WO2023231952A1 - 打包袋搬运及收口装置 - Google Patents

打包袋搬运及收口装置 Download PDF

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Publication number
WO2023231952A1
WO2023231952A1 PCT/CN2023/096789 CN2023096789W WO2023231952A1 WO 2023231952 A1 WO2023231952 A1 WO 2023231952A1 CN 2023096789 W CN2023096789 W CN 2023096789W WO 2023231952 A1 WO2023231952 A1 WO 2023231952A1
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WO
WIPO (PCT)
Prior art keywords
closing
horizontal direction
bag
along
clamping jaw
Prior art date
Application number
PCT/CN2023/096789
Other languages
English (en)
French (fr)
Inventor
陈思锋
Original Assignee
顺丰科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 顺丰科技有限公司 filed Critical 顺丰科技有限公司
Publication of WO2023231952A1 publication Critical patent/WO2023231952A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B65B43/14—Feeding individual bags or carton blanks from piles or magazines
    • B65B43/16—Feeding individual bags or carton blanks from piles or magazines by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
    • B65B51/04—Applying separate sealing or securing members, e.g. clips
    • B65B51/08—Applying binding material, e.g. to twisted bag necks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details

Definitions

  • the present disclosure belongs to the field of packaging technology, and in particular relates to a device for transporting and closing packaging bags.
  • Embodiments of the present disclosure provide a bag handling and closing device to solve the problems of low operating efficiency and high labor intensity for operators in related technologies.
  • Embodiments of the present disclosure provide a packing bag transporting and closing device.
  • the packing bag transporting and closing device includes a frame, a bag storage mechanism, a support mechanism and a closing mechanism.
  • the frame is provided with storage bags along a first horizontal direction. area, a goods receiving area and a closing area, and the receiving area is located between the storage bag area and the closing area; the bag storage mechanism is provided in the bag storage area, and the bag storage mechanism is used to store empty items.
  • the support-taking mechanism is disposed on the frame movably along the first horizontal direction, and the support-taking mechanism is used to transport the packaging bag on the bag storage mechanism to the goods receiving area And open the mouth of the packing bag;
  • the closing mechanism is arranged in the closing area, and the closing mechanism is used to close the opening of the packing bag located in the receiving area.
  • the packing bag handling and closing device sets the bag storage area, the goods receiving area and the closing area on the frame along the first horizontal direction, so that the goods receiving area is located between the bag storage area and the closing area, and is located between the bag storage area and the closing area.
  • a bag storage mechanism is set up in the bag storage area to store empty packing bags.
  • a support mechanism is set up on the frame to transport the packing bags on the bag storage mechanism to the receiving area and open the mouth of the packing bag, and in the closing area
  • a closing mechanism is set up to close the mouth of the packing bag located in the receiving area, thereby enabling automatic handling, opening and closing of the packing bag, effectively improving operating efficiency and reducing the work intensity of the operator.
  • FIG. 1 is a schematic structural diagram of a bag handling and closing device provided by one of the embodiments of the present disclosure.
  • Figure 2 is a front view of the packaging bag conveying and closing device shown in Figure 1.
  • Figure 3 is a right view of the packaging bag conveying and closing device shown in Figure 1 .
  • Figure 4 is a schematic structural diagram of a bag mechanism provided by one of the embodiments of the present disclosure.
  • FIG. 5 is a partial enlarged view of position A in the bag mechanism shown in FIG. 4 .
  • FIG. 6 is a schematic structural diagram of a support-taking mechanism provided by one of the embodiments of the present disclosure.
  • FIG. 7 is a schematic structural diagram of the support mechanism shown in FIG. 6 from another perspective.
  • Figure 8 is a schematic structural diagram of a closing mechanism provided by one of the embodiments of the present disclosure.
  • Bag mechanism 210. Bag trolley; 211. Trolley frame; 212. Moving wheel; 220. Bag hanging component; 221. Hanging plate; 222. Baffle; 223. Elastic member; 224. First guide rod ; 225. Second guide rod; 230. Guide wheel;
  • Support mechanism 311. Transverse sliding table; 312. Transverse driving member; 321. Lifting slide table; 322. Lifting driving member; 331. First clamping claw; 332. Second clamping claw; 333. Third Clamp; 334, fourth clamp; 341, first connecting rod; 342, second connecting rod; 351, first driving member; 352, second driving member; 361, first synchronous belt; 362, second synchronous belt Belt; 363, first transmission shaft; 364, first guide rail; 371, lifting screw; 372, lifting movable parts; 373, lifting guide rail; 374, lifting slider; 381, traversing guide rail; 382, traversing slider ;
  • Closing mechanism 410. First closing rod; 411. First closing part; 412. Connecting part; 420. First closing driving member; 430. Second closing rod; 431. Second closing part; 432. Third gather part; 440. Second closing driving member; 450. Third closing driving member; 461. Base; 462. First moving base; 463. Second moving base; 471. First closing guide rail; 472. Second closing guide rail.
  • the embodiment of the present disclosure provides a device for transporting and closing a packing bag.
  • the device for transporting and closing a packing bag provided by an embodiment of the present disclosure includes a frame 100, a bag storage mechanism 200, and a support-taking mechanism 300. and the closing mechanism 400.
  • the frame 100 is provided with a bag storage area 110, a goods receiving area 120 and a closing area 130 along the first horizontal direction A.
  • the goods receiving area 120 is located between the bag storage area 110 and the closing area 130; the bag storage mechanism 200 Set in the bag storage area 110, the bag storage mechanism 200 is used to store empty packing bags 1 (for example, woven bags); the support mechanism 300 is disposed on the frame 100 movably along the first horizontal direction A, and the support mechanism 300 is used to Transport the packing bag 1 on the bag storage mechanism 200 to the receiving area 120 and open the mouth of the packing bag 1; the closing mechanism 400 is provided in the closing area 130, and the closing mechanism 400 is used to close the packing bag 1 located in the receiving area 120 bag mouth.
  • the bag storage mechanism 200 Set in the bag storage area 110, the bag storage mechanism 200 is used to store empty packing bags 1 (for example, woven bags);
  • the support mechanism 300 is disposed on the frame 100 movably along the first horizontal direction A, and the support mechanism 300 is used to Transport the packing bag 1 on the bag storage mechanism 200 to the receiving area 120 and open the mouth of the packing bag 1;
  • the closing mechanism 400 is provided in the closing area 130, and the closing mechanism 400
  • the packing bag handling and closing device sets the bag storage area 110, the goods receiving area 120 and the closing area 130 on the frame 100 along the first horizontal direction A, so that the goods receiving area 120 is located in the bag storage area 110 between the bag storage area 110 and the closing area 130, a bag storage mechanism 200 is provided in the bag storage area 110 for storing empty packing bags 1, and a support mechanism 300 is provided on the frame 100 for transporting the packing bags 1 on the bag storage mechanism 200 to
  • the receiving area 120 opens the mouth of the packing bag 1
  • a closing mechanism 400 is provided in the closing area 130 to close the mouth of the packing bag 1 located in the receiving area 120, thereby enabling automatic handling, opening and closing of the packing bags. 1. Effectively improve operating efficiency and reduce the work intensity of operators.
  • the bag storage area 110 and the closing area 130 can be arranged on the left and right sides of the goods receiving area 120 (for example, as shown in FIGS. 1 and 2 ), or the bag storage area 110 and the closing area 130 can also be arranged. They are respectively arranged on the right and left sides of the receiving area 120, and can be set according to actual needs.
  • the bag storage mechanism 200 includes a bag trolley 210 and a bag hanging assembly 220 for hanging the empty packing bag 1 .
  • the bag trolley 210 includes a trolley frame 211 and is disposed on The moving wheels 212 (such as universal wheels) at the bottom of the trolley frame 211, the two pairs of sides of the trolley frame 211
  • the hanging bag assembly 220 is symmetrically provided.
  • the operator does not need to enter the inside and there is no safety risk. Specifically, the operator hangs the packing bag 1 on the bag hanging assembly 220 in advance, and pushes the bag trolley 210 into the designated position of the bag area 110 in the rack 100 for use; When the packing bags 1 on the bag trolley 210 are used up, the operator only needs to push out the empty storage bag trolley 210 and replace it with the prepared storage bag trolley 210 filled with packing bags 1, thus realizing the operation in a very short time. Fill in the packing bag 1.
  • each bag storage trolley 210 there is no limit to the number of packing bags 1 stored on each bag storage trolley 210. Any number of hanging bag assemblies 220 can be set according to actual needs, and each pair of hanging bag assemblies 220 can be hung with one packing bag 1. For example, as shown in FIG. 1 , FIG. 2 and FIG. 4 , each bag storage trolley 210 is equipped with five pairs of bag hanging assemblies 220 , so one bag storage trolley 210 can hang five packing bags 1 .
  • the trolley frame 211 is provided with guide wheels 230 on both sides parallel to the traveling direction of the bag trolley 210.
  • the rotation axis of the guide wheel 230 is parallel to the vertical direction.
  • the frame 100 There is a guide groove matching the guide wheel 230.
  • the guide groove is located in the bag area 110 and extends along the second horizontal direction B.
  • the second horizontal direction B is perpendicular to the first horizontal direction A.
  • the guide wheel 230 can move along the guide groove. move.
  • the bag trolley 210 can be guided to the correct position in the frame 100, and it can also play a limiting role so that the bag trolley 210 can stably stay in the frame 100.
  • the correct position prevents the bag trolley 210 from deflecting, so that the support mechanism 300 can accurately grasp the packing bag 1 on the bag trolley 210.
  • the hanging bag assembly 220 includes a hanging plate 221, a baffle 222, an elastic member 223, and first and second guide rods 224 and 225.
  • the first guide rod 224 is vertical Passed through the side wall of the trolley frame 211, the two ends of the first guide rod 224 are respectively connected to the hanging plate 221 and the baffle 222, and the hanging plate 221 is located inside the trolley frame 211, and the baffle 222 is located on the inside of the trolley frame 211. Outside; the second guide rod 225 is parallel to the first guide rod 224.
  • One end of the second guide rod 225 is connected to the side wall of the trolley frame 211 (that is, the side wall where the first guide rod 224 penetrates).
  • the other end passes through the baffle 222, and the elastic member 223 is sleeved on the second guide rod 225 and is located between the baffle 222 and the side wall of the trolley frame 211 (ie, the side wall where the first guide rod 224 passes through).
  • the hanging plate 221 is used to hang the empty packing bag 1
  • the first guide rod 224 is used to provide a space for the movement of the hanging plate 221 and the baffle 222.
  • the second guide rod 225 is used to provide guidance for the telescopic movement of the elastic member 223 to improve the stability of the elastic member 223 during expansion;
  • the elastic member 223 can be Spring, sponge or other components that can produce elastic restoring force when compressed. Specifically, when it is necessary to hang the empty packing bag 1 on the hanging bag assembly 220, first fold the opening of the packing bag 1 outward, and then pull the hanging plate 221 toward the car frame along the axis of the first guide rod 224.
