CN108569440B

CN108569440B - Automatic charging and bag inserting machine

Info

Publication number: CN108569440B
Application number: CN201810484599.9A
Authority: CN
Inventors: 王建军
Original assignee: Chengdu Hongyuan Jincheng Robot Co ltd
Current assignee: Chengdu Hongyuan Jincheng Robot Co ltd
Priority date: 2018-05-20
Filing date: 2018-05-20
Publication date: 2024-05-24
Anticipated expiration: 2038-05-20
Also published as: CN108569440A

Abstract

The invention discloses an automatic charging bag inserting machine which comprises a conveying mechanism, a residual bag supporting mechanism and a bag taking and opening mechanism, wherein the residual bag supporting mechanism is arranged on the conveying mechanism; according to the invention, the packaging bag is conveyed to the Y-axis conveying device through the X-axis conveying device of the conveying mechanism, the Z-axis conveying device of the conveying mechanism lifts the packaging bag to the residual bag supporting mechanism, the Y-axis supporting device of the residual bag supporting mechanism moves outwards along the Y-axis direction to receive the packaging bag, the bag taking device of the bag taking and opening device clamps the side edge of the packaging bag, and the bag opening device opens the packaging bag to receive materials; the invention has compact structure, effectively improves the working efficiency of the packaging bag and has better practicability.

Description

Automatic charging and bag inserting machine

Technical Field

The invention belongs to the technical field of packaging mechanical equipment, and particularly relates to an automatic charging bag inserting machine.

Background

The packaging machine is widely applied to the filling of products in industries such as food, medicine, daily chemical hardware and the like, and the filling forms mainly comprise bagging and bottling. One type of bag packaging is a process in which the packaging bag is filled with material by a packaging machine, and then sealed, transported, and stored. Traditional packagine machine needs the manual work to snatch empty bagging-off to with the wrapping bag cover at ejection of compact nozzle export, carry out bagging-off operation, and still have smooth and easy transfer device between packagine machine and the conveying equipment, need artifical transport after the packing is accomplished, not only extravagant manpower, and efficiency is lower.

At present, in the bagging process of powdery materials such as fertilizers, feeds and the like, manual participation is needed, for example, the procedures such as bag opening and the like are needed to be completed manually, but in some existing bagging machine equipment, the procedure of automatically feeding bags is not realized well all the time, and the bags are usually fed manually or the situation that people pay attention to the bag feeding is needed to be arranged, and the bags are required to be carried to a bag feeding station from time to time, so that labor and effort are wasted.

Disclosure of Invention

The invention aims to provide an automatic charging bag inserting machine which comprises a conveying mechanism, a residual bag supporting mechanism and a bag taking and opening mechanism; the invention conveys the wrapping bag to the Y-axis conveying device through the X-axis conveying device of the conveying mechanism, the Y-axis material supporting device of the surplus bag material supporting mechanism moves outwards along the Y-axis direction to accept the wrapping bag, the side edge of the wrapping bag is clamped by the bag taking device of the bag taking and opening device, and the bag opening device is used for opening the wrapping bag to accept materials; the invention has compact structure, effectively improves the working efficiency of the packaging bag and has better practicability.

The invention is realized mainly by the following technical scheme: an automatic charging bag inserting machine comprises a conveying mechanism, a residual bag supporting mechanism and a bag taking and opening mechanism; the conveying mechanism comprises an X-axis conveying device, the residual bag supporting mechanism comprises a guiding bag sucking mechanism and a Y-axis supporting device, the guiding bag sucking mechanism is arranged in parallel along a Y-axis, the Y-axis supporting device moves linearly along the Y-axis direction, and the packaging bag is transversely placed on the Y-axis supporting device; the bag taking and opening mechanism comprises a swing arm mechanism and a bag grabbing manipulator arranged on the swing arm mechanism; the bag grabbing mechanical arm comprises a bag taking device and a bag opening device which are sequentially arranged from inside to outside.

In order to better realize the invention, the swing arm mechanism further comprises a swing arm motor, a swing arm, a hand-grabbing rotating motor, a horizontal sliding seat and a bag grabbing manipulator, wherein the swing arm is transversely arranged and drives the swing arm to horizontally rotate, the free end of the swing arm is provided with the hand-grabbing rotating motor and the bag grabbing manipulator, and the bag grabbing manipulator comprises a bag taking device and a bag opening device; the top of the horizontal sliding seat is connected with a hand-grabbing rotating motor, and the hand-grabbing rotating motor drives the horizontal sliding seat to rotate; the bag grabbing mechanical arm is connected with the horizontal sliding seat in a sliding manner.

The invention is powered by the working power supply, which is the improvement point of the prior art and is not the invention, and therefore, the description is omitted. The swing arm motor and the hand-grabbing rotating motor are both in the prior art and are not improvement points of the invention, so that the description is omitted.

In order to better realize the invention, the bag grabbing mechanical arm further comprises a fixed mounting seat, a driving mechanical arm, a mechanical connecting rod, a first driving device, a mechanical connecting rod, a bag taking device and a bag opening device, wherein the fixed mounting seat is connected with a swing arm mechanism; the first driving device is hinged on the fixed mounting seat, the driving mechanical arm comprises a main linkage arm and an auxiliary linkage arm which form a clamping opening mutually, a driving rod of the first driving device is hinged with the main linkage arm, a driving rod of the first driving device is hinged with the auxiliary linkage arm through a mechanical connecting rod, and the first driving device drives the main linkage arm and the auxiliary linkage arm to open and close; the bag taking device is arranged at the neckline of the main linkage arm and the auxiliary linkage arm, and the bag taking device is arranged at the free ends of the main linkage arm and the auxiliary linkage arm.

In order to better realize the invention, the bag taking device further comprises a second driving device, a main clamping rod, an auxiliary clamping rod, a main fixing clamp and an auxiliary fixing clamp, wherein the second driving device drives the main clamping rod and the auxiliary clamping rod to open and close, the second driving device is respectively arranged at the neckline of the main linkage arm and the auxiliary linkage arm, the main clamping rod is hinged with the main linkage arm, and the auxiliary clamping rod is hinged with the auxiliary linkage arm; the main fixing clamp and the auxiliary fixing clamp are respectively and oppositely arranged on the inner sides of the main clamping rod and the auxiliary clamping rod, and the main fixing clamp and the auxiliary fixing clamp are movably clamped and connected for clamping and fixing the packaging bag.

In order to better realize the invention, the first driving device is an opening cylinder for opening the valve ports of the main linkage arm and the auxiliary linkage arm; the second driving device is a collar clamping cylinder, and piston rods of the collar clamping cylinders on the main linkage arm and the auxiliary linkage arm are respectively hinged with the main clamping rod and the auxiliary clamping rod and are used for opening and closing the main clamping rod and the auxiliary clamping rod in a matched mode.

In order to better realize the invention, the bag opening device further comprises a vacuum adsorption mechanism and a supporting rod, wherein the vacuum adsorption mechanism is connected with the main linkage arm and the auxiliary linkage arm through the supporting rod respectively.

In order to better realize the invention, the support rods further comprise a main support rod and an auxiliary support rod which are correspondingly arranged on the main linkage arm and the auxiliary linkage arm; the vacuum adsorption mechanism comprises a bag grabbing sucker and a fixed disk matched with the bag grabbing sucker; the free ends of the main supporting rod and the auxiliary supporting rod are oppositely provided with a bag grabbing sucker and a fixing disc; the vacuum adsorption mechanisms are arranged in two groups, and the vacuum adsorption mechanisms are sequentially arranged on the inner sides of the free ends of the main support rod and the auxiliary support rod from inside to outside.

In order to better realize the invention, the bag grabbing sucker is a piab sucker, and the diameter of the bag grabbing sucker is 34mm.

In order to better realize the invention, further, both sides of the top of the fixed mounting seat are respectively provided with a sliding groove, both sides of the bottom of the horizontal sliding seat are respectively correspondingly provided with a sliding rail, and the fixed mounting seat is in sliding connection with the sliding rail of the horizontal sliding seat through the sliding grooves.

