A packing bag auxiliary stacking device

Abstract

This invention discloses an auxiliary stacking device for packaging bags, relating to the technical field of packaging bag stacking equipment. It includes a robotic arm for turning and handling packaging bags, a programming system that coordinates with the robotic arm, and a robotic gripper located at the output end of the robotic arm. The robotic gripper includes an aluminum alloy fixed rail, two clamping plates, and a driving component. The two clamping plates are symmetrically arranged along the long side of the aluminum alloy fixed rail. The driving component drives the clamping plates to move relative to each other. Limiting strips are provided on the clamping plates; one end of the limiting strip is fixedly connected to the clamping plate, and the other end is folded downwards and inwards to form an arc-shaped protective area. This invention achieves the effects of preventing sharp corners from scratching the packaging and conforming to the bag's contour to enhance limiting.

Description

Technical Field

[0001] This invention relates to the technical field of packaging bag stacking equipment, and in particular to an auxiliary packaging bag stacking equipment. Background Technology

[0002] Non-dairy creamer is a common food additive, primarily used as a substitute for creamer. It has a similar texture and taste to dairy products and is widely used in beverages such as coffee and milk tea. In its production, non-dairy creamer needs to be processed into powder and then packaged in bags for storage and transportation. Because non-dairy creamer powder bags are typically small and produced in large quantities, specialized equipment is required for efficient and safe storage and transportation.

[0003] Currently, packaging bag stacking equipment is a key automation device at the back end of the production line in industries such as chemicals, food, and building materials. Its core consists of a robotic arm, a control unit, and an end effector. It is used to replace manual labor in picking, turning, handling, and accurately stacking bagged products, and improves stacking efficiency, neatness, and production safety through standardized actions.

[0004] In existing technologies, the end effectors of stacking equipment mostly adopt a structure of multiple parallel metal limit bars or insert plates. During operation, the robotic arm moves above the packaging bag, inserts the limit bars into the gap between adjacent packaging bags, and then grasps the bag through mechanical clamping or direct lifting. The robotic arm then transfers the bag to the designated position to complete the stacking. This structure is widely used in traditional stacking scenarios due to its simple design and low cost.

[0005] However, the existing gripping metal limit strips have a narrow cross section and sharp edges, which can easily scratch or puncture the packaging bag during insertion into gaps or clamping, leading to material leakage, product loss, and environmental pollution. Summary of the Invention

[0006] This application provides a packaging bag stacking auxiliary device that achieves the effects of avoiding sharp corners from scratching the packaging and conforming to the bag's outline to enhance positioning.

[0007] This application provides a packaging bag auxiliary stacking device, which adopts the following technical solution: A packaging bag stacking auxiliary device includes a robotic arm for turning and handling packaging bags, a programming system that coordinates with the robotic arm, and a robotic gripper located at the output end of the robotic arm. The robotic gripper includes an aluminum alloy fixed rail, two clamping plates, and a driving component. The aluminum alloy fixed rail has two clamping plates symmetrically arranged along its long side. The driving component drives the clamping plates to move relative to each other. Limiting strips are provided on the clamping plates. One end of the limiting strip is fixedly connected to the clamping plate, and the other end is folded downward and inward to form an arc-shaped protective area.

[0008] Preferably, the driving component includes an electric telescopic rod and an L-shaped rod. The middle part of the electric telescopic rod is rotatably connected to the aluminum alloy fixed rail, and the middle part of the L-shaped rod is rotatably connected to the fixing block at the bottom of the aluminum alloy fixed rail. The output end of the electric telescopic rod is hinged to the L-shaped rod, and one end of the L-shaped rod is fixedly connected to the clamping plate.

[0009] Preferably, the limiting strip has an L-shaped structure, and the limiting strip is fixed to the surface of the clamping plate at equal intervals along the long side of the clamping plate.

[0010] Preferably, a negative pressure port is provided on the upper surface of the horizontal long side of the limiting strip, and a circular silicone ring is provided at the negative pressure port.

[0011] Preferably, a negative pressure pump is provided on the clamp, and the negative pressure pump is connected to the negative pressure channel inside the limiting strip through a pipe, and the negative pressure channel is connected to the negative pressure port.

[0012] Preferably, the clamping plate is provided with a blower, and the inner surface of the longitudinal short side of the limiting strip is provided with a dust removal port. The blower is connected to the dust removal port through an exhaust pipe.

[0013] Preferably, a cleaning assembly is provided in the middle of the aluminum alloy fixed rail. The cleaning assembly includes a positioning plate, an arc-shaped guide groove, a chain, a sprocket, and a cleaning wheel. The positioning plate has an up-and-down lifting structure. The arc-shaped guide groove is provided on the lower surface of the positioning plate. The chain is engaged in the arc-shaped guide groove. The sprocket is fixedly connected to the chain and drives the cleaning wheel to slide along the arc-shaped path. The surface of the cleaning wheel is provided with hook-shaped bristles.

[0014] Preferably, the cleaning assembly further includes a filter screen, which is snapped into a slot in the positioning plate and covers the cleaning path of the cleaning wheel.

