CN113650871B - Valve bag opening expanding device - Google Patents

Abstract

The invention relates to a valve bag opening device which comprises a device base and an air inflation head, wherein the air inflation head comprises a main body part and an air inflation elastic tire arranged on the periphery of the main body part, an air inflation cavity is formed between the air inflation elastic tire and the main body part, an air channel communicated with the air inflation cavity is arranged on the main body part, and the air inflation elastic tire has an air inflation state of radially expanding outwards after being inflated and also has an air leakage state of radially contracting inwards after being deflated; the device base is provided with a driving mechanism connected with the air inflation head, and the driving mechanism is used for driving the air inflation head to extend into the bag opening of the opened valve bag and also can drive the air inflation head to be pulled out of the bag opening of the valve bag; the valve bag opening expanding device also comprises an air pipe and an electromagnetic valve, wherein the air pipe is connected to the main body part; the electromagnetic valve is arranged on the air pipe and is used for opening after the air inflation head extends into the valve port bag so as to inflate the air inflation cavity and disconnecting the air pipe so that the air inflation head can extend into the valve port bag and can be pulled out of the valve port bag.

Description

Valve bag opening expanding device

Technical Field

The invention relates to a valve bag opening expanding device.

Background

Valve bag, the common name is pasted end bag, mainly used packing solid powder and tiny particle material, need take out, open the bag and prop the mouth with valve bag by the bag storehouse when packing, valve bag among the prior art snatchs the manipulator and is shown as the chinese utility model patent that the grant bulletin number is CN212891219U many, this manipulator includes sucking disc mechanism and presss from both sides bag mechanism (the armful mechanism in this patent promptly), sucking disc mechanism includes the sucking disc, it constructs including two double-layered bag arms that are used for pressing from both sides tight valve bag to press from both sides bag mechanism, wherein be equipped with the sucking disc in the sucking disc mechanism and drive actuating cylinder, can drive the sucking disc and reciprocate for pressing from both sides bag mechanism. When the valve bag clamping device is used, the sucking disc mechanism adsorbs and grabs the valve bag, the valve bag is lifted to a vertical state from a flat state, and the two bag clamping arms are matched to clamp the valve bag. Then the sucking disc drives actuating cylinder and drives the sucking disc and upwards move for pressing from both sides a bag arm, opens the bag with the valve bag, after opening the bag, the manipulator overlaps the valve bag after opening outside filling tube and packs the bag.

The problem that prior art exists lies in, adopts the sucking disc to draw to drag the sack that struts the valve bag, and the ware circularity keeps not good, when the filling tube is great, is difficult for overlapping the valve bag on the filling tube, and the success rate of bagging-off receives the influence.

Disclosure of Invention

The invention aims to provide a valve bag opening expanding device, which aims to solve the technical problems that a valve bag mouth opener expanded in a pulling mode in the prior art is poor in roundness and not easy to sleeve a bag.

In order to achieve the purpose, the technical scheme of the valve bag opening device provided by the invention is as follows: a valve bag porting apparatus, comprising:

a device base;

the inflatable head comprises a main body part and an annular inflatable elastic tire arranged on the periphery of the main body part, an inflatable cavity is formed between the inflatable elastic tire and the main body part, an air channel communicated with the inflatable cavity is arranged on the main body part, and the inflatable elastic tire has an inflatable state of radially expanding outwards after being inflated and a deflating state of radially contracting inwards after being deflated;

the driving mechanism is arranged on the device base, is connected with the inflatable head, and is used for driving the inflatable head to extend into the bag opening of the opened valve bag and also driving the inflatable head to be pulled out of the bag opening of the valve bag;

the air pipe is connected to the main body part and communicated with the air channel;

the electromagnetic valve is arranged on the air pipe and used for opening after the air inflation head extends into the valve port bag to inflate the air inflation cavity and disconnecting the air pipe so that the air inflation head can extend into the valve port bag and can be pulled out of the valve port bag.

Has the beneficial effects that: when the physiosis elasticity child is in the state of disappointing, whole external diameter is less, can stretch into the sack of the valve bag that struts, can aerify the radial outward and expand after stretching into to prop the sack of valve bag circle, through solenoid valve and actuating mechanism's cooperation, can guarantee stretching into, extract and aerify, lose heart of physiosis head, guarantee that the valve bag sack ware circularity behind the valve bag opening device is better, make things convenient for subsequent cover bag.

Preferably, the main body part comprises an annular support ring, the inflatable elastic tyre is sleeved outside the support ring, and the inflatable elastic tyre extends to the axial end face of the support ring;

the main body part also comprises a seat plate and a pressing plate, the seat plate and the pressing plate are assembled together along the axial direction of the supporting ring in a split manner, and the seat plate and the pressing plate are matched with the supporting ring to compress the inflatable elastic tire along the axial direction;

the gas channel is arranged on the seat plate or the pressing plate or between the seat plate and the pressing plate, and the support ring is provided with a gas through hole for communicating the gas channel with the gas expansion cavity. The main body part is of a split structure, and the inflatable elastic tire is fixed on the main body part in a split manner, so that the pneumatic elastic tire is convenient to process and subsequently replace.

