CN211685850U - Bag inserting machine - Google Patents

Abstract

The utility model relates to the field of bag inserting equipment of packaging bags, and discloses a bag inserting machine, which comprises an X-direction bag conveying platform and a position-adjustable bag sucking device arranged on the X-direction bag conveying platform, wherein the position-adjustable bag sucking device comprises a PLC (programmable logic controller), a bag sucking mechanism electrically connected with the PLC, a distance measuring sensor and a first Y-direction linear power part; distance measuring sensor detects the first Y between the sack hypotenuse of first packing bag and the first baffle to the distance, the PLC controller inhales the Y coordinate of bag mechanism to the adjustment of sharp power spare according to first Y to the numerical control first Y of distance for inhale bag mechanism and can adsorb preset position, inhale bag mechanism and be controlled down along X to the reciprocal rotation of pivot, absorb first packing bag, and with the rotatory upwards of the sack hypotenuse of first packing bag, first Y moves first packing bag to first handing-over position of presetting to sharp power spare. The problem that the suction mechanism cannot suck the packaging bag or fails to insert the packaging bag due to the fact that the relative distance between the bag opening bevel edge of the packaging bag and the bag suction mechanism exceeds the range is solved.

Description

Bag inserting machine

Technical Field

The utility model relates to a slash pocket equipment field of wrapping bag particularly, relates to a slash pocket machine.

Background

At present, the packaging of powdery materials is widely applied, the dust is large at a working site, the labor environment is poor, the labor intensity is high, the manual field bag inserting is used for loading materials, the production efficiency is low, and the harm is large, so that a bag inserting machine is needed; in particular, excessive inhalation of cement, which is a powdery material, is liable to cause pulmonary infection, and therefore it is necessary to develop a machine with a higher degree of automation to reduce manual intervention.

For the automatic packaging of powdery materials such as cement, generally, a packaging bag stack is flatly placed on a bag conveying platform and is supplied to a pickup device to take a bag, and the whole packaging bag stack is taken away by the pickup device one by one from top to bottom. The first packaging bag at the top of the packaging bag stack is called a first packaging bag, and after the first packaging bag is taken away by the picking device every time, the second packaging bag from the top of the original packaging bag stack downwards becomes a new first packaging bag for the picking device to pick up again until the whole packaging bag stack is taken out.

Conceivably, under the condition that the distance between the bag suction mechanism on the pickup device and the inclined edge of the bag opening is proper, the packaging bag is easy to suck, and the bag opening mechanism is easy to open the bag opening of the soft packaging bag; if the distance between the bag picking and sucking mechanism of the picking device and the oblique edge of the bag opening is too large, the bag opening mechanism misses the bag opening chance due to the fact that the packaging bags are soft and droop; if the distance between the bag suction mechanism of the picking device and the inclined edge of the bag opening is too small, the bag opening mechanism cannot reach the packaging bag and cannot open the bag opening. Or because there is the tolerance of sack size and sack size, or because the tectorial membrane quality of wrapping bag is poor, or for the convenience of transportation and the wrapping bag surface unevenness that has folded, cause the position of the sack hypotenuse of wrapping bag to have certain fluctuation range, it is too big when the fluctuation of sack hypotenuse position, the wrapping bag can't be absorb to the suction means on the current pickup assembly, or even inhale the wrapping bag and also have the sack to open inadequately, or the positional deviation who absorbs the wrapping bag causes the slash pocket to fail the scheduling problem, need the manpower to intervene, degree of automation is not high, also influence production efficiency. The same problem exists in the field of processing other powdery materials.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a bag inserting machine has solved because the sack hypotenuse of wrapping bag and the distance of inhaling between the bag mechanism have great fluctuation range, leads to that suction means can't absorb the wrapping bag, or even inhale the wrapping bag and also have the sack to open insufficient, or absorb the skew of wrapping bag and cause the problem such as bag inserting failure.

The utility model discloses a realize through following technical scheme: a bag inserting machine comprises an X-direction bag conveying platform, wherein the bag conveying platform is provided with a bag suction station for storing a bag stack, and the direction of the oblique edge of a bag opening is the X direction; the bag conveying platform is also provided with an adjustable bag sucking device, and the adjustable bag sucking device comprises a PLC (programmable logic controller), a bag sucking mechanism, a distance measuring sensor and a first Y-direction linear power part, wherein the bag sucking mechanism, the distance measuring sensor and the first Y-direction linear power part are electrically connected with the PLC; the bag suction mechanism comprises a rotating arm, and the output end of the first Y-direction linear power part is connected with the rotating arm through an X-direction rotating shaft; a first baffle is arranged on one side of the bag opening bevel edge of the bag conveying platform, the distance measuring sensor is arranged on the bag conveying platform close to the first baffle, the distance measuring sensor detects a first Y-direction distance between the top end of the first packaging bag at the bag opening side and the first baffle, the PLC controls the first Y-direction linear power part to adjust the Y coordinate of the bag suction mechanism according to the numerical value of the first Y-direction distance, so that the bag suction mechanism can suck the preset position of the first packaging bag near the inclined edge of the bag opening, the bag suction mechanism rotates along the X-direction rotating shaft in a reciprocating manner under the control of the PLC to suck the first packaging bag on the packaging bag stack, the oblique edge of the bag opening of the first packaging bag is rotated from being parallel to the X direction to being vertical to the X direction, the first Y-direction linear power part moves the first packaging bag to a preset first handover position under the control of the PLC.