  • the baffle 222 will restore the elasticity of the elastic member 223 Under the action of force, the hanging plate 221 is driven to move toward the outside of the trolley frame 211 along the axis direction of the first guide rod 224, so that the hanging plate 221 and the inner side of the trolley frame 211 clamp the flange of the packing bag 1, thereby Complete the bag hanging operation.
  • the number of the first guide rods 224 may be one or more.
  • the number of the first guide rods 224 is two, and the second guide rods 225 are located between the two first guide rods. 224, by providing two or more first guide rods 224, the movement stability of the hanging plate 221 and the baffle 222 can be further improved.
  • the support retrieval mechanism 300 includes a traverse assembly, a lifting assembly, and a clamping jaw assembly.
  • the traverse assembly includes a traverse slide table 311 and a traverse drive member 312.
  • the traverse slide table 311 is movably disposed on the top of the frame 100, and the traverse drive member 312 is disposed on the frame 100. and can drive the transverse sliding table 311 to move along the first horizontal direction A;
  • the lifting assembly includes a lifting sliding table 321 and a lifting driving part 322.
  • the lifting sliding table 321 is elevatingly disposed on the transverse sliding table 311, and the lifting driving part 322 It is arranged on the traverse slide 311 and can drive the lifting slide 321 to rise and fall; the clamping claw assembly is arranged on the lifting slide 321 and is used to grab the packing bag 1 and open the mouth of the packing bag 1 .
  • the traversing driving member 312 By arranging the traversing driving member 312 to drive the traversing sliding table 311 to move along the first horizontal direction A, the lifting sliding table 321 and the clamping jaw assembly are driven to move between the bag storage area 110 and the receiving area 120 to transport packaging bags. 1;
  • the lifting driving member 322 By setting the lifting driving member 322 to drive the lifting slide 321 to rise and fall, the clamping jaw assembly can be driven to rise and fall to grab the packing bag 1 on the bag storage mechanism 200.
  • the traverse driving member 312 drives the traversing slide table 311 to drive the lifting slide table 321 and the clamping jaw assembly to move to the bag storage area 110 along the first horizontal direction A, and then
  • the lifting driving part 322 drives the lifting sliding table 321 to drive the clamping jaw assembly to descend together to grab the packing bag 1 on the bag storage mechanism 200.
  • the lifting driving part 322 drives the lifting sliding table 321 to drive The grabbing assembly rises, and then the transverse driving member 312 drives the transverse sliding table 311 to drive the lifting.
  • the slide table 321 and the clamping jaw assembly move to the receiving area 120 along the first horizontal direction A to transport the empty packing bag 1 to the receiving area 120. Finally, the clamping jaw assembly opens the mouth of the packing bag 1 for receiving the goods.
  • the support-taking mechanism 300 realizes automatic transportation and opening of the packing bag 1, improves the transportation speed of the packing bag 1, and reduces the labor intensity and labor cost of the operator.
  • the number of the traversing driving members 312 can be set to one or more. When multiple traversing driving members 312 are driven together, the driving force is stronger, thereby better ensuring the normal movement of the traversing slide table.
  • the number of the traversing driving members 312 is set to two.
  • the two traversing driving members 312 are arranged oppositely along the second horizontal direction B on the frame 100 .
  • the second horizontal direction B is perpendicular to First horizontal direction A.
  • the number of the lifting driving members 322 can be set to one or more. When multiple lifting driving members 322 are used to drive together, the driving force is stronger, thereby better ensuring the normal lifting of the lifting slide 321.
  • the number of the lifting driving members 322 is set to two, and the two lifting driving members 322 are arranged opposite to each other on the traverse sliding platform 311 .
  • the clamping jaw assembly includes a first clamping jaw 331 , a second clamping jaw 332 , a third clamping jaw 333 and a fourth clamping jaw 334 .
  • 331 and the second clamping jaw 332 are arranged along the first horizontal direction A
  • the third clamping jaw 333 and the fourth clamping jaw 334 are arranged along the first horizontal direction A
  • the first clamping jaw 331 and the third clamping jaw 333 are arranged along the second horizontal direction.
  • the support mechanism 300 also includes a driving assembly that can drive the first The clamping jaw 331 and the second clamping jaw 332 approach and move away from each other along the first horizontal direction A, drive the third clamping jaw 333 and the fourth clamping jaw 334 to approach and move away from each other along the first horizontal direction A, and drive the first clamping jaw 331 and the third clamping jaw 333 approach and move away from each other along the second horizontal direction B and drive the second clamping jaw 332 and the fourth clamping jaw 334 to approach and move away from each other along the second horizontal direction B, thereby realizing automatic expansion and packaging.
  • the bag mouth of the bag 1 and the bag mouth of the packing bag 1 are initially closed, thereby reducing the labor intensity of the operator.
  • first clamping jaw 331, the second clamping jaw 332, the third clamping jaw 333 and the fourth clamping jaw 334 clamp the four corners of the bag mouth of the packaging bag 1 respectively.
  • the two clamping jaws 332 are moved away from each other along the first horizontal direction A
  • the third clamping jaw 333 and the fourth clamping jaw 334 are driven away from each other along the first horizontal direction A
  • the first clamping jaw 331 and the third clamping jaw 333 are driven along the second horizontal direction A.
  • the mouth of the packing bag 1 can be opened; when the driving assembly drives the first clamping jaw 331 and the second clamping jaw 334 to move away from each other in the second horizontal direction B, Gripper 332
  • the third clamping jaw 333 and the fourth clamping jaw 334 are driven to approach each other along the first horizontal direction A, and the first clamping jaw 331 and the third clamping jaw 333 are driven to approach each other along the second horizontal direction B.
  • the mouth of the packaging bag 1 can be initially closed.
  • the driving assembly may include two driving parts, one of which can simultaneously drive the first clamping jaw 331 and the second clamping jaw 332 toward and away from each other along the first horizontal direction A and drive the third clamping jaw 333 through a linkage mechanism. and the fourth clamping jaw 334 are approaching and moving away from each other along the first horizontal direction A, and the other driving member can simultaneously drive the first clamping jaw 331 and the third clamping jaw 333 toward and away from each other along the second horizontal direction B through the linkage mechanism. and driving the second clamping jaw 332 and the fourth clamping jaw 334 to approach and move away from each other along the second horizontal direction B.
  • the driving assembly may include four driving members.
  • the first driving member can drive one of the first clamping jaw 331 and the second clamping jaw 332 toward or away from the other along the first horizontal direction A
  • the second driving member can drive one of the first clamping jaw 331 and the second clamping jaw 332 toward or away from the other along the first horizontal direction A
  • the first driving member can drive one of the third clamping jaw 333 and the fourth clamping jaw 334 toward or away from the other along the first horizontal direction A
  • the third driving member can drive the first clamping jaw 331 and the third clamping jaw 331
  • One of the two clamping jaws 333 is close to or away from the other along the second horizontal direction B
  • the fourth driving member can drive one of the second clamping jaw 332 and the fourth clamping jaw 334 along the second horizontal direction B.
  • the driving assembly may include eight driving parts, each clamping jaw corresponding to two driving parts, one of the two driving parts corresponding to each clamping jaw can drive the clamping jaw to reciprocate along the first horizontal direction A, and the other One can drive the clamping jaw to reciprocate in the second horizontal direction B.
  • the driving assembly includes a first driving member 351 and a second driving member 352 .
  • the support-taking mechanism 300 also includes a connecting rod assembly.
  • the connecting rod assembly includes two first connecting rods 341 and Two second connecting rods 342 and two first connecting rods 341 both extend along the first horizontal direction A, and both second connecting rods 342 extend along the second horizontal direction B.
  • One of the first connecting rods 341 is inserted through The first clamping jaw 331 and the second clamping jaw 332, another first connecting rod 341 passing through the third clamping jaw 333 and the fourth clamping claw 334, and one second connecting rod 342 passing through the first clamping claw 331 and the fourth clamping claw 334.
  • the third clamping jaw 333 and another second connecting rod 342 pass through the second clamping jaw 332 and the fourth clamping jaw 334; among them, the first driving member 351 can drive the two first connecting rods 341 along the second horizontal direction B Approach and move away from each other to simultaneously drive the first clamping jaw 331 and the third clamping jaw 333 to approach and move away from each other along the second horizontal direction B and drive the second clamping jaw 332 and the fourth clamping jaw 334 along the second horizontal direction B.
  • the second driving member 352 can drive the two second links 342 to approach and move away from each other along the first horizontal direction A to simultaneously drive
  • the first clamping jaw 331 and the second clamping jaw 332 are moved toward and away from each other along the first horizontal direction A and the third clamping jaw 333 and the fourth clamping jaw 334 are driven toward and away from each other along the first horizontal direction A, thereby realizing automatic Open the mouth of the packing bag 1 and initially close the mouth of the packing bag 1.
  • the support taking mechanism 300 also includes a first transmission assembly, which includes a first driving wheel, a first driven wheel, a second driven wheel, a third driven wheel, a first synchronous belt 361 and a second synchronous belt. 362.
  • the first driving wheel and the first driven wheel are arranged along the second horizontal direction B.
  • the first synchronous belt 361 is wound around the first driving wheel and the first driven wheel.
  • the second driven wheel and the third driven wheel are arranged along the second horizontal direction B.
  • the second synchronous belt 362 is wound around the second driven wheel and the third driven wheel.
  • the first driving member 351 can drive the first driving wheel to rotate.
  • the first driving wheel and the third driven wheel are arranged along the first horizontal direction.
  • the first driven wheel and the second driven wheel are arranged along the first horizontal direction A and connected through the first transmission shaft 363, and the two ends of a first connecting rod 341 are connected to the first driven wheel 341 and the second driven wheel respectively.
  • the upper section of a synchronous belt 361 and the upper section of the second synchronous belt 362 are respectively connected to the lower section of the first synchronous belt 361 and the lower section of the second synchronous belt 362 by two ends of another first link 341 .
  • the rotating first driving wheel when the first driving member 351 drives the first driving wheel to rotate, the rotating first driving wheel will drive the first driven wheel to rotate through the first synchronous belt 361, and drive the second driven wheel to rotate through the first transmission shaft 363.
  • the rotating second driven wheel will drive the third driven wheel to rotate through the second synchronous belt 362, so that the first synchronous belt 361 and the second synchronous belt 362 move along the second horizontal direction B at the same time; due to the two first connecting rods 341 One end of the two first connecting rods 341 is respectively connected to the upper section and the lower section of the first synchronous belt 361, and the other ends of the two first connecting rods 341 are respectively connected to the upper section and the lower section of the second synchronous belt 362.
  • the first driving member 351 can be a motor, and the output end of the motor is connected to the first driving wheel to drive the first driving wheel to rotate; both ends of each first connecting rod 341 can be connected through a first connecting member (such as a connecting plate). and/or connecting blocks) to connect the first synchronous belt 361 and the second synchronous belt 362 respectively.