[0015] Preferably, an intermediate component is provided between the driving component and the cleaning assembly. The intermediate component includes a rotating rod, a guide rail, and a slider. One end of the rotating rod is hinged to the limiting strip of the clamping plate, and the other end of the rotating rod is rotatably connected to the slider in the guide rail through a strip hole in the rotating rod. The slider drives the positioning plate of the cleaning assembly to rise and fall.

[0016] Preferably, the middle part of the rotating rod of the intermediate component is hinged to the mounting block fixed to the aluminum alloy fixed rail, and the positioning plate is fixedly connected to the bottom of the slider through a connecting shaft.

[0017] In summary, this application has the following beneficial effects: 1. To address the issues of sharp metal limiting strips easily damaging packaging and the difficulty in balancing clamping force and damage prevention, and to further optimize the protective and adaptability functions of the mechanical gripper, this invention also incorporates an L-shaped limiting strip. One end of the strip is fixed to the clamping plate, while the other end is folded downwards and inwards 180° to form an arc-shaped protective area. This design effectively prevents sharp corners from scratching the packaging, conforms to the bag's contour, and enhances the limiting effect. Simultaneously, the flat structure increases the contact area, disperses the clamping force, and adapts to packaging bags with different filling levels, thus solving the adaptation problem of rigid gripping.

[0018] 2. To address the issue of slippage caused by insufficient clamping force in a single clamping mechanism, and to further optimize gripping stability, this invention also incorporates a negative pressure pump, a negative pressure channel within the limiting strip, and a negative pressure port. A circular silicone ring is provided at the negative pressure port to achieve a dual fixation effect of "clamping + adsorption." The silicone ring enhances both the negative pressure sealing performance and surface friction, adapting to gripping requirements under complex working conditions. Simultaneously, the flexible material cushions and reduces pressure, preventing indentations on the bag.

[0019] 3. To address the issue of dust accumulation on the surface of packaging bags affecting stacking neatness and adsorption effect, and to further optimize the multi-functionality of the equipment, this invention also includes a blower, an exhaust pipe, and a dust removal port on the inner surface of the longitudinal short side of the limiting strip. This allows for simultaneous gripping and dust removal, directional blowing of dust and slight moisture from the edges and corners of the bag, preventing dust from clogging the negative pressure port or wearing down the silicone ring. It also assists in the rapid positioning of the packaging bag and improves gripping accuracy.

[0020] 3. To address the issue of sharp stones on the surface of packaging bags easily puncturing the packaging and to further optimize stacking safety, this invention also includes a cleaning component with hook-shaped brush cleaning wheels and an intermediate component connecting the drive component and the cleaning component. This achieves the effect of simultaneous clamping and transporting while cleaning the stones. The intermediate component, through the linkage of a rotating rod and a slider, drives the cleaning component to adaptively lift and fit the bag body. The hook-shaped brush precisely removes sharp impurities, and the filter screen intercepts debris, thus avoiding the risk of packaging damage from the source. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the packaging bag auxiliary stacking equipment in this embodiment; Figure 2 This is a schematic diagram of the internal structure of the mechanical claw in this embodiment; Figure 3 This is a schematic diagram of the internal structure of the middleware in this embodiment; Figure 4 This is a schematic diagram of the internal structure of the cleaning component in this embodiment; Figure 5 This is a schematic diagram of the overall structure of the middleware in this embodiment; Figure 6This is a schematic diagram of the overall structure in the clamping state of this embodiment; Explanation of reference numerals in the attached drawings: 1. Robotic arm; 2. Robotic gripper; 21. Aluminum alloy fixed rail; 22. Clamping plate; 23. Drive component; 231. Electric telescopic rod; 232. Fixing block; 233. L-shaped rod; 234. Rotating shaft; 235. Connecting block; 24. Limiting strip; 25. Negative pressure port; 26. Silicone ring; 27. Negative pressure pump; 28. Blower; 29. ​​Dust removal port; 3. Cleaning assembly; 31. Positioning plate; 32. Guide groove; 33. Cleaning wheel; 34. Brush bristles; 35. Filter screen; 4. Intermediate component; 41. Rotating rod; 42. Guide rail; 43. Mounting block; 44. Strip hole; 45. Limiting shaft; 46. Slider; 47. Connecting shaft. Detailed Implementation

[0022] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content. Example

[0023] This invention discloses a packaging bag auxiliary stacking device, such as... Figure 1 As shown, the device includes a robotic arm 1 for turning and transporting packaging bags, a programming system that works in conjunction with the robotic arm 1, and a robotic gripper 2 located at the output end of the robotic arm 1. Notably, the robotic gripper 2 is used to grasp the packaging bags.

