A discharging device for a flexible packaging bag

Abstract

The present invention provides a discharging device for a flexible packaging bag. The device includes a vacuum suction cup and a plurality of grippers mounted on a fixture bracket. The vacuum generator in the vacuum suction cup is communicated with a compressed air pipeline to generate negative pressure suction force, which can suck the flexible packaging bag encapsulating the product. The gripper includes a gripper arm in the shape of an L-shaped rod. The plurality of grippers are divided into two groups and symmetrically distributed on both sides of the vacuum suction cup. Each group of grippers moves around the vacuum suction cup under the action of a matching drive assembly, and finally closes into a complete circle under the flexible packaging bag sucked by the vacuum suction cup, preventing the flexible packaging bag sucked by the vacuum suction cup from suddenly loosening and falling. This device realizes the long-term grasping and movement of the flexible packaging bag encapsulating the product, avoids the sudden and temporary loosening and falling of the flexible packaging bag caused by insufficient power such as compressed air and other reasons, and avoids the occurrence of ineffective work, thus saving costs and time and improving production efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation, and particularly relates to a discharging device for soft packaging bags. Background Art

[0002] At present, in most production lines, robots are used to drive grippers to replace traditional manual material handling, which greatly saves costs and time and improves production efficiency. The simplification and practicality of the gripper structure greatly reduce the maintenance cost during the production process and the downtime rate of the production line. The grippers currently used in chemical product production lines generally use multiple cylinders to drive the jaws to handle materials, or use vacuum suction cups to hold the materials. This kind of structure is relatively complex, requires compressed air as power, and uses auxiliary control valves such as direction control valves and throttle valves. Moreover, during the working process, there is a problem that the suction cup cannot grasp and maintain the suction force of a 50-kg soft packaging bag filled with products and move it. After adjusting the pressure, a single suction cup can normally pick up, but when moving, there will be a problem that the suction cup is not tightly sealed with the soft packaging tape and air leaks, resulting in the bag falling off. At this time, manual intervention is required, which is not conducive to efficient production. Summary of the Invention

[0003] Aiming at the problems in the prior art that the cylinder plus suction cup mechanism often causes the bag to fall off during the grasping process due to pipeline air leakage and insufficient air pressure, and the jaw mechanism has low compatibility with material differences and high energy consumption, the present invention aims to provide a discharging device for soft packaging bags.

[0004] The present invention adopts the following technical solutions. A discharging device for soft packaging bags includes a fixture bracket, a vacuum suction cup installed below the fixture bracket, and a plurality of grippers installed above it. The vacuum suction cup is connected to a vacuum generator and a compressed air pipeline, and is used to suck the soft packaging bag when generating negative pressure suction and blow open the soft packaging bag when compressed air is introduced. Each gripper includes an L-shaped rod. The plurality of grippers are divided into two groups and symmetrically distributed on both sides of the vacuum suction cup. The proximal end of each group of grippers is connected to a driving component arranged on the fixture bracket. When the driving component drives the proximal ends of each group of grippers to approach each other along the fixture bracket, the distal ends of each group of grippers open relative to both sides of the vacuum suction cup. When the driving component drives the proximal ends of each group of grippers to move away from each other along the fixture bracket, the distal ends of each group of grippers close relative to the lower part of the vacuum suction cup.

[0005] Further, the fixture bracket includes a vertically arranged vertical bracket and a horizontally arranged horizontal bracket. The vertical bracket includes a vertical rod and a top mounting plate and a bottom mounting plate respectively connected to both ends of the vertical rod. The top mounting plate is used to fixedly install the fixture device, and the bottom mounting plate is connected to the vacuum suction cup. The horizontal bracket is in the shape of a ladder, including two parallel long rods and short rods vertically arranged between the long rods. The bottom surface of the bottom mounting plate is connected to the middle of the horizontal bracket.

