CN210192831U

CN210192831U - Multifunctional robot gripper applied to valve bag packaging

Info

Publication number: CN210192831U
Application number: CN201921060922.6U
Authority: CN
Inventors: Haobo Zou; 邹浩波; Hui Yao; 姚慧; Tianxiao Cao; 曹天啸
Original assignee: Jiangsu Anjie Intelligent Manufacturing Co ltd
Current assignee: Jiangsu Anjie Intelligent Manufacturing Co ltd
Priority date: 2019-07-08
Filing date: 2019-07-08
Publication date: 2020-03-27
Anticipated expiration: 2029-07-08

Abstract

The utility model discloses a multifunctional robot gripper applied to valve bag packaging, which comprises a frame part, an inserting claw part and a pressing claw part, wherein the frame part is fixed with the inserting claw part and the pressing claw part, the frame part is also fixed with a bag blocking part, a bag taking gripper part and a bag mouth shaping part, the bag blocking part is positioned between the inserting claw part and the frame part, and the bag taking gripper part is positioned at one end of the frame part, which is far away from the inserting claw part; the utility model relates to a multi-functional robot tongs of application on valve pocket packing, press the claw part to be used for compressing tightly full package, make its in-process that removes in the transport can not drop, keep off bag part and play spacing effect when snatching full package, get bag tongs part and sack plastic part and be used for absorbing the valve pocket, the plastic valve port, utilize a robot alright with the automation of realizing valve pocket packing simultaneously go up the bag and unload the bag, snatch the tray, inhale cardboard and pile up neatly, realize automatic packing in limited place.

Description

Multifunctional robot gripper applied to valve bag packaging

Technical Field

The utility model relates to a packing pile up neatly equipment technical field, in particular to multi-functional robot tongs of application on valve bag packing.

Background

With the wide application of the robot in the packaging industry, the gripper of the robot can only be used for one function or two functions. Some are used solely for grasping bags for automated bag-loading techniques. Some are used with robots to grab trays and palletize packages. The whole production line occupies a large area. At present, the space of a plurality of reconstruction workshops is limited, and the requirements of a full-automatic packaging production line are difficult to meet.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at provides a multi-functional robot tongs of application on valve bag packing can effectively solve the problem in the background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a multi-functional robot tongs of application on valve pocket packing, includes the frame part, inserts claw part and presses the claw part, the frame part is connected with the robot, be fixed with on the frame part and insert claw part and press the claw part, press the claw part to be located the top of inserting the claw part, still be fixed with on the frame part and keep off a bag part, get a bag tongs part and sack plastic part, keep off a bag part and be located and insert between claw part and the frame part, it is located the frame part and keeps away from and inserts claw part one end to get a bag tongs part, sack plastic part is located the frame part and is close to bag tongs part one end.

Preferably, the frame part includes robot connecting seat, motor, shaft coupling and mount, the robot connecting seat passes through the bolt fastening in the one end of mount, the one end that the mount is close to the robot connecting seat is equipped with the motor, the output shaft of motor passes through the shaft coupling and installs the initiative band pulley axle fixed connection at the inside hold-in range of robot connecting seat, the mount is kept away from robot connecting seat one end and is installed synchronous pulley, synchronous pulley is connected through synchronous belt drive with installing between the inside initiative band pulley of robot connecting seat.

Preferably, be provided with the connecting plate on the mount, connecting plate perpendicular to hold-in range, connecting plate and hold-in range fixed connection, the both ends of connecting plate are fixed with the slider through the bolt, the slider suit is on the line rail, the line rail is fixed on the mount through bolt fastening or welded mode, the line rail is on a parallel with the hold-in range, and perpendicular to connecting plate.

Preferably, insert the claw part including inserting the claw and inserting the claw frame, insert the claw and fix on inserting the claw frame through bolt fastening or welded mode, insert the claw including fixed claw and the activity of inserting, fixed claw that inserts is located the both sides that the claw was inserted in the activity, it is fixed with first cylinder fixed plate through bolt fastening or welded mode on inserting the claw frame, there is first cylinder through bolt fastening on the first cylinder fixed plate, the output shaft of first cylinder inserts claw fixed connection through bolt fastening or welded mode and activity.