Preferably, the inflatable elastic tyre is provided with a flange extending to the inner circumferential surface of the support ring;

the peripheries of the seat plate and the pressure plate are provided with annular steps, and the annular steps are used for being matched with the inner peripheral surface of the supporting ring and pressing the flanging of the supporting ring along the radial direction. The connection reliability between the main body part and the inflatable elastic tire and the tightness of the inflatable cavity are further ensured by compressing the turned-over edge.

Preferably, the seat plate and the pressure plate are provided with bolt through holes, and the main body part comprises bolts for connecting the seat plate and the pressure plate. The seat plate and the pressing plate are connected in a split mode through bolts, and subsequent disassembly and replacement are facilitated.

Preferably, the central position of the seat plate is provided with an air inlet hole, and the air inlet hole is communicated with the air channel. The air inlet is positioned at the center of the seat plate, and the distances between the air inlet and all parts of the inflatable cavity are equal, so that all parts of the inflatable cavity are synchronously expanded.

Preferably, the device base is further provided with a sucking disc mechanism and a bag clamping mechanism, the sucking disc mechanism comprises a sucking disc, and the sucking disc is used for sucking the bag top of the valve bag and is matched with a valve bag pressing plate at the bag bin to open the bag opening of the valve bag so as to allow the air supply expansion head to extend into the bag opening;

the bag clamping mechanism comprises bag clamping arm assemblies used for relative motion to clamp the valve bag;

the driving mechanism is also used for driving the air inflation head to swing back and forth around a horizontal axis so as to drive the air inflation head to extend into the valve port bag after the sucking disc opens the bag opening and the bag clamping mechanism clamps the valve port bag and swings to the valve port bag. The sucking disc mechanism, the bag clamping mechanism and the air expansion head are integrated on the device base, the integration level is high, the bag sucking, opening and rounding are integrated on one set of device, the butt joint process of the bag sucking, opening and air expansion head is reduced, and the use is more convenient.

Preferably, the driving mechanism comprises a rotary cylinder, the rotary cylinder comprises a rotary cylinder piston rod, a rotary air expansion arm is fixedly arranged on the rotary cylinder piston rod, and the air expansion head is arranged on the rotary air expansion arm. The integration of telescopic and rotary actions is realized by utilizing the telescopic and rotary characteristics of the rotary cylinder.

Preferably, all be equipped with rotary joint on the device base and the inflation head, the trachea is including connecting in the trachea between the joint between two rotary joint.

Preferably, the bag clamping arm assemblies comprise arc limiting plates, and the arc limiting plates of the two bag clamping arm assemblies are used for buckling the outer parts of two sides of the valve bag so as to limit the shape of the bag top of the valve bag. The valve bag can be guaranteed to be still in a spread state when the sucking disc is not adsorbed any more through the arc limiting plate.

Preferably, the suction cup mechanism further comprises a bag cylinder shaping plate for shaping a top of the valve bag top. The bag barrel shaping plate can improve the roundness of the bag opening of the valve bag, and is convenient for subsequent bag sleeving.

Drawings

FIG. 1 is a schematic view of a valve bag opening device according to an embodiment of the present invention;

FIG. 2 is a structural diagram of a second view angle of an embodiment of a valve bag opening device provided by the present invention;

FIG. 3 is a schematic view of a first viewing angle of the valve bag opening device of the present invention with the linear module, the shield, and the bow arm removed;

FIG. 4 is a schematic view of a valve bag opening device of the present invention from a second perspective, with the linear module, the shield, and the arms removed;

FIG. 5 is a schematic view of a gripper assembly in an embodiment of a valve bag opening device according to the present invention;

FIG. 6 is a schematic view of a wrist of an embodiment of a valve bag opening device according to the present invention;

FIG. 7 is a schematic structural diagram of a suction cup mechanism in an embodiment of a valve bag opening device provided by the present invention;

FIG. 8 is a front view of an inflatable head in an inflated state in an embodiment of the valve bag opening support apparatus provided by the present invention;

FIG. 9 isbase:Sub>A schematic view of section A-A of FIG. 8;

FIG. 10 is a front view of an embodiment of a valve bag spreader apparatus according to the present invention in a deflated state;

FIG. 11 is a schematic view of section B-B of FIG. 10;

FIG. 12 is a schematic view of the engagement of a bag clamp arm cylinder and a bag clamp arm assembly in an embodiment of the valve bag opener apparatus of the present invention;

FIG. 13 is a schematic view of the valve bag opening device and the bag bin in accordance with an embodiment of the present invention;

description of reference numerals:

