Automatic bag tying device for F0 area

Abstract

The present invention discloses an automatic bag-tying device for use in the F0 zone, comprising a first conveying device, a second conveying device, a clamping device, a tie-wrapping device, and a tie-tightening device. The first conveying device is used to convey a barrel containing packaging bags and is provided with a bag-tying station. The second conveying device is used to convey a magazine loaded with tie ties and can move the magazine to a loading station. The clamping device can close the openings of packaging bags suspended in the bag-tying station. The tie-wrapping device can pick up a tie from the loading station, transfer the tie, and place it on the opening of the packaging bag closed by the clamping device. The tie-tightening device can clamp and tighten the tie to achieve a tight binding of the openings of the packaging bags. The first conveying device, the second conveying device, the clamping device, the tie-wrapping device, and the tie-tightening device are all provided with protective structures. The bag-tying device has a streamlined structure, a high degree of automation and integration, and good protective performance, which can well meet the processing environment requirements of energetic materials.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging equipment, and in particular to an automatic bag-tying device for an F0 zone. Background Art

[0002] When packaging materials, if the materials to be packaged have high requirements for sealing, it is necessary to place a packaging bag in the packaging container, fill the packaging bag with the materials, then lift the bag opening and tie the bag opening tightly with a cable tie to seal it.

[0003] In the prior art, in order to improve production efficiency and reduce labor costs, an automated bag-tying device has been developed that combines "automatic closing of the bag opening", "automatic twisting of the bag opening" and "automatic tying with a cable tie gun".

[0004] However, the aforementioned automated bag-binding device cannot be used for packaging energetic materials. This is because energetic materials are explosive and highly hazardous, requiring them to be processed in an F0 or F1 environment. (As is known, the electrical hazardous area of ​​an pyrotechnic environment is divided into three zones: F0, F1, and F2. Zone F0 refers to a workshop where gunpowder, explosives, and their dust, which pose a high explosion hazard, are permanently present; Zone F1 refers to a workshop where gunpowder, explosives, and their dust, which may pose an explosion hazard during normal operation; and Zone F2 refers to a workshop where gunpowder, explosives, oxidizers, and their dust, which may pose a fire hazard during normal operation, but have a lower explosion hazard.) Existing automated bag-binding devices lack explosion-proof structures or measures, making them incapable of meeting the requirements for energetic material processing environments.

[0005] In view of this, the present invention is proposed. Summary of the Invention

[0006] In order to overcome the above-mentioned defects, the present invention provides an automatic bag-tying device for the F0 area, which not only has good protection and can well meet the processing environment requirements of energetic materials; but also has a streamlined and reasonable structure, a high degree of automation and integration, good and simple control logic, and is conducive to production implementation.

[0007] The technical solution adopted by the present invention to solve its technical problems is: an automatic bag tying device for F0 area, the bag tying device is used to gather the bag mouth of the lifted packaging bag, and pick up the cable tie to tie the bag mouth of the packaging bag; the bag tying device includes a first conveying device, a second conveying device, a clamping device, a cable tie device and a cable tie tightening device, the first conveying device is used to convey a barrel containing packaging bags, wherein the bag mouth of the packaging bag is pre-lifted to a predetermined height above the barrel mouth of the barrel; and a bag tying station is provided on the first conveying device; the second conveying device is used to convey magazines carrying cable ties pre-arranged into a Q shape, and can move the magazines one by one to the loading station; the loading station The work station is arranged between the unloading side of the second conveying device and the bag-tying station; the holding device is arranged next to the bag-tying station, and can close the bag mouth of the packaging bag paused in the bag-tying station; the tying belt device is arranged between the bag-tying station and the loading station, and can pick up the tying belt from the loading station, transfer the tying belt and put it on the bag mouth of the packaging bag closed by the holding device; the tying belt tensioning device is also arranged next to the bag-tying station, and can clamp and tighten the tying belt to achieve tight bundling of the bag mouth; in addition, the first conveying device, the second conveying device, the holding device, the tying belt device and the tying belt tensioning device are respectively provided with protective structures.

[0008] As a further improvement of the present invention, the holding device is configured as two groups, and the two groups of holding devices each include a driving mechanism A and a holding arm connected to the power output end of the driving mechanism A. The two driving mechanisms A are respectively arranged on opposite sides of the bag-binding station. The two holding arms are respectively driven by the two driving mechanisms A to move closer to or separate from each other to close or loosen the bag opening of the packaging bag.

