A six-fingered bionic bag-supporting device and its method

Abstract

The present invention discloses a six-finger bionic bag-supporting device and a method thereof. The bag-supporting device comprises two left and right oppositely arranged unfolding arms. The rear ends of the two unfolding arms are rotationally connected to a bag-supporting support frame of a packaging machine through a rotating shaft. At the front ends of the two unfolding arms, two bag-supporting rods for expanding the bag opening, namely, an index finger bag-supporting rod and a thumb bag-supporting rod, are respectively arranged oppositely. The index finger bag-supporting rod and the thumb bag-supporting rod are perpendicular to the unfolding arms and are arranged parallel and opposite to each other. The index finger bag-supporting rod and the thumb bag-supporting rod are driven by a first transmission mechanism to open and close. A third bag-supporting rod called a middle finger bag-supporting rod is arranged at an interval behind the index finger bag-supporting rod and the thumb bag-supporting rod. The middle finger bag-supporting rod is driven by a second transmission mechanism to move away from or close to the index finger bag-supporting rod and the thumb bag-supporting rod. The present invention enables a filling device to adapt to filling openings and material bags of different sizes in the form of bionic six fingers, and solves the problem of bag support for an automatic packaging device with multiple functions in one machine.

Description

Technical Field

[0001] The invention relates to a six-finger bionic bag-holding device and a method thereof. Background Art

[0002] On semi-automatic packaging equipment, manual bagging is usually used for filling. When faced with filling ports of different shapes, people always use two fingers of their left and right hands to open the material bag opening and then insert it into the filling port. When the filling port is relatively large and the distance between the two fingers is not enough to insert the material bag into the filling port, the two fingers of the left and right hands will be used to open the material bag and insert one side of the material bag into the filling port first, then pull forward until the other side of the material is inserted into the filling port to achieve the bagging action. People will always adapt to handle material bags of different specifications or take different bagging actions for filling ports of different specifications. It is very difficult to achieve these adaptive actions on automated equipment, which will result in the purchase of different equipment for material bags of different specifications, and it is impossible to achieve a one-machine-multi-function filling method.

[0003] Therefore, how to adapt to filling ports of different specifications or material packaging bags of different specifications and realize a multi-functional bag-holding device is a problem that needs to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a six-finger bionic bag-holding device and method thereof. By adding two bag-opening third bag-holding rods and two pairs of index finger bag-holding rods and thumb bag-holding rods, the left and right stroke of the material bag supporting mechanism can be reduced in the form of six bionic fingers, thereby saving the equipment's movement space.

[0005] In order to achieve the above object, the technical solution of the present invention is:

[0006] A six-finger bionic bag-holding device is used for holding bags at a filling port of a packaging machine. The bag-holding device includes two left and right unfolding arms that are relatively arranged opposite to each other. The rear ends of the two unfolding arms are rotatably connected to the bag-holding support frame of the packaging machine through a rotating shaft. A first telescopic cylinder is connected to the rear end side between the two unfolding arms. The first telescopic cylinder controls the opening and closing of the two unfolding arms. A first and a second bag-holding rod for holding open the bag port are relatively arranged at the front ends of the two unfolding arms. The first and the second bag-holding rods are respectively called the index finger bag-holding rod and the thumb bag-holding rod. The index finger bag-holding rod and the thumb bag-holding rod are perpendicular to the unfolding arms and are arranged parallel to each other. The index finger bag-holding rod and the thumb bag-holding rod are driven to open and close by a first transmission mechanism. A third bag-holding rod called the middle finger bag-holding rod is arranged at intervals behind the index finger bag-holding rod and the thumb bag-holding rod. The middle finger bag-holding rod is driven by the second transmission mechanism to open or reduce the distance from the index finger bag-holding rod and the thumb bag-holding rod.

[0007] A further solution is that the middle finger bag holding rod is driven by the second transmission mechanism to open up or reduce the distance with the index finger bag holding rod and the thumb bag holding rod, that is, to open up or reduce the vertical distance with the midpoint of the line between the index finger bag holding rod and the thumb bag holding rod.