Compared with the prior art, the beneficial effects of the utility model are that: utilize range sensor to install defeated bag platform is located one side of the sack hypotenuse that the wrapping bag folded, is used for detecting whether first Y between the sack hypotenuse of first wrapping bag and the first baffle surpasses to set for numerical value to the distance, works as first Y surpasses to set for numerical value to the distance, first Y adjusts under PLC controller control to sharp power spare inhale bag mechanism with second Y between the sack hypotenuse of first wrapping bag is to the distance for the sack hypotenuse of the first wrapping bag that absorbs and inhale the distance between the bag mechanism are more accurate, and suction means can inhale the wrapping bag, and the bag inserting machine can be opened the sack of first wrapping bag fully, and the bag posture of opening of wrapping bag is correct and the slash pocket, has improved the bag inserting success rate of bag inserting machine widely.

The further preferred scheme is as follows: the opposite of first baffle, be equipped with the flat push mechanism of horizontal migration under the control, the flat push mechanism through the distance measuring sensor measuring bag mouth side under PLC control the wrapping bag top with first Y between the first baffle is to the distance, with the wrapping bag pile push for first baffle certain distance and make the sack hypotenuse neat.

Furthermore, a bag arranging mechanism is arranged opposite to the flat pushing mechanism, the bag arranging mechanism can enter the upper part of the packaging bag stack in a controlled mode and is used for pressing the packaging bag stack downwards, and the first packaging bag of the packaging bag stack is pushed flatly to abut against the first baffle plate to be aligned.

Specifically, defeated bag platform is equipped with defeated bag platform frame, whole bag mechanism includes that mount pad, depression bar subassembly, pressure bag cylinder and level put the bag cylinder, depression bar subassembly with the mount pad is connected with X to the revolute pair, the one end of pressing the bag cylinder with the mount pad is articulated, press the other end of bag cylinder with depression bar subassembly is articulated and forms link mechanism, link mechanism with the one end of the whole bag cylinder of level links firmly, the other end of the whole bag cylinder of level with defeated bag platform frame links firmly.

The further preferred scheme is as follows: the bag inserting device comprises an upright post, a bag translation mechanism, a clamping small arm and a bag opening mechanism, wherein the clamping small arm is used for clamping the first bag from the first delivery position, the bag opening mechanism is used for opening the first bag, and the bag opening mechanism comprises opposite suction components and a bag opening power unit for driving the opposite suction components to move close to or away from each other; the clamping small arm and the opposite-direction suction assembly are both arranged below the packaging bag translation mechanism, and the opposite-direction suction assembly is positioned in the X-direction of the clamping small arm; the packaging bag translation mechanism is connected with the upright post in a second X-direction moving pair mode, the packaging bag translation mechanism is controlled by a PLC to move the suction assembly to the optimal position away from the inclined edge of the bag opening, and the suction assembly can be controlled to be close to or far away from the filling machine along the second X-direction moving pair.

Furthermore, the stand with still be equipped with swing arm mechanism between the wrapping bag translation mechanism, at the clockwise rotation in-process of liquid filling machine, swing arm mechanism anticlockwise rotation makes the sack of the last first wrapping bag of wrapping bag translation mechanism overlaps on the filling nozzle of liquid filling machine with cam curve form, and swing arm mechanism pendulum-out angle and wrapping bag translation mechanism displacement are controlled to mutually support by PLC and are got the optimum speed, and the fastest is close to or keeps away from the filling machine under the circumstances of keeping steady.

The further preferred scheme is as follows: and side blocking mechanisms which can be lifted controllably are arranged on one sides, close to the filling machine, of the left side and the right side of the packaging bag stack on the bag suction station, and blocking mechanisms which can swing up and down along the Y axis are arranged on the other sides of the packaging bag stack.

The further preferred scheme is as follows: inhale the first baffle side in bottom of bag station and be equipped with and be used for adjusting the wrapping bag and fold up the elevating system who waits for the first wrapping bag sack oblique avris place height that absorbs.

The further preferred scheme is as follows: defeated bag platform is last to be located the left side of inhaling the bag station still is equipped with the waiting station that is used for the buffer memory wrapping bag to fold, defeated bag platform is last still to be equipped with and to be used for folding the wrapping bag to follow wait for the station to push inhale the hold-in range conveying mechanism of bag station.

Further, the bag inserting machine further comprises a bag tray supplying mechanism for supplying the bag stacks of the bag storage to the waiting work station.

