CN214057977U - Close-fitting bagging equipment - Google Patents

Abstract

The utility model relates to a close-fitting bagging device, which comprises a bagging mechanism; the bagging mechanism comprises a bagging guide groove; the opening at the front end of the bagging guide groove is provided with an open bag, and the rear end of the bagging guide groove is provided with a material pushing mechanism; the bagging guide groove is provided with a bagging feeding channel in the vertical direction at a position close to the front end; the bagging feed channel forms a first upper opening at a top side of the bagging chute and a first lower opening at a bottom side of the bagging chute; a material ejecting mechanism is arranged below the first lower opening; a passive material pressing mechanism is further arranged at the first upper opening; the passive material pressing mechanism is used for keeping the constraint state of the object to be bagged in the process of jacking the bagging guide groove of the object to be bagged; the pushing mechanism is used for pushing the objects to be bagged in the bagging guide groove forwards into the open bag along the bagging guide groove. The utility model discloses a tight-fitting bagging apparatus treats that bagging article remain the restraint state throughout in equipment, bagging-off convenient and fast, and the fungible is artifical, has improved bagging-off efficiency by a wide margin.

Description

Close-fitting bagging equipment

Technical Field

The utility model relates to a equipment for packing field especially relates to a close-fitting bagging apparatus.

Background

After the product is produced, the product is usually packaged in order to prevent the product from being polluted, and the bag-type packaging is a common packaging method.

However, for soft elastic products, such as the urine collection bag 8 shown in fig. 24, it comprises a hard case 81 and a connection hose 82 and a soft bag 83 located on the upper side of the case 81 and connected to the case 81; the bag needs to be folded and packaged, namely, two sides of the soft bag 83 are bent to the upper side, the connecting hose 82 is positioned on the upper side of the soft bag 83 after being coiled, and then the folded urine collecting bag is bagged; however, the flexible bag 83 and the connecting tube 82 are elastic and easily return to the unfolded state, and when such products are packaged, the folded state of the products needs to be maintained in real time and then the products are packed in the bag (as shown in fig. 25).

For the above products which are difficult to maintain in a restrained state without depending on external force, the products are generally kept in a restrained state (reduced in volume, folded, etc.) manually and then bagged; however, the manual method consumes a lot of energy of the operator to maintain the constrained state of the product, so that the bagging time is long and the bagging efficiency is low.

Therefore, how to design a bagging mechanism to replace manpower, so as to reduce labor cost and improve bagging efficiency becomes a problem which needs to be solved urgently.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a close-fitting sack filling plant treats that sack filling article remain the restraint state throughout in equipment, and sack filling convenient and fast, the fungible is artifical, has improved bagging-off efficiency by a wide margin.

The utility model provides a technical scheme that its technical problem adopted is: a tight-fitting bagging device comprises a bagging mechanism; the bagging mechanism comprises a bagging guide groove; the opening at the front end of the bagging guide groove is provided with an open bag, and the rear end of the bagging guide groove is provided with a material pushing mechanism; the bagging feeding channel is provided with a bagging feeding channel in the vertical direction at a position close to the front end of the bagging guide groove; the bagging feed channel forms a first upper opening at a top side of the bagging chute and a first lower opening at a bottom side of the bagging chute; a material ejecting mechanism is arranged below the first lower opening; a passive material pressing mechanism is further arranged at the first upper opening; the first lower opening of the bagging guide groove is used for jacking the articles to be bagged into the bagging guide groove through the material jacking mechanism; the passive material pressing mechanism is used for keeping the constraint state of the object to be bagged in the process of jacking the bagging guide groove of the object to be bagged; the pushing mechanism is provided with a pushing head which moves back and forth in the bagging guide groove and is used for pushing the object to be bagged in the bagging guide groove forward into the opened bag along the bagging guide groove.

The front end of the bagging guide groove is also provided with a bag clamping mechanism which is used for fixing the bag and enabling the opening size of the bag to be not smaller than the opening size of the front end of the bagging guide groove; the bag clamping mechanism comprises a lower supporting part, an upper supporting part, a lower clamping part and an upper clamping part; the lower supporting part and the upper supporting part are supported at the inner side of the opening of the bag; the lower clamping part is used for clamping the lower edge of the opening of the bag in a matching way with the lower supporting part; the upper clamping part is used for clamping the upper edge of the opening of the bag in a matching way with the upper supporting part.

The passive material pressing mechanism comprises a self-weight material pressing movable frame; the dead weight pressing moving frame is used for moving downwards by means of self gravity or is used for overcoming the self gravity of an object to be bagged to move upwards by means of the force of upward jacking of the object to be bagged, and provides pressure for the object to be bagged to maintain a constraint state.

The material ejecting mechanism comprises an ejecting plate and an ejecting driving mechanism for driving the ejecting plate to lift; the jacking plate is matched with the passive material pressing mechanism to receive the objects to be bagged in a restrained state, and the jacking plate is also used for jacking the objects to be bagged into the bagging guide groove by driving the jacking plate through the jacking driving mechanism while maintaining the restrained state of the objects to be bagged.

The bag clamping mechanism comprises a bag clamping fixing frame fixed at the front end of the bag loading guide groove; the lower supporting part and the upper clamping part are correspondingly fixed on the bag clamping fixing frame one by one, and the upper supporting part and the lower clamping part have the function of moving up and down; the bag clamping mechanism also comprises a bag clamping driving mechanism; the bag clamping driving mechanism is used for driving the upper supporting part to move up and down between the lower supporting part and the upper clamping part and also used for driving the lower clamping part to move up and down below the lower supporting part; when the upper supporting part moves downwards to be close to the lower supporting part, the upper supporting part is used for sleeving the convenient bag; the upper and lower clamping portions are adapted to clamp the upper and lower edges of the bag opening when the upper and lower support portions are moved upwardly.

A first bag clamping guide column is fixed on the lower clamping part, and the top end of the first bag clamping guide column penetrates through the bag clamping fixing frame and is fixed with a first clamping plate; a second bag clamping guide post is fixed on the upper supporting part, and the top end of the second bag clamping guide post penetrates through the bag clamping fixing frame and the first clamping plate and is fixed with a second clamping plate; the bag clamping driving mechanism is arranged on the bag clamping fixing frame; the upper and lower moving ends of the bag clamping driving mechanism are fixed with the first clamping plate; a limiting step is arranged at the position, below the first clamping plate, of the second bag clamping guide column, and a spring is sleeved at the position between the first clamping plate and the second clamping plate; the upper supporting part and the lower clamping part form a linkage structure through the first bag clamping guide column, the second bag clamping guide column, the limiting step, the first clamping plate, the second clamping plate and the spring.