  • the support-removing mechanism 300 also includes a second transmission assembly.
  • the second transmission assembly includes a second driving wheel, a fourth driven wheel, a fifth driven wheel, a sixth driven wheel, a third synchronous belt, and a fourth synchronous belt.
  • the second driving wheel and the fourth driven wheel are arranged along the first horizontal direction A.
  • the third synchronous belt is wound around the second driving wheel and the fourth driven wheel.
  • the fifth driven wheel and the sixth driven wheel are arranged along the first horizontal direction A.
  • the fourth is the same
  • the step belt is wound around the fifth driven wheel and the sixth driven wheel.
  • the second driving member 352 can drive the second driving wheel to rotate.
  • the second driving wheel and the sixth driven wheel are arranged along the second horizontal direction B and pass through the second transmission wheel.
  • the fourth driven wheel and the fifth driven wheel are arranged along the second horizontal direction B and connected through the second transmission shaft.
  • the two ends of a second connecting rod 342 are connected to the upper section of the third synchronous belt and the fourth synchronous belt respectively.
  • the upper section of the second connecting rod 342 has two ends connected to the lower section of the third synchronous belt and the lower section of the fourth synchronous belt respectively.
  • the sixth driven wheel will drive the fifth driven wheel to rotate through the fourth synchronous belt, so that the third synchronous belt and the fourth synchronous belt move along the first horizontal direction A at the same time; since one ends of the two second connecting rods 342 are respectively connected to the The upper and lower sections of the three synchronous belts and the other ends of the two second connecting rods 342 are respectively connected to the upper and lower sections of the fourth synchronous belt. Therefore, by controlling the forward or reverse rotation of the second driving wheel, it is possible to control the two second driving wheels.
  • the connecting rods 342 approach or move away from each other along the first horizontal direction A, thereby realizing the first clamping jaw 331 and the second clamping jaw 332 approaching or moving away from each other along the first horizontal direction A, and realizing the third clamping jaw 333 and the fourth clamping jaw 333 .
  • the claws 334 approach or move away from each other along the first horizontal direction A.
  • the second driving member 352 can be a motor, and the output end of the motor is connected to the second driving wheel to drive the second driving wheel to rotate; both ends of each second link 342 can be connected through a second connecting member (such as a connecting plate). and/or connecting blocks) to connect the third synchronous belt and the fourth synchronous belt respectively.
  • the support mechanism 300 further includes two first guide rails 364, two second guide rails, a first slide block and a second slide block.
  • the two first guide rails 364 are both along the first horizontal direction. A extends, two first slide blocks are slidably fitted on each first guide rail 364, two second guide rails extend along the second horizontal direction B, and two second slide blocks are slidably fitted on each second guide rail. blocks; the two ends of the first connecting rod 341 are respectively connected to the first slide blocks on the two first guide rails 364, and the two ends of the second connecting rod 342 are respectively connected to the second slide blocks on the two second guide rails.
  • the first guide rail 364 cooperates with the first slide block to play a guiding role, so that the first connecting rod 341 moves more smoothly in the second horizontal direction B; the second guide rail 364 cooperates with the second slide block to play a guiding role.
  • the effect of the second link 342 makes the second link 342 move more smoothly in the first horizontal direction A.
  • both ends of each first link 341 can be respectively connected to the first slide blocks on the two first guide rails 364 through a first connector (such as a connecting plate and/or connecting block), and each second link
  • Both ends of the rod 342 can be respectively connected to the second slide blocks on the two second guide rails through first connecting members (such as connecting plates and/or connecting blocks).
  • the support-taking mechanism 300 also includes a traversing transmission assembly, which includes a traversing driving wheel, a traversing driven wheel, and a traversing synchronous belt.
  • the traversing driving wheel and the traversing driven wheel rim Arranged in the first horizontal direction A, the traversing synchronous belt is wound around the traversing driving wheel and the traversing passive wheel.
  • the traversing sliding table 311 is connected to the traversing synchronous belt, and the traversing driving member 312 can drive the traversing driving wheel to rotate.
  • the traversing driving member 312 drives the traversing driving wheel to rotate, the rotating traversing driving wheel will drive the traversing driven wheel to rotate through the traversing synchronous belt, so that the traversing synchronous belt moves along the first horizontal direction A.
  • the platform 311 is connected to the traversing synchronous belt. Therefore, by controlling the forward or reverse rotation of the traversing driving wheel, the traversing synchronous belt can be controlled to drive the traversing sliding table 311 to reciprocate along the first horizontal direction A, so that the traversing sliding table 311 can Move from the bag storage area 110 to the receiving area 120 or move from the receiving area 120 to the bag storage area 110 .
  • the traversing driving member 312 can be a motor, and the output end of the motor is connected to the traversing driving wheel to drive the traversing driving wheel to rotate.
  • the support taking mechanism 300 also includes a traversing guide assembly, which includes a traversing guide rail 381 and a traversing slide block 382.
  • the traversing guide rail 381 is provided on the top of the frame 100 and extends along the first horizontal direction A
  • the traverse slide block 382 is slidably fitted on the traverse guide rail 381 and connected with the traverse slide table 311 .
  • the cooperation between the traverse guide rail 381 and the traverse slide block 382 can play a guiding role, making the traverse slide table 311 more stable when moving in the first horizontal direction A.
  • the number of transverse guide components can be set to one or more, which can be set according to actual needs. For example, as shown in the figure, the number of transverse guide components is set to two, and two transverse guides The components are arranged on two opposite sides of the top of the rack 100.
  • the support-taking mechanism 300 also includes a lifting transmission assembly.
  • the lifting transmission assembly includes a lifting screw 371 extending in the vertical direction and a lifting movable member 372 threadedly sleeved on the lifting screw 371 (i.e. The lifting movable part 372 is sleeved on the lifting screw 371 and threaded with the lifting screw 371), the lifting movable part 372 is connected to the lifting slide 321, and the lifting driving part 322 can drive the lifting screw 371 to rotate.
  • the lifting driver 322 drives the lifting screw 371 to rotate
  • the lifting movable part 372 threaded on the lifting screw 371 will move along the lifting screw 371.
  • the lifting movable part 372 Since the lifting slide 321 is connected to the lifting movable part 372, the lifting movable part 372 is controlled by The lifting screw 371 rotates forward or reverse to control the lifting movable part 372 to drive the lifting slide 321 to rise and fall in the vertical direction, so that the lifting slide 321 can drive the clamping jaw assembly to descend to grab the empty packaging bags on the storage mechanism. 1 and grab the empty packing bag 1 in the gripper assembly Then the clamping jaw assembly is driven up.
  • the lifting driving member 322 can be a motor, and the output end of the motor is connected to the lifting screw 371 to drive the lifting screw 371 to rotate.
  • the support-taking mechanism 300 also includes a lifting guide assembly.
  • the lifting guide assembly includes a lifting guide rail 373 and a lifting slide block 374.
  • the lifting guide rail 373 is provided on the transverse sliding table 311 and extends in the vertical direction.
  • the lifting slide block 374 slides. Fitted on the lifting guide rail 373 and connected with the lifting slide 321.
  • the cooperation between the lifting guide rail 373 and the lifting slide block 374 can play a guiding role, making the lifting slide 321 more stable when rising and falling in the vertical direction.
  • the lifting slide block 374 can be connected to the lifting slide table 321 through a third connection member (such as a connecting plate and/or connecting block), and the number of lifting guide components can be set to one or more, which can be set according to actual needs.
  • the number of lifting guide assemblies is set to four, and the four lifting guide assemblies are distributed at the four corners of the traversing slide table 311, and each lifting slide block 374 is connected through a third connecting member (such as Connecting plate and/or connecting block) connects the lifting slide 321.
  • a third connecting member such as Connecting plate and/or connecting block
  • the closing mechanism 400 includes a first closing rod assembly, a first closing driving member 420 , a second closing rod assembly, and a second closing driving member 440 .
  • the first closing driving member 420 can drive the first gathering rod assembly to move along the first horizontal direction A to gather the mouth of the packing bag 1 along the first horizontal direction A;
  • the second closing driving member 440 can drive the second gathering rod assembly along the second horizontal direction B moves to close the mouth of the packing bag 1 along the second horizontal direction B, and the second horizontal direction B is perpendicular to the first horizontal direction A.
  • the closing mechanism 400 sets the first closing rod assembly to close the opening of the packing bag 1 along the first horizontal direction A and the second closing assembly to close the opening of the packing bag 1 along the second horizontal direction B, thus achieving the goal of closing the bag by closing the opening.
  • the bag mouth of the packing bag 1 is closed in a tight manner.
  • the closing mechanism 400 has strong compatibility and can close the packing bag 1 in various postures, which can effectively improve the closing success rate.
  • the first gathering rod assembly includes at least two first gathering rods 410 arranged in the vertical direction, and the first gathering rod 410 includes a first gathering portion 411 extending along the second horizontal direction B. and the connecting portion 412 connected to the output end of the first closing drive member 420;
  • the second gathering rod assembly includes two groups of second gathering rods 430, the two groups of second gathering rods 430 are spaced apart along the second horizontal direction B, and each group of second gathering rods 430 includes at least two second gathering rods 430 arranged in the vertical direction.
  • the second gathering rod 430 includes a second gathering portion 431 extending along the second horizontal direction B and a third gathering portion 432 extending along the first horizontal direction A.
  • the third gathering part 432 is connected to the output end of the second closing driving member 440, the third gathering parts 432 of the two sets of second closing rods 430 are arranged oppositely, and the second closing driving part 440 can drive the two sets of second closing rods 430.
  • the gathering rods 430 approach and move away from each other along the second horizontal direction B, and the second gathering portion 431 and the first gathering portion 411 are spaced apart along the first horizontal direction A.
  • the above-mentioned first gathering rod assembly and the second gathering rod assembly have a simple structure.
  • the second closing assembly drives the two groups of second gathering rods 430 to approach each other along the second horizontal direction B, so that the third grouping of the two groups of second gathering rods 430 is
  • the parts 432 jointly clamp the mouth of the packing bag 1, so that the mouth of the packing bag 1 can be closed along the second horizontal direction B;
  • the first closing assembly drives the first closing rod assembly to approach the second closing along the first horizontal direction A.
  • the second gathering part 431 in the rod assembly allows the first gathering part 411 in the first gathering rod assembly and the second gathering part 431 in the second gathering rod assembly to jointly clamp the mouth of the packing bag 1, so that the bag opening along the The first horizontal direction A closes the mouth of the packing bag 1 .
  • the first gathering rod assembly and the second gathering rod assembly of the above structure have strong compatibility and can be used to collect the packing bags 1 in various postures, which can effectively improve the closing success rate.
  • the first closing driving member 420 may be a cylinder, an electric push rod or a linear motor.