In order to better realize the invention, the invention further comprises a support column and a swing arm connecting seat arranged at the upper end of the support column; the swing arm motor is installed on the swing arm connecting seat, and the swing arm is perpendicular to the support column.

In order to better realize the invention, the device further comprises a linear driving device arranged on the horizontal sliding seat, the linear driving device drives the fixed installation seat to linearly move along the sliding rail on the horizontal sliding seat, the linear driving device comprises a servo motor and a threaded rod, the threaded rod is parallel to the sliding rail, the threaded rod is arranged at the bottom of the horizontal sliding seat, the servo motor drives the threaded rod to rotate, and the top of the fixed installation seat is connected with the threaded rod through a sliding block. The servo motor is the improvement point of the prior art and is not the invention, so the description is omitted. The servo motor drives the threaded rod to rotate, and the fixed mounting seat moves on the threaded rod in a linear mode.

In order to better realize the invention, the X-axis conveying device of the conveying mechanism further comprises a double-speed chain, a double-speed chain motor, a driving shaft, a driven shaft, a conveying platform frame and a bag placing tray, wherein double-speed chains are respectively arranged on two sides of the conveying platform frame in parallel, the driving shaft and the driven shaft are respectively connected with two ends of the conveying platform frame in a rotating way, the double-speed chains are sleeved on the driven shaft and the driving shaft, and the double-speed chain motor drives the driving shaft to rotate so as to drive the double-speed chains to circularly rotate; the bag placing tray is placed on double-speed chains at two sides of the conveying platform frame to be conveyed; the residual bag supporting mechanism is arranged at one end of the conveying platform frame, a residual bag tray of the residual bag supporting mechanism is inserted into the bottom of a packaging bag on the bag placing tray to receive the packaging bag, and the packaging bag is transversely placed on the residual bag tray.

In order to better realize the invention, the automatic lifting device further comprises a Z-axis conveying device arranged in the X-axis conveying device, wherein the Z-axis conveying device comprises a lifting driving device and a lifting platform which are arranged between double-speed chains on two sides of the frame platform, the lifting driving device drives the lifting platform to lift, and the lifting platform is arranged below the residual bag discharging mechanism and is used for lifting the bag discharging tray upwards to the residual bag discharging mechanism.

The Z-axis conveying device is arranged below an operation station of the residual bag supporting mechanism; the bag placing tray of the X-axis conveying device is conveyed to the upper side of the Z-axis conveying device, and the Z-axis conveying device conveys the bag placing tray of the X-axis conveying device to an operation station of the residual bag supporting mechanism. When the packaging bags on the bag placing tray of the X-axis conveying device are taken away, the bag placing tray of the X-axis conveying device reversely moves to a packaging bag discharging mechanism to reload the packaging bags; after the bag placing tray of the X-axis conveying device is loaded, the bag placing tray of the X-axis conveying device is conveyed to an operation station.

The height lifting device is used for lifting and lowering the bag placing tray and can lift the bag placing tray to the rest bag supporting mechanism. The height lifting device can be driven by a cylinder, a linear motor and a chain driving device. The height lifting device can also form a driving mechanism by a servo motor and a threaded rod.

In the use process, the packaging bag feeding mechanism places batches of packaging bags on the bag placing tray, the speed doubling chain motor drives the speed doubling chain to enable the bag placing tray to be conveyed to a height lifting device at the other end of the conveying platform frame, and the height lifting device penetrates out of the conveying platform bracket and lifts the bag placing tray to the residual bag supporting mechanism, so that conveying of the packaging bags is realized.

The suction bag sucker is connected with the vacuum pump, and the connection structure of the suction bag sucker and the vacuum pump is in the prior art and is not an improvement point of the invention, so that the description is omitted. The double-speed chain motor, the air cylinder, the main pick-up air cylinder, the auxiliary pick-up air cylinder and the lifting air cylinder are all in the prior art and are not improvement points of the invention, so that the double-speed chain motor, the air cylinder, the main pick-up air cylinder, the auxiliary pick-up air cylinder and the lifting air cylinder are not repeated.

In order to better realize the invention, the residual bag supporting mechanism further comprises a Y-axis supporting device, wherein the Y-axis supporting device comprises a mounting rack and a bag supporting mechanism arranged on the mounting rack, and the bag supporting mechanism comprises a bag supporting machine seat, a horizontal movement mechanism arranged in the bag supporting machine seat and a residual bag tray; the bag supporting machine seat is arranged on the mounting rack, and the horizontal movement mechanism drives the residual bag tray to linearly move along the Y-axis direction.

In order to better realize the invention, the invention further comprises a guiding bag sucking mechanism arranged on the mounting frame, wherein the guiding mechanism is arranged above the Y-axis material supporting device; the guiding suction bag mechanism comprises a guiding suction arm, and suction bag suckers are equidistantly arranged on the guiding suction arm; the wrapping bag transversely places on surplus bag tray, the direction absorbs the parallel surplus bag tray setting of arm for draw the side of wrapping bag.

When the bag placing tray is lifted to a construction station of the residual bag supporting mechanism by the height lifting device in the use process, the horizontal movement mechanism drives the residual bag tray to extend outwards out of the bag supporting base, and the residual bag tray is inserted into the inserting slot of the bag placing tray, so that the residual bag tray supports and supports the packaging bags on the bag placing tray, and the packaging bags are transversely placed on the residual bag tray; the guide suction arm of the guide suction mechanism is arranged in parallel with the residual bag tray, and the suction bag sucker of the guide suction arm is positioned above the packaging bag and used for sucking the side edge of the packaging bag, so that the side edge of the packaging bag is upwards extracted, and the bag grabbing and taking device can conveniently grab the bag and carry out the next operation. When the packaging bags on the residual bag tray are completely grabbed, the horizontal movement mechanism drives the residual bag tray to linearly move towards the interior of the bag supporting machine seat, the bag supplementing device waits for supplementing the bags, and then the steps are repeated to carry out the procedures of supporting the bags and extracting the side edges of the packaging bags.

In order to better realize the invention, the guiding bag sucking mechanism further comprises a guiding mounting seat, a fixed arm, a movable arm, a main picking cylinder and an auxiliary picking cylinder; the fixed arm is arranged on the mounting rack along the X-axis direction and is positioned above the bag supporting machine seat; one end of the fixed arm is movably hinged with one end of the movable arm, and the other end of the movable arm is rotationally connected with the guide mounting seat; the movable arm is vertically connected with the guide mounting seat, and the guide suction arm is arranged in the guide mounting seat in parallel; the main picking cylinder is hinged on the fixed arm through an ear seat, the auxiliary picking cylinder is hinged on one side of the main picking cylinder through an ear seat, and the auxiliary picking cylinder is arranged in parallel with the main picking cylinder; the piston rod of the main pick-up cylinder is hinged with the movable arm through the lug seat, and the piston rod of the auxiliary pick-up cylinder is hinged with the guide mounting seat.

In order to better realize the invention, the inner side of one end of the guide mounting seat is rotationally connected with one end of the movable arm through a rotating shaft, and the outer side of one end of the guide mounting seat is hinged with a piston rod of the auxiliary pick-up cylinder.

In the using process, when the packaging bag is lifted by the residual bag tray, the main pick-up cylinder coarsely adjusts the position of the guide mounting seat, coarsely adjusts the heights of the guide suction arm and the packaging bag, and the auxiliary pick-up cylinder finely adjusts the rotation of the guide suction arm so as to realize that the suction bag sucker on the guide suction arm extracts the side edge of the packaging bag upwards.

In order to better realize the invention, the invention further comprises a belt pressing device arranged above the residual bag tray, wherein the belt pressing device comprises a belt pressing column, a belt pressing mounting seat and a belt pressing bracket; one end of the pressing belt column is fixedly arranged on the mounting frame, and the pressing belt column is parallel to the residual bag tray; the utility model discloses a packing bag tray, including the pressure area, the pressure area mount pad sets up in the one side of pressure area post, the fixed setting of pressure area mount pad is in the installing frame, the one end activity hinge of pressure area support is on the pressure area mount pad, and the other end of pressure area support is provided with the gyro wheel, the gyro wheel of pressure area post and pressure area support is pressed respectively on the wrapping bag that surplus bag tray accepted.