The bagging equipment also comprises a feeding conveying channel, wherein the feeding conveying channel is connected with a first lower opening of the bagging guide groove and is used for conveying the articles to be bagged in a restrained state to the ejecting mechanism; the feeding conveying channel comprises a conveying mechanism at the bottom side and a guide cover above the conveying mechanism; the conveying mechanism and the guide cover maintain the constraint state of the articles to be bagged in the conveying process together; the conveying mechanisms are chain conveying mechanisms on the left side and the right side; the chain of the chain conveying mechanism is arranged in the chain track; a plurality of bearing plates are also arranged on the chain of each side chain conveying mechanism; the bearing plates of the chain conveying mechanisms on the two sides jointly form a bottom side conveying surface of the feeding conveying channel; a plurality of groups of partition plates are also arranged on the chain of each side chain conveying mechanism; each group of the partition plates is provided with a front partition plate and a rear partition plate, the partition plates are fixed on the bearing plates, and the bearing plates between the corresponding group of the partition plates and the group of the partition plates of the chain conveying mechanisms on the two sides form a bearing area of a single object to be bagged.

The guide cover is provided with at least one second upper opening; a feeding mechanism is arranged at the second upper opening; the feeding mechanism comprises a feeding guide groove, a lower opening of the feeding guide groove corresponds to the second upper opening, and a material pressing plate is arranged at an upper opening of the feeding guide groove; the feeding mechanism further comprises a material pressing driving mechanism and a yielding driving mechanism; the material pressing driving mechanism is arranged on the moving end of the abdicating driving mechanism; the pressing plate is arranged at the bottom side of the moving end of the pressing driving mechanism; the abdicating driving mechanism is used for driving the material pressing driving mechanism to move back and forth so as to drive the material pressing plate to move back and forth; the material pressing driving mechanism is used for driving the material pressing plate to move up and down; the left side and the right side of the lower opening of the feeding guide groove are also provided with movable bottom plates; the feeding mechanism also comprises a bottom plate driving mechanism, the bottom plate driving mechanism is used for driving the movable bottom plate to move towards the inner side of the feeding guide groove, and a bearing surface for placing the articles to be bagged in a restrained state is formed at the lower opening of the feeding guide groove; and the feeding guide groove is also used for moving towards the outer side of the feeding guide groove and providing a downward output channel for the objects to be bagged.

The close-fitting bagging equipment also comprises a bag supply mechanism; the bag supply mechanism comprises a bag storage bin, a bag taking manipulator and a bag opening manipulator; the bag taking manipulator is provided with a bag taking end and is used for taking a bag at the bag storage bin and conveying the bag to the bag opening manipulator; the bag opening mechanical arm is provided with an upper bag holding end and a lower bag holding end, and the two bag holding ends have the functions of moving in opposite directions or moving away from each other; the bag opening manipulator is used for moving in opposite directions through the upper bag holding end and the lower bag holding end and holding the top side and the bottom side of the bag opening of the bag conveyed by the bag taking manipulator, and is also used for opening the bag opening of the bag through the movement of the upper bag holding end and the lower bag holding end in opposite directions; the bag opening mechanical arm is also used for sleeving the opened bag on the outer sides of the lower supporting part and the upper supporting part of the bag clamping mechanism.

The bag storage bin comprises a bin frame body; the bin frame body is provided with a lifting plate for bearing bags and storing the bags; the bag storage bin also comprises a bag storage lifting driving mechanism; the storage bag lifting plate is fixed on the moving end of the storage bag lifting driving mechanism, and the position, close to the top end, of the bin frame body is a bag taking position; the lifting driving mechanism is used for driving the bag storage lifting plate to enable the uppermost bag carried by the bag storage lifting plate to be positioned at the bag taking position; the bag taking manipulator further comprises a first transverse driving mechanism for driving the bag taking end to move between the bag storage bin and the bag opening manipulator; a vertical driving mechanism is fixed on the moving end of the first transverse driving mechanism; the bag taking end is fixed at the moving end at the bottom side of the vertical driving mechanism; the bag taking end is provided with a suction device for holding a bag; the bag opening mechanical arm further comprises a double-head driving mechanism; the bag holding end is fixed at the upper moving end and the lower moving end of the double-head driving mechanism, and a suction device for holding the bag is also arranged on the bag holding end; the bag opening mechanical arm further comprises a second transverse driving mechanism; the double-head driving mechanism is fixed at the moving end of the second transverse driving mechanism; and the second transverse driving mechanism is used for driving the bag holding end to move between the bag taking manipulator and the bag clamping mechanism.

The utility model has the advantages that: the tight-fitting bagging equipment of the utility model keeps the bagged objects in a constrained state all the time, is convenient and quick to bag, can replace manpower, and greatly improves the bagging efficiency; the adopted bagging guide groove can maintain the restraint state of the object to be bagged; the adopted material ejecting mechanism and the passive material pressing mechanism can maintain the restraint state of the object to be bagged when feeding the material into the bagging guide groove; the adopted bag clamping mechanism can fix a bag and enable the bag opening to form a shape opening corresponding to an article to be bagged, the lower supporting part and the upper supporting part are both supported on the inner side of the bag opening, the article to be bagged is conveniently bagged, the lower supporting part and the upper supporting part can be folded and separated, the bag is conveniently sleeved on the outer side of the bag, and the upper clamping part and the lower clamping part are folded and separated relative to the lower supporting part and the upper supporting part, so that the bag opening can be clamped and fixed while the bag is supported by the lower supporting part and the upper supporting part after the bag is sleeved, and the bag slippage of the article to be bagged in the bagging process is avoided; the passive material pressing mechanism adopts a self-weight material pressing movable frame, and maintains a constraint state by keeping continuous and stable pressure when the object to be bagged is lifted upwards through self gravity; pushing the objects to be bagged in the bagging guide groove by a pushing mechanism through a pushing head, so that the objects to be bagged are always in the constraint of the bagging guide groove for bagging; the upper supporting part and the lower supporting part, the upper clamping part and the lower clamping part form a linkage structure through a first bag clamping guide column, a first clamping plate, a second bag clamping guide column, a limiting step and a spring, and two actions can be completed through one-time driving of a bag clamping driving mechanism; the adopted feeding mechanism can greatly assist in maintaining the constraint state of the articles to be bagged, an operator only needs to place the articles into the feeding mechanism after constraint, the difficulty of loading the articles to be bagged in the constraint state is greatly reduced, a bag taking manipulator is adopted to take the bags from a bag storage bin, and the bags are opened by a bag opening manipulator and then sleeved on a bag clamping mechanism, so that the mechanization of the whole process from bag taking to bag opening and sleeving is realized; this equipment structure is compact, reasonable in design, and the bagging-off process is smooth and easy, is fit for using widely on a large scale.