  • the closing mechanism 400 further includes a third closing driving member 450 , and the third closing driving member 450 can drive the second closing rod assembly to move along the first horizontal direction A.
  • the third closing driving member 450 By providing the third closing driving member 450, it can be realized that while the first closing assembly drives the first gathering rod assembly to approach the second gathering portion 431 in the second gathering rod assembly along the first horizontal direction A, the third closing driving member 450 can The second gathering rod assembly is also driven to approach the first gathering part 411 in the first gathering rod assembly along the first horizontal direction A, so that the first gathering part 411 in the first gathering rod assembly is connected with the second gathering part 411 in the second gathering rod assembly.
  • the gathering portion 431 can jointly clamp the mouth of the packing bag 1 faster, and improve the efficiency of gathering the mouth of the packing bag 1 along the first horizontal direction A.
  • the closing mechanism 400 also includes a base 461, a first moving base 462 and two second moving bases 463.
  • the first moving base 462 and the third closing driving member 450 are both provided on the base 461.
  • the output end of the third closing driving member 450 is connected to the first moving base 462, and can drive the first moving base 462 to move along the first horizontal direction A; the second closing driving member 440 and the two second moving bases 463 are both arranged on the first moving base 462.
  • the second closing driving member 440 can drive two second moving bases 463 to approach and move away from each other along the second horizontal direction B.
  • Two sets of second closing rods 430 are respectively provided on the two second moving bases 463.
  • the first closing driving member 420 and the first closing rod assembly are arranged on one of the second moving bases 463.
  • the closing mechanism 400 also includes a first closing transmission assembly.
  • the first closing transmission assembly includes a closing driving wheel, a closing driven wheel, and a closing synchronous belt.
  • the closing driving wheel and the closing driven wheel move along the first level.
  • the closing synchronous belt is wound around the closing driving wheel and the closing driven wheel.
  • the third closing driving member 450 can drive the closing driving wheel to rotate, and the first moving base 462 is connected to the closing synchronous belt.
  • the third closing driving member 450 can be a motor, and the output end of the motor is connected to the closing driving wheel to drive the closing driving wheel to rotate.
  • the rotating closing driving wheel will drive the closing driven wheel to rotate through the closing synchronous belt, so that the closing synchronous belt moves along the first horizontal direction A. Since the first moving base 462 connects the closing Therefore, by controlling the closing driving wheel to rotate forward or reverse, the closing synchronous belt can be controlled to drive the first moving base 462 to reciprocate along the first horizontal direction A, so that the first gathering component and the second gathering component can move along the first horizontal direction A at the same time. A moves back and forth in a horizontal direction.
  • the closing mechanism 400 also includes a first closing guide assembly.
  • the first closing guide assembly includes a first closing guide rail 471 and a first closing slide block.
  • the first closing guide rail 471 extends along the first horizontal direction A on the base 461,
  • the first closing slider is slidably fitted on the first closing guide rail 471 , and the first closing slider is connected to the first moving base 462 .
  • the cooperation between the first closing guide rail 471 and the first closing slide block can play a guiding role, making the first moving base 462 more stable when moving in the first horizontal direction A.
  • the closing mechanism 400 also includes a second closing transmission assembly.
  • the second closing transmission assembly includes a closing screw extending along the second horizontal direction B and two closing movable parts (i.e., two closing movable parts) threadedly sleeved on the closing screw.
  • the two closing movable parts are set on the closing screw and threaded with the closing screw).
  • the threads of the two closing movable parts are in opposite directions.
  • the two closing movable parts are respectively connected to the two second moving seats 463.
  • the second closing drive Part 440 can drive the closing screw to rotate.
  • the second closing driving member 440 may be a motor, and the output end of the motor is connected to the closing screw to drive the closing screw to rotate.
  • the second closing driving member 440 drives the closing screw to rotate
  • the two closing movable parts threaded on the closing screw will move along the closing screw, because the two closing movable parts are respectively connected to the two second moving seats. 463. Therefore, by controlling the closing screw to rotate forward or reverse, the two closing movable parts can be controlled to move closer to or away from each other along the second horizontal direction B, so that the two second moving seats 463 can move toward each other along the second horizontal direction B. move closer or farther away from each other.
  • the closing mechanism 400 also includes a second closing guide assembly.