[0006] Furthermore, the vacuum suction cup is in the shape of an elliptical box with an open side and a cavity. The bottom wall of the vacuum suction cup also passes through multiple screw holes. The suction cup guide column is threadedly connected to the screw holes, so that the vacuum suction cup is fixed on the lower end of the suction cup guide column, and the top end of the suction cup guide column is connected and fixed to the bottom mounting plate.

[0007] Furthermore, the vacuum suction cup may also contain a blowing nozzle, which is connected to a nozzle seat mounted on the bottom mounting plate through a blowing nozzle pipe, and the nozzle seat is connected to an output end of compressed air.

[0008] Furthermore, the driving assembly includes two groups of cylinders and guide rail systems symmetrically arranged on the clamp bracket, the cylinders are symmetrically distributed on the left and right sides of the vertical bracket, the telescopic rod end of the cylinder is hinged to one end of the cylinder clamp, and the other end of the cylinder clamp is locked to the gripper shaft arranged horizontally and perpendicular to the long rod, the gripper is fixed on the gripper shaft, and the guide rail system includes a guide rail arranged parallel to the long rod and two slide rails, the slide rails are respectively installed on the two long rods, and the bottom surface of the middle part of the gripper shaft is cut with a guide groove that fits with the guide rail, so that the gripper shaft is stuck in the guide rail The cylinder drives the gripper shaft to move away from each other and after it leaves the guide rail, it is restricted from moving in parallel with the long rod. The cylinder drives the gripper shaft to rotate in situ at the end of the slide rail, and at the same time, the distal ends of each group of grippers are relatively closed under the vacuum suction cup.

[0009] Further, the cylinders are respectively mounted on the transverse brackets through cylinder mounting plates. The telescopic rods that can freely extend and retract in each cylinder move in opposite directions, and the extending direction of the telescopic rod faces the end face of the long rod in the transverse bracket. The cylinder mounting plate is in an I shape. Two mutually parallel cylinder mounting plates are distributed on the front and back sides of the vertical rod. The feet at both ends of the cylinder mounting plate are fixedly connected to the bottom mounting plate or the long rod, so that the cylinder mounting plate is perpendicular to the length direction of the long rod. A pair of symmetric cylinder clamping plates are vertically mounted on the cylinder mounting plate. The cylinder is rotatably mounted between the pair of cylinder clamping plates. Each cylinder clamping plate is provided with an opening for rotatably connecting with the rotating mounting plate. The rotating mounting plate is attached to the end face of the cylinder and fixedly connected to the end face of the cylinder through bolts. A central hole is opened in the center of the rotating mounting plate for the telescopic rod in the cylinder to pass through. There is no contact friction between the central hole and the telescopic rod. Symmetric rotating convex shafts are provided on both sides of the rotating mounting plate. The axis lines of the pair of rotating convex shafts intersect with the center of the central hole. The rotating convex shafts are embedded in the openings of the cylinder clamping plates, so that the cylinder can rotate between the pair of cylinder clamping plates through the rotating mounting plate. After passing through the central hole of the rotating mounting plate, the telescopic rod of the cylinder is hinged to one end of the cylinder clamping block through a connecting piece. The arc-shaped clamping mouth at the other end of the cylinder clamping block clamps on the gripper shaft and is locked and fixed to the gripper shaft through bolts and nuts. After passing through the arc-shaped clamping mouth of the cylinder clamping block, the gripper shaft is perpendicular to the long rod.

[0010] Further, the grippers are divided into two groups and are respectively arranged on two gripper shafts. Each gripper clamps on the gripper shaft through the arc-shaped clamping mouth provided at its end and is locked and fixed to the gripper shaft through bolts and nuts. After being locked and fixed, the long arm of the L-shaped gripper is parallel to the plane where the transverse bracket is located, and the short arm is perpendicular to the plane where the transverse bracket is located, that is, the opening of the L-shaped gripper faces downward.