In the use process, after the residual bag tray receives the packaging bag, the packaging bag is pressed by the pressing belt column and the roller of the pressing belt bracket, and the guiding and extracting device is used for extracting the other side edge of the packaging bag, so that the packaging bag is extracted from the positions below the rollers of the pressing belt column and the pressing belt bracket.

In order to better realize the invention, the horizontal movement mechanism is a cylinder, the cylinder is arranged in the bag supporting machine seat, a piston rod of the cylinder is connected with the residual bag tray, and the cylinder drives the residual bag tray to extend out through an opening of the bag supporting machine seat and is used for receiving the packaging bag.

In order to better realize the invention, the suction bag sucker is a piab sucker, and the diameter of the suction bag sucker is 34mm. The piab sucking disc with the diameter of 34mm can effectively suck the soft packaging bag, and has better practicability.

In order to better realize the invention, the bottom of the conveying platform frame is further provided with rolling wheels.

In order to better realize the invention, the height lifting device further comprises a lifting driving device and a lifting platform, wherein the lifting driving device drives the lifting platform to lift, and the lifting platform is arranged on the inner side of one end of the conveying platform frame and is used for vertically lifting the bag placing tray to the residual bag supporting mechanism.

The height lifting device is arranged on the inner side of one end of the conveying platform frame and is positioned between the speed doubling chains on the two sides of the conveying platform frame; when the bag placing tray is conveyed to one end of the conveying platform frame and is positioned above the lifting platform, the lifting driving device drives the lifting platform to vertically upwards lift the bag placing tray to the position of the residual bag supporting mechanism; at the moment, the horizontal movement mechanism drives the residual bag tray to be inserted into the insertion slot of the bag placing tray so as to receive the packaging bag; at the moment, the lifting driving device drives the lifting platform to descend the bag placing tray onto the frame of the conveying platform, and the double-speed chain motor drives the double-speed chain to transport the bag placing tray to the bag placing mechanism for bagging; the steps are repeatedly circulated, the fact that the bag placing tray circulates to supplement the packaging bags to the residual bag supporting mechanism is achieved, working efficiency is improved, and good practicability is achieved.

The invention has the beneficial effects that:

(1) The conveying mechanism comprises an X-axis conveying device, the residual bag supporting mechanism comprises a guiding bag sucking mechanism and a Y-axis supporting device, the guiding bag sucking mechanism is arranged in parallel along a Y-axis, the Y-axis supporting device moves linearly along the Y-axis direction, and the packaging bag is transversely placed on the Y-axis supporting device; the bag taking and opening mechanism comprises a swing arm mechanism and a bag grabbing manipulator arranged on the swing arm mechanism; the bag grabbing mechanical arm comprises a bag taking device and a bag opening device which are sequentially arranged from inside to outside. The invention conveys the wrapping bag to the Y-axis conveying device through the X-axis conveying device of the conveying mechanism, the Y-axis material supporting device of the surplus bag material supporting mechanism moves outwards along the Y-axis direction to accept the wrapping bag, the side edge of the wrapping bag is clamped by the bag taking device of the bag taking and opening device, and the bag opening device is used for opening the wrapping bag to accept materials; the invention has compact structure, effectively improves the working efficiency of the packaging bag and has better practicability.

(2) The swing arm motor drives the swing arm to horizontally rotate, a manual rotary motor and a bag grabbing manipulator are arranged at the free end of the swing arm, and the bag grabbing manipulator comprises a bag taking device and a bag opening device; the top of the horizontal sliding seat is connected with a hand-grabbing rotating motor, and the hand-grabbing rotating motor drives the horizontal sliding seat to rotate; the bag grabbing mechanical arm is connected with the horizontal sliding seat in a sliding manner. According to the invention, the swing arm motor drives the swing arm to rotate so as to roughly adjust the grabbing position of the bag grabbing mechanical arm, and the manual grabbing rotating motor drives the horizontal sliding seat to rotate so as to accurately adjust the grabbing position of the bag grabbing mechanical arm, so that the side edges of the packaging bag are respectively positioned in the bag taking device and the bag opening device; according to the invention, the two-dimensional coordinates of the bag grabbing mechanical arm are adjusted through the horizontal sliding seat, so that the bag grabbing mechanical arm can flexibly grab the bag, the working efficiency is high, and the practicability is good.

(3) The fixed mounting seat is connected with the swing arm mechanism; the first driving device is hinged on the fixed mounting seat, the driving mechanical arm comprises a main linkage arm and an auxiliary linkage arm which form a clamping opening mutually, a driving rod of the first driving device is hinged with the main linkage arm, a driving rod of the first driving device is hinged with the auxiliary linkage arm through a mechanical connecting rod, and the first driving device drives the main linkage arm and the auxiliary linkage arm to open and close; the bag taking device is arranged at the neckline of the main linkage arm and the auxiliary linkage arm, and the bag taking device is arranged at the free ends of the main linkage arm and the auxiliary linkage arm. The invention has compact structure, flexible bag taking and opening, high working efficiency and better practicability.

(4) The second driving device drives the main clamping rod to open and close with the auxiliary clamping rod, the second driving device is respectively arranged at the neckline of the main linkage arm and the auxiliary linkage arm, the main clamping rod is hinged with the main linkage arm, and the auxiliary clamping rod is hinged with the auxiliary linkage arm; the main fixing clamp and the auxiliary fixing clamp are respectively and oppositely arranged on the inner sides of the main clamping rod and the auxiliary clamping rod, and the main fixing clamp and the auxiliary fixing clamp are movably clamped and connected for clamping and fixing the packaging bag. The invention has compact structure, flexible bag taking and opening, high working efficiency and better practicability.

(5) The vacuum adsorption mechanism comprises a bag grabbing sucker and a fixed disk matched with the bag grabbing sucker; the free ends of the main supporting rod and the auxiliary supporting rod are oppositely provided with a bag grabbing sucker and a fixing disc; the vacuum adsorption mechanisms are arranged in two groups, and the vacuum adsorption mechanisms are sequentially arranged on the inner sides of the free ends of the main support rod and the auxiliary support rod from inside to outside. The invention clamps the packaging bag through the matching of the main fixing clamp and the auxiliary fixing clamp, has compact structure, can flexibly fetch and open the packaging bag, has high working efficiency and better practicability. The fixed disk and the bag grabbing sucker are oppositely arranged to form a relative space, so that the effect of enhancing the adsorption force is achieved, and the suction device has better practicability particularly for the suction of soft packaging bags.

(6) The linear driving device drives the fixed mounting seat to linearly move on the horizontal sliding seat along the sliding rail, the linear driving device comprises a servo motor and a threaded rod, the threaded rod is parallel to the sliding rail, the threaded rod is arranged at the bottom of the horizontal sliding seat, the servo motor drives the threaded rod to rotate, and the top of the fixed mounting seat is connected with the threaded rod through a sliding block. According to the invention, the two-dimensional coordinates of the bag grabbing mechanical arm are adjusted through the horizontal sliding seat, so that the bag grabbing mechanical arm can flexibly grab the bag, the working efficiency is high, and the practicability is good.

(7) The double-speed chain motor drives the driving shaft to rotate, so that the double-speed chain is driven to rotate in a circulating manner; the bag placing tray is placed on double-speed chains at two sides of the conveying platform frame to be conveyed; the residual bag supporting mechanism is arranged at one end of the conveying platform frame, a residual bag tray of the residual bag supporting mechanism is inserted into the bottom of a packaging bag on the bag placing tray to receive the packaging bag, and the packaging bag is transversely placed on the residual bag tray. According to the invention, the double-speed chain motor drives the double-speed chain to rotate, so that the bag placing tray is conveyed to an operation station of the residual bag material supporting mechanism, and the residual bag tray of the residual bag material supporting mechanism is inserted into the bottom of a packaging bag on the bag placing tray to receive the packaging bag; the invention has compact structure, effectively improves the working efficiency of processing the packaging bags and has better practicability.