1. a base; 2. a drag chain; 3. a wire inlet; 4. mounting plates on the drag chain; 5. a linear module; 6. an organ shield; 701. a first servo motor; 702. a second servo motor; 703. a third servo motor; 704. a fourth servo motor; 8. an outlet; 9. a fixed cover; 10. a bow arm; 11. a cable fixing clip; 12. a small arm; 13. a wrist arm; 14. a movable cover; 15. a suction cup; 16. a bag clamp arm assembly; 17. a valve bag; 18. rotating the air expansion arm; 19. a lower mounting plate of the drag chain; 20. a shaft clamp; 21. a rib plate; 22. a bag clamping arm cylinder; 23. a cable; 24. a protective cover; 25. an electromagnetic valve bank; 26. a rotating cylinder; 27. a rotary joint; 28. an inter-joint air pipe; 29. an air inflation head; 30. a vacuum generator; 31. a revolute cable; 32. a slider; 33. a vacuum pressure sensor; 34. a position sensor; 35. a position sensor contact; 36. a three-way valve; 37. an electromagnetic valve seat; 38. a bag clamping shaft; 39. a bag clamping arm; 40. an arc limiting plate; 41. an electromagnetic valve air pipe; 42. a shaft clamp mounting seat plate; 43. perforating the fixing clamp; 44. a vertical plate; 45. a T-shaped plate; 46. an ear plate; 47. a suction cup box; 48. a waist-shaped hole; 49. rotating a cylinder piston rod; 50. a bag cylinder shaping plate; 51. a sucker seat; 52. screw holes; 53. an air intake; 54. pressing a plate; 55. inflating the elastic tire; 56. an inflatable cavity; 57. supporting a ring; 58. a seat plate; 59. a gas channel; 60. perforating the bolt; 61. a rotating arm; 62. a middle connecting rod; 100. a valve bag opening device; 200. a bag bin; 300. a telescopic cylinder; 400. and (4) pressing a valve bag.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration only, not by way of limitation, i.e., the embodiments described are intended as a selection of the best mode contemplated for carrying out the invention, not as a full mode. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, elements defined by the phrases "comprising a" \8230; "do not exclude processes, methods of including such elements.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" when they are used are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "provided" may be used in a broad sense, for example, the object provided may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be detachable or non-detachable. The specific meanings of the above-mentioned terms in the present invention can be understood by those skilled in the art through specific situations.

The present invention is described in further detail below with reference to examples.

The specific embodiment of the valve bag opening device provided by the invention comprises the following steps:

as shown in fig. 1 to 13, the valve bag opening device in this embodiment can be used for opening the valve bag, grabbing and opening the valve bag to be opened, and sleeving the valve bag. The valve bag opening expanding device comprises a base 1, wherein the base 1 is used as a mounting carrier of other parts, and the base 1 is fixed on a support when in use.

The base 1 is fixedly provided with a linear module 5, and the linear module 5 is a mature product in the market and is a linear driving structure manufactured based on the principle of a screw-nut mechanism. The linear module 5 comprises a frame fixed on the base 1 and a screw rod rotatably installed in the frame, a sliding block 32 is sleeved on the screw rod, the sliding block 32 is assembled in the frame in a guiding mode along the vertical direction, and the linear module 5 further comprises a first servo motor 701 capable of driving the screw rod to rotate. As shown in fig. 1 and 2, the pantograph 10 is mounted on the slider 32, specifically, the second servo motor 702 is fixedly mounted on the slider 32, the pantograph 10 is rotatably mounted on an output shaft of the second servo motor 702, and the second servo motor 702 can drive the pantograph 10 to swing back and forth. The pantograph 10 is of a structure that the middle position is upwards arched, two ends of the pantograph 10 are downwards bent and are provided with horizontal overhanging parts, the horizontal overhanging parts facing the sliding block 32 are connected with the second servo motor 702, the other horizontal overhanging part is fixedly provided with a third servo motor 703, and an output shaft of the third servo motor 703 is fixedly provided with a small arm 12.

Specifically, as shown in fig. 3, a shaft clamp 20 is fixedly mounted on the small arm 12, and an output shaft of the third servomotor 703 penetrates into the shaft clamp 20 and is fastened, so that fixed connection is achieved. A fourth servo motor 704 is fixedly mounted at the other end of the small arm 12, and a wrist arm 13 is fixedly mounted on an output shaft of the fourth servo motor 704, as shown in fig. 3, the wrist arm 13 includes a shaft clamp mounting seat plate 42, a shaft clamp is fixed on the shaft clamp mounting seat plate 42, and an output shaft of the fourth servo motor 704 penetrates into the shaft clamp and is fixed. A gripper assembly is fixedly mounted on the wrist arm 13, and can grip the valve bag 17 and support the valve bag 17. In this embodiment, the arch height of the bow arm 10 is greater than the height of the fourth servo motor 704 on the small arm 12, and is smaller than the height of the gripper assembly, and the arch length of the bow arm 10 is greater than the overall length of the folded small arm 12, the folded wrist arm 13, and the gripper assembly, so as to ensure that no collision interference occurs during the folding process.

In this embodiment, through setting up a plurality of servo motor, can fold the below of bow arm 10 with tongs subassembly on forearm 12, cantilever 13 and the cantilever 13, save space, can arrange the bag storehouse 200 of valve bag in the below of bow arm 10 when using moreover, like this, can realize the rational utilization in space, save space. And the turning radius of the small arm 12 and the wrist arm 13 is smaller, so that the required extending turning space is smaller.