[0024] like Figure 2 and Figure 3As shown, specifically, the mechanical gripper 2 includes an aluminum alloy fixed rail 21 and two clamping plates 22. The aluminum alloy fixed rail 21 is symmetrically provided with a driving component 23 for driving the relative movement of the two clamping plates 22. The output end of the driving component 23 is connected to the clamping plate 22. Several limit strips 24 are provided on the clamping plate 22. The steering and handling robot 1 undertakes the displacement and steering functions of the packaging bag, and can adjust the placement angle and conveying path of the packaging bag according to the stacking requirements. The programming system, as the "brain" of the equipment, pre-enters stacking parameters, gripping force and other instructions to realize the coordinated matching of the robot 1 and the mechanical gripper 2, ensuring smooth and precise control of the action. The mechanical gripper 2, as the core component for grasping, operates based on the cooperation of an aluminum alloy fixed rail 21 and symmetrical drive components 23. The drive components 23 are symmetrically arranged along the long side of the fixed rail, synchronously driving two clamping plates 22 to move closer or further apart. When the packaging bag is conveyed to the designated position, the drive components 23 cause the clamping plates 22 to close. Several limiting strips 24 on the clamping plates 22 increase the friction with the surface of the packaging bag, while simultaneously limiting the displacement of the packaging bag, achieving stable grasping and preventing slippage or offset during the grasping process. This lays the foundation for subsequent precise stacking. The entire device, through the combination of mechanical structure and program control, replaces manual labor in repetitive actions such as grasping, turning, and stacking, significantly improving stacking efficiency and standardization.

[0025] like Figure 2 and Figure 3 As shown, further, the driving component 23 includes an electric telescopic rod 231 rotatably disposed between its middle portion and the aluminum alloy fixed rail 21, and a fixing block 232 fixed to the bottom of the aluminum alloy fixed rail 21. An L-shaped rod 233 is disposed on the fixing block 232, and the middle portion of the L-shaped rod 233 is rotatably disposed between it and the fixing block 232 via a rotating shaft 234. A connecting block 235 is disposed on the L-shaped rod 233, and the output end of the electric telescopic rod 231 is hinged to the connecting block 235. One end of the L-shaped rod 233 is fixedly connected to a clamping plate 22. When the electric telescopic rod 231... When the robot receives instructions from the programming system to perform telescopic movements, its output end drives the connecting block 235 to move through a hinge. The connecting block 235 drives the L-shaped rod 233 to rotate around the rotating shaft 234. Since one end of the L-shaped rod 233 is fixedly connected to the clamping plate 22, the rotating L-shaped rod 233 will drive the clamping plate 22 to move relatively closer or further away along the aluminum alloy fixed rail 21, ultimately realizing the opening and closing of the clamping plate 22. Together with the limit strip 24 on the clamping plate 22, it completes the gripping and releasing of the packaging bag. The entire power transmission process is coherent and controllable, and is adapted to the turning and handling rhythm of the robot 1.

[0026] like Figure 2 and Figure 3As shown, the structure of the fixed block 232 and the L-shaped rod 233 can precisely limit the movement trajectory of the clamping plate 22, prevent the clamping plate 22 from shifting, ensure that the two clamping plates 22 always move symmetrically, improve the stability of gripping, and prevent the packaging bag from slipping.

[0027] like Figure 2 and Figure 3 As shown, the limiting strip 24 has an L-shaped structure and is fixed at equal intervals along the long side of the clamping plate 22. The limiting strip 24 has a flat structure with a width of 7-8 cm. One end of the limiting strip 24 is fixedly connected to the clamping plate 22, and the other end of the limiting strip 24 is folded downward and inward by 180° to form an arc-shaped protective area.

[0028] like Figure 2 and Figure 3 As shown, the limiting strip 24 adopts an L-shaped structure and is fixed at equal intervals along the long side of the clamping plate 22, ensuring that the limiting strip 24 can act evenly on the surface of the packaging bag when the clamping plate 22 opens and closes. Its flat width of 7-8 cm increases the contact area with the packaging bag, improving friction, while preventing excessive local pressure from damaging the packaging bag. One end of the limiting strip 24 is fixedly connected to the clamping plate 22, providing stable support for gripping, while the other end is folded downwards and inwards 180° to form an arc-shaped protective area. This prevents the sharp edges of the limiting strip 24 from scratching the packaging bag and conforms to the contours of the packaging bag's edges. When the driving component 23 drives the clamping plate 22 to close, the evenly spaced flat limiting strips 24 simultaneously adhere to the packaging bag, using friction to firmly lock the packaging bag in place. The arc-shaped protective area wraps around the edges of the packaging bag, preventing it from slipping off the edges during gripping. Combined with the clamping force of the clamping plate 22, this achieves the core objectives of "uniform force distribution, stable gripping, and gentle protection," adapting to the gripping needs of packaging bags of different sizes.

[0029] like Figure 2 and Figure 3 As shown, the 180° arc-shaped protective area not only prevents scratches but also conforms to the corners of the packaging bag to form a slight "wrapping-like restraint." Even if the packaging bag surface is smooth or slightly damp, it can prevent side slippage during gripping, significantly improving the success rate of gripping. In addition, the evenly spaced flat structure can evenly distribute the clamping force of the clamping plate 22 onto multiple restraining strips 24, avoiding excessive local pressure that could cause the packaging bag to deform or break. This is especially suitable for loosely filled and easily deformable packaging bags.