[0008] The scheme is further as follows: the first transmission mechanism includes a second telescopic cylinder and two rotating arms, the index finger bag holding rod and the thumb bag holding rod are respectively arranged at the front ends of the two unfolding arms through the rotating arms, the tail ends of the two rotating arms are respectively provided with arc racks, the tail ends of the two rotating arms with arc racks are respectively rotatably fixed to the front ends of the unfolding arms through axle pins, the arc racks of the two rotating arms are meshed with each other, the index finger bag holding rod and the thumb bag holding rod are respectively arranged at the front ends of the two rotating arms, the tail end of the cylinder body of the second telescopic cylinder is rotatably connected to the front end side of the unfolding arm, the telescopic arm extending from the front end of the cylinder body of the second telescopic cylinder is connected to one of the two rotating arms, the second telescopic cylinder drives one rotating arm to rotate, and the rotating rotating arm drives the other rotating arm to rotate synchronously through the mutually meshing arc racks, and the two synchronously rotating rotating arms drive the index finger bag holding rod and the thumb bag holding rod to open and close.

[0009] The solution is further as follows: the second transmission mechanism is arranged on the unfolding arm, including a swing arm, the middle finger bag-holding rod is arranged at the front end of the swing arm, the rear end of the swing arm is rotatably connected to the unfolding arm through an axle pin, and a third telescopic cylinder is arranged on the unfolding arm, the tail end of the cylinder body of the third telescopic cylinder is hinged to the unfolding arm, the telescopic arm at the front end of the cylinder body of the third telescopic cylinder is connected to the swing arm through a push-pull rod, and the third telescopic cylinder drives the swing arm to swing through the push-pull rod to achieve the middle finger bag-holding rod to open or reduce the vertical distance between the middle finger bag-holding rod and the midpoint of the line connecting the index finger bag-holding rod and the thumb bag-holding rod.

[0010] A further solution is that the front ends of the two unfolding arms are bent inwardly toward each other, and the index finger bag-supporting rod and the thumb bag-supporting rod for opening the bag opening are respectively arranged opposite to each other at the front ends of the bent sections of the two unfolding arms.

[0011] The solution is further as follows: a positioning block is provided on the bent section of the unfolding arm behind the index finger bag supporting rod and the thumb bag supporting rod, and an arc groove is provided on the positioning block. The arc groove is used to locate the shortest distance between the middle finger bag supporting rod and the index finger bag supporting rod and the thumb bag supporting rod. In an initial state, the middle finger bag supporting rod is placed in the arc groove.

[0012] The solution is further that: air pressure gauges are respectively arranged in the air supply circuits of the first telescopic cylinder, the second telescopic cylinder and the third telescopic cylinder.

[0013] A six-finger bionic bag-supporting method, including the six-finger bionic bag-supporting device. First: Restore the left and right oppositely arranged unfolding arms, index finger bag-supporting rods, thumb bag-supporting rods, and middle finger bag-supporting rods to their initial states, including closing the left and right unfolding arms, closing the index finger bag-supporting rods, thumb bag-supporting rods of the left and right unfolding arms, and placing the middle finger bag-supporting rods at the closest distance behind the index finger bag-supporting rods and thumb bag-supporting rods. After the bag opening is opened, the bionic bag-supporting method further includes:

[0014] Step 1: Simultaneously insert the index finger bag-supporting rods, thumb bag-supporting rods, and middle finger bag-supporting rods of the two unfolding arms into the opened bag opening;

[0015] Step 2: Open the index finger bag-supporting rods and thumb bag-supporting rods to the maximum. When the index finger bag-supporting rods and thumb bag-supporting rods are opened to the maximum and still cannot support the bag opening, open the unfolding arms and adjust the middle finger bag-supporting rods to increase the distance from the index finger bag-supporting rods and thumb bag-supporting rods until the bag opening is supported;

[0016] Step 3: Put the bag opening over the filling port. When the bag opening is larger than the filling port, reduce the degree of opening of the index finger bag-supporting rods and thumb bag-supporting rods until the filling port is covered. At the same time, synchronously adjust the middle finger bag-supporting rods to increase the distance from the index finger bag-supporting rods and thumb bag-supporting rods to keep the bag opening always in a taut state.