Drawings

FIG. 1 is a schematic perspective view of a tight-fitting bagging apparatus according to an embodiment;

FIG. 2 is a schematic perspective view of a feed conveyor path of a tight-fitting bagging apparatus according to an embodiment;

FIG. 3 is a schematic cross-sectional view of a feed conveyor path of a tight-fitting bagging apparatus according to an embodiment;

FIG. 4 is a schematic perspective view illustrating a manual feeding state of a feeding mechanism of a tight-fitting bagging apparatus according to an embodiment;

FIG. 5 is a schematic perspective view illustrating a pre-pressing state of a feeding mechanism of a tight-fitting bagging apparatus according to an embodiment;

FIG. 6 is a schematic perspective view of another angle of the pre-pressing state of the feeding mechanism of the tight-fitting bagging apparatus according to the embodiment;

FIG. 7 is a schematic perspective view illustrating a discharging state of a feeding mechanism of a tight-fitting bagging apparatus according to an embodiment;

FIG. 8 is a schematic perspective view of a bagging mechanism of a tight-fitting bagging apparatus according to an embodiment;

FIG. 9 is a schematic perspective view of another angle of the bagging mechanism of a tight-fitting bagging apparatus according to an embodiment;

FIG. 10 is a schematic perspective view of a bag magazine of a tight-fitting bagging apparatus according to an embodiment;

FIG. 11 is a schematic perspective view of a bag-picking robot of a tight-fitting bagging apparatus according to an embodiment;

FIG. 12 is a schematic perspective view of an opening robot of a tight-fitting bagging apparatus according to an embodiment;

FIG. 13 is a schematic diagram illustrating an internal structure of a manual feeding state in which a feeding mechanism of a tight-fitting bagging apparatus is matched with a feeding conveying channel;

FIG. 14 is a schematic diagram illustrating an internal structure of a feeding mechanism of a tight-fitting bagging apparatus in a pre-pressed state in cooperation with a feeding conveying channel according to an embodiment;

FIG. 15 is a schematic diagram illustrating an internal structure of a feeding mechanism of a tight-fitting bagging apparatus in a discharging state in cooperation with a feeding conveying channel according to an embodiment;

FIG. 16 is a schematic perspective view illustrating a bag taking manipulator and a bag opening manipulator of a tight-fitting bagging apparatus according to an embodiment;

fig. 17 is a schematic perspective view of a bag opening state in which a bag opening manipulator of the tight-fitting bagging apparatus of the embodiment is matched with a bag clamping mechanism;

fig. 18 is a schematic perspective view of a bagging state in which a bag opening manipulator of the tight-fitting bagging apparatus of the embodiment is matched with a bag clamping mechanism;

fig. 19 is a schematic perspective view of a bag clamping state in which a bag opening manipulator of the tight-fitting bagging apparatus of the embodiment is matched with a bag clamping mechanism;

FIG. 20 is a schematic view showing an internal structure of a bagging mechanism of a tight-fitting bagging apparatus according to an exemplary embodiment in a feeding state;

FIG. 21 is an internal schematic view of a bag filling mechanism of a tight-fitting bagging apparatus according to an embodiment in a material ejecting state;

FIG. 22 is an internal view of a bagging mechanism of a tight-fitting bagging apparatus according to an embodiment in a material-pushing and bagging state;

FIG. 23 is an internal view illustrating the overall pushing-out state of the bagging mechanism of the tight-fitting bagging apparatus according to the embodiment;

FIG. 24 is a schematic perspective view of a urine collection bag in a restraining state (bag-to-be-packaged state) in the prior art;

fig. 25 is a schematic perspective view of a urine collection bag in a bagging state in the related art.

Detailed Description

In order to deepen the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and embodiments, which are only used for explaining the present invention and are not limited to the protection scope of the present invention.

Examples

As shown in fig. 1 to 25, the present embodiment provides a tight-fitting bagging apparatus, including a bagging mechanism 3; the bagging mechanism 3 comprises a bagging guide groove 35; the opening at the front end of the bagging guide groove 35 is provided with an open bag 9, and the rear end of the bagging guide groove is provided with a material pushing mechanism 33; the bagging guide groove 35 is provided with a bagging feeding channel in the vertical direction at a position close to the front end; the bagging feed channel forms a first upper opening at the top side of the bagging chute 35 and a first lower opening at the bottom side of the bagging chute 35; an ejection mechanism 34 is further arranged below the first lower opening; a passive material pressing mechanism 32 is further arranged at the first upper opening; the first lower opening of the bagging guide groove 35 is used for jacking the articles to be bagged into the bagging guide groove 35 through the jacking mechanism 34; the passive material pressing mechanism 32 is used for keeping the constraint state of the object 8 to be bagged in the process of jacking the object 8 to be bagged to the bagging guide groove 35; the pushing mechanism 33 is provided with a pushing head 331 which moves back and forth in the bagging guide groove 35 and is used for pushing the to-be-bagged object 8 in the bagging guide groove 35 forwards into the opened bag 9 along the bagging guide groove 35; wherein, the tight-fitting bagging equipment also comprises a frame; the bagging mechanism 3 is arranged on the frame.

Referring to fig. 8, 9, and 17 to 23 again, the front end of the bagging guide 35 is further provided with a bag clamping mechanism 31, and the bag clamping mechanism 31 is used for fixing the bag 9 and making the opening size of the bag 9 not smaller than the front end opening size of the bagging guide 35; the bag clamping mechanism 31 comprises a lower support part 3101, an upper support part 3102, a lower clamp part 3103 and an upper clamp part 3104; the lower supporting part 3101 and the upper supporting part 3102 are supported at the inner side of the opening of the bag 9; the lower clamp portion 3103 is used to clamp the open lower edge of the bag 9 in cooperation with the lower support portion 3101; the upper clamp portion 3104 is used to clamp the open upper edge of the bag 9 in cooperation with the upper support portion 3102.