Drawings

Fig. 1 is an isometric view of an embodiment of the present invention and a filling machine;

fig. 2 is an isometric view of a bag supply tray mechanism in an embodiment of the invention;

fig. 3 is an isometric view of a bag transfer platform in an embodiment of the present invention;

fig. 4 is an isometric view of a swing arm mechanism in an embodiment of the present invention;

fig. 5 is an isometric view of a robot in an embodiment of the invention;

fig. 6 is an isometric view of a bag aligning mechanism in an embodiment of the invention;

fig. 7 is an isometric view of an adjustable bag suction device in an embodiment of the invention;

fig. 8 is a schematic view of an embodiment of the present invention in which the adjustable bag-sucking device is ready to move the first bag to the first transfer position of the robot along the Y-direction;

wherein the reference numerals are:

a bag supply tray mechanism 1; 1-1 of a foot cup; a bag supply tray frame 1-2; fixing plates 1-3; 1-4 of a tray connecting plate; 1-5 of trays; bag supply speed reduction motors 1-7; 1-8Z-direction electric cylinders for bag supply;

a bag conveying platform 2; a bag conveying platform frame 2-1; a platform plate 2-2; 2-3 of a synchronous belt conveying mechanism; motor brackets 2-4; a stop mechanism 2-5; 2-6 of a horizontal pushing mechanism; a bag storage sensor 2-7; 2-8 of a side blocking mechanism; 2-9 of a lifting mechanism; sensor mounting plates 2-10; 2-11 bag carrying sensors; a first baffle 2-12; waiting for stations 2-13; a bag suction station 2-14; 2-15 of a distance measuring sensor;

a swing arm mechanism 3; 3-1 of a stand column; a swing arm support frame 3-2; 3-3 of a swing arm speed reduction motor; 3-4 of a swing arm shaft; 3-5 parts of a connecting rod; 3-6 of a front rod; 3-7 of a handle bracket; 3-8 parts of a gripper shaft;

a packaging bag translation mechanism 4; a connecting plate 4-1; a slide rail component 4-2; a second X-direction power member 4-3; 4-4 of a front fixing plate; 4-5 of a bag opening speed reduction motor; a clamping small arm speed reducing motor 4-6; 4-7 of a bag opening mechanism; 4-8 of a clamping small arm; a first bag-opening suction device 4-9; a second bag opening suction device 4-10;

a bag suction device 5 with adjustable position; a first Y-direction linear power member 5-1; a first reduction motor 5-2; 5-3 of a rotating arm; a suction assembly 5-4; 5-5 of a suction bag aspirator;

a bag arranging mechanism 6; a mounting seat 6-1; 6-2 of a bag pressing air cylinder; a compression bar assembly 6-3; 6-5 of a horizontal whole bag cylinder;

and (7) a filling machine.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

The present invention is exemplified by X, Y and Z-axis direction shown in the drawings, and the conveying direction of the bag conveying platform 2 is assumed to be X-direction, but the specific embodiment should not be considered as a limitation to the technical solution.

As shown in fig. 1-8, a bag inserting machine comprises a bag supply tray mechanism 1, an X-direction bag conveying platform 2, a bag inserting device and an adjustable bag sucking device 5, wherein the bag inserting machine is positioned on the left side of a filling machine 7 in the X direction.

The X-direction bag conveying platform 2 comprises a bag conveying platform rack 2-1 and a platform plate 2-2, the platform plate 2-2 is installed on the bag conveying platform 2 rack, a waiting station 2-13 for stacking packaging bags is arranged on the left side of the platform plate 2-2, and a bag sucking station 2-14 is arranged on the right side (close to the filling machine 7).

The bag supplying disc mechanism 1 is located on the left side of the bag conveying platform 2, the bag supplying disc mechanism 1 comprises a bag supplying disc rack 1-2, and trays 1-5 on the bag supplying disc rack can be stacked from packaging bags of a bag warehouse to the waiting stations 2-13.

The bag conveying platform 2 is further provided with a synchronous belt conveying mechanism 2-3, the synchronous belt conveying mechanism 2-3 is provided with more than two push blocks, the platform plate 2-2 is provided with an X-direction through hole, the push blocks penetrate through the X-direction through hole to be upwards protruded, the protruding height of the push blocks is larger than or equal to the height of a packaging bag stack, and the push blocks push the packaging bag stack from the waiting station 2-13 into the bag sucking station 2-14 along the X-direction through hole. The first package on the top surface of the stack is referred to as the first package.