(8) Still including setting up at the inside Z axle conveyor of X axle conveyor, Z axle conveyor is including setting up lift drive arrangement and the lift platform between the double speed chain in frame platform both sides, lift drive arrangement drive lift platform goes up and down, the lift platform sets up the below of surplus bag feed mechanism and is used for upwards lifting the bag tray to surplus bag feed mechanism department. According to the invention, the double-speed chain motor drives the double-speed chain to rotate, so that the bag placing tray is conveyed to the lower part of the residual bag material supporting mechanism, and the height lifting device lifts the bag placing tray to the position of the residual bag material supporting mechanism for one step; the invention has compact structure, effectively improves the working efficiency of processing the packaging bags and has better practicability.

(9) The residual bag supporting mechanism comprises a Y-axis supporting device, the Y-axis supporting device comprises a mounting rack and a bag supporting mechanism arranged on the mounting rack, and the bag supporting mechanism comprises a bag supporting machine seat, a horizontal movement mechanism arranged in the bag supporting machine seat and a residual bag tray; the bag supporting machine seat is arranged on the mounting rack, and the horizontal movement mechanism drives the residual bag tray to linearly move along the Y-axis direction. According to the invention, the horizontal movement mechanism drives the residual bag tray to periodically hold bags; the invention has high working efficiency and better practicability.

(10) The device also comprises a guiding bag sucking mechanism arranged on the mounting frame, wherein the guiding mechanism is arranged above the Y-axis material supporting device; the guiding suction bag mechanism comprises a guiding suction arm, and suction bag suckers are equidistantly arranged on the guiding suction arm; the wrapping bag transversely places on surplus bag tray, the direction absorbs the parallel surplus bag tray setting of arm for draw the side of wrapping bag. According to the invention, the side edges of the packaging bag are adsorbed by the bag sucking disc on the guiding sucking arm of the guiding bag sucking mechanism, so that the side edges of the packaging bag are extracted, the packaging bag is convenient to grasp and open, the working efficiency of the invention is high, and the practicability is good.

(11) The fixed arm is arranged on the mounting rack along the X-axis direction and is positioned above the bag supporting machine seat; one end of the fixed arm is movably hinged with one end of the movable arm, and the other end of the movable arm is rotationally connected with the guide mounting seat; the movable arm is vertically connected with the guide mounting seat, and the guide suction arm is arranged in the guide mounting seat in parallel; the main picking cylinder is hinged on the fixed arm through an ear seat, the auxiliary picking cylinder is hinged on one side of the main picking cylinder through an ear seat, and the auxiliary picking cylinder is arranged in parallel with the main picking cylinder; the piston rod of the main pick-up cylinder is hinged with the movable arm through the lug seat, and the piston rod of the auxiliary pick-up cylinder is hinged with the guide mounting seat. The main pick-up cylinder can roughly adjust the position of the guide mounting seat, roughly adjust the height of the guide suction arm and the packaging bag, and the auxiliary pick-up cylinder finely adjusts the rotation of the guide suction arm to realize that the suction bag sucker on the guide suction arm upwards extracts the side edge of the packaging bag.

(12) One end of the pressing belt column is fixedly arranged on the mounting frame, and the pressing belt column is parallel to the residual bag tray; the utility model discloses a packing bag tray, including the pressure area, the pressure area mount pad sets up in the one side of pressure area post, the fixed setting of pressure area mount pad is in the installing frame, the one end activity hinge of pressure area support is on the pressure area mount pad, and the other end of pressure area support is provided with the gyro wheel, the gyro wheel of pressure area post and pressure area support is pressed respectively on the wrapping bag that surplus bag tray accepted. The invention effectively improves the operation stability of the packaging bag through the belt pressing column and the belt pressing bracket, and has better practicability.

(13) The horizontal movement mechanism is an air cylinder, the air cylinder is arranged in the bag supporting machine seat, a piston rod of the air cylinder is connected with the residual bag tray, and the air cylinder drives the residual bag tray to extend out through an opening of the bag supporting machine seat and is used for receiving the packaging bag. According to the invention, the cylinder drives the residual bag tray to linearly move, so that the periodical receiving of the packaging bags is realized, and the device has high working efficiency and good practicability.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a left side view of FIG. 1;

FIG. 4 is a top view of FIG. 1;

FIG. 5 is a schematic diagram of a connection structure of the residual bag holding mechanism and the conveying mechanism;

FIG. 6 is a schematic structural view of a residual bag holding mechanism;

FIG. 7 is a schematic view of the structure of the guide suction bag mechanism;

FIG. 8 is a front view of FIG. 7;

FIG. 9 is a top view of FIG. 7;

FIG. 10 is a schematic illustration of the connection of a swing arm mechanism;

FIG. 11 is a schematic diagram of a connection structure of a hand-held rotary motor and a swing arm;

FIG. 12 is a schematic view of the structure of the bag grasping robot;

FIG. 13 is a top view of FIG. 12;

fig. 14 is a front view of fig. 12;

fig. 15 is a left side view of fig. 12.

Wherein: 1. a conveying mechanism; 1-1, a conveying platform frame; 1-2, double speed chain; 1-3, a driving shaft; 1-4, double-speed chain motor; 1-5, a height lifting device; 1-51, lifting platform; 1-52, a lifting driving device; 1-6, a bag placing tray; 1-7, a driven shaft; 2. a residual bag supporting mechanism; 2-1, installing a frame; 2-2, a bag supporting mechanism; 2-3, guiding the bag sucking mechanism; 2-31, a fixed arm; 2-32, a movable arm; 2-33, a main pick-up cylinder; 2-34, an auxiliary picking cylinder; 2-35, a guide mounting seat; 2-36, sucking bags and sucking discs; 2-37, guiding the suction arm; 2-38, a belt pressing column; 2-39, a belt pressing bracket; 3. a bag taking and opening mechanism; 3-1, a bag grabbing manipulator, 3-11 and a fixed mounting seat; 3-12, a first driving device; 3-13, a main linkage arm; 3-14, a second driving device; 3-16, a bag taking device; 3-17, supporting rods; 3-18, a bag grabbing sucker; 3-19, a fixed disk; 3-2, a swing arm mechanism; 3-21, support columns; 3-22, a swing arm motor; 3-23, a swing arm connecting seat; 3-24, swinging arms; 3-25, a rotary motor is grasped by hand; 3-26, a horizontal sliding seat.

Detailed Description

Example 1:

An automatic charging bag inserting machine, as shown in figures 1-4, comprises a conveying mechanism 1, a residual bag supporting mechanism 2 and a bag taking and opening mechanism 3; the residual bag supporting mechanism 2 is arranged above one end of the conveying mechanism 1, and the bag taking and opening device is arranged above the residual bag supporting mechanism 2; the conveying mechanism 1 comprises an X-axis conveying device; the residual bag supporting mechanism 2 comprises a guiding bag sucking mechanism 2-3 which is arranged in parallel along the Y axis and a Y-axis supporting device which moves linearly along the Y axis direction; the bag taking and opening mechanism 3 comprises a swing arm mechanism 3-2 and a belt grabbing manipulator arranged on the swing arm mechanism 3-2; the bag grabbing mechanical arm 3-1 comprises a bag taking device 3-16 and a bag opening device which are arranged from inside to outside; the belt grabbing manipulator is arranged above the Y-axis material supporting device, the bag taking devices 3-16 on the belt grabbing manipulator are used for clamping packaging bags transversely placed on the Y-axis material supporting device, and the bag opening device on the belt grabbing manipulator is used for opening the openings of the packaging bags to receive materials.