Referring to fig. 8, 9, 20 to 23 again, the passive swaging mechanism 32 includes a deadweight swaging moving frame 321; the deadweight material pressing moving frame 321 is used for moving downwards by means of self gravity, or is used for overcoming the self gravity to move upwards by means of the force of upward jacking of the article to be bagged, and provides pressure for the article to be bagged to maintain a constraint state; the passive material pressing mechanism 32 further includes a first material pressing fixing frame 322 fixed on the bag holding guide groove 35; a material pressing guide post 323 is fixed on the self-weight material pressing movable frame 321; the pressing guide post 323 upwards passes through the first pressing fixing frame 322, and a pressing limit 324 is arranged at a position close to the top end; the material pressing limiting part 324 is used for limiting the maximum descending height of the self-weight material pressing moving frame 321.

Referring to fig. 9, 20 to 23 again, the liftout mechanism 34 includes a lifting plate 341, and a liftout driving mechanism 343 (which may employ an air cylinder) for driving the lifting plate 341 to lift; the lifting plate 341 is matched with the passive pressing mechanism 32 to receive the articles 8 to be bagged in a restrained state, and is also used for lifting the articles 8 to be bagged into the bagging guide groove 35 by driving the lifting plate 341 through the lifting driving mechanism 343 while maintaining the restrained state of the articles 8 to be bagged; the material ejecting mechanism 34 further comprises an ejecting mounting rack 342 fixed in the close-fitting bagging device (specifically fixed on the rack); the ejection driving mechanism 343 is fixed to the ejection mounting bracket 342, and the up-down moving end of the ejection driving mechanism 343 is fixed to the lifting plate 341; the bottom side of the jacking plate 341 is also fixed with a jacking guide pillar 344; the ejector guide post 344 is fitted downward to the guide sleeve of the ejector mounting bracket 342.

Referring to fig. 8, 9, and 20 to 23 again, the pushing mechanism 33 further includes a pushing driving mechanism 334 (an air cylinder may be adopted, and in this embodiment, a magnetic coupling rodless air cylinder is adopted), and the pushing driving mechanism 334 is configured to drive the pushing head 331 to move between the rear side of the bagging feeding channel and the front end of the bagging guide slot 35; a pushing connecting part 335 is fixed at the moving end of the pushing driving mechanism 334; the pushing mechanism 33 further comprises a pushing conductive rod 332; the rear end of the push conductive rod 332 is connected with the push connecting part 335, and the front end is connected with the push head 331; a push guide plate 333 is further fixed to the top side and the bottom side of the position between the push connection part 335 and the push head 331; the push guide plate 333 is used to prevent the pushing head 331 from being stuck during pushing.

Referring to fig. 8, 9, 17 to 19 again, the bag clamping mechanism 31 includes a bag clamping holder 3112 fixed to the front end of the bag holding guide 35; the lower supporting part 3101 and the upper clamping part 3104 are correspondingly fixed on the bag-clamping fixing frame 3112 one by one, and the upper supporting part 3102 and the lower clamping part 3103 both have the function of moving up and down; the bag clamping mechanism 31 further comprises a bag clamping driving mechanism 3111 (an air cylinder can be adopted); the pouch driving mechanism 3111 is configured to drive the upper support portion 3102 to move up and down between the lower support portion 3101 and the upper clamp portion 3104, and to drive the lower clamp portion 3103 to move up and down below the lower support portion 3101; when the upper supporting part 3102 moves downwards to be close to the lower supporting part 3101, the convenient bag 9 is sleeved in the upper supporting part 3102; the upper support portion 3102 and the lower clamp portion 3103 are moved upward to clamp the upper and lower edges of the opening of the bag 9.

Referring to fig. 9 and 17 again, a first bag guide post 3105 is fixed on the lower clamp portion 3103, and a first clamp plate 3108 is fixed on the top end of the first bag guide post 3105 passing through the bag holder 3112; a second bag-clamping guide post 3106 is fixed on the upper supporting part 3102, and the top end of the second bag-clamping guide post 3106 passes through the bag-clamping fixing frame 3112 and the first clamping plate 3108 and is fixed with a second clamping plate 3109; the bag clamping driving mechanism 3111 is arranged on the bag clamping fixing frame 3112; the up-down moving end of the bag clamping driving mechanism 3111 is fixed with the first clamp plate 3108; the second bag clamping guide post 3106 is provided with a limiting step 3107 at a position below the first clamping plate 3108, and a spring 3110 is sleeved at a position between the first clamping plate 3108 and the second clamping plate 3109; the upper support portion 3102 and the lower clamp portion 3103 form a linkage structure through the first bag clamping guide post 3105, the second bag clamping guide post 3106, the limit step 3107, the first clamp plate 3108, the second clamp plate 3109 and the spring 3110; the bag clamping driving mechanism 3111 is used for driving the first clamping plate 3108 and driving the lower clamping part 3103 to move downwards through the first bag clamping guide post 3105, and meanwhile, when the first clamping plate 3108 reaches the position of the limit step 3107, the upper supporting part 3102 is driven to move downwards through the second bag clamping guide post 3106; the bag clamping driving mechanism 3111 is further configured to drive the first clamping plate 3108 and drive the upper clamping portion 3103 to move upward through the first bag clamping guide post 3105, and at the same time, the first clamping plate 3108 drives the second clamping plate 3109 through the spring and drives the upper supporting portion 3103 to move upward through the second bag clamping guide post 3106.

Referring to fig. 8, 9 and 17 again, the front ends of the lower supporting portion 3101 and the upper supporting portion 3102 are narrowed for the convenient bag 9 to be sleeved in; the bottom side of the upper clamp portion 3104 and the top side of the lower clamp portion 3103 are provided with anti-slip threads for preventing the bag 9 from falling off the bag clamping mechanism 31.