Preferably, the pressing claw component comprises a pressing claw and a pressing claw fixing plate, the pressing claw is fixed below the pressing claw fixing plate in a bolt fixing or welding mode, the pressing claw fixing plate is fixed at the bottom of an output shaft of the second cylinder in a bolt fixing or welding mode, the second cylinder is fixed on the second cylinder fixing plate in a bolt fixing or welding mode, and the second cylinder fixing plate is fixed on the base component in a bolt fixing mode.

Preferably, the bag blocking component comprises a baffle and first suckers, the baffle is fixed on the base component through bolts, a third cylinder is fixedly mounted on the baffle through bolts, a first sucker fixing plate is fixed at the bottom of an output shaft of the third cylinder in a bolt fixing or welding mode, and a plurality of first suckers are distributed at the bottom of the first sucker fixing plate.

Preferably, get a bag tongs part including getting a bag cylinder fixed plate, second sucking disc and getting a bag clamping jaw, get a bag cylinder fixed plate and pass through the bolt fastening on the base part, it has the fourth cylinder to get a bag cylinder fixed plate through bolt fastening installation, the output shaft bottom of fourth cylinder is fixed with second sucking disc fixed plate through bolt fastening or welded mode, a plurality of second sucking discs of bottom distribution of second sucking disc fixed plate, get the bottom of bag cylinder fixed plate and install and get a bag clamping jaw.

Preferably, the bag opening shaping part comprises an equal-height fixing rod, a swing cylinder, a swing arm and a shaping cap, the shaping cap is mounted at the tail end of the swing arm through a bolt, the other end of the swing arm is fixedly connected with an output shaft of the swing cylinder, the equal-height fixing rod is fixed at two ends of the swing cylinder through nuts, and the equal-height fixing rod is fixedly connected with the base part.

Compared with the prior art, the utility model discloses following beneficial effect has: the multifunctional robot gripper applied to valve bag packaging is characterized in that a base component is used for being connected with a robot, an inserting claw component is used for inserting and taking a tray and a full bag, a pressing claw component is used for pressing the full bag when the full bag is taken, the full bag cannot fall off in the carrying and moving process, a bag blocking component is used for absorbing a paperboard or a film and plays a limiting role when the full bag is grabbed, a bag taking gripper component and a bag opening shaping component are used for absorbing the valve bag, the valve bag is opened, a valve port is shaped, the valve bag is sleeved on a feeding nozzle, a six-axis robot can be used for simultaneously achieving automatic bag feeding and bag unloading of the valve bag packaging, the tray is grabbed, the paperboard and stacking, automatic packaging is achieved in a limited field, and practicability is high.

Drawings

Fig. 1 is an overall schematic view of a multi-functional robot gripper applied to valve bag packaging according to the present invention;

fig. 2 is a schematic diagram of a base component of a multi-function robot gripper for use in valve bag packaging, in accordance with the present invention;

fig. 3 is a schematic view of a pawl component of a multi-functional robot gripper applied to valve bag packaging according to the present invention;

fig. 4 is a schematic view of a pressing claw component of a multifunctional robot gripper applied to valve bag packaging according to the present invention;

fig. 5 is a schematic diagram of a bag stopping component of the multi-functional robot gripper applied to valve bag packaging according to the present invention;

fig. 6 is a schematic diagram of a bag-taking gripper component of a multi-functional robot gripper applied to valve bag packaging according to the present invention;

fig. 7 is a schematic diagram of a bag mouth reshaping component of a multi-functional robot gripper applied to valve bag packaging.

In the figure: 1. a base member; 2. a pawl member; 3. a pressing claw component; 4. a bag blocking component; 5. a bag-taking gripper component; 6. a bag mouth shaping part;

1-1, connecting a robot seat; 1-2, a motor; 1-3, a coupler; 1-4, fixing frame; 1-5, linear rails; 1-6, connecting plates; 1-7, synchronous belt wheel; 1-8, synchronous belt;

2-1, inserting claws; 2-2, inserting a claw frame; 2-3, a first cylinder; 2-4, a first cylinder fixing plate;

3-1, pressing claws; 3-2, pressing a claw fixing plate; 3-3, a second cylinder; 3-4, a second cylinder fixing plate;

4-1, a baffle; 4-2, a third cylinder; 4-3, a first sucking disc fixing plate; 4-4, a first sucker;

5-1, fixing a bag taking cylinder; 5-2, a fourth cylinder; 5-3, fixing a second sucker plate; 5-4, a second sucker; 5-5, taking a bag clamping jaw;