[0017] The solution is further: In the initial state where the left and right unfolding arms are closed, there is at least a 100 mm distance between the index finger bag-supporting rods and thumb bag-supporting rods of the left and right unfolding arms.

[0018] The solution is further: Pressure gauges are respectively arranged in the air supply circuits of the first telescopic cylinder, the second telescopic cylinder, and the third telescopic cylinder. The judgment of whether the bag opening is supported and the bag opening is in a taut state is determined by the pressure of the pressure gauges.

[0019] The beneficial effects of the present invention are: By adding two third bag-supporting rods for opening the bag and two pairs of index finger bag-supporting rods and thumb bag-supporting rods, the left and right strokes of the material bag support mechanism can be reduced in the form of bionic six fingers, thereby saving the equipment movement space; The form of bionic six fingers enables the filling equipment to adapt to filling ports of different sizes and material bags of different sizes; It solves the problem of the automatic packaging equipment adapting to filling ports or material packaging bags of different specifications and realizing the bag-supporting function of one machine with multiple functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic axial side view of the structure of the present invention;

[0021] Figure 2 is a schematic front view of the structure of the present invention;

[0022] Figure 3 is a schematic reverse view of the structure of the present invention;

[0023] Figure 4 It is a schematic diagram of the present invention for supporting a bag with a large filling opening;

[0024] Figure 5 It is a schematic diagram of the present invention for supporting a bag with a small filling opening;

[0025] Figure 6 It is a schematic diagram of the present invention for supporting the bag with an elliptical filling port;

[0026] Figure 7 It is a schematic diagram of the present invention for supporting a long rectangular filling port bag. DETAILED DESCRIPTION

[0027] Embodiment 1:

[0028] A six-finger bionic bag-supporting device for supporting bags at the filling port of a packaging machine, such as Figure 1 , Figure 2 and Figure 3 As shown, the bag-supporting device comprises two unfolding arms 1 arranged opposite to each other on the left and right sides, the rear ends of the two unfolding arms are movably connected to the two ends of the bag-supporting frame 2 of the packaging machine through a rotating shaft 101, a first telescopic cylinder 3 is connected and arranged on the rear end side between the two unfolding arms, the first telescopic cylinder controls the opening and closing of the two unfolding arms 1, a connecting rod 102 is arranged between the rotating heads at the rear ends of the two unfolding arms, the two ends of the connecting rod 102 are hingedly connected to the rotating heads at the rear ends of the two unfolding arms, the function of the connecting rod 102 is that when the first telescopic cylinder pushes one unfolding arm to rotate, the rotating unfolding arm pushes the other unfolding arm to rotate synchronously in the opposite direction through the connecting rod 102, and the connecting rod 102 A four-bar linkage is formed with the first telescopic cylinder and the two unfolding arms 1. A first bag-holding rod 4 and a second bag-holding rod 5 for opening the bag mouth are respectively arranged at the front ends of the two unfolding arms. The first and second bag-holding rods are respectively called the index finger bag-holding rod and the thumb bag-holding rod. The index finger bag-holding rod and the thumb bag-holding rod are arranged perpendicular to the unfolding arms and parallel to each other. The index finger bag-holding rod and the thumb bag-holding rod are driven to open and close through the first transmission mechanism. A third bag-holding rod 6 called the middle finger bag-holding rod is arranged at intervals behind the index finger bag-holding rod and the thumb bag-holding rod. The middle finger bag-holding rod is driven by the second transmission mechanism to open or reduce the distance from the index finger bag-holding rod and the thumb bag-holding rod.

[0029] Among them: Figure 4 As shown, the third bag-supporting rod 6, called the middle finger bag-supporting rod, is driven by the second transmission mechanism to open up or reduce the distance with the index finger bag-supporting rod and the thumb bag-supporting rod, which means to open up or reduce the vertical distance with the midpoint of the line 7 between the index finger bag-supporting rod and the thumb bag-supporting rod.