[0011] Further, the slide rails are arranged on the long rods on both sides of the transverse bracket. The slide rails include fixed tracks and linear sliders. The bottom of the linear slider is provided with a chute that fits with the fixed slide rail, so that the linear slider can freely slide back and forth on the fixed slide rail. A support is provided at the top of the linear slider. Both ends of the gripper shaft are sleeved in the openings of the support, and the gripper shaft can rotate in the openings of the support, that is, both ends of a gripper shaft are restricted on a pair of linear sliders and maintain horizontal balance.

[0012] Further, the guide rail is fixed on the guide rail backing plate, and the guide rail backing plate is installed on the short rod of the transverse bracket. A guide groove with the same width as the guide rail is cut on the gripper shaft. The top of the guide rail is embedded in the guide groove of the gripper shaft, so that the gripper shaft can slide along the guide rail.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. Set up a vacuum suction cup with a vacuum generator so that the suction cup can pick up a soft packaging bag containing products with a weight of 70 kilograms, and the suction force is sufficient to maintain for more than 5 seconds.

[0015] 2. Add two groups of grippers around the vacuum suction cup, and drive each group of grippers through a driving component, namely a cylinder and a guide rail, so that the grippers can extend around the vacuum suction cup and rotate around the vacuum suction cup, close into a complete circle under the soft packaging bag sucked by the vacuum suction cup, and prevent the soft packaging bag sucked by the vacuum suction cup from suddenly loosening and falling; at the same time, after the operation is completed, the grippers can move in the reverse direction to retract to both sides of the vacuum suction cup, without affecting the movement of the next operation; set up a guide rail that is mutually engaged with the gripper shaft to assist the movement of the gripper shaft and the gripper and ensure the stability of the movement.

[0016] 3. Also add a nozzle inside the vacuum suction cup to sweep away the dust on the surface of the soft packaging bag, avoiding the soft packaging bag from loosening again after being picked up by the vacuum suction cup.

[0017] The device provided by the present invention, based on the existing vacuum suction cup structure, realizes the long-term grasping and movement of the soft packaging bag containing products by adding a small amount of structures and devices, avoids the sudden and temporary loosening and falling of the soft packaging bag caused by insufficient power such as compressed air and other reasons, and avoids the occurrence of ineffective work, thus saving costs and time and improving production efficiency. Brief Description of the Drawings

[0018] Figure 1 is a schematic three-dimensional structure of this device Figure 1 ;

[0019] Figure 2 is a schematic three-dimensional structure of this device Figure 2 ;

[0020] Figure 3 is a schematic structural diagram of the fixture bracket in the fixture of this device;

[0021] Figure 4 is a schematic structural diagram of the vacuum suction cup in the fixture of this device;

[0022] Figure 5 is a schematic structural diagram of the blowing nozzle in the fixture of this device;

[0023] Figure 6 is a schematic structural diagram of the cylinder in the fixture of this device;

[0024] Figure 7 is a schematic structural diagram of the cylinder mounting plate in the fixture of this device;

[0025] Figure 8 is a schematic structural diagram of the cylinder clamping block in the fixture of this device;

[0026] Figure 9 This is a schematic structural view of the cylinder connecting piece in the fixture of this device;

[0027] Figure 10 This is a schematic structural view of the guide rail and the guide rail backing plate in the fixture of this device;

[0028] Figure 11 This is a schematic structural view of the gripper shaft in the fixture of this device;

[0029] Figure 12 This is a schematic structural view of the slide rail in the fixture of this device;

[0030] Figure 13 This is a schematic structural view of this device in the operating state;

[0031] Figure 14 This is a physical diagram of the fixture of this device;