6-1, equal-height fixing rods; 6-2, oscillating a cylinder; 6-3, swinging arms; 6-4, shaping the cap.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

Referring to fig. 1, the multifunctional robot gripper applied to valve bag packaging comprises a base part 1, an inserting claw part 2 and a pressing claw part 3, wherein the base part 1 is connected with a robot, the inserting claw part 2 and the pressing claw part 3 are fixed on the base part 1, the pressing claw part 3 is located above the inserting claw part 2, a bag blocking part 4, a bag taking gripper part 5 and a bag opening shaping part 6 are further fixed on the base part 1, the bag blocking part 4 is located between the inserting claw part 2 and the base part 1, the bag taking gripper part 5 is located at one end, far away from the inserting claw part 2, of the base part 1, and the bag opening shaping part 6 is located at one end, close to the bag taking gripper part 5, of the base part 1.

By adopting the technical scheme, the base part 1 is used for being connected with the robot; the inserting claw component 2 is used for inserting and taking the tray and the full package, the pressing claw component 3 is used for pressing the full package when the full package is inserted and taken, so that the full package cannot fall off in the carrying and moving process, and the inserting claw component 2 and the pressing claw component 3 are matched to grab the full package and used for stacking; the bag blocking component 4 is used for sucking a paperboard or a film, is padded on the tray and plays a role in limiting when a full bag is grabbed; the bag taking gripper component 5 and the bag opening shaping component 6 are used for sucking the valve bag, opening the valve bag, shaping a valve port and sleeving the valve bag on the feeding nozzle; utilize a six robots alright in order to realize simultaneously that the automation of valve bag packing goes up the bag and unloads the bag, snatchs tray, inhale cardboard and pile up neatly, realize automatic packing in limited place, the practicality is strong.

Referring to fig. 2, the base part 1 includes a robot joint base 1-1, a motor 1-2, the robot comprises a coupler 1-3 and a fixing frame 1-4, a robot connecting seat 1-1 is fixed at one end of the fixing frame 1-4 through bolts, a motor 1-2 is arranged at one end, close to the robot connecting seat 1-1, of the fixing frame 1-4, an output shaft of the motor 1-2 is fixedly connected with a driving pulley shaft of a synchronous belt 1-8 installed inside the robot connecting seat 1-1 through the coupler 1-3, a synchronous pulley 1-7 is installed at one end, far away from the robot connecting seat 1-1, of the fixing frame 1-4, and the synchronous pulley 1-7 is in transmission connection with the driving pulley installed inside the robot connecting seat 1-1 through the synchronous belt 1-8.

Referring to fig. 2, connecting plates 1-6 are arranged on a fixing frame 1-4, the connecting plates 1-6 are perpendicular to synchronous belts 1-8, the connecting plates 1-6 are fixedly connected with the synchronous belts 1-8, sliding blocks are fixed at two ends of the connecting plates 1-6 through bolts and sleeved on linear rails 1-5, the linear rails 1-5 are fixed on the fixing frame 1-4 through bolt fixing or welding, and the linear rails 1-5 are parallel to the synchronous belts 1-8 and perpendicular to the connecting plates 1-6.

By adopting the technical scheme, the robot connecting seat 1-1 on the machine seat part 1 is connected with the robot, the motor 1-2 drives the driving belt wheel of the synchronous belt 1-8 to rotate, the driving belt wheel drives the synchronous belt 1-8 to drive back and forth, the connecting plate 1-6 is driven to move back and forth in the transmission process of the synchronous belt 1-8, and the linear rails 1-5 at the two ends of the connecting plate 1-6 play a role in guiding in the back and forth movement process of the connecting plate 1-6.

Referring to fig. 3, the inserting claw component 2 comprises an inserting claw 2-1 and an inserting claw frame 2-2, the inserting claw 2-1 is fixed on the inserting claw frame 2-2 in a bolt fixing or welding mode, the inserting claw 2-1 comprises a fixed inserting claw 2-1 and a movable inserting claw 2-1, the fixed inserting claw 2-1 is located on two sides of the movable inserting claw 2-1, a first air cylinder fixing plate 2-4 is fixed on the inserting claw frame 2-2 in a bolt fixing or welding mode, a first air cylinder 2-3 is fixedly installed on the first air cylinder fixing plate 2-4 through a bolt, an output shaft of the first air cylinder 2-3 is fixedly connected with the movable inserting claw 2-1 in a bolt fixing or welding mode, and the inserting claw frame 2-2 is fixed at the bottom of a connecting plate 1-6 on the base component 1 through a bolt.