[0030] In the embodiment: the first transmission mechanism includes a second telescopic cylinder 8 and two rotating arms 9. The index finger bag holding rod and the thumb bag holding rod are respectively arranged at the front ends of the two unfolding arms 1 through the rotating arms 9. The tail ends of the two rotating arms 9 are respectively provided with arc racks 901. The tail ends of the two rotating arms with arc racks are rotatably fixed to the front ends of the unfolding arms through axle pins. The arc racks of the two rotating arms are meshed with each other. The index finger bag holding rod and the thumb bag holding rod are respectively arranged at the front ends of the two rotating arms 9. The tail end of the cylinder body of the second telescopic cylinder is rotatably connected to the front end side of the unfolding arm. The telescopic arm extending from the front end of the cylinder body of the second telescopic cylinder is connected to one of the two rotating arms. The second telescopic cylinder drives one rotating arm to rotate, and the rotating rotating arm drives the other rotating arm to rotate synchronously through the mutually meshing arc racks. The two synchronously rotating rotating arms drive the index finger bag holding rod and the thumb bag holding rod to open and close.

[0031] In the embodiment: the second transmission mechanism is arranged on the unfolding arm, including a swing arm 10, the middle finger bag holding rod 6 is arranged at the front end of the swing arm, the rear end of the swing arm 10 is rotatably connected with the unfolding arm through an axle pin, and a third telescopic cylinder 11 is arranged on the unfolding arm, the tail end of the cylinder body of the third telescopic cylinder is hinged to the unfolding arm, and the telescopic arm at the front end of the cylinder body of the third telescopic cylinder is connected to the swing arm 10 through a push-pull rod 12. The third telescopic cylinder drives the swing arm 10 to swing through the push-pull rod 12 to realize that the middle finger bag holding rod 6 is pulled open or shortened in vertical distance from the midpoint of the line connecting the index finger bag holding rod and the thumb bag holding rod.

[0032] In the embodiment, the front ends of the two unfolding arms are bent inwards towards each other, and the index finger bag-supporting rod and the thumb bag-supporting rod for opening the bag opening are respectively arranged opposite to each other at the front ends of the two unfolding arm curved sections 102 .

[0033] Wherein: a positioning block 13 is arranged on the bent section of the unfolding arm behind the index finger bag holding rod and the thumb bag holding rod, and an arc groove is arranged on the positioning block. The arc groove is used to locate the shortest distance between the middle finger bag holding rod and the index finger bag holding rod and the thumb bag holding rod. In the initial state, the middle finger bag holding rod is placed in the arc groove.

[0034] In order to control the tensioning state of the bag-stretching process: pressure gauges (not shown in the figure) are respectively provided in the air supply circuits of the first telescopic cylinder, the second telescopic cylinder and the third telescopic cylinder, and the device also includes a controller and a compressed air circuit (not shown in the figure), and the controller controls the first telescopic cylinder, the second telescopic cylinder and the third telescopic cylinder through the compressed air circuit.

[0035] Embodiment 2:

[0036] A six-finger bionic bag-supporting method, including the six-finger bionic bag-supporting device described in Embodiment 1. Therefore, the content in Embodiment 1 shall be regarded as the content of this embodiment. First: Restore the left and right oppositely arranged unfolding arms, index finger bag-supporting rods, thumb bag-supporting rods, and middle finger bag-supporting rods to their initial states, including closing the left and right unfolding arms, closing the index finger bag-supporting rods, thumb bag-supporting rods of the left and right unfolding arms, and placing the middle finger bag-supporting rods at the closest distance behind the index finger bag-supporting rods and thumb bag-supporting rods. Among them: There is at least a 100-mm distance between the index finger bag-supporting rods and thumb bag-supporting rods of the left and right unfolding arms. After the bag opening is opened, the bionic bag-supporting method further includes:

[0037] The first step: Simultaneously insert the index finger bag-supporting rods, thumb bag-supporting rods, and middle finger bag-supporting rods of the two unfolding arms into the opened bag opening;