A Y-direction motor bracket 2-4 is arranged on the platform plate 2-2, and the direction of the bag opening of the packaging bag stack is Y-direction. The bag conveying platform 2 is further provided with an adjustable bag sucking device 5, the adjustable bag sucking device 5 comprises a PLC (programmable logic controller), a bag sucking mechanism electrically connected with the PLC, a distance measuring sensor 2-15 and a first Y-direction linear power part 5-1, and the first Y-direction linear power part 5-1 is positioned on the motor bracket 2-4. The PLC Controller is not shown in the drawing, and is called a programmable logic Controller in english, that is, a programmable logic Controller, which is a digital operation electronic system designed specifically for application in industrial environments, and it employs a programmable memory, in which instructions for executing operations such as logic operation, sequence control, timing, counting, and arithmetic operation are stored, and controls various types of mechanical devices or production processes through digital or analog input and output. The bag sucking mechanism is provided with the rotating arm 5-3, the rotating arm 5-3 is provided with a sucking assembly 5-4, the sucking assembly 5-4 comprises a plurality of bag sucking extractors 5-5, the bag sucking extractors 5-5 are connected to a vacuum generator (not shown in the figure), and the PLC is electrically connected with a sucking switch of the bag sucking extractor 5-5 and used for controlling the bag sucking extractor 5-5 to suck a packaging bag or release the packaging bag. The utility model discloses a power device, including swivel arm 5-3, first Y to straight line power spare 5-1, first Y is to the pivot, first Y is to the output of pivot 5-1 with X is to connecting with revolute pair or swing pair between the pivot, X links firmly to the pivot with first gear motor 5-2's output, is connected through RS232, RS485 or USB's serial ports connected mode electricity between the starting switch of PLC controller and first gear motor 5-2, and first gear motor 5-2 drives under the control of PLC controller swivel arm 5-3 round X is to pivot reciprocating rotation. Defeated bag platform 2 is located one side of the sack hypotenuse of wrapping bag pile and is equipped with first baffle 2-12, range sensor 2-15 is installed and is being close to first baffle 2-12 defeated bag platform 2 is last, be connected through RS232, RS485 or USB's serial ports connected mode electricity between range sensor 2-15 and the PLC controller, range sensor 2-15 detects first Y to the distance (not shown in the figure) between the sack hypotenuse of first wrapping bag and first baffle 2-12, and range sensor 2-15 feeds back the first Y that records to the PLC controller, and the PLC controller is according to the numerical control of first Y to the distance first Y adjusts to sharp power part inhale the Y coordinate of bag mechanism, makes it can adsorb the position of predetermineeing near the sack hypotenuse to inhale on the first wrapping bag, the rotating arm 5-3 rotates in a reciprocating mode along the X-direction rotating shaft under the control of a PLC, the suction assembly 5-4 sucks a first packaging bag on the packaging bag stack, the rotating arm 5-3 rotates the suction assembly 5-4 upwards, and the upper half portion of the first packaging bag rotates to a vertical XZ plane along with the rotation; the PLC controller is electrically connected with a starting switch of the first Y-direction linear power part 5-1 in a serial port connection mode of RS232, RS485 or USB, and the first Y-direction linear power part 5-1 moves the first packaging bag to a preset first connection position (in an XZ plane) under the control of the PLC. According to the embodiment, the Y-direction distance between the inclined edge of the bag opening of the first sucked packaging bag and the bag sucking mechanism is accurate, the consistency is high, the bag sucking mechanism can suck the packaging bag, the bag inserting machine can fully open the bag opening of the first packaging bag conveniently, the bag opening posture of the packaging bag is correct, the bag inserting is smooth, and the bag inserting success rate of the bag inserting machine is greatly improved.

The distance measuring sensors 2-15, also called distance measuring sensors 2-15, detect the distance to an object by using the principle of "time-of-flight method" which calculates the distance between the distance measuring sensors 2-15 and the object by time intervals by emitting a particularly short light pulse and measuring the time from the emission of this light pulse to the reflection of this light pulse back by the object, examples of the distance measuring sensors 2-15 include optical distance measuring sensors, infrared distance measuring sensors and ultrasonic distance measuring sensors. The distance measuring sensors 2-15 are electrically connected with the PLC through RS232, RS485 or USB serial port connection, the distance measuring sensors 2-15 measure first Y-direction distances between bag mouth bevel edges of the first packaging bags and the first baffle plates 2-12 and feed back the distances to the PLC, the PLC controls a starting switch of the first Y-direction linear power part 5-1 according to the measured Y-direction distance values, the first Y-direction linear power part 5-1 drives the bag suction mechanism to adjust the distance in the Y direction so as to suck the upper ends of the first packaging bags and preset positions near the bag mouth bevel edges, the preset positions are optimal positions, and the optimal distances are arranged between the optimal positions and the bag mouth bevel edges.

The special setting manner is different from the above embodiment in that when the first Y-direction distance is greater than the set value, the first Y-direction linear power member 5-1 adjusts the Y coordinate of the bag suction mechanism under the control of the PLC controller, that is, the bag suction mechanism performs Y-direction backward movement along the motor bracket 2-4, so that the Y-direction distance between the bag suction mechanism and the first baffle 2-12 is correspondingly increased by the first Y-direction distance, and the bag suction mechanism can suck a proper position of the first package bag near the inclined edge of the bag opening; and when the first Y-direction distance is smaller than a set value, the bag sucking mechanism executes the action of sucking the first packaging bag. When the first Y-direction distance is larger than a set value, the Y-direction distance between the oblique edges of the bag openings of the first packaging bags and the first baffle plates 2-12 is equal to the optimal distance plus the first Y-direction distance, therefore, the first Y-direction linear power part 5-1 needs to correspondingly retreat along the motor bracket 2-4 under the control of the PLC, and the first Y-direction distance is correspondingly increased by the Y-direction distance between the bag suction mechanism and the first baffle plates 2-12, so that the suction position of the bag suction mechanism on the first packaging bags becomes the optimal position.

The first Y-direction linear power part 5-1 can be a nut screw rod assembly, a linear motor or an electric sliding table, wherein the linear motor is also called a linear motor or a linear motor and is a transmission device which directly converts electric energy into linear motion mechanical energy without any intermediate conversion mechanism; the electric sliding table is also called a linear module, a linear sliding table, or a linear module, and the electric sliding table converts a curvilinear motion into a linear motion by using a ball screw or a synchronous belt. The first Y-direction linear power part 5-1 is preferably an electric sliding table, and the electric sliding table is connected with the motor bracket 2-4 in a sliding mode.