By adopting the technical scheme, the inserting claw component 2 is used for inserting and taking the tray and the full package, when the full package inserting device is used, the synchronous belt 1-8 moves to drive the connecting plate 1-6 to move along the linear rail 1-5, the connecting plate 1-6 drives the inserting claw frame 2-2 to move, the inserting claw 2-1 is inserted into the bottom of the tray or the full package, the tray and the full package are positioned on the inserting claw 2-1, and the insertion and taking of the tray and the full package are achieved.

Referring to fig. 4, the pressing claw component 3 comprises a pressing claw 3-1 and a pressing claw fixing plate 3-2, the pressing claw 3-1 is fixed below the pressing claw fixing plate 3-2 in a bolt fixing or welding mode, the pressing claw fixing plate 3-2 is fixed at the bottom of an output shaft of the second cylinder 3-3 in a bolt fixing or welding mode, the second cylinder 3-3 is fixed on the second cylinder fixing plate 3-4 in a bolt fixing mode, and the second cylinder fixing plate 3-4 is fixed on the base component 1 in a bolt fixing mode.

By adopting the technical scheme, when the inserting claw component 2 is inserted to take full packages, the second air cylinder 3-3 drives the pressing claw fixing plate 3-2 to move downwards, and the pressing claw fixing plate 3-2 drives the pressing claw 3-1 to press the full packages on the inserting claw component, so that the full packages cannot fall off in the carrying and moving process.

Referring to fig. 5, the bag blocking component 4 comprises a baffle plate 4-1 and a first suction cup 4-4, the baffle plate 4-1 is fixed on the base component 1 through bolts, a third cylinder 4-2 is fixedly installed on the baffle plate 4-1 through bolts, a first suction cup fixing plate 4-3 is fixed at the bottom of an output shaft of the third cylinder 4-2 through bolts or welding, and a plurality of first suction cups 4-4 are distributed at the bottom of the first suction cup fixing plate 4-3.

By adopting the technical scheme, the third air cylinder 4-2 drives the first suction disc fixing plate 4-3 to move downwards, the first suction disc fixing plate 4-4 carried in the downward movement process of the first suction disc fixing plate 4-3 moves downwards, and a paper board or a film is sucked; and when the full package is grabbed, the baffle 4-1 can play a limiting role to separate the full package from the inserting claw frame 2-2 of the inserting claw component 2, and when the full package is put down, the inserting claw frame 2-2 is far away from the baffle 4-1, and the full package can fall to a corresponding position because the full package is blocked by the baffle 4-1.

Referring to fig. 6, the bag taking gripper part 5 includes a bag taking cylinder fixing plate 5-1, a second suction cup 5-4 and a bag taking clamping jaw 5-5, the bag taking cylinder fixing plate 5-1 is fixed on the base part 1 through a bolt, the bag taking cylinder fixing plate 5-1 is fixedly provided with a fourth cylinder 5-2 through a bolt, the bottom of an output shaft of the fourth cylinder 5-2 is fixedly provided with a second suction cup fixing plate 5-3 through a bolt fixing or welding manner, a plurality of second suction cups 5-4 are distributed on the bottom of the second suction cup fixing plate 5-3, and the bag taking clamping jaw 5-5 is mounted on the bottom of the bag taking cylinder fixing plate 5-1, and the bag taking clamping jaw 5-5 is a conventional structure in the prior art, and thus will not be described in detail herein.

By adopting the technical scheme, the bag taking gripper component 5 is used for sucking the valve bag, opening the valve bag and sleeving the valve bag on the feeding nozzle.

Referring to fig. 7, the bag mouth shaping part 6 comprises an equal-height fixing rod 6-1, a swing cylinder 6-2, a swing arm 6-3 and a shaping cap 6-4, the shaping cap 6-4 is installed at the tail end of the swing arm 6-3 through a bolt, and the shaping cap 6-4 is a conventional structure in the prior art, so that details are not described here, the other end of the swing arm 6-3 is fixedly connected with an output shaft of the swing cylinder 6-2, the equal-height fixing rod 6-1 is fixed at two ends of the swing cylinder 6-2 through nuts, and the equal-height fixing rod 6-1 is fixedly connected with the base part 1.