Referring to fig. 1 to 3 again, the bagging apparatus further includes a feeding conveying channel 1 mounted on the frame, the feeding conveying channel 1 is connected to the first lower opening of the bagging guide groove 35, and is used for conveying the articles 8 to be bagged in a restrained state for the ejecting mechanism 34; the feeding conveying channel comprises a conveying mechanism 11 at the bottom side and a guide cover 15 above the conveying mechanism 11; the conveying mechanism 11 and the guide cover 15 maintain the constraint state of the articles 8 to be bagged in the conveying process together; the conveying mechanism 11 is a chain conveying mechanism on the left side and the right side; the chain conveying mechanism is provided with a chain track 14, and a plurality of bearing plates 12 are further arranged on the chain of each side chain conveying mechanism; the bearing plates 12 of the chain conveying mechanisms on the two sides jointly form a bottom side conveying surface of the feeding conveying channel; the chain track 14 provides support and guide for the chain of the chain conveying mechanism, and is also used for sharing the carrying torsion borne by the chain; a multi-component partition plate 13 is also arranged on the chain of each side chain conveying mechanism; each group of the partition plates 13 is provided with a front partition plate and a rear partition plate, the partition plates 13 are fixed on the bearing plates 12, and the corresponding group of the partition plates 13 of the chain conveying mechanisms at two sides and the bearing plates 12 between the group of the partition plates 13 form a bearing area of a single object 8 to be bagged; the height of the partition plate 13 is slightly lower than that of the to-be-bagged object 8 in a restrained state, and when the partition plate reaches the self-weight material pressing moving frame 321, the self-weight material pressing moving frame 321 is firstly jacked up by the partition plate 13 at the front end of the to-be-bagged object 8 and then jacked up by the to-be-bagged object 8; the partition plate 13 is used to transfer the objects 8 to be bagged to the bottom side of the gravity pressing moving frame 321 (as shown in fig. 20).

Referring to fig. 2, 4 to 7 again, at least one second upper opening is provided on the guide cover 15; a feeding mechanism 2 is arranged at the second upper opening; the feeding mechanism 2 comprises a feeding guide groove 21, a lower opening of the feeding guide groove 21 corresponds to the second upper opening, and a pressure plate 22 is arranged at an upper opening of the feeding guide groove 21; the feeding mechanism 2 further comprises a pressing driving mechanism 26 (an air cylinder can be adopted, in the embodiment, an adjustable stroke three-axis air cylinder is adopted) and a abdicating driving mechanism 24 (an air cylinder can be adopted, in the embodiment, a magnetic coupling rodless air cylinder is adopted); the material pressing driving mechanism 26 is installed on the moving end of the abdicating driving mechanism 24; the pressing plate 22 is arranged at the bottom side of the moving end of the pressing driving mechanism 26; the abdicating driving mechanism 24 is used for driving the material pressing driving mechanism 26 to move back and forth, and further driving the material pressing plate 22 to move back and forth; the material pressing driving mechanism is used for driving the material pressing plate 22 to move up and down; the left side and the right side of the lower opening of the feeding guide groove 21 are also provided with movable bottom plates 23; the feeding mechanism 2 further comprises a bottom plate driving mechanism 25 (an air cylinder can be adopted, and a double-shaft air cylinder is adopted in the embodiment), the bottom plate driving mechanism is used for driving the movable bottom plate 23 to move towards the inner side of the feeding guide groove 21, and a bearing surface for placing the articles to be bagged 8 in a restrained state is formed at the lower opening of the feeding guide groove 21; the feeding guide groove 21 is also used for moving towards the outer side of the feeding guide groove and providing a downward output channel for the objects 8 to be bagged; the chain conveying mechanism is in clearance type conveying, when the bearing areas correspond to the second upper openings of the guide cover 15, the feeding mechanism 2 only carries out material pressing action, meanwhile, each second upper opening synchronously corresponds to the corresponding bearing area, and the first lower opening of the bagging feeding channel synchronously corresponds to the corresponding bearing area, namely when the chain conveying mechanism stops conveying, the material pressing action of the feeding mechanism 2, the material ejecting action of the material ejecting mechanism 34 and the material pushing action of the material pushing mechanism 33 are simultaneously completed; the guide housing 15 of this embodiment is provided with three second upper openings, and the corresponding three feed mechanism 2 that is provided with forms three material loading stations.

Referring to fig. 1, 10 to 12, and 16 again, the tight fitting bagging apparatus further includes a bag supplying mechanism; the bag supply mechanism comprises a bag storage bin 4, a bag taking manipulator 5 and a bag opening manipulator 6; the bag taking manipulator 5 is provided with a bag taking end 53 and is used for taking a bag at the bag storage bin 4 and sending the bag to the bag opening manipulator 6; the bag opening mechanical arm 6 is provided with an upper bag holding end 63 and a lower bag holding end 63, and the two bag holding ends 63 have the functions of moving in opposite directions or moving away from each other; the bag opening manipulator 6 is used for moving oppositely through the upper bag holding end 63 and the lower bag holding end 63 and grasping the top side and the bottom side of the bag opening of the bag 9 conveyed by the bag taking manipulator 5, and is also used for opening the bag opening of the bag 9 through the separation and movement of the upper bag holding end and the lower bag holding end; the bag opening manipulator 6 is also used for sleeving the opened bag 9 outside the lower support part 3101 and the upper support part 3102 of the bag clamping mechanism.

Referring again to fig. 10, the bag storage bin 4 includes a bin frame body 42; the bin frame body 42 is provided with a bag storage lifting plate for bearing the bag 9; the bag storage bin 4 further comprises a bag storage lifting driving mechanism 41 (a linear module can be adopted); the bag storage lifting plate is fixed on the moving end of the bag storage lifting driving mechanism 41, and the position of the bin frame body 42 close to the top end is a bag taking position; the lifting driving mechanism 41 is used for driving the bag storage lifting plate to enable the uppermost bag 9 carried by the bag storage lifting plate to be positioned at the bag taking position.