In a preferred embodiment, the bag suction stations 2-14 are located on two sides of the bag opening and the bag bottom, namely, the front side and the rear side in the Y direction, one of the bag suction stations is provided with a first baffle 2-12 of a packaging bag stack, the other bag suction station is provided with a horizontal pushing mechanism 2-6 which is controlled to move horizontally relative to the first baffle 2-12, after the packaging bag stack is pushed into the bag suction stations 2-14, the horizontal pushing mechanism 2-6 comprises a Y-direction electric cylinder, the Y-direction electric cylinder is electrically connected with a PLC (programmable logic controller) through an RS232, RS485 or USB (universal serial bus) serial port connection mode, the Y-direction electric cylinder drives the horizontal pushing mechanism 2-6 to extend forwards under control, the bag bottom of the packaging bag stack is pushed towards the bag opening direction, and the first baffle 2-12 of the packaging bag which is not aligned with the first baffle 2-12 in part can be abutted against the first baffle 2-.

Furthermore, since the bags are very flexible and the two ends of the bottom and the opening of the bag are higher than the middle of the bag, so that the two ends of the bag stack are higher and the middle of the bag stack is lower, the embodiment is provided with a bag aligning mechanism 6 at the opposite end of the flat pushing mechanism 2-6, namely the end of the inclined edge of the bag opening, the bag aligning mechanism 6 can enter the upper part of the bag stack in a controlled manner and press the bag stack downwards to align the bag stack by abutting against the first baffle plate 2-12. Of course, the installation positions of the horizontal pushing mechanism 2-6, the first baffle plate 2-12 and the bag arranging mechanism 6 can be exchanged. Because the bag arranging mechanism 6 has the function of pressing the packaging bag stack downwards, preferably, the bag arranging mechanism 6 is arranged on one side of the bag opening waiting for suction, and is beneficial to suction of the packaging bag after being leveled.

As shown in fig. 7, specifically, the bag-sorting mechanism 6 includes a mounting seat 6-1, a pressure rod assembly 6-3, a bag-pressing cylinder 6-2 and a horizontal bag-sorting cylinder 6-5, the mounting seat 6-1 is mounted on the bag-conveying platform frame 2-1, the pressure rod assembly 6-3 is connected with the mounting seat 6-1 through an X-direction revolute pair, one end of the bag-pressing cylinder 6-2 is hinged to the mounting seat 6-1, the other end of the bag-pressing cylinder 6-2 is hinged to the pressure rod assembly 6-3 to form a link mechanism, the link mechanism is fixedly connected to one end of the horizontal bag-sorting cylinder 6-5, the other end of the horizontal bag-sorting cylinder 6-5 is fixedly connected to the bag-conveying platform frame 2-1, and control switches of the bag-pressing cylinder 6-2 and the horizontal bag-sorting cylinder 6-5 are connected to the PLC controller through RS232, The RS485 or USB serial port connection mode is electrically connected to control the action sequence of the bag pressing cylinder 6-2 and the horizontal bag arranging cylinder 6-5.

As shown in fig. 1, 4 and 5, the bag inserting device comprises an upright post 3-1, a bag translation mechanism 4, a clamping small arm 4-8 for clamping the bag from the first delivery position, and a bag opening mechanism 4-7 for opening the bag; the packaging bag translation mechanism 4, the clamping small arms 4-8 and the opposite suction components 5-4 form a manipulator, and the manipulator is used for adsorbing and rotating the position-adjustable bag suction device 5 to a first connection position to clamp and fix the packaging bag in a vertical state and open the bag opening. Specifically, the upright post 3-1 is provided with a connecting plate 4-1, the top of the packaging bag translation mechanism 4 is connected with the connecting plate 4-1 through a second X-direction moving pair connection, for example, the second X-direction moving pair connection is an X-direction slide rail assembly 4-2, the top of the packaging bag translation mechanism 4 is in sliding connection with the connecting plate 4-1, and the packaging bag translation mechanism 4 is provided with a second X-direction power part 4-3 for driving the packaging bag translation mechanism 4 to move along the slide rail; the front fixing plate 4-4 is arranged in front of the packaging bag translation mechanism 4, the clamping small arm 4-8 is arranged behind the front fixing plate 4-4, and the gear rotation of the clamping small arm 4-8 is controlled by the clamping small arm gear motor 4-6, so that the opening and closing angle of the clamping small arm 4-8 is controlled. The bag opening mechanism 4-7 is installed in the front direction of the X of the front fixing plate 4-4, the bag opening mechanism 4-7 comprises opposite suction components and a bag opening power unit for driving the opposite suction components to approach or separate from each other, the opposite suction components comprise a first bag opening and bag opening suction device 4-9 and a second bag opening suction device 4-10 in the Y direction, the first bag opening suction device 4-9 and the second bag opening suction device 4-10 are connected with a vacuum source, the first bag opening suction device 4-9 and the second bag opening suction device 4-10 are symmetrically arranged relative to a vertical plane where a first connection position is located, the first bag opening suction device 4-9 and the second bag opening suction device 4-10 are respectively installed on two rotatable cantilevers to form bag openings on two side faces for oppositely sucking the packaging bags, the bag openings of the packaging bags can be formed, and the bag opening power unit of the bag opening mechanism 4-7 is opened, comprises a bag opening speed reducing motor 4-5 and a synchronous pulley, wherein the bag opening speed reducing motor 4-5 accurately controls the opening angle or the closing between a first bag opening suction device 4-9 and a second bag opening suction device 4-10 on two cantilevers through the synchronous pulley. The second X-direction power piece 4-3 drives the packaging bag translation mechanism 4 to move close to or away from the filling machine 7 along the second X-direction moving pair. Due to the clamping of the clamping small arm 4-8 and the adsorption of the first bag opening suction device 4-9 and the second bag opening suction device 4-10, the opening state of the bag opening can be kept. The bag inserting device can then be extended forwards along the sliding rail assembly 4-2 to complete the bag inserting action. The swing arm mechanism 3 is responsible for controlling the robot arm to insert the bag on the robot arm into the filling nozzle of the filling machine 7 (the filling machine 7 is a schematic diagram). When the holding small arm 4-8 and the first bag opening suction device 4-9 and the second bag opening suction device 4-10 in the bag opening mechanism 4-7 are connected to the vacuum source, the bag is kept placed on the filling nozzle of the filling machine 7, and the bag pressing cylinder on the filling machine 7 holds and presses the bag. After a bag pressing cylinder on a filling machine 7 presses a bag, the bag opening mechanism 4-7 is opened to a proper position through a bag opening speed reducing motor 4-5, the clamping small arm 4-8 is opened to a proper position through a clamping small arm speed reducing motor 4-6, the packaging bag is loosened, and then the swing arm shaft 3-4 is retracted through a swing arm speed reducing motor 3-3. To avoid interference between the relatively moving parts of the bag inserter and the filling machine 7. Meanwhile, the first bag opening suction device 4-9 and the second bag opening suction device 4-10 return to the initial positions and work circularly. The vacuum source control switches of the second X-direction power part 4-3, the clamping small arm speed reducing motor 4-6, the first bag opening suction device 4-9 and the second bag opening suction device 4-10 are electrically connected with the PLC in a RS232, RS485 or USB serial port connection mode so as to control the action sequence of the second X-direction power part 4-3, the clamping small arm speed reducing motor 4-6, the first bag opening suction device 4-9 and the second bag opening suction device 4-10.