Each servo motor is connected with a cable 23, in order to facilitate wiring, a drag chain 2 is arranged on the linear module 5, specifically, an upper drag chain mounting plate 4 is fixed on the top of the linear module 5, and one end of the drag chain 2 is connected to the upper drag chain mounting plate 4; a drag chain lower mounting plate 19 is fixed on the slide block 32, and the other end of the drag chain 2 is connected on the drag chain lower mounting plate 19. One end of the drag chain 2 is provided with a wire inlet 3, and the other end is provided with a wire outlet 8. Drag chain 2 in this embodiment is the vertical setting of L shape, and cable 23 is flagging freely in drag chain 2, guarantees that the operation of drag chain 2 is stable. The cable 23 is connected with the servo motor and the electromagnetic valve set 25 after passing through the outlet 8. Wherein the cable 23 is wound around the shaft clamp 20 to form a turn cable 31, as shown in fig. 3.

As shown in fig. 1 and 2, in order to prevent dust from entering the linear module 5 and damaging components such as linear bearings during use, an organ protection cover 6 is installed between the upper and lower ends of the slider 32 and the upper and lower ends of the frame, and the organ protection cover 6 can be folded and unfolded. In order to monitor the vertical height of the pantograph 10, a position sensor 34 is fixed on the frame of the linear module 5, a position sensor contact 35 is fixed on the slider 32, wherein the position sensor 34 is arranged at three positions along the vertical direction, and when the position sensor contact 35 on the slider 32 moves to the position sensor 34, the position sensor 34 can be triggered to generate a position signal.

No matter the bow arm 10, the small arm 12 or the wrist arm 13 are all hollow arm bodies, when the cable fixing device is used, cables penetrate into the hollow arm bodies, toggles are formed between every two adjacent hollow arm bodies, all the toggles need to rotate, the cables 23 are prone to being damaged by being pulled, and therefore the cable fixing clips 11 are installed at all toggle positions, the cable fixing clips 11 are U-shaped clips, the U-shaped clips are fixed at the toggles, and the cables 23 are fixed through the U-shaped clips. When the cable pulling device is used, the length of the cable 23 required by rotation is reserved in advance, and the cable 23 is prevented from being damaged by pulling.

The structure of the cantilever 13 is shown in fig. 6, the cantilever 13 integrally comprises a shaft clamp installation seat plate 42 and a suction cup box 47, the suction cup box 47 is a hollow cavity, a vertical plate 44 and a T-shaped plate 45 are fixed on the top surface of the suction cup box 47, wherein the vertical plate 44 is directly fixed on the suction cup box 47, the vertical edge of the T-shaped plate 45 is fixed on the suction cup box 47, a rib plate 21 is further fixed between the horizontal edge and the suction cup box 47, a hole is formed in the middle of the rib plate 21, and an air supply pipe passes through the hole. An ear plate 46 is further fixed at one side end of the suction cup box 47, a waist-shaped hole 48 is formed in the other side of the suction cup box, and the waist-shaped hole 48 can facilitate a plurality of air pipes to pass through simultaneously. As shown in fig. 6, the ear plate 46, the vertical plate 44 and the T-shaped plate 45 are provided with through holes for screws or bolts to pass through. The lug plate 46 is used for installing the rotary joint 27, one side of the vertical plate 44 is used for installing the bag clamping arm air cylinder 22, the transverse edge of the T-shaped plate 45 is used for installing the electromagnetic valve seat 37, and the vertical edge of the T-shaped plate 45 is used for installing the rotary air cylinder 26. Two fixing clip through holes 43 are further formed in the top surface of the suction cup box 47, the fixing clip through holes 43 are used for penetrating the cable fixing clips 11, and the cable fixing clips 11 are used for fixing cables.

A suction cup mechanism is fixedly installed at the bottom of the suction cup box 47, and the suction cup mechanism is used for sucking the bag top of the valve bag 17, and can place the valve bag 17 in a vertical state when the suction cup mechanism moves upwards along with the sliding 32 of the linear module 5. As shown in fig. 13, the telescopic cylinder 300 and the valve bag pressing plate 400 on the telescopic cylinder 300 are installed at the bag bin 200, and the valve bag pressing plate 400 can press the bag bottom position of the valve bag 17. When the suction cup mechanism moves upwards along with the linear module 5, the valve bag pressing plate 400 presses the valve bag 17, so that the suction cup mechanism can suck the valve port of the valve bag 17, the linear module 5 continues to drive the suction cup mechanism to move upwards, and the valve bag 17 can be placed in a vertical state.