[0030] like Figure 3As shown, the upper surface of the long side of the limiting strip 24 in the horizontal direction is provided with several negative pressure ports 25, and a circular silicone ring 26 is provided at the negative pressure port 25. Specifically, the several negative pressure ports 25 provided on the upper surface of the long side of the limiting strip 24 in the horizontal direction can quickly generate negative pressure suction after the mechanical claw 2 clamping plate 22 closes and the limiting strip 24 adheres to the packaging bag, so as to firmly adsorb the packaging bag onto the surface of the limiting strip 24, forming a double fixation of "clamping + adsorption". The circular silicone ring 26 mimics the structural characteristics of an octopus's tentacles, combining flexibility and anti-slip properties. Its circular design can fit the edge of the negative pressure port 25, enhancing the negative pressure sealing effect and preventing air leakage that could lead to adsorption failure. At the same time, the flexible texture on the surface of the silicone ring 26 can significantly increase the friction with the surface of the packaging bag. Combined with the negative pressure adsorption force, it solves the problem of slipping off smooth or slightly damp packaging bags. It complements the aforementioned arc-shaped protective area and evenly spaced layout, ensuring that the packaging bag does not shift, break, or slip during the gripping process, thus meeting the turning, handling, and precise stacking requirements of the robotic arm 1.

[0031] like Figure 3 As shown, the flexible nature of the silicone ring 26 allows it to adapt to packaging bag surfaces with varying flatness. Even if the packaging bag has slight unevenness due to uneven filling, the silicone ring 26 can conform to its contour, eliminating gaps with negative pressure adsorption and preventing packaging bag deformation caused by uneven local force. This is especially suitable for loosely filled packaging bags. In addition, the circular silicone ring 26 can act as a buffer, reducing the instantaneous impact force during negative pressure adsorption, while preventing the negative pressure port 25 from directly contacting the packaging bag, preventing excessive negative pressure from leaving indentations on the packaging bag surface, protecting the integrity of the packaging bag's appearance, and making it suitable for product packaging with high appearance requirements.

[0032] like Figure 3 As shown, a negative pressure pump 27 is further installed on the clamping plate 22. The output end of the negative pressure pump 27 is connected to a pipe. The pipe passes through the negative pressure channel in the limiting strip 24 and connects to the negative pressure port 25, forming a negative pressure area in the inner ring of the silicone ring 26. The negative pressure pump 27 integrated on the clamping plate 22 serves as the power source for generating negative pressure and can flexibly adjust the output negative pressure according to the instructions of the programming system. When the negative pressure pump 27 is started, it delivers negative pressure to the negative pressure port 25 through the pipe and negative pressure channel. The ring-shaped structure of the silicone ring 26 can seal the edge of the negative pressure port 25, forming an independent negative pressure area inside it. This, together with the clamping force of the clamping plate 22, the friction of the silicone ring 26, and the arc-shaped protection of the limiting strip 24, forms a quadruple fixation, completely solving the problem of packaging bag slippage and displacement during grasping. At the same time, in conjunction with the actions of the drive component 23 and the robot arm 1, it achieves precise coordination of grasping, transfer, and stacking, ensuring the continuity of the entire equipment operation.

[0033] like Figure 3As shown, a blower 28 is provided on the clamping plate 22, and a dust removal port 29 is provided on the inner surface of the short side of the limiting strip 24 in the longitudinal direction. The air outlet of the blower 28 and the dust removal port 29 are connected by an exhaust pipe. Specifically, the blower 28 provided on the clamping plate 22 serves as an airflow power source and is activated according to the instructions of the programming system to generate a stable and gentle airflow. The air outlet of the blower 28 is connected to the dust removal port 29 through the exhaust pipe to form a sealed airflow transmission channel, ensuring that the airflow is leak-free and the transmission is efficient. The dust removal port 29 is located on the inner surface of the short side in the longitudinal direction of the limiting strip 24. This position corresponds exactly to the corner area of ​​the packaging bag when the mechanical claw 2 grips it. This is a place where dust easily accumulates and is not easily reached by conventional cleaning methods. When the airflow is delivered to the dust removal port 29 through the exhaust pipe, it will be sprayed out directionally from the inside to the outside, accurately blowing away the dust on the surface and corners of the packaging bag, realizing "synchronous gripping and dust removal". This not only avoids dust from affecting the cleanliness of subsequent stacking, but also prevents dust from adhering to the surface of the silicone ring 26 and the negative pressure port 25, ensuring the stability of negative pressure adsorption and gripping, and is highly consistent with the overall collaborative logic of the equipment.

[0034] like Figure 3 As shown, the dust removal port 29 is located on the inner surface of the longitudinal short side of the limiting strip 24, without occupying the gripping contact area. This does not affect the frictional fixation of the silicone ring 26 or the adsorption effect of the negative pressure port 25. Furthermore, the limiting strip 24's shielding effect prevents airflow from blowing dust into the equipment's interior or surrounding environment, keeping the work area clean. Moreover, the gentle airflow generated by the blower 28 assists in positioning the packaging bag. When the airflow impacts the corners of the packaging bag, it pushes the bag to quickly conform to the arc-shaped protective area and flat surface of the limiting strip 24, preventing the bag from shifting during gripping, further improving gripping accuracy and reducing the need for correction steps during stacking.