The second X-direction power member 4-3 is preferably a second X-direction linear electric cylinder.

As shown in fig. 1 and 4, a swing arm mechanism 3 is further arranged between the upright post 3-1 and the packaging bag translation mechanism 4, specifically, a swing arm support frame 3-2 is mounted on the upright post 3-1, a swing arm speed reduction motor 3-3 is mounted on the swing arm support frame 3-2, a rotating shaft of the swing arm speed reduction motor 3-3 is a Z-direction rotating shaft, the top of the Z-direction rotating shaft is connected with a swing arm shaft 3-4 which horizontally rotates through a spline, a Z-direction gripper support 3-7 is mounted at the free end of the swing arm shaft 3-4, a gripper shaft 3-8 is mounted on the gripper support 3-7 through a revolute pair, the gripper shaft 3-8 is fixedly connected with a connecting plate 4-1, the swing arm mechanism 3 further comprises a connecting rod 3-5 and a front rod 3-6, the swing arm shaft 3-4 and the swing arm support frame 3, A four-bar linkage mechanism is formed between the front rods 3-6 and the connecting rods 3-5, the direction of the gripper shafts 3-8 can be controlled to a certain degree, and in the clockwise rotation process of the filling machine 7, the swing arm mechanism 3 rotates anticlockwise, so that the bag opening of the packaging bag on the packaging bag translation mechanism 4 moves in a cam curve mode and is sleeved on the filling nozzle of the filling machine 7. The starting switch of the swing arm speed reducing motor 3-3 is electrically connected with the PLC controller through a RS232, RS485 or USB serial port connection mode so as to control the action time sequence of the swing arm speed reducing motor 3-3.

As shown in fig. 3, the left and right sides of the stack of bags at the bag suction stations 2-14 are provided with side blocking mechanisms 2-8 capable of being lifted and lowered controllably on the right side close to the filling machine 7, the side blocking mechanisms 2-8 include Y-direction side blocking plate assemblies and Z-direction power members installed at the bottoms thereof, the Z-direction power members of the side blocking mechanisms 2-8 can be air cylinders, screw nut assemblies or electric cylinders, and when the manipulator performs bagging on the filling machine 7, the side blocking mechanisms 2-8 are lowered to ensure that the first bag on the manipulator can slide off the platform without blocking. After the manipulator takes the first bag off the platform 2-2, the side stops 2-8 are raised to the level of the remaining bags of the stack. And a starting switch of the Z-direction power part of the side gear mechanism 2-8 is electrically connected with the PLC in a serial port connection mode of RS232, RS485 or USB so as to control the action time sequence of the Z-direction power part of the side gear mechanism 2-8. The other side is provided with a stop mechanism 2-5 capable of swinging up and down along a Y axis, the stop mechanism 2-5 is positioned between the waiting station 2-13 and the bag suction station 2-14, the stop mechanism 2-5 is composed of a plurality of groups of rotary electromagnets and baffles, the rotating shaft of each rotary electromagnet is a Y-direction rotating shaft, the rotating shaft of each rotary electromagnet is connected with a speed reduction motor of the rotary electromagnet, and a power switch of the speed reduction motor of the rotary electromagnet is electrically connected with a PLC (programmable logic controller) through an RS232, RS485 or USB (universal serial bus) serial port connection mode. After the synchronous belt conveying mechanism 2-3 pushes the bag into the bag suction station 2-14 from the waiting station 2-13, the stopping mechanism 2-5 is controlled to turn on a power supply and turn up (a corresponding opening is formed in the platform plate 2-2) to stop the left side of the bag stack, after the bag in the bag suction station 2-14 is used up, before the synchronous belt conveying mechanism 2-3 is ready to push the bag into the bag suction station 2-14 from the waiting station 2-13 again, the stopping mechanism 2-5 is controlled to turn off the power supply and turn down, and the pushing action of the synchronous belt conveying mechanism 2-3 is not hindered. The side blocking mechanisms 2-8 are matched with the blocking mechanisms 2-5, so that the bag can be prevented from shifting left and right in the bag sucking process.