[0038] The second step: Open the index finger bag-supporting rods and thumb bag-supporting rods to the maximum. When the index finger bag-supporting rods and thumb bag-supporting rods are opened to the maximum and still cannot support the bag opening, open the unfolding arms and adjust the middle finger bag-supporting rods to increase the distance from the index finger bag-supporting rods and thumb bag-supporting rods until the bag opening is supported;

[0039] The third step: Put the bag opening onto the filling port. When the bag opening is larger than the filling port, reduce the degree of opening of the index finger bag-supporting rods and thumb bag-supporting rods until the filling port is covered. At the same time, synchronously adjust the middle finger bag-supporting rods to increase the distance from the index finger bag-supporting rods and thumb bag-supporting rods so that the bag opening is always in a taut state.

[0040] The judgment operation for the bag opening being larger than the filling port is carried out as follows. Initially, it is adjusted manually by visual inspection, and the adjusted data is recorded. Subsequent operations will be automatically adjusted according to the recorded data.

[0041] As described in Embodiment 1: Pressure gauges are respectively arranged in the air supply circuits of the first telescopic cylinder, the second telescopic cylinder, and the third telescopic cylinder. Since the magnitude of the force on the telescopic arms of the cylinders can be reflected from the pressure of the set pressure gauges, the pressure of the pressure gauge will increase when the bag opening is taut. Therefore, the judgment of supporting the bag opening and the bag opening being in a taut state is controlled by the pressure of the pressure gauge sensor.

[0042] Figures 4 to 7 It shows the working states of the index finger bag-supporting rods, thumb bag-supporting rods, and middle finger bag-supporting rods corresponding to filling ports 14 of different sizes and shapes. Therefore, the six-finger bag opening formed after adding the middle finger bag-supporting rods can bionically imitate the human hand to adapt to filling ports of different sizes and material bags of different sizes, solving the problem of the automatic packaging equipment adapting to filling ports of different specifications or material packaging bags of different specifications and realizing the bag-supporting problem of multi-functional in one machine.

Claims

1. A six-finger bionic bag-supporting device for supporting bags at the filling port of a packaging machine. It is characterized in that The bag-holding device comprises two left and right unfolding arms which are arranged opposite to each other, and the rear ends of the two unfolding arms are rotatably connected to the bag-holding support frame of the packaging machine through a rotating shaft, and a first telescopic cylinder is connected to the rear end side between the two unfolding arms, and the first telescopic cylinder controls the opening and closing of the two unfolding arms, and a first and a second bag-holding rod for holding the bag opening are arranged opposite to each other at the front ends of the two unfolding arms, and the first and the second bag-holding rod are respectively called the index finger bag-holding rod and the thumb bag-holding rod, which are perpendicular to the unfolding arms and arranged opposite to each other in parallel, and the index finger bag-holding rod and the thumb bag-holding rod are driven to open and close through a first transmission mechanism, and the first and the second ... A third bag-supporting rod, called the middle finger bag-supporting rod, is arranged behind the bag-supporting rod. The middle finger bag-supporting rod is driven by the second transmission mechanism to open or reduce the distance between the index finger bag-supporting rod and the thumb bag-supporting rod. The front end sides of the two unfolding arms are bent inwardly toward each other, and the index finger bag-supporting rod and the thumb bag-supporting rod for opening the bag mouth are arranged opposite to each other at the front ends of the bent sections of the two unfolding arms. A positioning block is arranged on the bent section of the unfolding arm behind the index finger bag-supporting rod and the thumb bag-supporting rod, and the positioning block is arranged with an arc groove, which is used to locate the shortest distance between the middle finger bag-supporting rod and the index finger bag-supporting rod and the thumb bag-supporting rod. In an initial state, the middle finger bag-supporting rod is placed in the arc groove.

2. The six-finger bionic bag-holding device according to claim 1, It is characterized in that The middle finger bag holding rod is driven by the second transmission mechanism to open or reduce the distance with the index finger bag holding rod and the thumb bag holding rod, that is, to open or reduce the vertical distance with the midpoint of the line between the index finger bag holding rod and the thumb bag holding rod.