By adopting the technical scheme, the bag opening shaping component 6 is used for shaping the valve port of the valve bag, the swing cylinder 6-2 drives the swing arm 6-3 to swing back and forth, and the swing of the swing arm 6-3 drives the shaping cap 6-4 to shape the valve port.

The utility model relates to a multifunctional robot gripper applied to valve bag packaging, when in use, a base part 1 is used for connecting with a robot, a robot connecting seat 1-1 on the base part 1 is connected with the robot, a motor 1-2 drives a driving pulley of a synchronous belt 1-8 to rotate, the driving pulley drives the synchronous belt 1-8 to transmit back and forth, the synchronous belt 1-8 drives a connecting plate 1-6 to move back and forth in the transmission process, and the linear rails 1-5 at two ends of the connecting plate 1-6 play a guiding role in the back and forth movement process of the connecting plate 1-6; in the moving process of the connecting plate 1-6, the inserting claw frame 2-2 is driven to move, and the inserting claw 2-1 is inserted to the bottom of the tray or the full package, so that the tray and the full package are positioned on the inserting claw 2-1, and the insertion and the taking of the tray and the full package are realized; when the inserting claw component 2 is inserted to take full packages, the second air cylinder 3-3 drives the pressing claw fixing plate 3-2 to move downwards, and the pressing claw fixing plate 3-2 drives the pressing claw 3-1 to press the full packages on the inserting claw component, so that the full packages cannot fall off in the carrying and moving process.

The bag blocking component 4 is used for sucking a paperboard or a film, is padded on the tray and plays a role in limiting when a full bag is grabbed; when the suction device is used, the third air cylinder 4-2 drives the first suction disc fixing plate 4-3 to move downwards, the first suction disc fixing plate 4-4 is carried to move downwards in the downward movement process of the first suction disc fixing plate 4-3, and a paper board or a film is sucked; and when the full package is grabbed, the baffle 4-1 can play a limiting role to separate the full package from the inserting claw frame 2-2 of the inserting claw component 2, and when the full package is put down, the inserting claw frame 2-2 is far away from the baffle 4-1, and the full package can fall to a corresponding position because the full package is blocked by the baffle 4-1.

The bag taking gripper component 5 and the bag opening shaping component 6 are used for sucking the valve bag, opening the valve bag, shaping a valve port and sleeving the valve bag on the feeding nozzle; when the valve port is shaped, the swing cylinder 6-2 drives the swing arm 6-3 to swing back and forth, and the swing of the swing arm 6-3 drives the shaping cap 6-4 to shape the valve port.

Utilize a six robots alright in order to realize simultaneously that the automation of valve bag packing goes up the bag and unloads the bag, snatchs tray, inhale cardboard and pile up neatly, realize automatic packing in limited place, the practicality is strong.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A multifunctional robot gripper applied to valve bag packaging comprises a base part (1), a claw inserting part (2) and a claw pressing part (3), it is characterized in that the machine base part (1) is connected with a robot, the machine base part (1) is fixed with a claw inserting part (2) and a claw pressing part (3), the pressing claw part (3) is positioned above the inserting claw part (2), the machine base part (1) is also fixed with a bag blocking part (4), a bag taking hand grip part (5) and a bag mouth shaping part (6), the bag blocking component (4) is positioned between the inserting claw component (2) and the machine base component (1), the bag taking gripper component (5) is positioned at one end of the machine base component (1) far away from the inserting claw component (2), the bag mouth shaping part (6) is positioned at one end of the machine base part (1) close to the bag taking gripper part (5).

2. The multifunctional robot gripper applied to valve bag packaging is characterized in that the base part (1) comprises a robot connecting base (1-1), a motor (1-2), a coupler (1-3) and a fixing frame (1-4), the robot connecting base (1-1) is fixed at one end of the fixing frame (1-4) through a bolt, the motor (1-2) is arranged at one end of the fixing frame (1-4) close to the robot connecting base (1-1), an output shaft of the motor (1-2) is fixedly connected with a driving pulley shaft of a synchronous belt (1-8) arranged inside the robot connecting base (1-1) through the coupler (1-3), and a synchronous pulley (1-7) is arranged at one end of the fixing frame (1-4) far away from the robot connecting base (1-1), the synchronous belt wheels (1-7) are in transmission connection with driving belt wheels arranged in the robot connecting seat (1-1) through synchronous belts (1-8).