[0009] The tying belt device includes a driving mechanism B and a material receiving hand connected to the power output end of the driving mechanism B. The driving mechanism B is arranged between the bag tying station and the loading station. The material receiving hand can move up and down under the drive of the driving mechanism B, and can move horizontally back and forth between the bag tying station and the loading station.

[0010] As a further improvement of the present invention, the driving mechanism A and the driving mechanism B both adopt a lifting and rotating motion mechanism, which includes a protective structure A, a main shaft, a power component A and a transmission component A, wherein:

[0011] The protective structure A includes a protective box A for containing deionized water. The main shaft is vertically built into the protective box A, and one end of the main shaft is sealed and extends outside the protective box A to be used as the power output end of the lifting and rotating motion mechanism;

[0012] The power component A is used to provide power and is connected to the outside of the protective box A, and the power output end of the power component A is sealed and extended into the protective box A; the transmission component A has a first transmission component A and a second transmission component A, the first transmission component A is connected between the power output end of the power component A and the main shaft, and can drive the main shaft to rotate; the second transmission component A is also connected between the power output end of the power component A and the main shaft, and can drive the main shaft to move back and forth up and down.

[0013] As a further improvement of the present invention, the material holding arm includes a first connecting arm and a plurality of rod-shaped fingers, the first connecting arm is an L-shaped structure formed by connecting a horizontal arm and a vertical arm, and the end of the horizontal arm away from the vertical arm is fixedly connected to an end of the main shaft of the driving mechanism A; the plurality of fingers are equally divided into two rows and respectively provided on the vertical arms, and the plurality of fingers are arranged obliquely relative to the vertical arms, and the plurality of fingers are arranged symmetrically relative to the vertical center line of the vertical arms;

[0014] The material receiving arm includes a second connecting arm and a material receiving part, the second connecting arm is fixedly connected to the material receiving part and one end of the main shaft of the driving mechanism B respectively, and the material receiving part is provided with an annular hole groove with a notch to match the shape of the cable tie that is pre-arranged into a Q shape; and a plurality of limit blocks for blocking and restricting the cable tie are also arranged at intervals around the periphery of the annular hole groove.

[0015] As a further improvement of the present invention, the cable tie tensioning device includes a protective structure B, a clamping assembly and a driving mechanism C, wherein:

[0016] The protective structure B includes a protective box B for containing deionized water, and the protective box B is arranged next to the bag-binding station;

[0017] The clamping assembly includes a third connecting arm and a flexible clamping head. One end of the third connecting arm is placed outside the protection box B and points to the bag-binding station, and one end of the third connecting arm is also connected to the flexible clamping head; the other end of the third connecting arm extends into the protection box B.

[0018] The driving mechanism C includes an explosion-proof power assembly and a transmission assembly B. The explosion-proof power assembly is used to provide power and is connected to the outside of the protective box B, and the power output end of the explosion-proof power assembly is sealed and extended into the protective box B; the transmission assembly B is connected between the power output end of the explosion-proof power assembly and the other end of the third connecting arm, and can drive the clamping assembly as a whole to move linearly toward or away from the bag-binding station.

[0019] As a further improvement of the present invention, the flexible clamping head includes two clamping fingers, the two clamping fingers are oppositely and spaced apart and arranged at one end of the third connecting arm, and a diaphragm cylinder A is provided on at least one of the two opposite sides of the two clamping fingers;

[0020] The explosion-proof power assembly includes an air motor, a vertically arranged rotating main shaft, and a reducer connected between the power output shaft of the air motor and the lower shaft end of the rotating main shaft. The upper shaft end of the rotating main shaft is sealed and extended into the protective box B. At the same time, the rotating main shaft is axially stopped and circumferentially rotated relative to the protective box B.

[0021] The transmission assembly B includes a rack B and a gear B. The rack B is horizontally slidably arranged in the protective box B, and the rack B is also positioned and connected to the other end of the third connecting arm; the gear B is meshed with the rack B, and the gear B is also positioned and connected to the upper shaft end of the rotating main shaft.

[0022] As a further improvement of the present invention, the first conveying device adopts an explosion-proof conveying device, and a lifting component for lifting and positioning the barrel is provided at the bag-binding station of the first conveying device;

[0023] The second conveying device includes a conveying streamline and an explosion-proof robot. The conveying streamline adopts an explosion-proof conveying device, and the unloading side of the conveying streamline is provided with a limiting component for stopping and limiting the magazine; the explosion-proof robot is arranged between the unloading side of the conveying streamline and the loading station, and the execution end of the explosion-proof robot is provided with a first picking component for picking up the magazine and a second picking component for picking up the cable tie in the magazine, and the first picking component can cooperate with the explosion-proof robot to move the magazine limited at the unloading side of the conveying streamline to the loading station, and the second picking component can cooperate with the explosion-proof robot to pull the cable tie in the magazine downward.