In the using process, the packaging bag is transversely placed on a bag placing tray 1-6 of an X-axis conveying device for conveying, the X-axis conveying device conveys the packaging bag to an operation station of a residual bag supporting mechanism 2, and the residual bag tray of the Y-axis supporting device moves outwards along the Y-axis direction and is spliced at the bottom of the packaging bag; the wrapping bag transversely places on the surplus bag tray of Y axle holds in palm material device, the direction is inhaled bag mechanism 2-3 and is upwards extracted the side of wrapping bag, the side of the wrapping bag that gets the bag device 3-16 clamp of grabbing bag manipulator 3-1 and get the wrapping bag that is extracted, the opening of bagging apparatus absorption open the wrapping bag is in order to accept the material.

Example 2:

The embodiment is further optimized on the basis of the embodiment 1, as shown in fig. 10 and 11, the swing arm mechanism 3-2 comprises a swing arm motor 3-22, a swing arm 3-24, a manual rotary motor 3-25, a horizontal sliding seat 3-26 and a bag grabbing manipulator 3-1, the swing arm 3-24 is transversely arranged, the swing arm motor 3-22 drives the swing arm 3-24 to horizontally rotate, a manual rotary motor 3-25 and a bag grabbing manipulator 3-1 are arranged at the free end of the swing arm 3-24, and the bag grabbing manipulator 3-1 comprises a bag taking device 3-16 and a bag opening device; the top of the horizontal sliding seat 3-26 is connected with a hand-grabbing rotary motor 3-25, and the hand-grabbing rotary motor 3-25 drives the horizontal sliding seat 3-26 to rotate; the bag grabbing mechanical arm 3-1 is connected with the horizontal sliding seat 3-26 in a sliding mode. The device also comprises a support column 3-21 and a swing arm connecting seat 3-23 arranged at the upper end of the support column 3-21; the swing arm motor 3-22 is arranged on the swing arm connecting seat 3-23, and the swing arm 3-24 is perpendicular to the support column 3-21.

In the using process, the swing arm motor 3-22 of the swing arm mechanism 3-2 drives the swing arm 3-24 to rotate, so that the bag grabbing manipulator 3-1 on the swing arm 3-24 is positioned above the residual bag supporting mechanism 2, the bag taking device 3-16 clamps the side edge of the packaging bag, and the bag opening device opens the opening of the packaging bag; the swing arm motor 3-22 of the swing arm mechanism 3-2 drives the swing arm 3-24 to rotate again, and the bag-grabbing mechanical arm 3-1 clamps the bag which is already opened, and then the bag is moved to the charging mechanism for bagging. The hand-grabbing rotary motor 3-25 of the swing arm mechanism 3-2 drives the bag-grabbing mechanical arm 3-1 to rotate, so that the side edge of the packaging bag is positioned between the main fixing clamp and the auxiliary fixing clamp, and the opening of the packaging bag is positioned between the bag-grabbing sucker 3-18 and the fixing disc 3-19 of the bag opening device.

In the using process, the swing arm motor 3-22 drives the swing arm 3-24 to rotate on a plane, so that the grabbing position of the bag grabbing manipulator 3-1 is roughly adjusted; the hand-grabbing rotary motor 3-25 drives the horizontal sliding seat 3-26 to rotate, so that the grabbing position of the bag grabbing mechanical arm 3-1 is finely adjusted, and the two-dimensional coordinates of the bag grabbing mechanical arm 3-1 can be adjusted, so that the side edges of the packaging bag are respectively positioned in the bag taking device 3-16 and the bag opening device; according to the invention, the two-dimensional coordinates of the bag grabbing manipulator 3-1 are adjusted through the horizontal sliding seat 3-26, so that the bag grabbing manipulator 3-1 can flexibly grab, the working efficiency is high, and the practicability is good.

Other portions of this embodiment are the same as those of embodiment 1, and thus will not be described in detail.

Example 3:

The embodiment is further optimized based on the embodiment 1 or 2, as shown in fig. 12-15, the bag grabbing manipulator 3-1 comprises a fixed mounting seat 3-11, a driving mechanical arm, a mechanical connecting rod, a first driving device 3-12, a mechanical connecting rod, a bag taking device 3-16 and a bag opening device, wherein the fixed mounting seat 3-11 is in sliding connection with a horizontal sliding seat 3-26; the first driving device 3-12 is hinged on the fixed mounting seat 3-11, the driving mechanical arm comprises a main linkage arm 3-13 and an auxiliary linkage arm which mutually form a clamping opening, a driving rod of the first driving device 3-12 is hinged with the main linkage arm 3-13, a driving rod of the first driving device 3-12 is hinged with the auxiliary linkage arm through a mechanical connecting rod, and the first driving device 3-12 drives the main linkage arm 3-13 and the auxiliary linkage arm to open and close; the bag taking device 3-16 is arranged at the neckline of the main linkage arm 3-13 and the auxiliary linkage arm, and the bag taking device 3-16 is arranged at the free ends of the main linkage arm 3-13 and the auxiliary linkage arm.

When the packaging bag is moved to a grabbing station of the manipulator in the use process, the first driving device 3-12 can open the main linkage arm 3-13 and the auxiliary linkage arm, and at the moment, the side edge of the packaging bag is positioned in the clamping opening of the main linkage arm 3-13 and the auxiliary linkage arm; the bag taking device 3-16 of the collar of the driving mechanical arm clamps the side edges of the packaging bag, and the bag opening device at the free end of the driving mechanical arm opens the opening of the packaging bag to receive materials, so that the effects of taking and opening the bag are achieved. In the material bagging process, the bag taking device 3-16 can fix and clamp the packaging bag, so that the packaging bag is supported, and the packaging bag is prevented from falling in the material carrying process.

The main linkage arms 3-13 and the auxiliary linkage arms form a clamping opening shape, so that the bag can be taken out and opened conveniently; according to the invention, the first driving device 3-12 drives the main linkage arm 3-13 and the auxiliary linkage arm to mutually open or close, so that the bag taking device 3-16 is driven to fix the side edges of the packaging bag, and the bag opening device is used for opening the opening of the packaging bag to receive materials; the invention has compact structure, flexible bag taking and opening, high working efficiency and better practicability.

Other portions of this embodiment are the same as those of embodiment 1 or 2 described above, and thus will not be described again.

Example 4:

The embodiment is further optimized on the basis of the embodiment 3, as shown in fig. 12-15, the bag taking device 3-16 comprises a second driving device 3-14, a main clamping rod, an auxiliary clamping rod, a main fixing clamp and an auxiliary fixing clamp, the second driving device 3-14 drives the main clamping rod to open and close with the auxiliary clamping rod, the second driving device 3-14 is respectively arranged at the neckline of the main linkage arm 3-13 and the auxiliary linkage arm, the main clamping rod is hinged with the main linkage arm 3-13, and the auxiliary clamping rod is hinged with the auxiliary linkage arm; the main fixing clamp and the auxiliary fixing clamp are respectively and oppositely arranged on the inner sides of the main clamping rod and the auxiliary clamping rod, and the main fixing clamp and the auxiliary fixing clamp are movably clamped and connected for clamping and fixing the packaging bag. The first driving device 3-12 is an opening cylinder for opening the valve ports of the main linkage arm 3-13 and the auxiliary linkage arm; the second driving device 3-14 is a collar clamping cylinder, and piston rods of the collar clamping cylinder on the main linkage arm 3-13 and the auxiliary linkage arm are respectively hinged with the main clamping rod and the auxiliary clamping rod and are used for opening and closing the main clamping rod and the auxiliary clamping rod in a matched mode.

In the use process of the invention, the second driving devices 3-14 on the neckline of the main linkage arm 3-13 and the auxiliary linkage arm clamp correspondingly drive the main clamping rod and the auxiliary clamping rod to move in opposite directions respectively, so that the main fixing clamp and the auxiliary fixing clamp are clamped with each other, and the side edge of the packaging bag is clamped between the main fixing clamp and the auxiliary fixing clamp, thereby realizing clamping of the packaging bag; at this time, the opening of the packaging bag is positioned in the bag opening device and is opened; when the second driving devices 3-14 on the neckline of the main linkage arm 3-13 and the auxiliary linkage arm clamp respectively correspondingly drive the main clamping rod and the auxiliary clamping rod to separate, so that the main fixing clamp and the auxiliary fixing clamp are separated, the side edges of the packaging bag are separated, and the packaging bag is detached. The invention clamps the packaging bag through the matching of the main fixing clamp and the auxiliary fixing clamp, has compact structure, can flexibly fetch and open the packaging bag, has high working efficiency and better practicability.