3. The multifunctional robot gripper applied to valve bag packaging is characterized in that connecting plates (1-6) are arranged on fixing frames (1-4), the connecting plates (1-6) are perpendicular to synchronous belts (1-8), the connecting plates (1-6) are fixedly connected with the synchronous belts (1-8), sliding blocks are fixed to two ends of each connecting plate (1-6) through bolts, the sliding blocks are sleeved on linear rails (1-5), the linear rails (1-5) are fixed to the fixing frames (1-4) through bolt fixing or welding, and the linear rails (1-5) are parallel to the synchronous belts (1-8) and perpendicular to the connecting plates (1-6).

4. The multi-functional robot gripper for application to valve bag packaging according to claim 1, wherein the gripper member (2) comprises a gripper (2-1) and a gripper frame (2-2), the gripper (2-1) is fixed on the gripper frame (2-2) by means of bolt fastening or welding, the gripper (2-1) comprises a fixed gripper (2-1) and a movable gripper (2-1), the fixed gripper (2-1) is located at two sides of the movable gripper (2-1), the gripper frame (2-2) is fixed with a first cylinder fixing plate (2-4) by means of bolt fastening or welding, the first cylinder fixing plate (2-4) is fixedly provided with a first cylinder (2-3) by means of bolt fastening, the output shaft of the first cylinder (2-3) is fixedly connected with the movable inserting claw (2-1) in a bolt fixing or welding mode.

5. The multi-functional robot gripper for application to valve bag packaging as claimed in claim 1, wherein said pressing claw member (3) comprises a pressing claw (3-1) and a pressing claw fixing plate (3-2), said pressing claw (3-1) is fixed below the pressing claw fixing plate (3-2) by means of bolt fastening or welding, said pressing claw fixing plate (3-2) is fixed at the bottom of the output shaft of the second cylinder (3-3) by means of bolt fastening or welding, said second cylinder (3-3) is fixed on the second cylinder fixing plate (3-4) by means of bolt fastening, and said second cylinder fixing plate (3-4) is fixed on the base member (1) by means of bolt fastening.

6. The multifunctional robot gripper applied to valve bag packaging is characterized in that the bag blocking component (4) comprises a baffle plate (4-1) and a first sucking disc (4-4), the baffle plate (4-1) is fixed on the base component (1) through a bolt, a third air cylinder (4-2) is fixedly installed on the baffle plate (4-1) through a bolt, a first sucking disc fixing plate (4-3) is fixed at the bottom of an output shaft of the third air cylinder (4-2) through a bolt or a welding mode, and a plurality of first sucking discs (4-4) are distributed at the bottom of the first sucking disc fixing plate (4-3).

7. The multi-functional robotic gripper for use on valve bag packaging of claim 1, it is characterized in that the bag taking gripper component (5) comprises a bag taking cylinder fixing plate (5-1), a second sucking disc (5-4) and a bag taking clamping jaw (5-5), the bag taking cylinder fixing plate (5-1) is fixed on the base component (1) through bolts, the bag taking cylinder fixing plate (5-1) is fixedly provided with a fourth cylinder (5-2) through a bolt, the bottom of the output shaft of the fourth cylinder (5-2) is fixed with a second sucker fixing plate (5-3) in a bolt fixing or welding way, a plurality of second suckers (5-4) are distributed at the bottom of the second sucker fixing plate (5-3), the bottom of the bag taking cylinder fixing plate (5-1) is provided with a bag taking clamping jaw (5-5).

8. The multifunctional robot gripper applied to valve bag packaging is characterized in that the bag opening shaping part (6) comprises an equal-height fixing rod (6-1), a swing cylinder (6-2), a swing arm (6-3) and a shaping cap (6-4), the shaping cap (6-4) is installed at the tail end of the swing arm (6-3) through a bolt, the other end of the swing arm (6-3) is fixedly connected with an output shaft of the swing cylinder (6-2), the equal-height fixing rod (6-1) is fixed at two ends of the swing cylinder (6-2) through nuts, and the equal-height fixing rod (6-1) is fixedly connected with the base part (1).