The structure of the suction cup mechanism is shown in fig. 7, the suction cup mechanism comprises a suction cup seat 51, a screw hole 52 is arranged on the suction cup seat 51, and the suction cup seat 51 is fixedly arranged on the bottom surface of the suction cup box 47 through screws. Install four sucking discs 15 on sucking disc seat 51 (in other embodiments, the quantity of sucking disc increases and decreases according to actual conditions), sucking disc 15 can select for use the part of purchasing outside on the market, and adopt the mode of bolt fastening to fix between sucking disc seat 51. Other embodiments may be welded directly to the suction cup holder. An opening is formed at the bottom of the suction cup case 47 corresponding to each suction cup 15, and the top of each suction cup 15 is inserted into the corresponding opening. The lower end of the sucker 15 has certain elasticity, so that the valve bag 17 can be attached and adsorbed.

As shown in fig. 3 and 4, the vacuum generators 30 are fixed to both sides of the suction cup box 47, wherein the number of the vacuum generators 30 is equal to and corresponds to the number of the suction cups 15, and the suction force of each suction cup 15 can be individually controlled. Wherein the air pipe connected to the vacuum generator 30 is passed through the waist-shaped hole 48 to penetrate into the suction cup case 47 and connected to the suction cup 15. The bag barrel shaping plate 50 is further fixed to one side of the sucking disc 15 on the bottom surface of the sucking disc seat 51, and the top surface of the bag barrel shaping plate 50 is an inwards concave arc-shaped surface and can limit and shape the valve bag. Because the bottom of sucking disc 15 has elastic wrinkles, after sucking disc 15 sucked valve bag 17, under vacuum generator 30's effect, the elastic wrinkles of sucking disc 15 bottom can be sucked and contracted, makes sucking disc 15's bottom drunkenness up, and the bottom of sucking disc 15 can be located the top of bag section of thick bamboo integer plate 50, guarantees that bag section of thick bamboo integer plate 50 can contact with valve bag 17 and carry out the plastic to valve bag 17's top, improves valve bag's ware circularity, makes things convenient for subsequent bagging. In actual processing, the elastic folds at the bottom of the suction cup 15 can have one or two or more arranged in sequence. Of course, in other embodiments, in order to shape the top of the valve bag by the bag barrel shaping plate, the suction cup may be designed to move up and down relative to the suction cup seat, and a driving part is correspondingly provided, so that the suction cup moves down when sucking the valve bag, and after sucking, the suction cup is driven to move up relative to the bag barrel shaping plate.

As shown in fig. 3, 4, 6 and 12, the gripper assembly further comprises a bag clamping mechanism, the bag clamping mechanism comprises a bag clamping arm cylinder 22 fixedly mounted on a vertical plate 44, two bag clamping arm assemblies 16 are connected to a piston rod of the bag clamping arm cylinder 22, and the two bag clamping arm assemblies 16 can swing relatively, so that the valve bag 17 can be clamped after the suction cup 15 sucks the valve bag 17. The structure of the bag-clamping arm assembly 16 is shown in fig. 4 and 12, the bag-clamping arm assembly 16 comprises a rotating arm 61 and a bag-clamping arm 39, the bag-clamping arm 39 is a bending arm, and the bending angle is an obtuse angle. An arc limiting plate 40 is fixed on the inner side of the bending arm, and the arc limiting plate 40 can limit the valve bag 17 after the valve bag 17 is unfolded, so that the valve bag 17 keeps cylindrical. At the end of the bag clamping arm 39 a bag clamping shaft 38 is fixed, the bag clamping shaft 38 being arranged perpendicularly to the bag clamping arm 39, the bag clamping shafts 38 in the two bag clamping arm assemblies 16 cooperating to clamp the valve bag 17. In order to drive the two bag clamping arms 39 to swing relatively at the same time, as shown in fig. 12, a rotating arm 61 is rotatably mounted at the lower end of the bag clamping arm cylinder 22, an intermediate connecting rod 62 is fixedly mounted on the piston rod of the bag clamping arm cylinder 22, the intermediate connecting rod 62 is connected with the two rotating arms 61 at the same time, and when the piston rod of the bag clamping arm cylinder 22 contracts upwards, the intermediate connecting rod 62 drives the two bag clamping arm assemblies 16 to swing relatively to clamp the valve bag 17; when the piston rod of the bag clamp arm cylinder 22 extends downward, the intermediate link 62 swings the two bag clamp arm assemblies 16 back and forth, releasing the valve bag 17.

As shown in fig. 3, 4 and 6, a rotary cylinder 26 is fixedly mounted on the vertical edge of the T-shaped plate 45, the rotary cylinder 26 comprises a rotary cylinder piston rod 49, and the action of the rotary cylinder piston rod 49 is the sum of two actions of expansion and contraction and 90 ° positive and negative rotation. The extending direction of the rotary cylinder piston rod 49 is consistent with the extending direction of the bag top of the valve bag 17, the rotary air expansion arm 18 is fixedly mounted on the rotary cylinder piston rod 49, one end of the rotary air expansion arm 18 is fixed on the rotary cylinder piston rod 49, the other end of the rotary air expansion arm is fixed with the air expansion head 29, and the air expansion head 29 can move and swing under the driving of the rotary cylinder 26.