  • the second closing guide assembly includes a second closing guide rail 472 and a second closing slide block.
  • the second closing guide rail 472 is on the first moving base 462 along the second horizontal direction. B extends, the second closing slider slides and fits on the second closing guide rail 472, and the second closing slider is connected to the second moving base 463. Through the cooperation of the second closing guide rail 472 and the second closing slider, It can play a guiding role to make the second moving base 463 more stable when moving in the second horizontal direction B.
  • the operator hangs the empty packing bag 1 on the bag hanging assembly 220 of the bag trolley 210 in advance, and pushes the bag trolley 210 with the empty packing bag 1 hung into the designated position of the bag area 110 of the frame 100, and slides the bag laterally.
  • the platform 311 moves along the first horizontal direction A to above the bag trolley 210 in the bag storage area 110.
  • the lifting slide 321 drives the clamping jaw assembly to descend to grab the packing bag 1 on the bag trolley 210.
  • the lifting slide table 321 After grabbing the packing bag 1
  • the lifting slide table 321 then drives the clamping jaw assembly to rise, and the transverse sliding table 311 drives the lifting sliding table 321 and the clamping claw assembly to move along the first horizontal direction A to the top of the receiving area 120 to transport the packing bag 1 to the receiving area 120 ; Then the clamping jaw assembly opens the mouth of the packing bag 1 to receive the goods.
  • each jaw of the clamping jaw assembly moves to the middle of the transverse slide 311 to move the packing bag 1
  • the bag mouth is initially gathered; then the two sets of second gathering rods 430 approach each other along the second horizontal direction B to collect the bag mouth of the packing bag 1 along the second horizontal direction B, and finally the first moving seat 462 drives the second gathering rod assembly Move along the first horizontal direction A away from the receiving area 120 (that is, move toward the right side of FIG. 1 ), and at the same time, the first folding rod assembly moves along the first horizontal direction A toward the direction approaching the receiving area 120 (that is, toward the right side of FIG. 1 ). 1) to close the mouth of the packing bag 1 along the first horizontal direction A, thereby realizing the complete closing of the mouth of the packing bag 1, so that the packing bag 1 can be tightened in the subsequent process.
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more features.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)

Abstract

一种打包袋搬运及收口装置，包括机架（100）、储袋机构（200）、取撑机构（300）和收口机构（400），机架沿第一水平方向（A）设有储袋区（110）、接货区（120）和收口区（130），接货区位于储袋区与收口区之间，储袋机构设置在储袋区，用于存放空打包袋（1），取撑机构可沿第一水平方向移动地设置在机架上，用于将储袋机构上的打包袋搬运至接货区并撑开打包袋的袋口，收口机构设置在收口区，用于收拢位于接货区的打包袋袋口。该装置实现了自动搬运、撑开和收拢打包袋，提高了作业效率，并降低了操作人员的工作强度。

Description

打包袋搬运及收口装置
本公开要求于2022年5月31日提交中国专利局、申请号为202210615646.5、发明名称为“打包袋搬运及收口装置”的中国专利公开的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开属于打包技术领域，尤其涉及一种打包袋搬运及收口装置。
背景技术
目前的物流中转场内，经过分拣后的小件快递会分散在不同的格口，并收集在各个编织袋中，操作人员需在多个格口中往返，将空编织袋搬运至各格口并撑开编织袋，当编织袋装满后还需要手动用扎带将编织袋扎紧，这种人工操作方式的作业效率较低，并且需要花费大量的人力，导致人员工作强度大。
技术问题
本公开实施例提供一种打包袋搬运及收口装置，以解决相关技术存在的作业效率低且操作人员劳动强度大的问题。
技术解决方案
本公开实施例提供一种打包袋搬运及收口装置，所述打包袋搬运及收口装置包括机架、储袋机构、取撑机构和收口机构，所述机架沿第一水平方向设有储袋区、接货区和收口区，所述接货区位于所述储袋区与所述收口区之间；所述储袋机构设置在所述储袋区，所述储袋机构用于存放空打包袋；所述取撑机构可沿所述第一水平方向移动地设置在所述机架上，所述取撑机构用于将所述储袋机构上的打包袋搬运至所述接货区并撑开打包袋的袋口；所述收口机构设置在所述收口区，所述收口机构用于收拢位于所述接货区的打包袋袋口。
有益效果
本公开实施例提供的打包袋搬运及收口装置通过在机架上沿第一水平方向设置储袋区、接货区和收口区，使接货区位于储袋区与收口区之间，并在储袋区设置储袋机构用于存放空打包袋，在机架上设置取撑机构用于将储袋机构上的打包袋搬运至接货区并撑开打包袋的袋口，以及在收口区设置收口机构用于收拢位于接货区的打包袋袋口，从而能实现自动搬运、撑开和收拢打包袋，有效地提高了作业效率，并且降低了操作人员的工作强度。
附图说明
为了更清楚地说明本公开实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单的介绍。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对本领域技术人员来说，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
为了更完整地理解本公开及其有益效果，下面将结合附图来进行说明。其中，在下面的描述中相同的附图标号表示相同部分。
图1为本公开实施例其中之一提供的打包袋搬运及收口装置的结构示意图。
图2为图1所示的打包袋搬运及收口装置的主视图。
图3为图1所示的打包袋搬运及收口装置的右视图。
图4为本公开实施例其中之一提供的储袋机构的结构示意图。
图5为图4所示的储袋机构中A处的局部放大图。
图6为本公开实施例其中之一提供的取撑机构的结构示意图。
图7为图6所示取撑机构的另一视角的结构示意图。
图8为本公开实施例其中之一提供的收口机构的结构示意图。
附图标号说明：
1、打包袋；100、机架；110、储袋区；120、接货区；130、收口区；
200、储袋机构；210、储袋小车；211、小车机架；212、移动轮；220、挂袋组件；221、挂板；222、挡板；223、弹性件；224、第一导向杆；225、第二导向杆；230、导向轮；
300、取撑机构；311、横移滑台；312、横移驱动件；321、升降滑台；322、升降驱动件；331、第一夹爪；332、第二夹爪；333、第三夹爪；334、第四夹爪；341、第一连杆；342、第二连杆；351、第一驱动件；352、第二驱动件；361、第一同步带；362、第二同步带；363、第一传动轴；364、第一导轨；371、升降丝杠；372、升降活动件；373、升降导轨；374、升降滑块；381、横移导轨；382、横移滑块；
400、收口机构；410、第一收拢杆；411、第一收拢部；412、连接部；420、第一收口驱动件；430、第二收拢杆；431、第二收拢部；432、第三收拢部； 440、第二收口驱动件；450、第三收口驱动件；461、底座；462、第一移动座；463、第二移动座；471、第一收口导轨；472、第二收口导轨。
本公开的实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
本公开实施例提供了一种打包袋搬运及收口装置，如图1-图3所示，本公开实施例提供的打包袋搬运及收口装置包括机架100、储袋机构200、取撑机构300和收口机构400，机架100沿第一水平方向A设有储袋区110、接货区120和收口区130，接货区120位于储袋区110与收口区130之间；储袋机构200设置在储袋区110，储袋机构200用于存放空打包袋1(例如编织袋)；取撑机构300可沿第一水平方向A移动地设置在机架100上，取撑机构300用于将储袋机构200上的打包袋1搬运至接货区120并撑开打包袋1的袋口；收口机构400设置在收口区130，收口机构400用于收拢位于接货区120的打包袋1袋口。
本公开实施例提供的打包袋搬运及收口装置，通过在机架100上沿第一水平方向A设置储袋区110、接货区120和收口区130，使接货区120位于储袋区110与收口区130之间，并在储袋区110设置储袋机构200用于存放空打包袋1，在机架100上设置取撑机构300用于将储袋机构200上的打包袋1搬运至接货区120并撑开打包袋1的袋口，以及在收口区130设置收口机构400用于收拢位于接货区120的打包袋1袋口，从而能实现自动搬运、撑开和收拢打包袋1，有效地提高了作业效率，并且降低了操作人员的工作强度。
可选的，可以将储袋区110和收口区130分别布置在接货区120的左侧和右侧(例如图1和图2所示)，或者也可以将储袋区110和收口区130分别布置在接货区120的右侧和左侧，具体可根据实际需求进行设置。