Referring to fig. 11 again, the bag taking manipulator 5 further includes a first transverse driving mechanism 51 (an air cylinder may be adopted, and in this embodiment, a magnetic coupling rodless air cylinder is adopted) for driving the bag taking end to move between the bag storage bin 4 and the bag opening manipulator 6; a vertical driving mechanism 52 (a guide rod cylinder can be adopted) is fixed on the moving end of the first transverse driving mechanism 51; the bag taking end 53 is fixed at the moving end at the bottom side of the vertical driving mechanism 52; the bag taking end 53 is provided with a suction device 7; the number of the suction devices 7 on the bag taking end is four, the four suction devices 7 correspond to four corners of the bag 9 and are used for sucking the four corners of the bag 9 through the four suction devices 7 and integrally moving the bag to the bag opening manipulator 6;

referring again to fig. 12, the bag opening manipulator 6 further includes a double-head driving mechanism 62 (pneumatic fingers can be used); the bag holding end 63 is fixed at the upper and lower moving ends of the double-head driving mechanism 62, and the suction device 7 is also arranged on the bag holding end 63; the two bag holding ends 63 of the bag opening manipulator 6 respectively suck the top side and the bottom side of the bag opening of the bag 9 through the suction device 7, and then the bag opening of the bag 9 is opened; the pocket opening manipulator 6 further comprises a second transverse driving mechanism 61; the double-head driving mechanism 62 is fixed at the moving end of the second transverse driving mechanism 61; the second transverse driving mechanism 61 is used for driving the bag holding end 63 to move between the bag taking manipulator 5 and the bag clamping mechanism 31.

As shown in fig. 1, the conveying channel is arranged in the frame in the front-back direction, the bagging mechanism 3 is arranged above the conveying channel near the front end, and the whole bagging mechanism is arranged at a position near the front end of the frame; wherein, the storage bin is located the position that the frame front end leans on the left, it leans on the position on the right to get the bag manipulator to be located the frame front end, it is located the position of getting between the bag manipulator and the bag clamping mechanism to open the sack manipulator, it is horizontal translation about the drive direction of the first horizontal drive mechanism of getting the bag manipulator, it is horizontal translation around for the drive direction of the second horizontal drive mechanism of opening the sack manipulator, it is moving to the position of right-hand member to get the bag end of bag manipulator, open the position of holding the bag end of sack manipulator and press from both sides the position of the lower part and the upper part of bag clamping mechanism and just correspond in the front-back direction.

The tight-fitting bagging apparatus of this embodiment, working process includes material loading process, transportation process, bagging-off process, supplies the bag process, specifically as follows:

the feeding process comprises the following steps: the feeding mechanism 2 has three states, namely a manual feeding state, a prepressing state and a discharging state; wherein, (1) the manual feeding state: as shown in fig. 4 and 13, the pressing plate 22 is located above the feeding guide slot 21, and the movable bottom plate 23 is located in the feeding guide slot 21 to form a bearing surface of the feeding guide slot 21; the abdicating driving mechanism 24 drives the material pressing plate 22 to move forward approximately half way, so as to give out approximately half of a material discharging port for the material loading guide groove 21, the operator restrains (folds or compresses) the object 8 to be bagged, for the urine collection bag of the embodiment, the box 81 needs to be downward, the soft bag 83 is turned upward on the upper side of the box, the connecting hose 82 is coiled on the upper side of the folded soft bag 83, after the restraint is completed, the maximum width of the urine collection bag is the width of the box, in addition, one end of the box 81 is small in size, the other end is large in size, when the restraint is performed, one end with small size is forward), then the object to be bagged is put into the material discharging port close to the back of the top side of the material loading guide groove 21, and the front end of the object to be bagged is inserted into the position between the back half part of the material pressing plate 22 and the loading surface, so that the object to be bagged can still maintain the restraining state with the loading surface and the material loading guide groove 21 through the back half part of the material pressing plate 22 after the operator loosens his hands, it should be noted here that the front and rear ends of the material pressing plate 22 are provided with oblique guide surfaces, which is convenient for the insertion of the object to be bagged; (2) pre-pressing state: as shown in fig. 5, 6 and 14, the abdicating driving mechanism 24 drives the material-pressing plate 22 to move backward integrally, so that the material-pressing plate 22 is located right above the upper opening of the feeding guide slot 21, and at this time, the material-pressing plate 22 is completely pre-pressed on the object to be bagged; (3) and (3) discharging state: as shown in fig. 7 and 15, the bottom plate driving mechanism 25 drives the movable bottom plate to move towards the outer side of the feeding guide groove 21, so that the lower opening of the feeding guide groove 21 is unobstructed, and at this time, the material pressing driving mechanism 26 drives the material pressing plate 22 to move downwards, so that the articles to be bagged can rapidly enter the bearing area of the conveying channel in a restrained state.

The conveying process comprises the following steps: after the bagged objects enter the bearing area, the bottom sides of the bagged objects are borne by the bearing plates 12 on the chain conveying mechanisms on the two sides, the chain conveying mechanisms on the two sides synchronously act, the driving chains drive the bagged objects on the bearing plates 12 to move forwards to enter the guide cover, and the bagged objects are conveyed to the material ejecting mechanism through intermittent conveying of the chain conveying mechanisms.

And (3) bagging: the bagging mechanism has four states, namely a ready feeding state, a material ejecting state, a material pushing and bagging state and an integral pushing state; wherein, (1) the feeding state: as shown in fig. 20, the front and rear ends of the bottom side of the self-weight pressing moving frame 321 are provided with oblique guide portions, the partition plate at the front side of the bearing area of the object to be bagged in the conveying channel will contact with the oblique guide portions of the self-weight pressing moving frame 321 first, under the action of the oblique guide portions and the forward action of the partition plate, the partition plate 13 will partially jack up the self-weight pressing moving frame 321, when the partition plate 13 enters the lower part of the self-weight pressing moving frame 321, the object to be bagged contacts with the self-weight pressing moving frame 321 and further jacks up the self-weight pressing moving frame 321, when the bearing area is located right above the first lower opening, the chain conveying mechanism stops acting, and at this time, the object to be bagged carried in the bearing area is located right above the jacking mechanism 34; (2) and (3) material ejection state: as shown in fig. 21, the lifting plate is disposed between the two side bearing plates, the lifting plate is driven by the lifting driving mechanism to lift upwards from between the two side bearing plates, and the articles to be bagged are pushed into the bagging guide groove 35 in a state of keeping constraint under the cooperation of the pressing force provided by the deadweight material pressing moving frame 321 through deadweight; (3) material pushing and bagging state: as shown in fig. 22, at this time, the bag holding mechanism at the front end of the bag holding guide groove 35 has fixed the open bag 9, the open bag 9 is opened by the lower support portion 3101 and the upper support portion 3102, and both sides of the lower support portion 3101 are also provided with the restraint plates; the pushing material driving mechanism 334 drives the pushing head 331 to move forwards along the bagging guide groove 35 under the restraint of the upper support portion 3101, the upper support portion 3102 and the restraint plates on the two sides of the lower support portion, and the articles to be bagged are pushed into the bag 9; (4) the overall push-out state: as shown in fig. 23, the pushing driving mechanism 334 drives the pushing head 331 to move forward, and the bagged goods move forward, so as to drive the bag 9 to be released from the bag clamping mechanism, thereby completing the bagging process.