As shown in fig. 3, the bottom of the bag suction station 2-14 is provided with a lifting mechanism 2-9 for adjusting the height of the first bag waiting to be sucked on the bag stack, the lifting mechanism 2-9 comprises a Z-direction electric cylinder, and a power switch of the Z-direction electric cylinder is electrically connected with the PLC controller through a serial port connection mode of RS232, RS485 or USB. The lifting mechanism 2-9 is controlled by an electric cylinder to lift, when the bags reach the bag suction station 2-14, the lifting mechanism 2-9 is controlled to descend, so that the uppermost first bag in the stack of bags is always kept at the same suction height. When the first upper bag is removed by the robot, the lifting mechanism 2-9 is controlled to rise a little so that the new first bag still remains at the same sucked level.

As shown in figures 1 and 2, the bag supply tray mechanism 1 is located on the left side of the bag conveying platform 2, the bag supply tray mechanism 1 comprises a bag supply tray rack 1-2, a foot cup 1-1 is installed at the bottom of the bag supply tray rack 1-2 and used for improving the stability of the bag supply tray mechanism 1, a fixing plate 1-3 is fixedly arranged on the bag supply tray rack 1-2, a tray connecting plate 1-4 is arranged above the fixing plate 1-3, the tray connecting plate 1-4 can move up and down or rotate relative to the fixing plate 1-3, the tray connecting plate 1-4 is fixedly connected with a tray 1-5, the tray 1-5 is used for carrying a packaging bag stack, a bag supply Z is installed at the bottom of the fixing plate 1-3 and is connected with an electric cylinder 1-8, the movable part of the bag supply Z for the electric cylinder 1-8 is fixedly connected with the tray connecting plate 1-4, and the tray 1-4 and the tray 1-1 are adjusted through the up and down movement of the bag supply 5, a bag supply speed reducing motor 1-7 is mounted on the fixing plate 1-3, a power output end of the bag supply speed reducing motor 1-7 is fixedly connected with the tray connecting plate 1-4, the rotating direction of the tray 1-5 can be controlled through the rotation of the bag supply speed reducing motor 1-7, and the purpose of placing the packaging bag stacks carried by the tray 1-5 into a waiting station 2-13 of the bag conveying platform 2 from the bag warehouse is achieved. When the synchronous belt conveying mechanism 2-3 conveys a stack of bags away, the bag supply Z rises to the electric cylinder 1-8, and the tray 1-5 is rotated to a bag outlet station (not shown in the figure) of the bag warehouse by the bag supply speed reduction motor 1-7 to carry out next bag supply; at the moment, the synchronous belt conveying mechanism 2-3 returns to the leftmost position to wait for the next bag pushing. The power switches of the bag supply speed reducing motors 1-7, the bag supply Z-direction electric cylinders 1-8 and the step belt conveying mechanisms 2-3 are electrically connected with the PLC controller in a RS232, RS485 or USB serial port connection mode and are used for controlling the actuation time sequence of the bag supply speed reducing motors 1-7, the bag supply Z-direction electric cylinders 1-8 and the step belt conveying mechanisms 2-3.

As shown in fig. 3, a bag storage sensor 2-7 is further mounted on the platform plate 2-2 at the bag suction station 2-14, the bag storage sensor 2-7 is electrically connected with the PLC controller in a RS232, RS485 or USB serial port connection mode, when a stack of bags are completely taken away, the bag storage sensor 2-7 detects and feeds back information to the PLC controller, and when the bag storage sensor 2-7 cannot detect a packaging bag, the synchronous belt conveying mechanism 2-3 carries out next bag conveying under the control of the PLC controller. The stop mechanism 2-5, the horizontal pushing mechanism 2-6 and the lifting mechanism 2-9 all return to the original positions. The synchronous belt conveying mechanism 2-3 conveys the next bag stack to the bag suction station 2-14 to continue bag suction.

As shown in fig. 3, the platform plate 2-2 is also provided with a sensor mounting plate 2-10 on which a bag conveying sensor 2-11 is mounted for detecting whether a bag is on a canning nozzle on the filling machine 7 before the canning nozzle is aligned with the bag opening mechanism 4-7, and the control switch of the second X-direction power part 4-3 and the bag conveying sensor 2-11 are electrically connected with the PLC controller through RS232, RS485 or USB serial port connection. If the bag is detected, the PLC controls the second X-direction power part 4-3 not to execute the operation until no bag is detected, and the PLC controls the second X-direction power part 4-3 to continue to work.

The above embodiments are not limited to the technical solutions of the embodiments themselves, and the embodiments may be combined with each other into a new embodiment. The above embodiments are only used for illustrating the technical solutions of the present invention and are not limited thereto, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of the technical solutions of the present invention.