[0035] like Figure 3 As shown, the airflow can also remove slight moisture from the surface of the packaging bag, preventing moisture from causing dust to adhere more easily and avoiding moisture affecting the friction of the silicone ring 26 and the adsorption and sealing of the negative pressure port 25, thus indirectly improving gripping stability. This is especially suitable for packaging bags in humid environments or those prone to moisture. Finally, the dust removal structure can also serve as a simple maintenance feature for the equipment itself. When a small amount of dust adheres to the surface of the silicone ring 26 and the negative pressure port 25, the blower 28 can continuously supply air to clean the impurities, reducing the frequency of manual disassembly and cleaning, lowering maintenance costs, and preventing equipment failures caused by dust accumulation, thereby extending the service life of the silicone ring 26, the negative pressure port 25, and the blower 28.

[0036] like Figure 3As shown, a cleaning component 3, which can be raised and lowered, is installed on the lower middle surface of the aluminum alloy fixed rail 21 to remove sharp stones from the surface of the packaging bags. This component removes any remaining sharp stones from the packaging bags, preventing them from puncturing the bags during subsequent stacking. In addition to its basic function of removing sharp stones and preventing punctures, the cleaning component 3, with its adjustable height, can accommodate packaging bags of different thicknesses and filling levels. When lowering, the application force can be flexibly controlled according to the bag thickness, ensuring thorough removal of stones while avoiding excessive pressure that could deform or damage the bags. It is particularly suitable for loosely filled, thin packaging bags. Furthermore, the cleaning component 3 is mounted on the aluminum alloy fixed rail 21, requiring no additional equipment space. The stability of the fixed rail ensures smooth operation during cleaning, preventing stones from scattering or incomplete cleaning, and does not affect the normal operation of components such as the negative pressure pump 27 and the blower 28.

[0037] like Figure 3 and Figure 4 As shown, the cleaning component 3 includes a positioning plate 31 with an arc-shaped structure. When the positioning plate 31 of the cleaning component 3 moves downward, its curvature perfectly matches the upper surface of the packaging bag, which can not only fit the packaging bag tightly, but also avoid damage to the bag caused by rigid contact. The fitting design of the arc-shaped positioning plate 31 can not only improve the cleaning accuracy, but also play an auxiliary positioning role for the packaging bag, preventing the packaging bag from shifting during the cleaning process, and indirectly ensuring the neatness of subsequent stacking. At the same time, the arc-shaped structure can distribute the pressure during cleaning and prevent the packaging bag from deforming or breaking due to excessive local force. Furthermore, the lower surface of the positioning plate 31 is provided with an arc-shaped guide groove 32 of the same arc segment. A chain is installed in the arc-shaped guide groove 32, and a sprocket is meshed on the chain. Under the driving action of the chain, the sprocket slides and rotates along the arc-shaped guide path of its guide groove 32. A cleaning wheel 33 is coaxially fixedly connected to the sprocket. The surface of the cleaning wheel 33 is provided with bristles 34, which have a hook-shaped structure. During cleaning, the chain drives the sprocket to slide and rotate synchronously along the arc-shaped guide groove 32. The sprocket coaxially drives the cleaning wheel 33 to move synchronously. The hook-shaped bristles 34 on the surface of the cleaning wheel 33 accurately contact the upper surface of the packaging bag. With the help of the dual force of rotation and sliding, the remaining sharp stones are firmly hooked. Simultaneously, the movement trajectory of the arc-shaped guide groove 32 guides the cleaning wheel 33 to move from the center of the packaging bag to the edge, ultimately cleaning the gravel to the edge of the packaging bag and allowing it to fall naturally to the ground, completing the entire gravel cleaning process. This does not affect the subsequent stacking action of the mechanical claw 2 and avoids the risk of gravel puncturing the packaging bag from the source. Moreover, compared with ordinary straight bristles 34, the hook-shaped bristles 34 can firmly grasp sharp gravel without damaging the surface of the packaging bag, making it especially suitable for thin and easily damaged packaging bags. At the same time, the hook-shaped structure can clean up small gravel hidden in the folds of the packaging bag, resulting in a more thorough cleaning and preventing the omission of impurities.

[0038] Finally, the entire cleaning process requires no manual intervention, and the gravel is directed to the ground for easy collection and processing, preventing gravel from accumulating in the work area and affecting equipment operation and the cleanliness of the work environment. At the same time, there is no need to add an extra gravel collection device, simplifying the equipment structure and reducing equipment costs. In addition, the structure can be adapted to packaging bags of different widths and curvatures without replacing components, further improving the equipment's versatility.