[0032] Among them, 11 is the vertical bracket, 101 is the vertical rod, 102 is the top mounting plate, 103 is the bottom mounting plate, 12 is the horizontal bracket, 104 is the long rod, 105 is the short rod, 2 is the vacuum chuck, 21 is the chuck guide post, 22 is the connection nozzle, 23 is the screw hole, 4 is the cylinder, 41 is the telescopic rod, 42 is the connecting piece, 43 is the cylinder clamping block, 44 is the cylinder mounting plate, 45 is the rotating mounting plate, 46 is the central hole, 47 is the rotating convex shaft, 48 is the cylinder clamping plate, 49 is the arc-shaped clamping opening, 5 is the gripper, 51 is the gripper shaft, 52 is the support, 53 is the guiding notch, 6 is the blowing nozzle, 61 is the blowing nozzle pipe, 62 is the nozzle seat, 8 is the slide rail, 81 is the fixed track, 82 is the linear slider, 83 is the slider stop block, 9 is the guiding rail, 91 is the guiding rail backing plate. Specific embodiments

[0033] As Figure 1 shown, the unloading device for soft packaging bags of the present invention includes a fixture bracket, and a vacuum chuck 2 and a gripper 5 provided on the fixture bracket. The gripper 5 is pushed by a cylinder 4 and a guide rail system to complete the grasping and clamping action.

[0034] Specifically, as Figure 3 shown, the fixture bracket includes a vertically arranged vertical bracket 11 and a horizontally arranged horizontal bracket 12. The vertical bracket 11 includes a vertical rod 101 and a top mounting plate 102 and a bottom mounting plate 103 respectively connected to both ends of the vertical rod 101. The top mounting plate 102 is used for fixedly mounting this fixture device, and the bottom mounting plate 103 is connected to the vacuum chuck 2. The horizontal bracket 12 is in the shape of a ladder, including two parallel long rods 104 and a short rod 105 vertically arranged between the long rods 104. The horizontal bracket 12 is fixed to the bottom surface of the bottom mounting plate 103, and both ends of the horizontal bracket 12 extend out of the bottom mounting plate 103.

[0035] As shown Figure 4 in FIG. 1, there is a vacuum suction cup 2, which is in the shape of an oval box with an open side, and has a cavity for accommodating and installing a vacuum generator. The structure of the vacuum generator has been disclosed in Patent CN203394893U. The vacuum generator is fixed on the inner wall of the vacuum suction cup 2 and is connected to the compressed air pipeline through a connecting pipe orifice 22 provided on the vacuum suction cup 2, so that the negative pressure port of the vacuum generator faces away from the bottom wall of the vacuum suction cup 2 and towards the flexible packaging bag. A plurality of screw holes 23 are penetrated and opened on the bottom wall of the vacuum suction cup 2, and the suction cup guide post 21 is threadedly connected to the screw holes 23, so that the vacuum suction cup 2 is fixed on the lower end of the suction cup guide post 21, and the top end of the suction cup guide post 21 is fixedly connected to the bottom mounting plate 103. As shown Figure 2 and Figure 5 in FIG. 2, a blowing nozzle 6 can also be accommodated in the vacuum suction cup 2. The blowing nozzle 6 is connected to a nozzle seat 62 mounted on the bottom mounting plate 103 through a blowing nozzle pipe 7. The nozzle seat 62 is communicated with the output end of the compressed air, so that the blowing nozzle 6 can periodically eject a certain amount of gas. Before the vacuum suction cup 2 sucks the flexible packaging bag, the gas ejected by the blowing nozzle 6 can blow away the floating dust on the outer side of the bag, prevent the suction cup from inhaling too much floating dust, and ensure the contact tightness between the vacuum suction cup 2 and the flexible bag. Three vacuum generators can be provided in the vacuum suction cup 2, that is, there are three negative pressure ports available for sucking the flexible packaging bag, and the suction force can reach about 70 kilograms and the suction force is maintained for about 5 seconds.