[0024] As a further improvement of the present invention, a support frame for receiving magazines is provided at the loading station, and the receiving hand can be movably inserted into the support frame to receive the cable tie pulled downward by the second picking component and the explosion-proof robot; a dust hood is provided above the bagging station, and the dust hood can move up and down relative to the bagging station.

[0025] As a further improvement of the present invention, the bag tying device further comprises a folding device, which is arranged next to the bag tying station and is capable of folding the bag opening after a strapping operation is completed;

[0026] After the folding device completes folding the bag opening of the packaging bag, the holding device, the strapping device and the strap tightening device operate in sequence to perform secondary strapping on the folded bag opening.

[0027] As a further improvement of the present invention, the folding device includes a first rotary cylinder, a second rotary cylinder and a driving cylinder B, wherein the first rotary cylinder is configured as two and is spaced apart next to the bag tying station and close to the bag opening of the packaging bag, and the turntables of the two first rotary cylinders are also respectively provided with a flipping rod pointing to the bag opening of the packaging bag; the turntables of the second rotary cylinder are respectively connected to the cylinder bodies of the two first rotary cylinders to drive the two first rotary cylinders to rotate synchronously; the piston rod of the driving cylinder B is connected to the cylinder body of the second rotary cylinder, and can drive the flipping rods on the two first rotary cylinders to synchronously approach or move away from the bag opening of the packaging bag.

[0028] The beneficial effects of the present invention are: ① The bag tying device of the present invention integrates operations such as "automatic feeding (such as: a barrel containing packaging bags and a magazine containing cable ties)", "automatic closing of the bag opening", "automatic strapping", and "automatic tightening of cable ties" in one, with a high degree of automation and integration, which greatly improves production efficiency and production quality, and reduces labor costs and labor intensity. In particular, the first conveying device, the second conveying device, the clamping device, the strapping device, and the strap tightening device in the bag tying device of the present invention are respectively provided with a protective structure that can reduce the sensitivity of energetic materials, so that the bag tying device can well meet the processing environment requirements of energetic materials. ② The bag tying device of the present invention has a simple and reasonable structure, good and simple control logic, and is conducive to production implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic structural diagram of the automatic bag-tying device for the F0 area according to the present invention;

[0030] Figure 2 It is a structural schematic diagram of the second conveying device of the present invention when it is assembled with the support frame in the loading station;

[0031] Figure 3 for Figure 2 Schematic diagram of the local enlarged structure in;

[0032] Figure 4 for Figure 3 A schematic diagram of the enlarged structure of part A shown in FIG;

[0033] Figure 5 This is a schematic structural diagram of the tying belt device of the present invention;

[0034] Figure 6Schematic diagram of the structure of the material receiving hand in the tying belt device of the present invention;

[0035] Figure 7 Schematic diagram of the structure of the driving mechanism B in the tying belt device of the present invention at a first viewing angle;

[0036] Figure 8 Schematic diagram of the structure of the driving mechanism B in the tying belt device of the present invention at a second viewing angle;

[0037] Figure 9 This is a schematic structural diagram of the main shaft, the shaft sleeve A, and the gear A in the tying belt device of the present invention when assembled together;

[0038] Figure 10 for Figure 9 AA cross-sectional structural diagram shown;

[0039] Figure 11 Schematic diagram of the structure of the shaft sleeve A in the tying belt device of the present invention;

[0040] Figure 12 Schematic diagram of the structure of the gear A in the tying belt device of the present invention;

[0041] Figure 13 Schematic diagram of the assembly relationship between the shaft sleeve A and the gear A in the tying belt device of the present invention;

[0042] Figure 14 This is a schematic structural diagram of the holding device of the present invention;

[0043] Figure 15 Schematic diagram of the structure of the material holding arm in the holding device of the present invention;

[0044] Figure 16 Schematic diagram of the structure of the driving mechanism A in the holding device of the present invention;

[0045] Figure 17 This is a schematic diagram of the structure of the main shaft, the sleeve A, the gear A, and the slewing bearing in the clamping device of the present invention when assembled together (from a first perspective);

[0046] Figure 18 This is a second structural schematic diagram (from a second viewing angle) of the main shaft, the sleeve A, the gear A, and the slewing bearing of the clamping device of the present invention when assembled together;