A bag supply process: the bag supply mechanism has four states, namely a bag taking state, a bag opening state, a bag sleeving state and a bag clamping state; wherein, (1) the bag taking state: the bag storage lifting driving mechanism 41 of the bag storage bin 4 drives the bag storage lifting plate to drive the bags 9 to lift in the bin frame body 42, so that the uppermost bag 9 is positioned at the bag taking station; the bag taking end 53 of the bag taking manipulator 5 moves leftwards to the position right above the bag taking station through the first transverse driving mechanism 51, the bag taking end 53 of the bag taking manipulator 5 is driven to descend through the vertical driving mechanism 52, the four suction devices 7 of the bag taking end 53 respectively correspond to the four corners of the bag 9, the bag taking end 53 sucks the bag 9 through the suction devices 7, then the bag taking end 53 is driven to rise through the vertical driving mechanism 52 and moves rightwards to the right limiting position through the first transverse driving mechanism 51; (2) opening a bag shape: as shown in fig. 16 and 17, the bag holding end of the bag opening manipulator 6 is driven forward to the bag opening of the bag 9 by the second transverse driving mechanism 61, the bag holding ends above and below are driven by the double-head driving mechanism 62 to synchronously move in opposite directions, each bag holding end is provided with two left and right suction devices, the bag opening manipulator 6 sucks the bag opening top side and the bag opening bottom side of the bag 9 by two sets of upper and lower suction devices, and meanwhile, the bag taking manipulator 5 moves to the bag taking station again; then, the bag holding end of the bag opening manipulator 6 moves away and synchronously under the driving of the double-head driving mechanism 62, and the bag opening of the bag 9 is opened along with the separation of the bag holding end under the action of up-and-down suction; in this state, the bag clamping driving mechanism 3111 of the bag clamping mechanism 31 drives the first clamp plate 3108 and drives the lower clamp portion 3103 to move downward through the first bag clamping guide column 3105, and at the same time, when the first clamp plate 3108 reaches the limit step 3107, drives the upper support portion 3102 to move downward through the second bag clamping guide column 3106; the upper portion 3102 is brought into close contact with the lower portion 3101, while the upper portion 3102 is separated from the upper clamp portion 3104 and the lower clamp portion 3103 is separated from the lower portion 3101; (3) the bagging state is as follows: as shown in fig. 18, the bag holding end of the bag opening manipulator 6 is driven backward to the bag clamping mechanism 31 by the second transverse driving mechanism 61, and the bag 9 is quickly and smoothly sleeved outside the lower support portion 3101 and the upper support portion 3102 by the guide of narrowing the front ends of the lower support portion 3101 and the upper support portion 3102; (4) a bag clamping state: the bag-clamping driving mechanism 3111 drives the first clamp plate 3108 and drives the upper clamp portion 3103 to move upward through the first bag-clamping guide post 3105, and at the same time, the first clamp plate 3108 drives the second clamp plate 3109 through the spring and drives the upper support portion 3103 to move upward through the second bag-clamping guide post 3106; the upper support portion 3102 and the lower support portion 3101 are separated to continuously open the bag mouth to form an opening corresponding to the article to be bagged, the upper support portion 3102 is folded with the upper clamping portion 3104, and the lower clamping portion 3103 is folded with the lower support portion 3101, so that the bag mouth is clamped.

The schematic internal structural diagrams (fig. 13 to 15, and 20 to 23) in the drawings of the specification are schematic cross-sectional views of an elevation (an elevation formed by vertical front and back) on which a center line (front and back direction) of the bagging feed path along the conveying direction is located.

The above-mentioned embodiments should not limit the present invention in any way, and all the technical solutions obtained by adopting equivalent replacement or equivalent conversion fall within the protection scope of the present invention.

Claims (10)

1. A tight-fitting bagging apparatus, its characterized in that: comprises a bagging mechanism; the bagging mechanism comprises a bagging guide groove; the opening at the front end of the bagging guide groove is provided with an open bag, and the rear end of the bagging guide groove is provided with a material pushing mechanism; the bagging feeding channel is provided with a bagging feeding channel in the vertical direction at a position close to the front end of the bagging guide groove; the bagging feed channel forms a first upper opening at a top side of the bagging chute and a first lower opening at a bottom side of the bagging chute; a material ejecting mechanism is arranged below the first lower opening; a passive material pressing mechanism is further arranged at the first upper opening; the first lower opening of the bagging guide groove is used for jacking the articles to be bagged into the bagging guide groove through the material jacking mechanism; the passive material pressing mechanism is used for keeping the constraint state of the object to be bagged in the process of jacking the bagging guide groove of the object to be bagged; the pushing mechanism is provided with a pushing head which moves back and forth in the bagging guide groove and is used for pushing the object to be bagged in the bagging guide groove forward into the opened bag along the bagging guide groove.

2. The tight-fitting bagging apparatus of claim 1, wherein: the front end of the bagging guide groove is also provided with a bag clamping mechanism which is used for fixing the bag and enabling the opening size of the bag to be not smaller than the opening size of the front end of the bagging guide groove; the bag clamping mechanism comprises a lower supporting part, an upper supporting part, a lower clamping part and an upper clamping part; the lower supporting part and the upper supporting part are supported at the inner side of the opening of the bag; the lower clamping part is used for clamping the lower edge of the opening of the bag in a matching way with the lower supporting part; the upper clamping part is used for clamping the upper edge of the opening of the bag in a matching way with the upper supporting part.

3. The tight-fitting bagging apparatus of claim 2, wherein: the passive material pressing mechanism comprises a self-weight material pressing movable frame; the dead weight pressing moving frame is used for moving downwards by means of self gravity or is used for overcoming the self gravity of an object to be bagged to move upwards by means of the force of upward jacking of the object to be bagged, and provides pressure for the object to be bagged to maintain a constraint state.

4. A tight-fitting bagging apparatus according to claim 3, wherein: the material ejecting mechanism comprises an ejecting plate and an ejecting driving mechanism for driving the ejecting plate to lift; the jacking plate is matched with the passive material pressing mechanism to receive the objects to be bagged in a restrained state, and the jacking plate is also used for jacking the objects to be bagged into the bagging guide groove by driving the jacking plate through the jacking driving mechanism while maintaining the restrained state of the objects to be bagged.