[0036] As shown Figure 6 in FIG. 3 is a cylinder 4. As shown Figure 1 and Figure 2 in FIG. 4, a pair of cylinders 4 are respectively mounted on the transverse bracket 12 through cylinder mounting plates 44. The telescopic rods 41 that can freely extend and retract in each cylinder 4 move in opposite directions, and the extending direction of the telescopic rod 41 faces the end face of the long rod 104 in the transverse bracket 12. As shown Figure 7 in FIG. 5, the cylinder mounting plate 44 is in an I shape. The two mutually parallel cylinder mounting plates 44 are distributed on both sides of the vertical rod 101. The supporting feet at both ends of the cylinder mounting plate 44 are fixedly connected to the bottom mounting plate 103 or the long rod 104, so that the cylinder mounting plate 44 is perpendicular to the length direction of the long rod 104. A pair of symmetric cylinder clamping plates 48 are erected and mounted on the cylinder mounting plate 44. The cylinder 4 is rotatably mounted between the pair of cylinder clamping plates 48. Each cylinder clamping plate 48 is provided with an opening for rotatably connecting with a rotating mounting plate 45. As shown Figure 6As shown, the rotating mounting plate 45 is in contact with the end face of the cylinder 4 and is fixedly connected to the end face of the cylinder 4 by bolts. A central hole 46 is provided in the center of the rotating mounting plate 45 for the telescopic rod 41 in the cylinder 4 to pass through. There is no contact friction between the central hole and the telescopic rod 41. Rotating convex shafts 47 are symmetrically arranged on both sides of the rotating mounting plate 45. The axis lines of a pair of rotating convex shafts 47 intersect with the center of the central hole 46. The rotating convex shafts 47 are embedded in the openings of the cylinder clamping plates 48, so that the cylinder 4 can rotate between a pair of cylinder clamping plates 48 through the rotating mounting plate 45. After passing through the central hole 46 of the rotating mounting plate 45, the telescopic rod 41 of the cylinder 4 is hinged to one end of the cylinder clamping block 43 through a connecting piece 42, so that the connecting piece 42 and the cylinder clamping block 43 are rotatably connected. When the telescopic rod 41 continuously extends from the inside of the cylinder 4, the angle between the cylinder 4 and the transverse bracket 12 first becomes smaller until it is horizontal. As the telescopic rod 41 continuously extends, the angle between the cylinder 4 and the transverse bracket 12 gradually increases again, so that the cylinder 4 can rotate relative to the cylinder clamping plates 48. On the contrary, when the telescopic rod 41 continuously retracts into the cylinder, the process of the angle between the cylinder 4 and the transverse bracket 12 is opposite.

[0037] As Figure 2 and Figure 8 shown, one end of the cylinder clamping block 43 is hinged to the connecting piece 42. An arc-shaped clamping opening 49 is provided at the other end of the cylinder clamping block 43. The arc-shaped clamping opening 49 of the cylinder clamping block 43 clamps on the gripper shaft 51 and is locked and fixed to the gripper shaft 51 by bolts and nuts. After passing through the arc-shaped clamping opening 49 of the cylinder clamping block 43, the gripper shaft 51 is perpendicular to the movement direction of the telescopic rod 41. A plurality of grippers 5 are evenly distributed on the gripper shaft 51. The gripper 5 includes an L-shaped rod. Each gripper 5 on each gripper shaft 51 is symmetrically arranged. An arc-shaped clamping opening 49 is also provided at the end of each gripper 5. The arc-shaped clamping opening 49 at the end of the gripper 5 clamps on the gripper shaft 51 and is locked and fixed to the gripper shaft 51 by bolts and nuts. After being locked and fixed, the long arm of the gripper 5 is parallel to the plane where the transverse bracket 12 is located, and the short arm is perpendicular to the plane where the transverse bracket 12 is located, that is, the opening of the L-shaped gripper 5 faces downward.