The structure of the inflation head 29 is as shown in fig. 8 to 11, and the inflation head 29 integrally includes a main body portion and an inflatable elastic tube 55 fixed to the outer periphery of the main body portion, and the inflatable elastic tube 55 has a certain elasticity. The main body part comprises a support ring 57, the support ring 57 is of an annular structure, a plurality of radial through holes are formed in the support ring 57, the radial through holes radially penetrate through the support ring 57, and the radial through holes are used for allowing gas to pass through and are gas through holes. The inflatable elastic tyre 55 is sleeved on the periphery of the supporting ring 57, and forms an inflatable cavity 56 together with the supporting ring 57. Wherein the inflatable elastic tube 55 has a flange turned up to the inner peripheral surface of the support ring 57. The main body part further comprises a seat plate 58 and a pressing plate 54, wherein the seat plate 58 and the pressing plate 54 are both of a structure with a middle bulge, so that an annular step is formed at the edge position, when the seat plate 58 and the pressing plate 54 are buckled relatively, the seat plate 58 and the pressing plate 54 can be matched with the supporting ring 57 to compress the inflatable elastic tire 55 along the axial direction, and meanwhile, the flanging of the inflatable elastic tire 55 can be compressed along the radial direction by means of matching of the seat plate 58, the pressing plate 54 and the supporting ring 57.

As shown in fig. 9, after the seat plate 58 and the pressure plate 54 are fastened, an air passage 59 is formed between the seat plate 58 and the pressure plate 54, and the air passage 59 may be formed by a groove. The gas passage 59 communicates with the inflation chamber 56 through a radial perforation in the support ring 57. As shown in fig. 8 and 9, a plurality of bolt through holes 60 are formed in the pressure plate 54 and the seat plate 58, the pressure plate 54 and the seat plate 58 are fixedly assembled together by bolts, the gas inlet hole 53 is formed at a middle position of the seat plate 58, and the gas inlet hole 53 communicates with the gas passage 59.

When the inflatable elastic tire 55 is not inflated in use, as shown in fig. 10 and 11, the inflatable elastic tire 55 is in an deflated state under the action of the elastic force of the inflatable elastic tire 55, the inflatable elastic tire 55 is radially retracted at the moment, and the overall outer diameter of the inflatable head 29 is small. The rotary cylinder 26 can drive the air inflation head 29 to swing to the position of the valve bag 17, and simultaneously drive the air inflation head 29 in an air leakage state to extend into the bag opening of the valve bag 17; then, the air is filled in again to expand the inflatable elastic tire 55 in the radial direction, and the opening of the valve bag 17 is rounded.

As shown in fig. 3, 4 and 5, a rotary joint 27 is fixedly mounted on an air inlet hole 53 of the air expansion head 29, the rotary joint 27 penetrates through the rotary air expansion arm 18 at the same time, the rotary joint 27 is also mounted on the ear plate 46, and the two rotary joints 27 are connected through an inter-joint air pipe 28.

In the present invention, in order to control the switching of the states of the bag clamping arm cylinder 22, the vacuum generator 30 and the inflation head 29, the valve bag opening device is equipped with the solenoid valve set 25, the solenoid valve set 25 is installed on the transverse edge of the T-shaped plate 45, specifically, the solenoid valve seat 37 is fixedly installed on the transverse edge, and the solenoid valve set 25 is fixedly installed on the solenoid valve seat 37. Of course, in other embodiments, the solenoid valve block may be mounted directly on the lateral edge of the tee. The solenoid valve set 25 is connected with a cable 23, and the solenoid valve set 25 comprises a solenoid valve capable of controlling the on-off of the vacuum generator 30. The inter-joint air pipe 28 is connected to an electromagnetic valve air pipe 41, and the electromagnetic valve group 25 further includes an electromagnetic valve capable of controlling the on-off of the electromagnetic valve air pipe 41. The electromagnetic valve set 25 further comprises an electromagnetic valve for controlling the bag clamping arm cylinder 22 to act, the electromagnetic valve is connected with an air pipe, the air pipe is connected with a three-way valve 36, and two ports of the three-way valve 36 are respectively connected with a rod cavity and a rodless cavity of the bag clamping arm cylinder 22.

As shown in fig. 1, 2 and 3, in order to prevent dust from entering the electromagnetic valve group 25, the bag-clamping arm cylinder 22 and the rotating cylinder 26, a protective cover 24 is arranged outside the gripper assembly, wherein the protective cover 24 comprises a fixed cover 9 and a movable cover 14, the fixed cover 9 is fixed on the bag-clamping arm cylinder 22 and the electromagnetic valve group 25, and the movable cover 14 is detachably arranged on the fixed cover 9 through screws. As shown in fig. 2, a vacuum pressure sensor 33 is fixedly mounted on a side surface of the bag clamping arm cylinder 22, the vacuum pressure sensor 33 can monitor the pressure of the suction cup 15, wherein the vacuum pressure sensor 33 penetrates through the protective cover 24, and an operation interface is external, so that the operation is convenient. And the distance between the vacuum pressure sensor 33 and the sucker 15 is short, so that the signal response speed is high.