Claims (10)

1. A bag inserting machine comprises an X-direction bag conveying platform, wherein the bag conveying platform is provided with a bag suction station for storing a bag stack, and the direction of the oblique edge of a bag opening is the X direction; the bag conveying platform is characterized by also comprising an adjustable bag sucking device, wherein the adjustable bag sucking device comprises a PLC (programmable logic controller), a bag sucking mechanism, a distance measuring sensor and a first Y-direction linear power part, wherein the bag sucking mechanism, the distance measuring sensor and the first Y-direction linear power part are electrically connected with the PLC; the bag suction mechanism comprises a rotating arm, and the output end of the first Y-direction linear power part is connected with the rotating arm through an X-direction rotating shaft; a first baffle is arranged on one side of the bag opening bevel edge of the bag conveying platform, the distance measuring sensor is arranged on the bag conveying platform close to the first baffle, the distance measuring sensor detects a first Y-direction distance between the top end of the first packing bag at the bag opening side and the first baffle, the PLC controls the first Y-direction linear power part to adjust the Y coordinate of the bag sucking mechanism according to the numerical value of the first Y-direction distance, so that the bag suction mechanism can suck the preset position of the first packaging bag near the inclined edge of the bag opening, the bag suction mechanism rotates along the X-direction rotating shaft in a reciprocating manner under the control of the PLC to suck the first packaging bag on the packaging bag stack, and the inclined edge of the bag opening of the first packaging bag rotates and is changed from being parallel to the X direction to being vertical to the X direction, and the first Y-direction linear power part moves the first packaging bag to a preset first connection position under the control of the PLC.

2. The machine of claim 1, wherein a horizontal pushing mechanism is provided opposite the first stop and is controlled to move horizontally, and the horizontal pushing mechanism pushes the stack of bags to a distance relative to the first stop to trim the bevel edge of the bag mouth by a first Y-direction distance between the top of the bag on the bag mouth side and the first stop as measured by a distance measuring sensor under PLC control.

3. A machine as claimed in claim 2, wherein a bag aligning mechanism is provided opposite the pushing mechanism and is controlled to enter above the stack and press the stack downwardly and push the first bag of the stack flat into alignment against the first stop.

4. The bag inserting machine according to claim 3, wherein the bag conveying platform is provided with a bag conveying platform frame, the bag arranging mechanism comprises a mounting seat, a pressure rod assembly, a bag pressing cylinder and a horizontal bag arranging cylinder, the pressure rod assembly is connected with the mounting seat through an X-direction revolute pair, one end of the bag pressing cylinder is hinged to the mounting seat, the other end of the bag pressing cylinder is hinged to the pressure rod assembly to form a link mechanism, the link mechanism is fixedly connected with one end of the horizontal bag arranging cylinder, and the other end of the horizontal bag arranging cylinder is fixedly connected with the bag conveying platform frame.

5. The bag inserting machine according to claim 1, wherein the bag inserting device comprises a column, a bag translating mechanism, a gripping arm for gripping the first bag from the first delivery position, and a bag opening mechanism for opening the first bag, the bag opening mechanism comprising a counter-suction assembly and a bag opening power unit for driving the counter-suction assembly to move toward or away from each other; the clamping small arm and the opposite-direction suction assembly are both arranged below the packaging bag translation mechanism, and the opposite-direction suction assembly is positioned in the X-direction of the clamping small arm; the packaging bag translation mechanism is connected with the upright post in a second X-direction moving pair mode, the packaging bag translation mechanism is controlled by a PLC to move the suction assembly to the optimal position away from the inclined edge of the bag opening, and the suction assembly can be controlled to be close to or far away from the filling machine along the second X-direction moving pair.

6. The bag inserting machine according to claim 5, wherein a swing arm mechanism is further arranged between the upright post and the packaging bag translation mechanism, and in the clockwise rotation process of the filling machine, the swing arm mechanism rotates anticlockwise, so that a bag opening of a first packaging bag on the packaging bag translation mechanism is sleeved on a filling nozzle of the filling machine in a cam curve manner, the swing angle of the swing arm mechanism and the movement distance of the packaging bag translation mechanism are controlled by a PLC (programmable logic controller) to be matched with each other to obtain the optimal speed, and the packaging bag can be quickly close to or far away from the filling machine under the condition of keeping stability.

7. The machine of claim 1, wherein the bag-inserting station is provided with a side stop mechanism for controllably lifting and lowering the bag stack on the left and right sides of the bag stack adjacent to the filling machine, and a stop mechanism for vertically swinging the bag stack along the Y-axis on the other side of the bag stack adjacent to the filling machine.

8. The bag inserting machine according to claim 1, wherein the bottom first baffle side of the bag suction station is provided with a lifting mechanism for adjusting the height of the side of the first bag opening bevel waiting for suction on the bag stack.

9. The bag inserting machine according to claim 1, wherein a waiting station for buffering the bag stack is further arranged on the bag conveying platform on the left side of the bag suction station, and a synchronous belt conveying mechanism for pushing the bag stack into the bag suction station from the waiting station is further arranged on the bag conveying platform.

10. A machine as claimed in claim 9, further comprising a bag supply tray mechanism for feeding stacks of bags from the store to the waiting station.

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