[0038] As Figure 2 shown, a guide rail system is also provided on the transverse bracket 12, including a slide rail 8 and a guide rail 9. The slide rail 8 is used to assist the movement of the gripper shaft 51 under the pushing action of the cylinder 4, and the guide rail 9 is used to assist the rotation of the gripper shaft 51. Specifically, slide rails 8 are provided on the long rods 104 on both sides of the transverse bracket 12. The slide rail 8 includes a fixed track 81 and a linear slider 82. As Figure 12As shown in the figure, a chute that fits with the fixed slide rail 81 is provided at the bottom of the linear slider 82, enabling the linear slider 82 to freely slide back and forth on the fixed slide rail 81. A support 52 is provided at the top of the linear slider 82. Both ends of the gripper shaft 51 pass through the openings of the support 52, and the gripper shaft 51 can rotate within the openings of the support 52. That is, both ends of one gripper shaft 51 are restricted on a pair of linear sliders 82 and maintain horizontal balance. The gripper shaft 51 is driven by the cylinder 4, and the gripper shaft 51 drives the linear slider 82 to move. In this way, the gripper 5 is perpendicular to the length direction of the long rod 104 and reciprocates under the action of the cylinder 4. As Figure 2 shown, the slider stop 83 is adjacent to the end of the fixed slide rail 81 and is installed on the long rod 104. When the linear slider 82 slides to contact the slider stop 83, on the one hand, the linear slider 82 stops moving, and on the other hand, the cylinder 4 further extends the telescopic rod 41.

[0039] As Figure 2 shown, the guide rail 9 in the guide rail system is arranged in parallel with the slide rail 8 on the transverse bracket 12. The guide rail 9 is fixed on the guide rail backing plate 91, and the guide rail backing plate 91 is installed on the short rod 105 of the transverse bracket 12. A guide notch 53 with the same width as the guide rail 9 is cut on the gripper shaft 51. The width of the guide notch 53 is the same as the top surface and the side end surface widths of the guide rail 9, enabling the top and the end of the guide rail 9 to be embedded into the guide notch 53 of the gripper shaft 51, and the gripper shaft 51 can slide along the guide rail 9. The length of the guide rail 9 is less than the length of the fixed rail 81, and the length of the fixed rail 81 is less than the stroke length of the cylinder 4. When the linear slider 82 moves to be adjacent to the slider stop 83, a part of the guide notch 53 of the gripper shaft 51 disengages from the guide rail 9. At the same time, the gripper shaft 51 is restricted by the linear slider 82 and no longer moves forward horizontally. At this time, the telescopic rod 41 in the cylinder 4 further extends and exceeds the horizontal position of the gripper shaft 51. The arc-shaped clamping opening 49 at the end of the cylinder clamping block 43 is restricted at the horizontal position by the gripper shaft 51, causing the cylinder clamping block 43 to rotate with the position of the gripper shaft 51 as the rotation axis. At the same time, the hinge joint between the cylinder clamping block 43 and the connecting piece 42 rotates, and the angle between the cylinder clamping block 43 and the connecting piece 42 changes from large to small. When the cylinder clamping block 43 folds below the connecting piece 42, the angle between the two is the smallest. As Figure 13As shown, the cylinder clamp 43 drives the gripper shaft 51 locked by it to rotate in the opening of the support 52 while rotating, and drives the locked gripper 5 on the gripper shaft 51 to turn at the same time. When the cylinder clamp 43 is folded to the bottom of the connecting piece 42 and the angle between the two is the smallest, the telescopic rod 41 of the cylinder 4 is restricted from further extension, and the gripper shaft 51 rotates to fit on the side end surface of the guide rail 9. When the top surface and the side end surface of the guide rail 9 are perpendicular to each other, the gripper shaft 51 rotates 90° and stops rotating. At the same time, the gripper 5 also rotates 90°, so that the openings of the L-shaped gripper 5 are opposite to each other, and the long arms and short arms of the two symmetrical grippers 5 can be enclosed under the vacuum suction cup 2 to form a closed circle to prevent the soft packaging bag sucked by the vacuum suction cup 2 from suddenly loosening and falling. During the sliding process of the gripper shaft 51 and the guide rail 9, the setting of the guide slot 53 allows the gripper shaft 51 to only perform translational and rotational movements relative to the guide rail system, so that the direction and rotation direction of the gripper shaft 51 are limited by the guide rail 9, and will not be separated from the guide rail 9, thus ensuring the stability of the gripper shaft 51 during its movement. When the telescopic rod 41 of the cylinder 4 is in the process of retracting, the gripper shaft 51 is first rotated under the action of the cylinder clamp 43 until the slot surface of the guide slot 53 coincides with the top surface of the guide rail 9, and then the telescopic rod 41 is further pulled back so that the guide slot 53 is embedded in the guide rail 9 again, so that the gripper shaft 51 moves back under the action of the guide rail system, and at the same time, after the gripper 5 is rotated, it no longer surrounds the bottom of the vacuum suction cup 2, and retracts to both sides of the clamp bracket 1.