When the bag storage device is used, the small arm 12, the wrist arm 13 and the hand grip component on the wrist arm 13 are folded to the position below the bow arm 10, the linear module 5 drives the hand grip component to move downwards, the vacuum generator 30 works to generate negative pressure, and the suction disc 15 is adsorbed on the bag top of the valve bag 17 in the bag bin 200. Then the linear module 5 drives the valve bag 17 to move upwards, and in the moving process, the suction cup 15 can open the bag opening of the valve bag 17 due to the fact that the valve bag pressing plate 400 presses the bottom of the valve bag 17. The linear die set 5 continues to move upward, so that the valve bag 17 is separated from the valve bag pressing plate 400 until the valve bag is in the vertical state. The telescopic cylinder 300 drives the valve bag pressing plate 400 to move downwards, and the pressing force on the valve bag 17 in the bag bin 200 is kept. The piston rod of the bag clamping arm cylinder 22 moves upwards to enable the two bag clamping arm assemblies 16 to swing oppositely, bag clamping shafts 38 on the two bag clamping arm assemblies 16 clamp the valve bag 17, and meanwhile, the two arc limiting plates 40 are matched to limit the bag top of the valve bag 17 and keep the bag top in a spread state. At this point the suction cup 15 no longer sucks on the valve bag 17. Then, the rotary cylinder 26 drives the rotary air expansion arm 18 and the air expansion head 29 to swing to the bag opening of the valve bag 17, the rotary cylinder 26 drives the air expansion head 29 to extend into the bag opening of the valve bag 17, the electromagnetic valve group 25 controls air to enter the air expansion head 29, the air expansion head 29 is switched to an air expansion state, and the bag opening of the valve bag 17 is rounded. Finally, the rounded valve bag 17 is sleeved outside the filling pipe through the matching of the servo motors.

In this embodiment, the wrist arm 13 forms the base of the device for mounting the rotary cylinder 26 and the inflation head 29, and the rotary cylinder 26 and the rotary inflation arm 18 together form the driving mechanism for driving the inflation head 29 to rotate and move.

In this embodiment, the suction cup mechanism includes a bag cylinder shaping plate that shapes the valve bag top, and in other embodiments, the bag cylinder shaping plate is eliminated.

In this embodiment, be provided with the arc limiting plate on pressing from both sides the bag arm, in other embodiments, cancel the arc limiting plate, and after bag clamping mechanism presss from both sides tight valve bag, the sucking disc still keeps the absorption to valve bag top to guarantee that the sack of valve bag is in the state of strutting.

In this embodiment, the device base all has rotary joint with the inflatable overhead trachea, has the trachea between the joint between two rotary joint, guarantees through rotary joint that tracheal tip can take place to rotate when using between the joint, avoids the trachea to take place to buckle repeatedly between the joint. In other embodiments, joints are respectively arranged at two ends of the air pipe, the joints are fixedly connected with the device base and the air inflation head, and redundancy exists between the air pipes between the joints.

In this embodiment, actuating mechanism is rotary cylinder, rely on rotary cylinder not only can rotate but also can flexible characteristic, in other embodiments, actuating mechanism takes following mode, actuating mechanism includes telescopic machanism, the telescopic machanism of here can be the cylinder, the hydro-cylinder, electric push rod isotructure, fixed mounting seat on telescopic machanism's the output, fixed mounting has the motor on the mount pad, the output shaft and the rotatory physiosis arm of motor link to each other, drive rotatory physiosis arm through the motor and carry out reciprocating swing, drive the physiosis head through telescopic machanism and stretch into in the valve port bag and extract by the valve port bag.

In this embodiment, an air inflation head, a suction cup mechanism, and a bag clamping mechanism are integrated on the device base. In other embodiments, only the inflatable head is mounted on the device base, and the sucking disc mechanism and the bag clamping mechanism are arranged independently of the device base, namely, the mechanism for adsorbing and opening the valve bag and the opening structure are arranged separately, and after the valve bag is adsorbed and opened, the valve bag is driven to the inflatable head for opening. In this case, the inflation head may only have a telescopic motion and no longer have a rotary motion, and the drive mechanism may be a telescopic mechanism.

In this embodiment, the central position of the seat plate in the inflatable head is provided with an air inlet. In other embodiments, the axis of the air inlet hole is at a certain distance from the central axis of the seat plate, i.e. the air inlet hole is arranged eccentrically on the seat plate.

In the embodiment, the seat plate and the pressure plate are both provided with bolt through holes, the seat plate and the pressure plate are detachably fixed together through bolts, and in other embodiments, the seat plate and the pressure plate can be welded together.

In the embodiment, the seat plate and the pressure plate are both provided with annular steps, the inflatable elastic tire is provided with flanges, and the flanges of the inflatable elastic tire are pressed through the matching of the annular steps and the inner circumferential surface of the supporting ring. In other embodiments, the flanging of the inflatable elastic tire is cancelled, and the pressing is only carried out by the end surfaces of the seat plate and the pressing plate and the end surface of the supporting ring.

