 67, that is, the aligning plate 67 can also play a role in guiding flow.

In one embodiment, as shown in fig. 8 and 9, the diversion box 65 includes a diversion ceiling 653, a first diversion plate 654, a second diversion plate 655, and a back plate 656 provided with the forking vias 652; the first baffle 654, the second baffle 655 and the back plate 656 are all mounted (by screwing, welding, etc.) on the baffle top plate 653; the first baffle 654, the back plate 656, the second baffle 655 and the baffle top plate 653 enclose the conveying space 651, and the first fork 63 and the second fork 64 extend into the conveying space 651 through the back plate 656; the first fork 63 driving element is mounted on the end surface of the diversion top plate 653, which faces away from the conveying space 651. As can be understood, when the packing bag is transferred into the transfer space 651, the left and right sides of the packing bag are respectively abutted against the first guide plate 654 and the second guide plate 655, so that the packing bag entering the transfer space 651 is not folded. In this embodiment, the baffle box 65 has a simple structure and a low manufacturing cost.

In one embodiment, as shown in fig. 3, the conveyor belt assembly 41 includes a first conveyor belt 411 and a second conveyor belt 412 both mounted on the mounting base 1, and a waste discharge gap 413 is provided between the first conveyor belt 411 and the second conveyor belt 412; it is understood that the first conveying belt 411 and the second conveying belt 412 are disposed at intervals.

The waste discharge assembly 52 is located above the waste discharge gap 413 and is used for discharging the unqualified to-be-packaged pieces on the first conveying belt 411 into the waste bin 51 through the waste discharge gap 413. It will be appreciated that the waste assembly 52 includes a first connecting rail, a waste drive, and a waste member mounted at an output end of the waste drive; the first connecting cross bar is mounted on the first conveyor belt 411 and/or the second conveyor belt 412 and spans across the first conveyor belt 411 and/or the second conveyor belt 412, the waste drive is mounted on the first connecting cross bar; specifically, when visual inspection subassembly 42 detects unqualified wrapping bag, unqualified wrapping bag is carried to when the top of clearance 413 of wasting discharge, the driving piece drive of wasting discharge the portion of wasting discharge compresses unqualified wrapping bag downwards, and unqualified mounting band will pass through clearance 413 of wasting discharge drops in the waste bin 51. In the embodiment, the intelligent bag arranging robot is simple in structure and low in manufacturing cost.

In one embodiment, as shown in fig. 3, the visual inspection assembly 42 includes a first visual inspection member 421 for inspecting whether the to-be-packaged pieces on the first conveying belt 411 are qualified, and a second visual inspection member 422 for inspecting the number of qualified to-be-packaged pieces on the second conveying belt 412. As can be appreciated, the first visual inspection member 421 includes a second connecting bar mounted on the first conveyor belt 411, a first camera mounted on the second connecting bar; the second connecting cross bar spans the first conveyor belt 411. And the second visual inspection part 422 includes a third connecting cross bar mounted on the second conveyor 412, a second camera mounted on the third connecting cross bar; the third connecting cross bar spans across the second conveyor 412. In this embodiment, second visual detection device can detect carry extremely the number of qualified wrapping bag in the double-deck fork material device 6 to be convenient for double-deck fork material device 6 to concentrate and carry the wrapping bag.

In one embodiment, as shown in fig. 1, the one-out intelligent bag arranging robot further comprises a material separating device 7 for conveying the pieces to be packed one by one to the conveying belt assembly 41, and a band tying device for tying the pieces to be packed, wherein the material separating device 7 and the band tying device are both mounted on the mounting base 1. It will be appreciated that the dispensing device 7 can feed a stack of undetected packages one by one onto the conveyor assembly 41; and when the automatic mechanical arm assembly that the manipulator driving piece drove the centre gripping wrapping bag removed the ribbon device, the ribbon device can carry out the ribbon to the wrapping bag and handle to accomplish the work of the letter sorting packing of wrapping bag. In this embodiment, the design of feed divider 7 and ribbon device has further improved this work efficiency who goes out an intelligent reason bag robot.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.