Claims

1. A discharging device for a flexible packaging bag, characterized in that, The device comprises a clamp support, a vacuum suction cup (2) installed below the clamp support and a plurality of grippers (5) above the clamp support. A vacuum generator is installed in the vacuum suction cup (2). The vacuum generator is connected to a compressed air pipeline and is used to suck the soft packaging bag when negative pressure suction is generated, and to blow the soft packaging bag open when compressed air is introduced. The grippers (5) comprise an L-shaped rod. The plurality of grippers (5) are divided into two groups and are symmetrically distributed on the front and rear sides of the vacuum suction cup (2). The proximal end of each group of grippers (5) is connected to a driving component matched with the clamp support. The driving component can drive the proximal ends of each group of grippers (5) to move closer to each other along the clamp support (1), so that the distal ends of each group of grippers (5) are relatively opened on both sides of the vacuum suction cup (2). The driving component can also drive the proximal ends of each group of grippers (5) to move away from each other along the clamp support (1), so that the distal ends of each group of grippers (5) are relatively closed below the vacuum suction cup (2). The clamp bracket comprises a vertical bracket (11) arranged vertically and a horizontal bracket (12) arranged horizontally, the vertical bracket (11) comprising a vertical rod (101) and a top mounting plate (102) and a bottom mounting plate (103) respectively connected to both ends of the vertical rod (101), the top mounting plate (102) being used for fixing and mounting the clamp device, the bottom mounting plate (103) being connected to the vacuum suction cup (2), the horizontal bracket (12) being in the shape of a ladder, comprising two parallel long rods (104) and a short rod (105) vertically arranged between the long rods (104), and the bottom surface of the bottom mounting plate (103) being connected to the middle of the horizontal bracket (12); The driving assembly comprises two groups of cylinders (4) and guide rail systems symmetrically arranged on the clamp bracket, wherein the cylinders (4) are symmetrically distributed on the left and right sides of the vertical bracket (11), the end of the telescopic rod (41) of the cylinder (4) is hinged to one end of the cylinder clamp (43), and the other end of the cylinder clamp (43) is locked to a gripper shaft (51) arranged horizontally and perpendicular to the long rod (104), and the gripper (5) is fixed on the gripper shaft (51), and the guide rail system comprises a guide rail (9) arranged parallel to the long rod (104) and two slide rails (8), and the slide rails (8) are respectively installed on the two long rods (104), and the bottom surface of the middle part of the gripper shaft (51) is cut with a guide groove (51) that fits with the guide rail (9). 3), so that the gripper shaft (51) is stuck on the guide rail (9), the two ends of the gripper shaft (51) are mounted on the slide rail (8) and kept horizontal, the length of the guide rail (9) is less than the length of the slide rail (8), the length of the slide rail (8) is less than the stroke of the cylinder (4), and a slider block (83) is provided at the end of the slide rail (8). When the gripper shaft (51) moves away from each other under the drive of the cylinder (4), after the gripper shaft (51) is separated from the guide rail (9), it is restricted from translation under the blockage of the slider block (83), and the cylinder (4) drives the gripper shaft (51) to rotate in situ at the end of the slide rail (8), and at the same time, the distal ends of each group of grippers (5) are relatively closed under the vacuum suction cup (2); The gripper (5) is divided into two groups and arranged on two gripper shafts (51) respectively. Each gripper (5) is clamped on the gripper shaft (51) through an arc-shaped clamping opening (49) provided at its end.