In the embodiment, the gas channel on the main body part is formed by the grooves on the seat plate and the pressure plate, and in other embodiments, the gas channel is arranged on the seat plate or the pressure plate.

In the embodiment, the main body part comprises a support ring, a seat plate and a pressing plate, in other embodiments, the main body part is of an integrated structure, the inflatable elastic tire is fixed on the periphery of the main body part in a gluing or vulcanization molding mode, and the gas channel on the main body part is formed in a mode that the end face and the peripheral face of the main body part are communicated in a groove.

In this embodiment, the device base is a fixed base, the driving mechanism is a mechanism that can only expand and contract, and the inflation head is mounted on the expansion end of the driving mechanism.

Finally, although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments without departing from the inventive concept, or some of the technical features may be replaced with equivalents. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A valve bag opening expanding device is characterized in that: the method comprises the following steps:

a device base;

the inflatable head (29) comprises a main body part and an annular inflatable elastic tire (55) arranged on the periphery of the main body part, an inflatable cavity (56) is formed between the inflatable elastic tire (55) and the main body part, an air channel (59) communicated with the inflatable cavity (56) is arranged on the main body part, and the inflatable elastic tire (55) has an inflatable state of radially expanding outwards after being inflated and also has an deflating state of radially contracting inwards after being deflated;

the driving mechanism is arranged on the device base, is connected with the air expansion head (29), and is used for driving the air expansion head (29) to extend into the bag opening of the expanded valve bag (17) and also driving the air expansion head (29) to be pulled out of the bag opening of the valve bag (17);

a gas pipe connected to the main body portion and communicating with the gas passage (59); the electromagnetic valve is arranged on the air pipe, and is used for opening after the air inflation head (29) extends into the valve bag (17) to inflate the air inflation cavity (56), and is also used for disconnecting the air pipe so that the air inflation head (29) can extend into the valve bag (17) and can be pulled out of the valve bag (17);

the main body part comprises an annular supporting ring (57), the inflatable elastic tyre (55) is sleeved outside the supporting ring (57), and the inflatable elastic tyre (55) extends to the axial end face of the supporting ring (57);

the main body part further comprises a seat plate (58) and a pressure plate (54), the seat plate (58) and the pressure plate (54) are assembled together in a split manner along the axial direction of the supporting ring (57), and the seat plate (58) and the pressure plate (54) are matched with the supporting ring (57) to compress the inflatable elastic tire (55) along the axial direction;

the gas channel (59) is arranged on the seat plate (58) or the pressure plate (54) or between the seat plate (58) and the pressure plate (54), and the support ring (57) is provided with a gas through hole for communicating the gas channel (59) with the inflatable cavity (56);

an air inlet hole (53) is formed in the center of the seat plate (58), and the air inlet hole (53) is communicated with the air channel (59);

the inflatable elastic tire (55) is provided with a flanging extending to the inner circumferential surface of the supporting ring (57);

the peripheries of the seat plate (58) and the pressure plate (54) are provided with annular steps, and the annular steps are used for being matched with the inner peripheral surface of the supporting ring (57) to press the flanging of the supporting ring (57) along the radial direction;

the device base is further provided with a sucker mechanism and a bag clamping mechanism, the sucker mechanism comprises a sucker (15), the sucker (15) is used for sucking the bag top of the valve bag (17) and is matched with a valve bag pressing plate (400) at the bag bin (200) to open the bag mouth of the valve bag (17) so that an air supply expansion head (29) can extend into the bag mouth;

the bag clamping mechanism comprises a bag clamping arm assembly (16) used for relative action to clamp the valve bag (17);

the driving mechanism is also used for driving the air inflation head (29) to swing back and forth around a horizontal axis so as to drive the air inflation head (29) to extend into the valve bag (17) after the sucking disc (15) opens the bag opening and the bag clamping mechanism clamps the valve bag (17) and swings to the valve bag (17);

the driving mechanism comprises a rotary cylinder (26), the rotary cylinder (26) comprises a rotary cylinder piston rod (49), a rotary air expansion arm (18) is fixedly arranged on the rotary cylinder piston rod (49), and an air expansion head (29) is arranged on the rotary air expansion arm (18).

2. The valve bag port stay device of claim 1, wherein: the seat plate (58) and the pressure plate (54) are both provided with bolt through holes (60), and the main body part comprises bolts for connecting the seat plate (58) and the pressure plate (54).

3. The valve bag port stay device of claim 1, wherein: the device base is last and all be equipped with rotary joint (27) on physiosis head (29), trachea (28) between connecting in two rotary joint (27) are drawn together to the trachea.

4. The valve bag porting apparatus of claim 1, wherein: and the bag clamping arm assemblies (16) comprise arc limiting plates (40), and the arc limiting plates (40) of the two bag clamping arm assemblies (16) are buckled outside the two sides of the valve bag (17) to limit the shape of the bag top of the valve bag (17).

5. The valve bag porting apparatus of claim 1, wherein: the suction cup mechanism further comprises a bag barrel shaping plate (50) for shaping the top of the bag top of the valve bag (17).

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