[0039] like Figure 3 and Figure 4 As shown, the lower surface of the positioning plate 31 is provided with a slot, and a filter screen 35 is engaged inside the slot, completely covering the cleaning path of the cleaning wheel 33. Specifically, the slot on the lower surface of the positioning plate 31 is used to precisely engage the filter screen 35, achieving rapid fixation and positioning of the filter screen 35, ensuring that the filter screen 35 does not shift or shake after installation; the filter screen 35 completely covers the cleaning path of the cleaning wheel 33, which precisely matches the arc-shaped movement trajectory of the cleaning wheel 33. When the cleaning wheel 33 slides and rotates along the guide groove 32 under the drive of the chain and sprocket, and the hook-shaped bristles 34 sweep up sharp stones and small impurities on the packaging bag, the filter screen 35 can promptly intercept all impurities, preventing small stones and debris from falling back onto the surface of the packaging bag or splashing around the equipment due to the cleaning force or gravity. The snap-fit ​​design of the slots balances stability and convenience. The filter screen 35 can be quickly installed and removed. The overall structure not only assists the cleaning wheel 33 in completing a thorough cleaning, but also provides convenience for subsequent impurity treatment, further strengthening the protection against punctures of the packaging bag.

[0040] like Figure 3 and Figure 4 As shown, the filter screen 35 covers the cleaning path, providing a certain degree of buffering and protection for the hook-shaped bristles 34 of the cleaning wheel 33. This prevents the bristles 34 from directly contacting the slot of the positioning plate 31 during cleaning, reducing wear on the bristles 34, extending the service life of the cleaning wheel 33 and the bristles 34, and lowering equipment maintenance costs. Furthermore, the impurities intercepted by the filter screen 35 can be collected centrally, preventing small stones and debris from splashing onto the surface of the negative pressure port 25 and the silicone ring 26. This prevents impurities from clogging the negative pressure channel and wearing down the silicone ring 26, ensuring the stability of the negative pressure adsorption function and indirectly reducing the equipment failure rate.

[0041] like Figure 3 and Figure 4As shown, an intermediate component 4 is provided between the driving component 23 and the cleaning component 3. The intermediate component 4 is designed to synchronously drive the cleaning component 3 after clamping the packaging bag until it contacts the upper surface of the packaging bag, thus achieving the function of clamping and transferring while cleaning. The intermediate component 4 continuously links the two components to ensure that the cleaning component 3 always adheres to the upper surface of the packaging bag, simultaneously cleaning sharp stones and small impurities until the bag is transferred to the stacking position and the clamping action is released. Then, the intermediate component 4 transmits a signal to make the cleaning component 3 rise and reset, truly realizing "clamping and transferring while cleaning", which does not add extra operation steps and can fully utilize the functional value of both components.

[0042] like Figure 3 and Figure 5 As shown, the intermediate component 4 includes a rotating rod 41, a guide rail 42 fixed to the middle of the aluminum alloy fixed rail 21, and a mounting block 43. The middle part of the rotating rod 41 is hinged to the mounting block 43, one end of the rotating rod 41 is hinged to the other end of the limiting strip 24, and the other end of the rotating rod 41 is provided with a strip-shaped hole 44. A limiting shaft 45 is provided inside the strip-shaped hole 44. A slider 46 is provided inside the guide rail 42. The slider 46 is rotatably connected to the limiting shaft 45. The bottom of the slider 46 is connected to the middle of the positioning plate 31. The surfaces are fixedly connected by a connecting shaft 47. Specifically, the mounting block 43 of the intermediate part 4 is fixed in the middle of the aluminum alloy fixed rail 21, providing a stable hinge support for the rotating rod 41. The middle part of the rotating rod 41 is hinged to the mounting block 43 and can rotate flexibly around the hinge point. One end of the rod is hinged to the limiting strip 24, and the other end is engaged with the limiting shaft 45 through the strip hole 44. The limiting shaft 45 is rotatably connected to the slider 46 in the guide rail 42. The bottom of the slider 46 is fixed to the positioning plate 31 of the cleaning assembly 3 through the connecting shaft 47. When the driving component 23 drives the clamping plate 22 to close, the limiting strip 24 moves synchronously with the clamping plate 22, thereby pulling one end of the rotating rod 41 to rotate. The other end of the rotating rod 41 drives the limiting shaft 45 to move through the strip hole 44. Under the guiding and limiting action of the guide rail 42, the slider 46 moves linearly along the guide rail 42, and drives the positioning plate 31 to rise and fall through the connecting shaft 47. Finally, the cleaning component 3 is accurately attached to the upper surface of the packaging bag, and synchronous cleaning is completed. The entire power transmission is continuous and controllable, without the need for additional power sources, and without interfering with the original functions of each component.

[0043] The cooperation between the rotating rod 41 and the slotted hole 44 enables adaptive displacement adjustment. When there are differences in the thickness of the packaging bag, the slotted hole 44 provides a certain amount of movement space for the limiting shaft 45, preventing the rotating rod 41 from getting stuck when rotating. At the same time, it ensures that the positioning plate 31 adheres to the packaging bag with uniform force, ensuring both cleaning effect and preventing excessive pressure from damaging the packaging bag. In addition, the guiding structure of the guide rail 42 and the slider 46 can accurately limit the lifting trajectory of the positioning plate 31, preventing the cleaning component 3 from shifting left or right, ensuring that the cleaning wheel 33 always moves along the cleaning path on the upper surface of the packaging bag, improving cleaning accuracy, reducing wear on the cleaning component 3, and extending its service life. Thirdly, the entire structure adopts a hinged and snap-fit ​​detachable design, which can complete the disassembly, assembly, and repair of each component without the need for professional tools, greatly reducing maintenance difficulty and cost. Moreover, damaged components can be replaced individually without replacing the entire intermediate part 4, further saving costs.