2. The discharging device for a flexible packaging bag according to claim 1, characterized in that, The cylinders (4) are respectively mounted on the transverse bracket (12) through cylinder mounting plates (44). The telescopic rods (41) that can freely extend and retract in each cylinder (4) move in opposite directions, and the extending direction of the telescopic rod (41) faces the end face of the long rod (104) in the transverse bracket (12). The cylinder mounting plate (44) is in an I shape. Two mutually parallel cylinder mounting plates (44) are distributed on the front and rear sides of the vertical rod (101). The feet at both ends of the cylinder mounting plate (44) are fixedly connected to the bottom mounting plate (103) or the long rod (104), so that the cylinder mounting plate (44) is perpendicular to the length direction of the long rod (104). A pair of symmetric cylinder clamping plates (48) are vertically mounted on the cylinder mounting plate (44). The cylinder (4) is rotatably mounted between the pair of cylinder clamping plates (48). Each cylinder clamping plate (48) is provided with an opening for rotatably connecting with the rotating mounting plate (45). The rotating mounting plate (45) is attached to the end face of the cylinder (4) and is fixedly connected to the end face of the cylinder (4) through bolts. A central hole (46) through which the telescopic rod (41) in the cylinder (4) can pass is opened at the center of the rotating mounting plate (45). There is no contact friction between this central hole and the telescopic rod (41). Symmetric rotating convex shafts (47) are provided on both sides of the rotating mounting plate (45). The axis lines of the pair of rotating convex shafts (47) intersect with the center of the central hole (46). The rotating convex shafts (47) are embedded in the openings of the cylinder clamping plates (48), so that the cylinder (4) can rotate between the pair of cylinder clamping plates (48) through the rotating mounting plate (45). The telescopic rod (41) of the cylinder (4) passes through the central hole (46) of the rotating mounting plate (45) and is hinged to one end of the cylinder clamping block (43) through a connecting piece (42). The arc-shaped clamping opening (49) at the other end of the cylinder clamping block (43) clamps on the gripper shaft (51) and is locked and fixed to the gripper shaft (51) through bolts and nuts. The gripper shaft (51) passes through the arc-shaped clamping opening (49) of the cylinder clamping block (43) and is perpendicular to the long rod (104).

3. The discharging device for a flexible packaging bag according to claim 1, characterized in that, The slide rails (8) are arranged on the long rods (104) on both sides of the transverse bracket (12). The slide rails (8) include fixed slide rails (81) and linear sliders (82). The bottom of the linear slider (82) is provided with a chute that fits with the fixed slide rail (81), so that the linear slider (82) can freely slide back and forth on the fixed slide rail (81). A support (52) is provided at the top of the linear slider (82). Both ends of the gripper shaft (51) are sleeved in the openings of the support (52). The gripper shaft (51) can rotate in the openings of the support (52), that is, both ends of a gripper shaft (51) are restricted on a pair of linear sliders (82) and maintain horizontal balance.

4. The discharging device for a flexible packaging bag according to claim 1, characterized in that, The guide rail (9) is fixed on the guide rail backing plate (91), and the guide rail backing plate (91) is installed on the short rod (105) of the transverse bracket (12). A guide notch (53) with the same width as the guide rail (9) is cut on the gripper shaft (51), and the top of the guide rail (9) is embedded in the guide notch (53) of the gripper shaft (51), so that the gripper shaft (51) can slide along the guide rail (9).

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