Other portions of this embodiment are the same as those of embodiment 3, and thus will not be described again.

Example 5:

The embodiment is further optimized on the basis of the embodiment 4, as shown in fig. 12-15, the bag opening device comprises a vacuum adsorption mechanism and a supporting rod 3-17, and the vacuum adsorption mechanism is connected with the main linkage arm 3-13 and the auxiliary linkage arm through the supporting rod 3-17 respectively. The support rods 3-17 comprise main support rods and auxiliary support rods which are correspondingly arranged on the main linkage arms 3-13 and the auxiliary linkage arms; the vacuum adsorption mechanism comprises a bag grabbing sucker 3-18 and a fixed disk 3-19 matched with the bag grabbing sucker 3-18; the free ends of the main supporting rod and the auxiliary supporting rod are oppositely provided with a bag grabbing sucker 3-18 and a fixing disc 3-19; the vacuum adsorption mechanisms are arranged in two groups, and the vacuum adsorption mechanisms are sequentially arranged on the inner sides of the free ends of the main support rod and the auxiliary support rod from inside to outside.

In the using process of the bag picking and opening mechanism, an opening cylinder of the bag picking and opening mechanism 3 drives a main linkage arm 3-13 and an auxiliary linkage arm to move inwards, and a main support rod and an auxiliary support rod move in opposite directions, so that a bag grabbing sucker 3-18 and a fixing disc 3-19 are fixedly adsorbed; the opening cylinder of the bag taking and opening mechanism 3 drives the main linkage arm 3-13 and the auxiliary linkage arm to open outwards to form a clamping opening, the main support rod and the auxiliary support rod are mutually separated, the bag grabbing sucker 3-18 and the fixing disc 3-19 are separated, and two sides of the opening of the packaging bag are respectively absorbed by the bag grabbing sucker 3-18 on the main support rod and the auxiliary support rod to open the bag.

When the soft packaging bag needs to be opened, the bag grabbing sucker 3-18 firstly extrudes the packaging bag on the fixed disc 3-19, then the bag grabbing sucker 3-18 is far away from the fixed disc 3-19, and the ground grabbing suckers on the main support rod and the auxiliary support rod adsorb two sides of the opening of the packaging bag respectively, so that a powerful adsorption force is formed on the opening of the packaging bag, and the bag opening effect is realized; the fixed disc 3-19 grabs the bag sucking disc 3-18 and sets up relatively and form a relative space to realized the effect of reinforcing adsorption affinity, had better practicality.

Other portions of this embodiment are the same as those of embodiment 4 described above, and thus will not be described again.

Example 6:

The X-axis conveying device comprises a double-speed chain 1-2, a double-speed chain motor 1-4, a driving shaft 1-3, a driven shaft 1-7, a conveying platform frame 1-1 and a bag placing tray 1-6, wherein the double-speed chain 1-2 is respectively arranged on two sides of the conveying platform frame 1-1 in parallel, the driving shaft 1-3 and the driven shaft 1-7 are respectively connected at two ends of the conveying platform frame in a rotating way, the double-speed chain 1-2 is sleeved on the driven shaft 1-7 and the driving shaft 1-3, and the double-speed chain motor 1-4 drives the driving shaft 1-3 to rotate so as to drive the double-speed chain 1-2 to circularly rotate; the bag placing trays 1-6 are placed on double-speed chains 1-2 at two sides of the conveying platform frame 1-1 and are conveyed; the residual bag material supporting mechanism 2 is arranged at one end of the conveying platform frame 1-1, a residual bag tray of the residual bag material supporting mechanism 2 is inserted into the bottom of a packaging bag on the bag placing tray 1-6 to receive the packaging bag, and the packaging bag is transversely placed on the residual bag tray.

In the using process, the bag feeding mechanism transversely places the packaging bags on the bag placing tray 1-6, after the bag placing tray 1-6 is packaged, the double-speed chain motor 1-4 drives the double-speed chain 1-2 to rotate so that the bag placing tray 1-6 is transported to an operation station of the residual bag material supporting mechanism 2, the residual bag material supporting mechanism 2 receives the packaging bags on the bag placing tray 1-6, the bag placing tray 1-6 is transported to the bag feeding mechanism by the double-speed chain 1-2 to be packaged again, and the steps are repeated to transport the packaging bags to the residual bag material supporting mechanism 2. The conveying mechanism 1 conveys the packaging bags to the residual bag supporting mechanism 2, and the bag taking and opening mechanism 3 takes the packaging bags from the residual bag supporting mechanism 2 and opens the bags to receive materials. According to the invention, the double-speed chain motor 1-4 drives the double-speed chain 1-2 to rotate, so that the bag placing tray 1-6 is conveyed to an operation station of the residual bag material supporting mechanism 2, and the residual bag tray of the residual bag material supporting mechanism 2 is inserted into the bottom of a packaging bag on the bag placing tray 1-6 to receive the packaging bag; the invention has compact structure, effectively improves the working efficiency of processing the packaging bags and has better practicability.

Other portions of this embodiment are the same as those of embodiment 1 described above, and thus will not be described again.

Example 7:

The embodiment is further optimized on the basis of the embodiment 6, and as shown in fig. 4 and 5, the device further comprises a Z-axis conveying device arranged inside the X-axis conveying device, the Z-axis conveying device comprises a lifting driving device 1-52 and a lifting platform 1-51, the lifting driving device 1-52 is arranged between double-speed chains 1-2 on two sides of the frame platform, the lifting driving device 1-52 drives the lifting platform 1-51 to lift, and the lifting platform 1-51 is arranged below the residual bag discharging mechanism and is used for lifting the bag discharging tray 1-6 upwards to the position of the residual bag discharging mechanism.

In the use process, a bag feeding mechanism transversely places a packaging bag on a bag placing tray 1-6, after the bag placing tray 1-6 is packaged, a double-speed chain motor 1-4 drives a double-speed chain 1-2 to rotate so that the bag placing tray 1-6 is transported to a height lifting device 1-5, the height lifting device 1-5 passes through a conveying platform to lift the bag placing tray 1-6 upwards to a residual bag supporting mechanism 2, the residual bag supporting mechanism 2 receives the packaging bag on the bag placing tray 1-6, at the moment, the height lifting device 1-5 conveys the bag placing tray 1-6 to a conveying platform frame 1-1, the bag placing tray 1-6 is conveyed to the bag feeding mechanism by a double-speed chain 1-2 to be packaged again, and the steps are repeated to convey the packaging bag to the residual bag supporting mechanism 2.

According to the invention, the double-speed chain motor 1-4 drives the double-speed chain 1-2 to rotate, so that the bag placing tray 1-6 is conveyed below the residual bag material supporting mechanism 2, and the height lifting device 1-5 lifts the bag placing tray 1-6 to the residual bag material supporting mechanism 2 for one step; the invention has compact structure, effectively improves the working efficiency of processing the packaging bags and has better practicability.

Other portions of this embodiment are the same as those of embodiment 6 described above, and thus will not be described again.

Example 8:

The embodiment is further optimized based on embodiment 6 or 7, as shown in fig. 5-9, the residual bag supporting mechanism 2 comprises a Y-axis supporting device, the Y-axis supporting device comprises a mounting frame 2-1 and a bag supporting mechanism 2-2 mounted on the mounting frame 2-1, and the bag supporting mechanism 2-2 comprises a bag supporting machine seat, a horizontal movement mechanism arranged in the bag supporting machine seat and a residual bag tray; the bag supporting machine seat is arranged on the mounting frame 2-1, and the horizontal movement mechanism drives the residual bag tray to linearly move along the Y-axis direction. The bag placing trays 1-6 are provided with clamping grooves, the residual bag trays are arranged corresponding to the clamping grooves, and the residual bag trays move outwards along the Y axis and are inserted into the clamping grooves to receive the packaging bags on the clamping grooves.