[0044] Working principle: First, the operator pre-enters stacking parameters through the programming system, including instructions such as packaging bag specifications, gripping force, negative pressure value, dust removal intensity, and stacking spacing. After the equipment is started, it enters standby mode. Under the precise control of the programming system, the robotic arm 1 moves to the top of the packaging bag to be stacked at the end of the production line. Through its own posture adjustment, it keeps the aluminum alloy fixed rail 21 of the robotic claw 2 parallel to the long side of the packaging bag, ensuring that the limit strip 24 can fully fit the bag body, laying the foundation for subsequent gripping actions.

[0045] Then, the programming system sends a clamping command to the drive component 23, and the electric telescopic rod 231 begins to extend and retract. Its output end drives the L-shaped rod 233 through the hinged connecting block 235 to rotate around the pivot 234 of the bottom fixing block 232 of the aluminum alloy fixed rail 21. Since one end of the L-shaped rod 233 is fixedly connected to the clamping plate 22, the rotating L-shaped rod 233 synchronously drives the two symmetrically arranged clamping plates 22 to move closer to each other along the aluminum alloy fixed rail 21. The L-shaped limiting strip 24 on the clamping plate 22 then adheres to the two sides of the packaging bag. The arc-shaped protective area formed by its downward folding inward wraps around the corners of the bag, preventing sharp parts from damaging the packaging. At the same time, the flat limiting strip 24 increases the contact area and evenly distributes the clamping force, initially achieving stable positioning of the packaging bag.

[0046] Subsequently, the programming system synchronously sends a start command to the negative pressure pump 27. The negative pressure pump 27 delivers negative pressure to the negative pressure channel inside the limit strip 24 through the pipeline. The negative pressure is transmitted to the negative pressure port 25 on the horizontal long side through the negative pressure channel. The circular silicone ring 26 at the negative pressure port 25 tightly adheres to the surface of the packaging bag, forming a sealed negative pressure area, achieving dual fixation of "clamping + adsorption". Even if the surface of the packaging bag is smooth or slightly damp, it can avoid slipping due to the anti-slip properties of the silicone ring 26 and the negative pressure adsorption force. At the same time, the flexible silicone ring 26 adapts to the concave and convex contours of the bag body to prevent excessive local pressure from causing indentations.

[0047] Next, during the clamping process of the clamping plate 22, the intermediate component 4 moves synchronously: the limiting strip 24 moves with the clamping plate 22, pulling one end of the rotating rod 41. The rotating rod 41 rotates around the hinge point of the mounting block 43 on the aluminum alloy fixed rail 21. Its other end drives the limiting shaft 45 to move through the strip hole 44. The limiting shaft 45 drives the slider 46 in the guide rail 42 to make linear displacement. The slider 46 pulls the positioning plate 31 of the cleaning component 3 to move down and up through the bottom connecting shaft 47 until the hook-shaped bristles 34 on the surface of the cleaning wheel 33 are attached to the upper surface of the packaging bag. At this time, the programming system starts the sprocket of the cleaning component 3. The sprocket drives the chain to move along the arc-shaped guide groove 32 on the lower surface of the positioning plate 31. The chain synchronously drives the cleaning wheel 33 to slide and rotate in an arc. The hook-shaped bristles 34 accurately hook the sharp stones and small impurities on the surface of the bag, while the filter screen 35 in the slot of the positioning plate 31 intercepts the swept debris, preventing it from falling back into the bag or splashing onto the equipment parts.

[0048] At the same time, the programming system controls the start of the blower 28. The gentle airflow generated by the blower 28 is delivered through the exhaust pipe to the dust removal port 29 on the inner surface of the longitudinal short side of the limit strip 24, which blows the dust off the corners of the packaging bag in a directional manner, while also removing the slight moisture on the surface of the bag. This ensures the cleanliness of the stacking area and prevents dust from clogging the negative pressure port 25 or wearing out the silicone ring 26. The airflow impact can also help the packaging bag to quickly adhere to the limit strip 24, further improving the gripping and positioning accuracy.

[0049] Subsequently, under the control of the programming system, the robotic arm 1 carries the securely fixed and cleaned packaging bag and turns and transports it according to the preset stacking path. It adjusts the placement angle of the packaging bag according to the stacking requirements and moves it precisely to the designated stacking position. During this process, the negative pressure pump 27, the blower 28 and the cleaning component 3 work continuously to ensure that the packaging bag always remains stable and clean, without the risk of slippage, damage or impurity residue.