在本公开的一些实施例中，如图4所示，储袋机构200包括储袋小车210和用于悬挂空打包袋1的挂袋组件220，储袋小车210包括小车机架211和设置在小车机架211底部的移动轮212(例如万向轮)，小车机架211的两对侧 对称设有挂袋组件220。通过将挂袋组件220设置在带有移动轮212的储袋小车210上，由于储袋小车210可分离出机架100外，因此可以用多台储袋小车210轮换使用的方式实现不停机补充打包袋1，并且挂袋操作在机架100外部即可完成，操作人员无需进入内部，无安全风险。具体的，操作人员事先将打包袋1挂在挂袋组件220上，并将储袋小车210推入机架100中的储袋区110指定位置，以供使用；当位于储袋区110的储袋小车210上的打包袋1用完时，操作人员只需将空的储袋小车210推出，换上提前准备好的挂满打包袋1的储袋小车210即可，实现在极短的时间内补充好打包袋1。
可选的，每辆储袋小车210上存放的打包袋1数量不限，具体可根据实际需求设置任意数量的挂袋组件220，每对挂袋组件220对应挂一个打包袋1。示例性的，结合图1、图2和图4所示，每辆储袋小车210上配置有五对挂袋组件220，因此一辆储袋小车210上可以挂五个打包袋1。
如图4所示，可选的，小车机架211平行于储袋小车210的行驶方向的两个侧面上均设有导向轮230，导向轮230的转动轴线平行于竖直方向，机架100上设有与导向轮230配合的导向槽，导向槽位于储袋区110内并沿第二水平方向B延伸，第二水平方向B垂直于第一水平方向A，导向轮230能沿着导向槽移动。通过导向槽与导向轮230的配合，能够将储袋小车210引导至机架100内的正确位置，同时也可以起到限定的作用，使储袋小车210能稳定地停留在机架100内的正确位置，防止储袋小车210偏移，以便取撑机构300准确抓取储袋小车210上的打包袋1。
如图5所示，在本公开的一些实施例中，挂袋组件220包括挂板221、挡板222、弹性件223和第一导向杆224和第二导向杆225，第一导向杆224垂直穿设于小车机架211的侧壁，第一导向杆224的两端分别连接挂板221和挡板222，且挂板221位于小车机架211的内侧，挡板222位于小车机架211的外侧；第二导向杆225平行于第一导向杆224，第二导向杆225的一端连接小车机架211的侧壁(即第一导向杆224穿设的侧壁)，第二导向杆225的另一端穿设于挡板222，弹性件223套设在第二导向杆225上并位于挡板222与小车机架211的侧壁(即第一导向杆224穿设的侧壁)之间。其中，挂板221用于悬挂空打包袋1，第一导向杆224用于为挂板221和挡板222的移动提供 导向，以提高挂板221和挡板222的运动稳定性；第二导向杆225用于为弹性件223的伸缩运动提供导向，以提高弹性件223的伸缩时的稳定性；弹性件223可以为弹簧、海绵或者其它被压缩时能产生弹性恢复力的部件。具体的，当需要将空打包袋1挂在挂袋组件220上时，先将打包袋1的袋口向外翻折，接着拉动挂板221沿第一导向杆224的轴线方向朝小车机架211的内侧移动，此时弹性件223被挡板222压缩，将打包袋1袋口的翻边挂在挂板221上，然后松开挂板221，挡板222将在弹性件223的弹性恢复力作用下带动挂板221沿第一导向杆224的轴线方向朝小车机架211的外侧移动，以使挂板221与小车机架211的内侧面夹住打包袋1袋口的翻边，从而完成挂袋操作。
可选的，第一导向杆224的数量可以为一个或两个以上，示例性的，如图所示，第一导向杆224设为两个，第二导向杆225位于两个第一导向杆224之间，通过设置两个以上的第一导向杆224可以进一步提高挂板221和挡板222的运动稳定性。
在本公开的一些实施例中，取撑机构300包括横移组件、升降组件和夹爪组件。如图6和图7所示，横移组件包括横移滑台311和横移驱动件312，横移滑台311可移动地设置在机架100顶部，横移驱动件312设置在机架100上并能驱动横移滑台311沿第一水平方向A移动；升降组件包括升降滑台321和升降驱动件322，升降滑台321可升降地设置在横移滑台311上，升降驱动件322设置在横移滑台311上并能驱动升降滑台321升降；夹爪组件设置在升降滑台321上，用于抓取打包袋1和撑开打包袋1的袋口。通过设置横移驱动件312驱动横移滑台311沿第一水平方向A移动，从而实现带动升降滑台321和夹爪组件在储袋区110与接货区120之间移动，以搬运打包袋1；通过设置升降驱动件322驱动升降滑台321升降，从而可实现带动夹爪组件升降，以抓取储袋机构200上的打包袋1。
具体的，当接货区120需要更换空打包袋1时，横移驱动件312驱动横移滑台311带动升降滑台321和夹爪组件沿第一水平方向A移动至储袋区110，接着升降驱动件322驱动升降滑台321带动夹爪组件一同下降以抓取储袋机构200上的打包袋1，待夹爪组件抓取到打包袋1后，升降驱动件322驱动升降滑台321带动抓取组件上升，然后横移驱动件312驱动横移滑台311带动升降 滑台321和夹爪组件沿第一水平方向A移动至接货区120，以将空打包袋1搬运至接货区120，最后夹爪组件撑开打包袋1的袋口以便接货，该取撑机构300实现了自动搬运和撑开打包袋1，提高了打包袋1的搬运速度，降低了操作人员的劳动强度和人力成本。
可选的，横移驱动件312的数量可以设置为一个或多个，采用多个横移驱动件312共同驱动时的驱动力更强，从而可以更好地保证横移滑台的正常移动。示例性的，如图3所示，横移驱动件312的数量设置为两个，两个横移驱动件312在机架100上沿第二水平方向B相对设置，第二水平方向B垂直于第一水平方向A。可选的，升降驱动件322的数量可以设置为一个或多个，采用多个升降驱动件322共同驱动时的驱动力更强，从而可以更好地保证升降滑台321的正常升降。示例性的，如图6和图7所示，升降驱动件322的数量设置为两个，两个升降驱动件322在横移滑台311上相对设置。
如图6和图7所示，在本公开的一些实施例中，夹爪组件包括第一夹爪331、第二夹爪332、第三夹爪333和第四夹爪334，第一夹爪331和第二夹爪332沿第一水平方向A排列，第三夹爪333和第四夹爪334沿第一水平方向A排列，第一夹爪331和第三夹爪333沿第二水平方向B排列，第二夹爪332和第四夹爪334沿第二水平方向B排列，第二水平方向B垂直于第一水平方向A；取撑机构300还包括驱动组件，驱动组件能驱动第一夹爪331和第二夹爪332沿第一水平方向A相互靠近和相互远离、驱动第三夹爪333和第四夹爪334沿第一水平方向A相互靠近和相互远离、驱动第一夹爪331和第三夹爪333沿第二水平方向B相互靠近和相互远离以及驱动第二夹爪332和第四夹爪334沿第二水平方向B相互靠近和相互远离，从而可实现自动撑开打包袋1的袋口和初步收拢打包袋1的袋口，由此可降低操作人员的劳动强度。
具体的，第一夹爪331、第二夹爪332、第三夹爪333和第四夹爪334分别夹紧打包袋1袋口的四个角，当驱动组件驱动第一夹爪331和第二夹爪332沿第一水平方向A相互远离、驱动第三夹爪333和第四夹爪334沿第一水平方向A相互远离、驱动第一夹爪331和第三夹爪333沿第二水平方向B相互远离以及驱动第二夹爪332和第四夹爪334沿第二水平方向B相互远离时，可实现撑开打包袋1的袋口；当驱动组件驱动第一夹爪331和第二夹爪332 沿第一水平方向A相互靠近、驱动第三夹爪333和第四夹爪334沿第一水平方向A相互靠近、驱动第一夹爪331和第三夹爪333沿第二水平方向B相互靠近以及驱动第二夹爪332和第四夹爪334沿第二水平方向B相互靠近时，可实现初步收拢打包袋1的袋口。
其中，驱动组件可包括两个驱动件，其中一个驱动件能通过联动机构同时驱动第一夹爪331和第二夹爪332沿第一水平方向A相互靠近和相互远离以及驱动第三夹爪333和第四夹爪334沿第一水平方向A相互靠近和相互远离，另一个驱动件能通过联动机构同时驱动第一夹爪331和第三夹爪333沿第二水平方向B相互靠近和相互远离以及驱动第二夹爪332和第四夹爪334沿第二水平方向B相互靠近和相互远离。或者，驱动组件可包括四个驱动件，第一个驱动件能驱动第一夹爪331和第二夹爪332两者中的一者沿第一水平方向A靠近或远离另一者，第二个驱动件能驱动第三夹爪333和第四夹爪334两者中的一者沿第一水平方向A靠近或远离另一者，第三个驱动件能驱动第一夹爪331和第三夹爪333两者中的一者沿第二水平方向B靠近或远离另一者，第四个驱动件能驱动第二夹爪332和第四夹爪334两者中的一者沿第二水平方向B靠近或远离另一者。又或者，驱动组件可包括八个驱动件，每个夹爪对应两个驱动件，每个夹爪对应的两个驱动件中的一个能驱动该夹爪沿第一水平方向A往复移动，另一个能驱动该夹爪沿第二水平方向B往复移动。
示例性的，如图6和图7所示，驱动组件包括第一驱动件351和第二驱动件352，取撑机构300还包括连杆组件，连杆组件包括两个第一连杆341和两个第二连杆342，两个第一连杆341均沿第一水平方向A延伸，两个第二连杆342均沿第二水平方向B延伸，其中一个第一连杆341穿设于第一夹爪331和第二夹爪332，另一个第一连杆341穿设于第三夹爪333和第四夹爪334，其中一个第二连杆342穿设于第一夹爪331和第三夹爪333，另一个第二连杆342穿设于第二夹爪332和第四夹爪334；其中，第一驱动件351能驱动两个第一连杆341沿第二水平方向B相互靠近和相互远离，以同时驱动第一夹爪331和第三夹爪333沿第二水平方向B相互靠近和相互远离以及驱动第二夹爪332和第四夹爪334沿第二水平方向B相互靠近和相互远离，第二驱动件352能驱动两个第二连杆342沿第一水平方向A相互靠近和相互远离，以同时驱动 第一夹爪331和第二夹爪332沿第一水平方向A相互靠近和相互远离以及驱动第三夹爪333和第四夹爪334沿第一水平方向A相互靠近和相互远离，从而实现自动撑开打包袋1的袋口和初步收拢打包袋1的袋口。
可选的，取撑机构300还包括第一传动组件，第一传动组件包括第一主动轮、第一从动轮、第二从动轮、第三从动轮、第一同步带361和第二同步带362，第一主动轮和第一从动轮沿第二水平方向B排列，第一同步带361绕设在第一主动轮和第一从动轮上，第二从动轮和第三从动轮沿第二水平方向B排列，第二同步带362绕设在第二从动轮和第三从动轮上，第一驱动件351能驱动第一主动轮转动，第一主动轮和第三从动轮沿第一水平方向A排列并通过第一传动轴363连接，第一从动轮和第二从动轮沿第一水平方向A排列并通过第一传动轴363连接，其中一个第一连杆341的两端分别连接第一同步带361的上段和第二同步带362的上段，另一个第一连杆341的两端分别连接第一同步带361的下段和第二同步带362的下段。
具体的，当第一驱动件351驱动第一主动轮转动时，转动的第一主动轮将通过第一同步带361带动第一从动轮转动，以及通过第一传动轴363带动第二从动轮转动，转动的第二从动轮将通过第二同步带362带动第三从动轮转动，使得第一同步带361与第二同步带362同时沿第二水平方向B移动；由于两个第一连杆341的一端分别连接第一同步带361的上段和下段，以及两个第一连杆341的另一端分别连接第二同步带362的上段和下段，因此通过控制第一主动轮正转或反转，可以实现控制两个第一连杆341沿第二水平方向B相互靠近或远离，进而实现第一夹爪331和第三夹爪333沿第二水平方向B相互靠近或远离以及实现第二夹爪332和第四夹爪334沿第二水平方向B相互靠近或远离。可选的，第一驱动件351可以为电机，电机的输出端连接第一主动轮以驱动第一主动轮转动；每个第一连杆341的两端可以通过第一连接件(例如连接板和/或连接块)分别连接第一同步带361和第二同步带362。
可选的，取撑机构300还包括第二传动组件，第二传动组件包括第二主动轮、第四从动轮、第五从动轮、第六从动轮、第三同步带和第四同步带，第二主动轮和第四从动轮沿第一水平方向A排列，第三同步带绕设在第二主动轮和第四从动轮上，第五从动轮和第六从动轮沿第一水平方向A排列，第四同 步带绕设在第五从动轮和第六从动轮上，第二驱动件352能驱动第二主动轮转动，第二主动轮和第六从动轮沿第二水平方向B排列并通过第二传动轴连接，第四从动轮和第五从动轮沿第二水平方向B排列并通过第二传动轴连接，其中一个第二连杆342的两端分别连接第三同步带的上段和第四同步带的上段，另一个第二连杆342的两端分别连接第三同步带的下段和第四同步带的下段。具体的，当第二驱动件352驱动第二主动轮转动时，转动的第二主动轮将通过第三同步带带动第四从动轮转动，以及通过第二传动轴带动第六从动轮转动，转动的第六从动轮将通过第四同步带带动第五从动轮转动，使得第三同步带与第四同步带同时沿第一水平方向A移动；由于两个第二连杆342的一端分别连接第三同步带的上段和下段，以及两个第二连杆342的另一端分别连接第四同步带的上段和下段，因此通过控制第二主动轮正转或反转，可以实现控制两个第二连杆342沿第一水平方向A相互靠近或相互远离，进而实现第一夹爪331和第二夹爪332沿第一水平方向A相互靠近或相互远离以及实现第三夹爪333和第四夹爪334沿第一水平方向A相互靠近或相互远离。可选的，第二驱动件352可以为电机，电机的输出端连接第二主动轮以驱动第二主动轮转动；每个第二连杆342的两端可以通过第二连接件(例如连接板和/或连接块)分别连接第三同步带和第四同步带。