3. The six-finger bionic bag-holding device according to claim 1, It is characterized in that The first transmission mechanism includes a second telescopic cylinder and two rotating arms. The index finger bag holding rod and the thumb bag holding rod are respectively arranged at the front ends of the two unfolding arms through the rotating arms. The tail ends of the two rotating arms are respectively provided with arc racks. The tail ends of the two rotating arms with arc racks are rotatably fixed to the front ends of the unfolding arms through axle pins. The arc racks of the two rotating arms are meshed with each other. The index finger bag holding rod and the thumb bag holding rod are respectively arranged at the front ends of the two rotating arms. The tail end of the cylinder body of the second telescopic cylinder is rotatably connected to the front end side of the unfolding arm. The telescopic arm extending from the front end of the cylinder body of the second telescopic cylinder is connected to one of the two rotating arms. The second telescopic cylinder drives one rotating arm to rotate, and the rotating rotating arm drives the other rotating arm to rotate synchronously through the meshing arc racks. The two synchronously rotating rotating arms drive the index finger bag holding rod and the thumb bag holding rod to open and close.

4. The six-finger bionic bag-holding device according to claim 3, It is characterized in that The second transmission mechanism is arranged on the unfolding arm, including a swing arm, a middle finger bag-holding rod is arranged at the front end of the swing arm, and the rear end of the swing arm is rotatably connected with the unfolding arm through an axle pin. A third telescopic cylinder is arranged on the unfolding arm, and the tail end of the cylinder body of the third telescopic cylinder is hinged with the unfolding arm, and the telescopic arm at the front end of the cylinder body of the third telescopic cylinder is connected to the swing arm through a push-pull rod. The third telescopic cylinder drives the swing arm to swing through the push-pull rod to realize that the middle finger bag-holding rod is pulled open or the vertical distance between it and the midpoint of the line connecting the index finger bag-holding rod and the thumb bag-holding rod is reduced.

5. The six-finger bionic bag-holding device according to claim 4, It is characterized in that Air pressure gauges are respectively arranged in the air supply circuits of the first telescopic cylinder, the second telescopic cylinder and the third telescopic cylinder.

6. A six-finger bionic bag-holding method, comprising the six-finger bionic bag-holding device according to claim 1, It is characterized in that First, the left and right unfolding arms, the index finger bag-supporting rod, the thumb bag-supporting rod and the middle finger bag-supporting rod which are arranged opposite to each other are restored to the initial state; including the left and right unfolding arms are closed, the index finger bag-supporting rod and the thumb bag-supporting rod of the left and right unfolding arms are closed, and the middle finger bag-supporting rod is placed at the shortest distance behind the index finger bag-supporting rod and the thumb bag-supporting rod. When the bag mouth is opened, the bionic bag-supporting method further includes: Step 1: Insert the index finger bag support rod, thumb bag support rod and middle finger bag support rod of the two unfolding arms into the opened bag at the same time; Step 2: Open the index finger bag support rod and the thumb bag support rod to the maximum. When the index finger bag support rod and the thumb bag support rod are opened to the maximum but still fail to support the bag opening, open the deployment arm and adjust the middle finger bag support rod to increase the distance between the middle finger bag support rod and the index finger bag support rod and the thumb bag support rod until the bag opening is supported; Step 3: Put the bag opening into the filling opening. When the bag opening is larger than the filling opening, reduce the opening of the index finger bag support rod and the thumb bag support rod until they cover the filling opening. At the same time, synchronously adjust the middle finger bag support rod to increase the distance between the index finger bag support rod and the thumb bag support rod so that the bag opening is always in a taut state.

7. The six-finger bionic bag-holding method according to claim 6, It is characterized in that In the initial state when the left and right spreading arms are closed, a distance of at least 100 mm is maintained between the index finger bag holding rod and the thumb bag holding rod of the left and right spreading arms.

8. The six-finger bionic bag-holding method according to claim 6, It is characterized in that Air pressure gauges are respectively arranged in the air supply circuits of the first telescopic cylinder, the second telescopic cylinder and the third telescopic cylinder, and the judgment of whether the bag opening is supported and in a taut state is judged by the pressure of the air pressure gauge.

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