The device also comprises a guiding bag sucking mechanism 2-3 arranged on the mounting frame 2-1, wherein the guiding mechanism is arranged above the Y-axis material supporting device; the guiding suction bag mechanism 2-3 comprises a guiding suction arm 2-37, and suction bag suckers 2-36 are equidistantly arranged on the guiding suction arm 2-37; the packaging bag is transversely placed on the residual bag tray, and the guiding and sucking arms 2-37 are parallel to the residual bag tray and are used for extracting the side edges of the packaging bag.

In the using process, when the packaging bags on the residual bag tray of the Y-axis material supporting device are completely grabbed, the residual bag tray of the Y-axis material supporting device moves to the original position; when the bag placing trays 1-6 of the X-axis conveying device are conveyed to the operation station, the residual bag trays of the Y-axis material supporting device move outwards along the Y-axis direction again and are spliced at the bottom of the packaging bag to receive the packaging bag.

Other portions of this embodiment are the same as those of embodiment 6 or 7 described above, and thus will not be described again.

Example 9:

The embodiment is further optimized on the basis of the embodiment 8, as shown in fig. 7-9, the guiding suction bag mechanism 2-3 further comprises a guiding installation seat 2-35, a fixed arm 2-31, a movable arm 2-32, a main pickup cylinder 2-33 and an auxiliary pickup cylinder 2-34; the fixed arm 2-31 is arranged on the mounting frame 2-1 along the X-axis direction and is positioned above the bag supporting machine seat; one end of the fixed arm 2-31 is movably hinged with one end of the movable arm 2-32, and the other end of the movable arm 2-32 is rotatably connected with the guide mounting seat 2-35; the movable arm 2-32 is vertically connected with the guide mounting seat 2-35, and the guide suction arm 2-37 is arranged in the guide mounting seat 2-35 in parallel; the main pickup cylinder 2-33 is hinged on the fixed arm 2-31 through an ear seat, the auxiliary pickup cylinder 2-34 is hinged on one side of the main pickup cylinder 2-33 through an ear seat, and the auxiliary pickup cylinder 2-34 is arranged in parallel with the main pickup cylinder 2-33; the piston rod of the main pick-up cylinder 2-33 is hinged with the movable arm 2-32 through an ear seat, and the piston rod of the auxiliary pick-up cylinder 2-34 is hinged with the guide mounting seat 2-35. The inner side of one end of the guide mounting seat 2-35 is rotationally connected with one end of the movable arm 2-32 through a rotating shaft, and the outer side of one end of the guide mounting seat 2-35 is hinged with a piston rod of the auxiliary pickup cylinder 2-34.

In the use process of the invention, the main picking cylinder 2-33 of the guiding suction bag mechanism 2-3 rotates the movable arm 2-32 downwards through the piston rod, the auxiliary picking cylinder 2-34 of the guiding suction bag mechanism 2-3 drives the guiding mounting seat 2-35 connected on the movable arm 2-32 to rotate downwards through the piston rod, thereby driving the guiding suction arm 2-37 on the guiding mounting seat 2-35 to rotate downwards, and guiding the suction bag sucker 2-36 on the suction arm 2-37 to adsorb the side edge of the packaging bag downwards; the main pick-up cylinder 2-33 of the guiding and sucking mechanism 2-3 drives the movable arm 2-32 to rotate upwards, the auxiliary pick-up cylinder 2-34 of the guiding and sucking mechanism 2-3 drives the guiding and mounting seat 2-35 to rotate upwards, so that the guiding and sucking arm 2-37 on the guiding and mounting seat 2-35 is driven to rotate upwards, and the sucking disc 2-36 on the guiding and sucking arm 2-37 picks up the side edge of the adsorbed packaging bag upwards.

Other portions of this embodiment are the same as those of embodiment 8 described above, and thus will not be described again.

Example 10:

The embodiment is further optimized based on the embodiment 9, and as shown in fig. 7-9, the embodiment further comprises a belt pressing device arranged above the residual bag tray, wherein the belt pressing device comprises belt pressing columns 2-38, belt pressing installation seats and belt pressing brackets 2-39; one end of the press belt column 2-38 is fixedly arranged on the mounting frame, and the press belt column 2-38 is arranged in parallel with the residual bag tray; the belt pressing mounting seat is arranged on one side of the belt pressing column 2-38, the belt pressing mounting seat is fixedly arranged on the mounting frame 2-1, one end of the belt pressing support 2-39 is movably hinged to the belt pressing mounting seat, the other end of the belt pressing support 2-39 is provided with rollers, and the belt pressing column 2-38 and the rollers of the belt pressing support 2-39 are respectively pressed on the packaging bags received by the residual bag tray. The suction bag suction disc 2-36 is piab suction discs, and the diameter of the suction bag suction disc 2-36 is 34mm; the suction bag suction disc 2-36 can effectively suck soft packaging bags, and has good practicability.

In the use process of the invention, after the residual bag tray receives the packaging bag, the rollers of the pressing belt columns 2-38 and the pressing belt brackets 2-39 are used for pressing the packaging bag, and the guiding extraction device is used for extracting the other side edge of the packaging bag, so that the packaging bag is extracted from the lower parts of the rollers of the pressing belt columns 2-38 and the pressing belt brackets 2-39.

Other portions of this embodiment are the same as those of embodiment 9 described above, and thus will not be described again.

The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.

Claims

1. An automatic charging bag inserting machine is characterized by comprising a conveying mechanism (1), a residual bag supporting mechanism (2) and a bag taking and opening mechanism (3); the conveying mechanism (1) comprises an X-axis conveying device, the residual bag supporting mechanism (2) comprises a guiding bag sucking mechanism (2-3) which is arranged in parallel along a Y-axis and a Y-axis supporting device which moves linearly along the Y-axis direction, and a packaging bag is transversely placed on the Y-axis supporting device; the bag taking and opening mechanism (3) comprises a swing arm mechanism (3-2) and a bag grabbing manipulator (3-1) arranged on the swing arm mechanism (3-2); the bag grabbing mechanical arm (3-1) comprises a bag taking device (3-16) and a bag opening device which are sequentially arranged from inside to outside;

The Z-axis conveying device is arranged below an operation station of the residual bag material supporting mechanism (2); the bag placing tray (1-6) of the X-axis conveying device is conveyed to the upper part of the Z-axis conveying device, and the Z-axis conveying device conveys the bag placing tray (1-6) of the X-axis conveying device to an operation station of the residual bag supporting mechanism (2) upwards;

The Y-axis material supporting device comprises a mounting rack (2-1) and a bag supporting mechanism (2-2) mounted on the mounting rack (2-1), wherein the bag supporting mechanism (2-2) comprises a bag supporting machine seat, a horizontal movement mechanism arranged in the bag supporting machine seat and a residual bag tray; the bag supporting machine seat is arranged on the mounting rack (2-1), and the horizontal movement mechanism drives the residual bag tray to linearly move along the Y-axis direction;

The guiding bag sucking mechanism (2-3) is arranged on the mounting frame (2-1), and the guiding bag sucking mechanism (2-3) is arranged above the Y-axis material supporting device; the guiding suction bag mechanism (2-3) comprises a guiding suction arm (2-37), and suction bag suckers (2-36) are equidistantly arranged on the guiding suction arm (2-37); the packaging bag is transversely placed on a residual bag tray, and the guiding and sucking arms (2-37) are arranged in parallel with the residual bag tray and are used for extracting the side edges of the packaging bag;

The device also comprises a support column (3-21) and a swing arm connecting seat (3-23) arranged at the upper end of the support column (3-21); the swing arm motor (3-22) of the swing arm mechanism (3-2) is arranged on the swing arm connecting seat (3-23), and the swing arm (3-24) of the swing arm mechanism (3-2) is vertically arranged with the support column (3-21).