在本公开的一些实施例中，取撑机构300还包括两个第一导轨364、两个第二导轨、第一滑块和第二滑块，两个第一导轨364均沿第一水平方向A延伸，每个第一导轨364上均滑动配合有两个第一滑块，两个第二导轨均沿第二水平方向B延伸，每个第二导轨上均滑动配合有两个第二滑块；第一连杆341的两端分别连接两个第一导轨364上的第一滑块，第二连杆342的两端分别连接两个第二导轨上的第二滑块。其中，第一导轨364与第一滑块配合可以起到导向的作用，使得第一连杆341在第二水平方向B上移动时更平稳；第二导轨与第二滑块配合可以起到导向的作用，使得第二连杆342在第一水平方向A上移动时更平稳。可选的，每个第一连杆341的两端可以通过第一连接件(例如连接板和/或连接块)分别连接两个第一导轨364上的第一滑块，每个第二连杆342的两端可以通过第一连接件(例如连接板和/或连接块)分别连接两个第二导轨上的第二滑块。
在本公开的一些实施例中，取撑机构300还包括横移传动组件，横移传动组件包括横移主动轮、横移被动轮和横移同步带，横移主动轮和横移被动轮沿第一水平方向A排列，横移同步带绕设在横移主动轮和横移被动轮上，横移滑台311连接横移同步带，横移驱动件312能驱动横移主动轮转动。当横移驱动件312驱动横移主动轮转动时，转动的横移主动轮将通过横移同步带带动横移被动轮转动，使得横移同步带沿第一水平方向A移动，由于横移滑台311连接横移同步带，因此通过控制横移主动轮正转或反转，可以实现控制横移同步带带动横移滑台311沿第一水平方向A往复移动，从而横移滑台311可以从储袋区110移动至接货区120或者从接货区120移动至储袋区110。可选的，横移驱动件312可以为电机，电机的输出端连接横移主动轮以驱动横移主动轮转动。
可选的，取撑机构300还包括横移导向组件，横移导向组件包括横移导轨381和横移滑块382，横移导轨381设置在机架100顶部并沿第一水平方向A延伸，横移滑块382滑动配合在横移导轨381上并与横移滑台311连接。通过横移导轨381和横移滑块382的配合，可以起到导向的作用，使得横移滑台311在第一水平方向A上移动时更平稳。可选的，横移导向组件的数量可以设置为一个或多个，具体可根据实际需求进行设置，示例性，如图所示，横移导向组件的数量设置为两个，两个横移导向组件分别设置在机架100顶部的两对侧。
在本公开的一些实施例中，取撑机构300还包括升降传动组件，升降传动组件包括沿竖直方向延伸的升降丝杠371和螺纹套设在升降丝杠371上的升降活动件372(即升降活动件372套设在升降丝杠371上并与升降丝杠371螺纹配合)，升降活动件372连接升降滑台321，升降驱动件322能驱动升降丝杠371转动。当升降驱动件322驱动升降丝杠371转动时，螺纹套设在升降丝杠371上的升降活动件372将沿着升降丝杠371移动，由于升降滑台321连接升降活动件372，因此通过控制升降丝杠371正转或反转，可以实现控制升降活动件372带动升降滑台321沿竖直方向升降，从而升降滑台321可以带动夹爪组件下降以抓取储物机构上的空打包袋1以及在夹爪组件抓取到空打包袋1 后带动夹爪组件上升。可选的，升降驱动件322可以为电机，电机的输出端连接升降丝杠371以驱动升降丝杠371转动。
可选的，取撑机构300还包括升降导向组件，升降导向组件包括升降导轨373和升降滑块374，升降导轨373设置在横移滑台311上并沿竖直方向延伸，升降滑块374滑动配合在升降导轨373上并与升降滑台321连接。通过升降导轨373和升降滑块374的配合，可以起到导向的作用，使得升降滑台321在竖直方向上升降时更平稳。可选的，升降滑块374可以通过第三连接件(例如连接板和/或连接块)连接升降滑台321，升降导向组件的数量可以设置为一个或多个，具体可根据实际需求进行设置，示例性，如图所示，升降导向组件的数量设置为四个，四个升降导向组件分布在横移滑台311的四个角，每个升降滑块374均通过第三连接件(例如连接板和/或连接块)连接升降滑台321。
在本公开的一些实施例中，如图8所示，收口机构400包括第一收拢杆组件、第一收口驱动件420、第二收拢杆组件和第二收口驱动件440，第一收口驱动件420能驱动第一收拢杆组件沿第一水平方向A移动，以将打包袋1的袋口沿第一水平方向A收拢；第二收口驱动件440能驱动第二收拢杆组件沿第二水平方向B移动，以将打包袋1的袋口沿第二水平方向B收拢，第二水平方向B垂直于第一水平方向A。收口机构400通过设置第一收拢杆组件将打包袋1的袋口沿第一水平方向A收拢以及设置第二收拢组件将打包袋1的袋口沿第二水平方向B收拢，实现了通过收拢抱紧的方式将打包袋1的袋口收拢，该收口机构400的兼容性强，对各种姿态的打包袋1均能收拢，可有效提高收口成功率。
可选的，如图8所示，第一收拢杆组件包括沿竖直方向排列的至少两个第一收拢杆410，第一收拢杆410包括沿第二水平方向B延伸的第一收拢部411和连接第一收口驱动件420输出端的连接部412；第二收拢杆组件包括两组第二收拢杆430，两组第二收拢杆430沿第二水平方向B间隔设置，每组第二收拢杆430包括沿竖直方向排列的至少两个第二收拢杆430，第二收拢杆430包括沿第二水平方向B延伸的第二收拢部431和沿第一水平方向A延伸的第三收拢部432，第三收拢部432连接第二收口驱动件440的输出端，两组第二收拢杆430的第三收拢部432相向设置，第二收口驱动件440能驱动两组第二收 拢杆430沿第二水平方向B相互靠近和相互远离，第二收拢部431与第一收拢部411沿第一水平方向A间隔设置。上述第一收拢杆组件和第二收拢杆组件的结构简单，通过第二收口组件驱动两组第二收拢杆430沿第二水平方向B相互靠近，使两组第二收拢杆430的第三收拢部432共同夹紧打包袋1的袋口，即可实现沿第二水平方向B收拢打包袋1的袋口；通过第一收口组件驱动第一收拢杆组件沿第一水平方向A靠近第二收拢杆组件中的第二收拢部431，使第一收拢杆组件中的第一收拢部411与第二收拢杆组件中的第二收拢部431共同夹紧打包袋1的袋口，即可实现沿第一水平方向A收拢打包袋1的袋口。上述结构的第一收拢杆组件和第二收拢杆组件兼容性强，对各种姿态的打包袋1均能收拢，可有效提高收口成功率。其中，第一收口驱动件420可以为气缸、电动推杆或者直线电机。
在本公开的一些实施例中，如图8所示，收口机构400还包括第三收口驱动件450，第三收口驱动件450能驱动第二收拢杆组件沿第一水平方向A移动。通过设置第三收口驱动件450，可以实现在第一收口组件驱动第一收拢杆组件沿第一水平方向A靠近第二收拢杆组件中的第二收拢部431的同时，第三收口驱动件450也驱动第二收拢杆组件沿第一水平方向A靠近第一收拢杆组件中的第一收拢部411，从而第一收拢杆组件中的第一收拢部411与第二收拢杆组件中的第二收拢部431可以更快地共同夹紧打包袋1袋口，提高沿第一水平方向A收拢打包袋1袋口的效率。
在本公开的一些实施例中，收口机构400还包括底座461、第一移动座462和两个第二移动座463，第一移动座462和第三收口驱动件450均设置在底座461上，第三收口驱动件450的输出端连接第一移动座462，并能驱动第一移动座462沿第一水平方向A移动；第二收口驱动件440和两个第二移动座463均设置在第一移动座462上，第二收口驱动件440能驱动两个第二移动座463沿第二水平方向B相互靠近和相互远离，两组第二收拢杆430分别设置在两个第二移动座463上，第一收口驱动件420和第一收拢杆组件设置在其中一个第二移动座463上。
可选的，收口机构400还包括第一收口传动组件，第一收口传动组件包括收口主动轮、收口被动轮和收口同步带，收口主动轮和收口被动轮沿第一水平 方向A排列，收口同步带绕设在收口主动轮和收口被动轮上，第三收口驱动件450能驱动收口主动轮转动，第一移动座462连接收口同步带。可选的，第三收口驱动件450可以为电机，电机的输出端连接收口主动轮以驱动收口主动轮转动。当第三收口驱动件450驱动收口主动轮转动时，转动的收口主动轮将通过收口同步带带动收口被动轮转动，使得收口同步带沿第一水平方向A移动，由于第一移动座462连接收口同步带，因此通过控制收口主动轮正转或反转，可以实现控制收口同步带带动第一移动座462沿第一水平方向A往复移动，从而第一收拢组件和第二收拢组件可以同时沿第一水平方向A往复移动。
可选的，收口机构400还包括第一收口导向组件，第一收口导向组件包括第一收口导轨471和第一收口滑块，第一收口导轨471在底座461上沿第一水平方向A延伸，第一收口滑块滑动配合在第一收口导轨471上，第一收口滑块连接第一移动座462。通过第一收口导轨471和第一收口滑块的配合，可以起到导向的作用，使得第一移动座462在第一水平方向A上移动时更平稳。
可选的，收口机构400还包括第二收口传动组件，第二收口传动组件包括沿第二水平方向B延伸的收口丝杠和螺纹套设在收口丝杠上的两个收口活动件(即两个收口活动件套设在收口丝杠上并与收口丝杠螺纹配合)，两个收口活动件的螺纹旋向相反，两个收口活动件分别连接两个第二移动座463，第二收口驱动件440能驱动收口丝杠转动。可选的，第二收口驱动件440可以为电机，电机的输出端连接收口丝杠以驱动收口丝杠转动。当第二收口驱动件440驱动收口丝杠转动时，螺纹套设在收口丝杠上的两个收口活动件将沿着收口丝杠移动，由于两个收口活动件分别连接两个第二移动座463，因此通过控制收口丝杠正转或反转，可以实现控制两个收口活动件沿第二水平方向B相互靠近或相互远离，从而实现两个第二移动座463沿第二水平方向B相互靠近或相互远离。
可选的，收口机构400还包括第二收口导向组件，第二收口导向组件包括第二收口导轨472和第二收口滑块，第二收口导轨472在第一移动座462上沿第二水平方向B延伸，第二收口滑块滑动配合在第二收口导轨472上，第二收口滑块连接第二移动座463。通过第二收口导轨472和第二收口滑块的配合， 可以起到导向的作用，使得第二移动座463在第二水平方向B上移动时更平稳。
请一同参阅图1-图8，本公开实施例提供的打包袋搬运及收口装置的工作原理如下：
操作人员事先将空打包袋1挂在储袋小车210的挂袋组件220上，并将挂好空打包袋1的储袋小车210推入机架100的储袋区110指定位置，横移滑台311沿第一水平方向A移动至储袋区110的储袋小车210上方，升降滑台321带动夹爪组件下降以抓取储袋小车210上的打包袋1，抓取到打包袋1后升降滑台321再带动夹爪组件上升，横移滑台311带动升降滑台321和夹爪组件沿第一水平方向A移动至接货区120上方，以将打包袋1搬运至接货区120；接着夹爪组件撑开打包袋1的袋口，以便进行接货，当打包袋1装满货物时，夹爪组件的各个夹爪均向横移滑台311的中部移动以将打包袋1的袋口初步收拢；然后两组第二收拢杆430沿第二水平方向B相互靠近以将打包袋1的袋口沿第二水平方向B收拢，最后第一移动座462带动第二收拢杆组件沿第一水平方向A朝远离接货区120的方向移动(即朝图1的右边移动)，同时第一收拢杆组件沿第一水平方向A朝靠近接货区120的方向移动(即朝图1的左边移动)，以将打包袋1的袋口沿第一水平方向A收拢，由此实现打包袋1袋口的完全收拢，以便后续工序扎紧打包袋1。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本公开的描述中，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个特征。
以上对本公开实施例所提供的打包袋搬运及收口装置进行了详细介绍，本文中应用了具体个例对本公开的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本公开的方法及其核心思想；同时，对于本领域的技术人员，依据本公开的思想，在具体实施方式及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本公开的限制。

Claims (19)

  1. 一种打包袋搬运及收口装置，其中，包括：
    机架(100)，所述机架(100)沿第一水平方向设有储袋区(110)、接货区(120)和收口区(130)，所述接货区(120)位于所述储袋区(110)与所述收口区(130)之间；
    储袋机构(200)，所述储袋机构(200)设置在所述储袋区(110)，所述储袋机构(200)用于存放空打包袋(1)；
    取撑机构(300)，所述取撑机构(300)可沿所述第一水平方向移动地设置在所述机架(100)上，所述取撑机构(300)用于将所述储袋机构(200)上的打包袋(1)搬运至所述接货区(120)并撑开打包袋(1)的袋口；
    收口机构(400)，所述收口机构(400)设置在所述收口区(130)，所述收口机构(400)用于收拢位于所述接货区(120)的打包袋(1)袋口。
  2. 根据权利要求1所述的打包袋搬运及收口装置，其中，所述收口机构(400)包括：
    第一收拢杆组件和第一收口驱动件(420)，所述第一收口驱动件(420)能驱动所述第一收拢杆组件沿所述第一水平方向移动，以将打包袋(1)的袋口沿所述第一水平方向收拢；
    第二收拢杆组件和第二收口驱动件(440)，所述第二收口驱动件(440)能驱动所述第二收拢杆组件沿第二水平方向移动，以将打包袋(1)的袋口沿所述第二水平方向收拢，所述第二水平方向垂直于所述第一水平方向。
  3. 根据权利要求2所述的打包袋搬运及收口装置，其中，所述第一收拢杆组件包括沿竖直方向排列的至少两个第一收拢杆(410)，所述第一收拢杆(410)包括沿所述第二水平方向延伸的第一收拢部(411)和连接所述第一收口驱动件(420)输出端的连接部(412)；