5. The tight-fitting bagging apparatus of claim 2, wherein: the bag clamping mechanism comprises a bag clamping fixing frame fixed at the front end of the bag loading guide groove; the lower supporting part and the upper clamping part are correspondingly fixed on the bag clamping fixing frame one by one, and the upper supporting part and the lower clamping part have the function of moving up and down; the bag clamping mechanism also comprises a bag clamping driving mechanism; the bag clamping driving mechanism is used for driving the upper supporting part to move up and down between the lower supporting part and the upper clamping part and also used for driving the lower clamping part to move up and down below the lower supporting part; when the upper supporting part moves downwards to be close to the lower supporting part, the upper supporting part is used for sleeving the convenient bag; the upper and lower clamping portions are adapted to clamp the upper and lower edges of the bag opening when the upper and lower support portions are moved upwardly.

6. The tight-fitting bagging apparatus of claim 5, wherein: a first bag clamping guide column is fixed on the lower clamping part, and the top end of the first bag clamping guide column penetrates through the bag clamping fixing frame and is fixed with a first clamping plate; a second bag clamping guide post is fixed on the upper supporting part, and the top end of the second bag clamping guide post penetrates through the bag clamping fixing frame and the first clamping plate and is fixed with a second clamping plate; the bag clamping driving mechanism is arranged on the bag clamping fixing frame; the upper and lower moving ends of the bag clamping driving mechanism are fixed with the first clamping plate; a limiting step is arranged at the position, below the first clamping plate, of the second bag clamping guide column, and a spring is sleeved at the position between the first clamping plate and the second clamping plate; the upper supporting part and the lower clamping part form a linkage structure through the first bag clamping guide column, the second bag clamping guide column, the limiting step, the first clamping plate, the second clamping plate and the spring.

7. A tight-fitting bagging apparatus according to any one of claims 1 to 6, wherein: the bagging equipment also comprises a feeding conveying channel, wherein the feeding conveying channel is connected with a first lower opening of the bagging guide groove and is used for conveying the articles to be bagged in a restrained state to the ejecting mechanism; the feeding conveying channel comprises a conveying mechanism at the bottom side and a guide cover above the conveying mechanism; the conveying mechanism and the guide cover maintain the constraint state of the articles to be bagged in the conveying process together; the conveying mechanisms are chain conveying mechanisms on the left side and the right side; the chain of the chain conveying mechanism is arranged in the chain track; a plurality of bearing plates are also arranged on the chain of each side chain conveying mechanism; the bearing plates of the chain conveying mechanisms on the two sides jointly form a bottom side conveying surface of the feeding conveying channel.

8. The tight-fitting bagging apparatus of claim 7, wherein: the guide cover is provided with at least one second upper opening; a feeding mechanism is arranged at the second upper opening; the feeding mechanism comprises a feeding guide groove, a lower opening of the feeding guide groove corresponds to the second upper opening, and a material pressing plate is arranged at an upper opening of the feeding guide groove; the feeding mechanism further comprises a material pressing driving mechanism and a yielding driving mechanism; the material pressing driving mechanism is arranged on the moving end of the abdicating driving mechanism; the pressing plate is arranged at the bottom side of the moving end of the pressing driving mechanism; the abdicating driving mechanism is used for driving the material pressing driving mechanism to move back and forth so as to drive the material pressing plate to move back and forth; the material pressing driving mechanism is used for driving the material pressing plate to move up and down; the left side and the right side of the lower opening of the feeding guide groove are also provided with movable bottom plates; the feeding mechanism also comprises a bottom plate driving mechanism, the bottom plate driving mechanism is used for driving the movable bottom plate to move towards the inner side of the feeding guide groove, and a bearing surface for placing the articles to be bagged in a restrained state is formed at the lower opening of the feeding guide groove; and the feeding guide groove is also used for moving towards the outer side of the feeding guide groove and providing a downward output channel for the objects to be bagged.

9. A tight-fitting bagging apparatus according to claim 5 or 6, wherein: the close-fitting bagging equipment also comprises a bag supply mechanism; the bag supply mechanism comprises a bag storage bin, a bag taking manipulator and a bag opening manipulator; the bag taking manipulator is provided with a bag taking end and is used for taking a bag at the bag storage bin and conveying the bag to the bag opening manipulator; the bag opening mechanical arm is provided with an upper bag holding end and a lower bag holding end, and the two bag holding ends have the functions of moving in opposite directions or moving away from each other; the bag opening manipulator is used for moving in opposite directions through the upper bag holding end and the lower bag holding end and holding the top side and the bottom side of the bag opening of the bag conveyed by the bag taking manipulator, and is also used for opening the bag opening of the bag through the movement of the upper bag holding end and the lower bag holding end in opposite directions; the bag opening mechanical arm is also used for sleeving the opened bag on the outer sides of the lower supporting part and the upper supporting part of the bag clamping mechanism.

10. The tight-fitting bagging apparatus of claim 9, wherein: the bag storage bin comprises a bin frame body; the bin frame body is provided with a lifting plate for bearing bags and storing the bags; the bag storage bin also comprises a bag storage lifting driving mechanism; the storage bag lifting plate is fixed on the moving end of the storage bag lifting driving mechanism, and the position, close to the top end, of the bin frame body is a bag taking position; the lifting driving mechanism is used for driving the bag storage lifting plate to enable the uppermost bag carried by the bag storage lifting plate to be positioned at the bag taking position; the bag taking manipulator further comprises a first transverse driving mechanism for driving the bag taking end to move between the bag storage bin and the bag opening manipulator; a vertical driving mechanism is fixed on the moving end of the first transverse driving mechanism; the bag taking end is fixed at the moving end at the bottom side of the vertical driving mechanism; the bag taking end is provided with a suction device for holding a bag; the bag opening mechanical arm further comprises a double-head driving mechanism; the bag holding end is fixed at the upper moving end and the lower moving end of the double-head driving mechanism, and a suction device for holding the bag is also arranged on the bag holding end; the bag opening mechanical arm further comprises a second transverse driving mechanism; the double-head driving mechanism is fixed at the moving end of the second transverse driving mechanism; and the second transverse driving mechanism is used for driving the bag holding end to move between the bag taking manipulator and the bag clamping mechanism.

Images