2. The automatic charging bag inserting machine according to claim 1, wherein the swing arm mechanism (3-2) comprises a swing arm motor (3-22), a swing arm (3-24), a hand-grabbing rotary motor (3-25), a horizontal sliding seat (3-26) and a bag grabbing mechanical arm (3-1), the swing arm (3-24) is transversely arranged, the swing arm motor (3-22) drives the swing arm (3-24) to horizontally rotate, the free end of the swing arm (3-24) is provided with the hand-grabbing rotary motor (3-25) and the bag grabbing mechanical arm (3-1), and the bag grabbing mechanical arm (3-1) comprises a bag taking device (3-16) and a bag opening device; the top of the horizontal sliding seat (3-26) is connected with a hand-grabbing rotary motor (3-25), and the hand-grabbing rotary motor (3-25) drives the horizontal sliding seat (3-26) to rotate; the bag grabbing mechanical arm (3-1) is connected with the horizontal sliding seat (3-26) in a sliding mode.

3. An automatic charging bag inserting machine according to claim 1 or 2, characterized in that the bag grabbing manipulator (3-1) comprises a fixed mounting seat (3-11), a driving mechanical arm, a mechanical connecting rod, a first driving device (3-12), a mechanical connecting rod, a bag taking device (3-16) and a bag opening device, wherein the fixed mounting seat (3-11) is connected with a swing arm mechanism (3-2); the first driving device (3-12) is hinged on the fixed mounting seat (3-11), the driving mechanical arm comprises a main linkage arm (3-13) and an auxiliary linkage arm which form a clamping opening, a driving rod of the first driving device (3-12) is hinged with the main linkage arm (3-13), a driving rod of the first driving device (3-12) is hinged with the auxiliary linkage arm through a mechanical connecting rod, and the first driving device (3-12) drives the main linkage arm (3-13) and the auxiliary linkage arm to open and close; the bag taking device (3-16) is arranged at the collar clamping opening of the main linkage arm (3-13) and the auxiliary linkage arm, and the bag taking device (3-16) is arranged at the free ends of the main linkage arm (3-13) and the auxiliary linkage arm.

4. An automatic charging bag inserting machine according to claim 3, wherein the bag taking device (3-16) comprises a second driving device (3-14), a main clamping rod, an auxiliary clamping rod, a main fixing clamp and an auxiliary fixing clamp, the second driving device (3-14) drives the main clamping rod to open and close with the auxiliary clamping rod, the second driving device (3-14) is respectively arranged at the clamping necks of the main linkage arm (3-13) and the auxiliary linkage arm, the main clamping rod is hinged with the main linkage arm (3-13), and the auxiliary clamping rod is hinged with the auxiliary linkage arm; the main fixing clamp and the auxiliary fixing clamp are respectively and oppositely arranged on the inner sides of the main clamping rod and the auxiliary clamping rod, and the main fixing clamp and the auxiliary fixing clamp are movably clamped and connected for clamping and fixing the packaging bag.

5. The automatic charging bag inserting machine according to claim 4, wherein the bag opening device comprises a vacuum adsorption mechanism and a supporting rod (3-17), and the vacuum adsorption mechanism is connected with a main linkage arm (3-13) and an auxiliary linkage arm through the supporting rod (3-17) respectively; the support rods (3-17) comprise a main support rod and an auxiliary support rod which are correspondingly arranged on the main linkage arm (3-13) and the auxiliary linkage arm; the vacuum adsorption mechanism comprises a bag grabbing sucker (3-18) and a fixed disk (3-19) matched with the bag grabbing sucker (3-18); the free ends of the main supporting rod and the auxiliary supporting rod are oppositely provided with a bag grabbing sucker (3-18) and a fixing disc (3-19); the vacuum adsorption mechanisms are arranged in two groups, and the vacuum adsorption mechanisms are sequentially arranged on the inner sides of the free ends of the main support rod and the auxiliary support rod from inside to outside.

6. The automatic feeding bag inserting machine according to claim 1, wherein the X-axis conveying device of the conveying mechanism (1) comprises a double-speed chain (1-2), a double-speed chain motor (1-4), a driving shaft (1-3), a driven shaft (1-7), a conveying platform frame (1-1) and a bag placing tray (1-6), double-speed chains (1-2) are respectively arranged on two sides of the conveying platform frame (1-1) in parallel, the driving shaft (1-3) and the driven shaft (1-7) are respectively connected to two ends of the conveying platform frame in a rotating mode, the double-speed chains (1-2) are sleeved on the driven shaft (1-7) and the driving shaft (1-3), and the double-speed chain motor (1-4) drives the driving shaft (1-3) to rotate, so that the double-speed chains (1-2) are driven to rotate in a circulating mode; the bag placing trays (1-6) are placed on double-speed chains (1-2) at two sides of the conveying platform frame (1-1) to be conveyed; the residual bag material supporting mechanism (2) is arranged at one end of the conveying platform frame (1-1), a residual bag tray of the residual bag material supporting mechanism (2) is inserted into the bottom of a packaging bag on the bag placing tray (1-6) to receive the packaging bag, and the packaging bag is transversely placed on the residual bag tray.

7. The automatic feeding and bag inserting machine according to claim 6, further comprising a Z-axis conveying device arranged inside the X-axis conveying device, wherein the Z-axis conveying device comprises lifting driving devices (1-52) and lifting platforms (1-51) arranged between double-speed chains (1-2) on two sides of the frame platform, the lifting driving devices (1-52) drive the lifting platforms (1-51) to lift, and the lifting platforms (1-51) are arranged below the residual bag discharging mechanism and are used for lifting the bag discharging tray (1-6) upwards to the residual bag discharging mechanism.

8. An automatic charging bag inserting machine according to claim 6 or 7, characterized in that the guiding bag sucking mechanism (2-3) further comprises a guiding mounting seat (2-35), a fixed arm (2-31), a movable arm (2-32), a main pick-up cylinder (2-33) and an auxiliary pick-up cylinder (2-34); the fixed arm (2-31) is arranged on the mounting frame (2-1) along the X-axis direction and is positioned above the bag supporting machine seat; one end of the fixed arm (2-31) is movably hinged with one end of the movable arm (2-32), and the other end of the movable arm (2-32) is rotatably connected with the guide mounting seat (2-35); the movable arm (2-32) is vertically connected with the guide mounting seat (2-35), and the guide suction arm (2-37) is arranged in the guide mounting seat (2-35) in parallel; the main pick-up cylinder (2-33) is hinged on the fixed arm (2-31) through an ear seat, the auxiliary pick-up cylinder (2-34) is hinged on one side of the main pick-up cylinder (2-33) through an ear seat, and the auxiliary pick-up cylinder (2-34) is arranged in parallel with the main pick-up cylinder (2-33); the piston rod of the main pick-up cylinder (2-33) is hinged with the movable arm (2-32) through the lug seat, and the piston rod of the auxiliary pick-up cylinder (2-34) is hinged with the guide mounting seat (2-35).

9. An automatic charging bag inserting machine according to claim 6 or 7, further comprising a belt pressing device arranged above the residual bag tray, wherein the belt pressing device comprises belt pressing columns (2-38), belt pressing installation seats and belt pressing brackets (2-39); one end of the belt pressing column (2-38) is fixedly arranged on the mounting frame, and the belt pressing column (2-38) is arranged in parallel with the residual bag tray; the utility model discloses a packing bag pallet, including pressure area, pressure area mount pad, pressure area support, surplus bag tray, pressure area support (2-39), pressure area mount pad sets up in one side of pressure area post (2-38), the fixed setting of pressure area mount pad is on installing frame (2-1), the one end activity of pressure area support (2-39) articulates on pressure area mount pad, and the other end of pressure area support (2-39) is provided with the gyro wheel, the gyro wheel of pressure area post (2-38) and pressure area support (2-39) is pressed respectively on the wrapping bag that surplus bag tray accepted.