    所述第二收拢杆组件包括两组第二收拢杆(430)，两组所述第二收拢杆(430)沿所述第二水平方向间隔设置，每组所述第二收拢杆(430)包括沿竖直方向排列的至少两个第二收拢杆(430)，所述第二收拢杆(430)包括沿所述第二水平方向延伸的第二收拢部(431)和沿所述第一水平方向延伸的第三收拢部(432)，所述第三收拢部(432)连接所述第二收口驱动件(440)的输出端，两组所述第二收拢杆(430)的所述第三收拢部(432)相向设置，所述第二收口驱动件(440)能驱动 两组所述第二收拢杆(430)沿所述第二水平方向相互靠近和相互远离，所述第二收拢部(431)与所述第一收拢部(411)沿所述第一水平方向间隔设置。
  4. 根据权利要求3所述的打包袋搬运及收口装置，其中，所述收口机构(400)还包括第三收口驱动件(450)，所述第三收口驱动件(450)能驱动所述第二收拢杆组件沿所述第一水平方向移动。
  5. 根据权利要求4所述的打包袋搬运及收口装置，其中，所述收口机构(400)还包括：
    底座(461)；
    第一移动座(462)，所述第一移动座(462)和所述第三收口驱动件(450)均设置在所述底座(461)上，所述第三收口驱动件(450)的输出端连接所述第一移动座(462)，并能驱动所述第一移动座(462)沿所述第一水平方向移动；
    两个第二移动座(463)，所述第二收口驱动件(440)和两个所述第二移动座(463)均设置在所述第一移动座(462)上，所述第二收口驱动件(440)能驱动两个所述第二移动座(463)沿所述第二水平方向相互靠近和相互远离，两组所述第二收拢杆(430)分别设置在两个所述第二移动座(463)上，所述第一收口驱动件(420)和所述第一收拢杆组件设置在其中一个所述第二移动座(463)上。
  6. 根据权利要求5所述的打包袋搬运及收口装置，其中，所述收口机构(400)还包括第一收口传动组件和/或第二收口传动组件，所述第一收口传动组件包括收口主动轮、收口被动轮和收口同步带，所述收口主动轮和所述收口被动轮沿所述第一水平方向排列，所述收口同步带绕设在所述收口主动轮和所述收口被动轮上，所述第三收口驱动件(450)能驱动所述收口主动轮转动，所述第一移动座(462)连接所述收口同步带；
    所述第二收口传动组件包括沿所述第二水平方向延伸的收口丝杠和螺纹套设在所述收口丝杠上的两个收口活动件，两个所述收口活动件的螺纹旋向相反，两个所述收口活动件分别连接两个所述第二移动座(463)，所述第二收口驱动件(440)能驱动所述收口丝杠转动。
  7. 根据权利要求5所述的打包袋搬运及收口装置，其中，所述收口机构(400)还包括第一收口导向组件和/或第二收口导向组件，所述第一收口导向组件包括第一收口导轨(471)和第一收口滑块，所述第一收口导轨(471)在所述底座 (461)上沿所述第一水平方向延伸，所述第一收口滑块滑动配合在所述第一收口导轨(471)上，所述第一收口滑块连接所述第一移动座(462)；
    所述第二收口导向组件包括第二收口导轨(472)和第二收口滑块，所述第二收口导轨(472)在所述第一移动座(462)上沿所述第二水平方向延伸，所述第二收口滑块滑动配合在所述第二收口导轨(472)上，所述第二收口滑块连接所述第二移动座(463)。
  8. 根据权利要求6所述的打包袋搬运及收口装置，其中，所述收口机构(400)还包括第一收口导向组件和/或第二收口导向组件，所述第一收口导向组件包括第一收口导轨(471)和第一收口滑块，所述第一收口导轨(471)在所述底座(461)上沿所述第一水平方向延伸，所述第一收口滑块滑动配合在所述第一收口导轨(471)上，所述第一收口滑块连接所述第一移动座(462)；
    所述第二收口导向组件包括第二收口导轨(472)和第二收口滑块，所述第二收口导轨(472)在所述第一移动座(462)上沿所述第二水平方向延伸，所述第二收口滑块滑动配合在所述第二收口导轨(472)上，所述第二收口滑块连接所述第二移动座(463)。
  9. 根据权利要求1所述的打包袋搬运及收口装置，其中，所述取撑机构(300)包括：
    横移组件，所述横移组件包括横移滑台(311)和横移驱动件(312)，所述横移滑台(311)可移动地设置在所述机架(100)顶部，所述横移驱动件(312)设置在所述机架(100)上并能驱动所述横移滑台(311)沿所述第一水平方向移动；
    升降组件，所述升降组件包括升降滑台(321)和升降驱动件(322)，所述升降滑台(321)可升降地设置在所述横移滑台(311)上，所述升降驱动件(322)设置在所述横移滑台(311)上并能驱动所述升降滑台(321)升降；
    夹爪组件，所述夹爪组件设置在所述升降滑台(321)上，用于抓取打包袋(1)和撑开打包袋(1)的袋口。
  10. 根据权利要求9所述的打包袋搬运及收口装置，其中，所述夹爪组件包括第一夹爪(331)、第二夹爪(332)、第三夹爪(333)和第四夹爪(334)，所述第一夹爪(331)和所述第二夹爪(332)沿所述第一水平方向排列，所述第三夹爪(333)和所述第四夹爪(334)沿所述第一水平方向排列，所述第一夹爪(331)和所 述第三夹爪(333)沿第二水平方向排列，所述第二夹爪(332)和所述第四夹爪(334)沿所述第二水平方向排列，所述第二水平方向垂直于所述第一水平方向；
    所述取撑机构(300)还包括驱动组件，所述驱动组件能驱动所述第一夹爪(331)和所述第二夹爪(332)沿所述第一水平方向相互靠近和相互远离、驱动所述第三夹爪(333)和所述第四夹爪(334)沿所述第一水平方向相互靠近和相互远离、驱动所述第一夹爪(331)和所述第三夹爪(333)沿所述第二水平方向相互靠近和相互远离以及驱动所述第二夹爪(332)和所述第四夹爪(334)沿所述第二水平方向相互靠近和相互远离。
  11. 根据权利要求10所述的打包袋搬运及收口装置，其中，所述取撑机构(300)还包括连杆组件，所述连杆组件包括两个第一连杆(341)和两个第二连杆(342)，两个所述第一连杆(341)均沿所述第一水平方向延伸，两个所述第二连杆(342)均沿所述第二水平方向延伸，其中一个所述第一连杆(341)穿设于所述第一夹爪(331)和第二夹爪(332)，另一个所述第一连杆(341)穿设于所述第三夹爪(333)和第四夹爪(334)，其中一个所述第二连杆(342)穿设于所述第一夹爪(331)和所述第三夹爪(333)，另一个所述第二连杆(342)穿设于所述第二夹爪(332)和所述第四夹爪(334)；
    所述驱动组件包括第一驱动件(351)和第二驱动件(352)，所述第一驱动件(351)能驱动两个所述第一连杆(341)沿所述第二水平方向相互靠近和相互远离，所述第二驱动件(352)能驱动两个所述第二连杆(342)沿所述第一水平方向相互靠近和相互远离。
  12. 根据权利要求11所述的打包袋搬运及收口装置，其中，所述取撑机构(300)还包括第一传动组件和/或第二传动组件，所述第一传动组件包括第一主动轮、第一从动轮、第二从动轮、第三从动轮、第一同步带(361)和第二同步带(362)，所述第一主动轮和所述第一从动轮沿所述第二水平方向排列，所述第一同步带(361)绕设在所述第一主动轮和所述第一从动轮上，所述第二从动轮和所述第三从动轮沿所述第二水平方向排列，所述第二同步带(362)绕设在所述第二从动轮和所述第三从动轮上，所述第一驱动件(351)能驱动所述第一主动轮转动，所述第一主动轮和所述第三从动轮沿所述第一水平方向排列并通过第一传动轴(363)连接，所述第一从动轮和所述第二从动轮沿所述第一水平 方向排列并通过第一传动轴(363)连接，其中一个所述第一连杆(341)的两端分别连接所述第一同步带(361)的上段和所述第二同步带(362)的上段，另一个所述第一连杆(341)的两端分别连接所述第一同步带(361)的下段和所述第二同步带(362)的下段；
    所述第二传动组件包括第二主动轮、第四从动轮、第五从动轮、第六从动轮、第三同步带和第四同步带，所述第二主动轮和所述第四从动轮沿所述第一水平方向排列，所述第三同步带绕设在所述第二主动轮和所述第四从动轮上，所述第五从动轮和所述第六从动轮沿所述第一水平方向排列，所述第四同步带绕设在所述第五从动轮和所述第六从动轮上，所述第二驱动件(352)能驱动所述第二主动轮转动，所述第二主动轮和所述第六从动轮沿所述第二水平方向排列并通过第二传动轴连接，所述第四从动轮和所述第五从动轮沿所述第二水平方向排列并通过第二传动轴连接，其中一个所述第二连杆(342)的两端分别连接所述第三同步带的上段和所述第四同步带的上段，另一个所述第二连杆(342)的两端分别连接所述第三同步带的下段和所述第四同步带的下段。
  13. 根据权利要求11所述的打包袋搬运及收口装置，其中，所述取撑机构(300)还包括两个第一导轨(364)、两个第二导轨、第一滑块和第二滑块，两个所述第一导轨(364)均沿所述第一水平方向延伸，每个所述第一导轨(364)上均滑动配合有两个所述第一滑块，两个所述第二导轨均沿所述第二水平方向延伸，每个所述第二导轨上均滑动配合有两个所述第二滑块；
    所述第一连杆(341)的两端分别连接两个所述第一导轨(364)上的所述第一滑块，所述第二连杆(342)的两端分别连接两个所述第二导轨上的所述第二滑块。
  14. 根据权利要求12所述的打包袋搬运及收口装置，其中，所述取撑机构(300)还包括两个第一导轨(364)、两个第二导轨、第一滑块和第二滑块，两个所述第一导轨(364)均沿所述第一水平方向延伸，每个所述第一导轨(364)上均滑动配合有两个所述第一滑块，两个所述第二导轨均沿所述第二水平方向延伸，每个所述第二导轨上均滑动配合有两个所述第二滑块；
    所述第一连杆(341)的两端分别连接两个所述第一导轨(364)上的所述第一滑块，所述第二连杆(342)的两端分别连接两个所述第二导轨上的所述第二滑块。
  15. 根据权利要求9所述的打包袋搬运及收口装置，其中，所述取撑机构(300)还包括横移传动组件和/或升降传动组件，所述横移传动组件包括横移主动轮、横移被动轮和横移同步带，所述横移主动轮和所述横移被动轮沿所述第一水平方向排列，所述横移同步带绕设在所述横移主动轮和所述横移被动轮上，所述横移滑台(311)连接所述横移同步带，所述横移驱动件(312)能驱动所述横移主动轮转动；
    所述升降传动组件包括沿竖直方向延伸的升降丝杠(371)和螺纹套设在所述升降丝杠(371)上的升降活动件(372)，所述升降活动件(372)连接所述升降滑台(321)，所述升降驱动件(322)能驱动所述升降丝杠(371)转动。
  16. 根据权利要求9所述的打包袋搬运及收口装置，其中，所述取撑机构(300)还包括横移导向组件和/或升降导向组件，所述横移导向组件包括横移导轨(381)和横移滑块(382)，所述横移导轨(381)设置在所述机架(100)顶部并沿所述第一水平方向延伸，所述横移滑块(382)滑动配合在所述横移导轨(381)上并与所述横移滑台(311)连接；
    所述升降导向组件包括升降导轨(373)和升降滑块(374)，所述升降导轨(373)设置在所述横移滑台(311)上并沿竖直方向延伸，所述升降滑块(374)滑动配合在所述升降导轨(373)上并与所述升降滑台(321)连接。
  17. 根据权利要求1所述的打包袋搬运及收口装置，其中，所述储袋机构(200)包括储袋小车(210)和用于悬挂空打包袋(1)的挂袋组件(220)，所述储袋小车(210)包括小车机架(211)和设置在所述小车机架(211)底部的移动轮(212)，所述小车机架(211)的两对侧对称设有所述挂袋组件(220)。
  18. 根据权利要求17所述的打包袋搬运及收口装置，其中，所述小车机架(211)平行于所述储袋小车(210)行驶方向的两个侧面上均设有导向轮(230)，所述导向轮(230)的转动轴线平行于竖直方向；所述机架(100)上设有与所述导向轮(230)配合的导向槽，所述导向槽位于所述储袋区(110)内并沿第二水平方向 延伸，所述第二水平方向垂直于所述第一水平方向，所述导向轮(230)能沿着所述导向槽移动。
  19. 根据权利要求17所述的打包袋搬运及收口装置，其中，所述挂袋组件(220)包括挂板(221)、挡板(222)、弹性件(223)、第一导向杆(224)和第二导向杆(225)，所述第一导向杆(224)垂直穿设于所述小车机架(211)的侧壁，所述第一导向杆(224)的两端分别连接所述挂板(221)和所述挡板(222)，且所述挂板(221)和所述挡板(222)分别位于所述小车机架(211)的内侧和外侧；
    所述第二导向杆(225)平行于所述第一导向杆(224)，所述第二导向杆(225)的一端连接所述侧壁，所述第二导向杆(225)的另一端穿设于所述挡板(222)，所述弹性件(223)套设在所述第二导向杆(225)上并位于所述侧壁与所述挡板(222)之间。
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