[0050] Next, when the robotic arm 1 reaches the stacking position and adjusts to the preset posture, the programming system sends stop commands in sequence: first, the negative pressure pump 27 is turned off, and the negative pressure adsorption force is released; then, the blower 28 is turned off, and the dust cleaning action stops; then the drive component 23 moves in the opposite direction, the electric telescopic rod 231 extends and retracts, driving the L-shaped rod 233 to rotate in the opposite direction, the two clamping plates 22 move away from each other along the aluminum alloy fixed rail 21, and the packaging bag is released. At the same time, the positioning plate 31 of the intermediate component 4 and the cleaning component 3 are reset upward, and the cleaning wheel 33 stops rotating to avoid interference with the stacked packaging bags.

[0051] Finally, the packaging bag is placed stably in the stacking area, completing one stacking cycle. Under the control of the programming system, the robotic arm 1 returns to the initial position, ready to grab the next packaging bag to be stacked. This process is repeated to achieve automated, efficient, and safe stacking of bagged products. It not only solves the core problems of existing equipment such as fragile packaging, unstable gripping, and poor adaptability, but also improves the stacking quality and equipment practicality through synchronous dust removal and gravel removal functions.

[0052] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A packaging bag auxiliary stacking device, characterized in that, The device includes a robotic arm (1) for turning and handling packaging bags, a programming system that works in conjunction with the robotic arm (1), and a robotic gripper (2) located at the output end of the robotic arm (1). The robotic gripper (2) includes an aluminum alloy fixed rail (21), two clamping plates (22), and a drive unit (23). The aluminum alloy fixed rail (21) has two clamping plates (22) symmetrically arranged along its long side. The drive unit (23) drives the clamping plates (22) to move relative to each other. A limit strip (24) is provided on the clamping plate (22). One end of the limit strip (24) is fixedly connected to the clamping plate (22), and the other end is folded downward and inward to form an arc-shaped protective area.

2. The packaging bag auxiliary stacking equipment according to claim 1, characterized in that, The driving component (23) includes an electric telescopic rod (231) and an L-shaped rod (233). The middle part of the electric telescopic rod (231) is rotatably connected to the aluminum alloy fixed rail (21). The middle part of the L-shaped rod (233) is rotatably connected to the fixing block (232) at the bottom of the aluminum alloy fixed rail (21). The output end of the electric telescopic rod (231) is hinged to the L-shaped rod (233). One end of the L-shaped rod (233) is fixedly connected to the clamping plate (22).

3. The packaging bag auxiliary stacking equipment according to claim 1, characterized in that, The limiting strip (24) has an L-shaped structure and is fixed at equal intervals to the surface of the clamping plate (22) along the long side direction of the clamping plate (22).

4. The packaging bag auxiliary stacking equipment according to claim 3, characterized in that, The upper surface of the horizontal long side of the limiting strip (24) is provided with a negative pressure port (25), and a circular silicone ring (26) is provided at the negative pressure port (25).

5. The packaging bag auxiliary stacking equipment according to claim 4, characterized in that, A negative pressure pump (27) is provided on the clamp (22). The negative pressure pump (27) is connected to the negative pressure channel in the limiting strip (24) through a pipe. The negative pressure channel is connected to the negative pressure port (25).

6. The packaging bag auxiliary stacking equipment according to claim 3, characterized in that, The clamp (22) is provided with a blower (28), and the inner surface of the longitudinal short side of the limiting strip (24) is provided with a dust removal port (29). The blower (28) is connected to the dust removal port (29) through an exhaust pipe.

7. The packaging bag auxiliary stacking equipment according to claim 1, characterized in that, A cleaning assembly (3) is provided in the middle of the aluminum alloy fixed rail (21). The cleaning assembly (3) includes a positioning plate (31), an arc-shaped guide groove (32), a chain, a sprocket, and a cleaning wheel (33). The positioning plate (31) has an up-and-down lifting structure. The arc-shaped guide groove (32) is provided on the lower surface of the positioning plate (31). The chain is engaged in the arc-shaped guide groove (32). The sprocket is fixedly connected to the chain and drives the cleaning wheel (33) to slide along the arc-shaped path. The surface of the cleaning wheel (33) is provided with hook-shaped bristles (34).

8. The packaging bag auxiliary stacking equipment according to claim 7, characterized in that, The cleaning component (3) also includes a filter (35), which is snapped into the slot of the positioning plate (31) and covers the cleaning path of the cleaning wheel (33).

9. The packaging bag auxiliary stacking equipment according to claim 7, characterized in that, An intermediate component (4) is provided between the driving component (23) and the cleaning component (3). The intermediate component (4) includes a rotating rod (41), a guide rail (42), and a slider (46). One end of the rotating rod (41) is hinged to the limiting strip (24) of the clamping plate (22), and the other end of the rotating rod (41) is rotatably connected to the slider (46) in the guide rail (42) through the strip hole (44) in the rotating rod (41). The slider (46) drives the positioning plate (31) of the cleaning component (3) to rise and fall.

10. The packaging bag auxiliary stacking equipment according to claim 9, characterized in that, The middle part of the rotating rod (41) of the intermediate component (4) is hinged to the mounting block (43) fixed to the aluminum alloy fixed rail (21), and the positioning plate (31) is fixedly connected to the bottom of the slider (46) through the connecting shaft (47).

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