[0047] Figure 19 Schematic diagram of the assembly relationship between the sleeve A, the gear A and the slewing bearing in the clamping device of the present invention;

[0048] Figure 20 This is a schematic structural diagram of the cable tie tensioning device according to the present invention at a first viewing angle;

[0049] Figure 21 This is a schematic structural diagram of the cable tie tensioning device according to the present invention at a second viewing angle;

[0050] Figure 22 This is a schematic diagram of the structure of the clamping assembly and the driving mechanism C in the cable tie tensioning device of the present invention when assembled together (from a first viewing angle);

[0051] Figure 23 for Figure 22 Schematic diagram of the enlarged structure of part B shown in FIG;

[0052] Figure 24 This is a second structural schematic diagram of the clamping assembly and the driving mechanism C in the cable tie tensioning device of the present invention when assembled together (from a second viewing angle);

[0053] Figure 25 for Figure 24 The enlarged structural diagram of the C portion is shown in FIG;

[0054] Figure 26 It is a structural schematic diagram of the folding device of the present invention.

[0055] The following description is made with reference to the accompanying drawings:

[0056] 1. First conveying device; 2. Second conveying device; 20. Conveying flow line; 21. Explosion-proof robot; 22. Gripper cylinder; 23. Gripper; 24. Base; 25. Diaphragm cylinder B; 26. Pressing plate; 3. Clamping device; 30. Material holding arm; 300. First connecting arm; 301. Finger; 31. Protective box A; 32. Spindle; 320. Flat surface; 321. Slot B; 33. Rack A; 34. Bushing A; 340. Bushing body; 341. Key; 342. Stop ring; 35. Gear A; 350. Slot A; 36. Mounting bracket A; 37. Stop washer; 38. Floating joint; 39. Connector; 390. Connecting part; 391. Clamping part; 310. Lifting plate; 311. Slewing bearing; 312. Guide rod; 313. Driving cylinder A. 4. Tie-belt device; 40. Material receiving arm; 400. Second connecting arm; 401. Material receiving portion; 402. Annular hole groove; 403. Limit block; 5. Tie-belt tensioning device; 50. Protective box B; 51. Third connecting arm; 510. Arm body A; 511. Arm body B; 52. Flexible clamping head; 520. Clamping finger; 521. Diaphragm cylinder A; 522. Anti-slip pattern; 54. Pneumatic Motor; 55. Rotating spindle; 56. Reducer; 57. Rack B; 58. Gear B; 59. Mounting bracket B; 512. Slide; 513. Runner; 6. Support bracket; 60. Upper plate; 61. Lower plate; 62. Support column; 63. Block; 8. Folding device; 80. Flipping rod; 81. First rotary cylinder; 82. Second rotary cylinder; 83. Driving cylinder B; 84. Organ cover. DETAILED DESCRIPTION

[0057] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0058] Example 1:

[0059] Please see the attached Figure 1As shown, this embodiment 1 provides an automatic bag tying device for the F0 area, which is used to automatically close the mouth of the lifted packaging bag (the packaging bag is filled with energy-containing materials) and automatically pick up the cable tie to tie the mouth of the packaging bag. Specifically, the bag tying device includes a first conveying device 1, a second conveying device 2, a clamping device 3, a strapping device 4 and a strap tensioning device 5, wherein the first conveying device 1 is used to convey a barrel containing packaging bags, wherein the mouth of the packaging bag is pre-lifted to a predetermined height above the barrel mouth; and a bag tying station is provided on the first conveying device 1; the second conveying device 2 is used to convey magazines carrying cable ties pre-arranged into a Q shape, and can move the magazines one by one to the loading station; the loading station is arranged between the unloading side of the second conveying device 2 and the bag tying station; the clamping device 3 is arranged next to the bag tying station, and can pull the magazines paused at the bag tying station. The opening of the packaging bag in the bag-tying station is closed; the tying belt device 4 is arranged between the bag-tying station and the loading station, and can pick up the tying belt from the loading station, transfer the tying belt and put it on the opening of the packaging bag that is closed by the clamping device 3; the tying belt tensioning device 5 is also arranged next to the bag-tying station, and can clamp and tighten the tying belt ("tightening the tying belt" can be understood as: pulling and reducing the annular head area of ​​the tying belt) to achieve tight bundling of the opening of the packaging bag; in addition, the first conveying device 1, the second conveying device 2, the clamping device 3, the tying belt device 4 and the tying belt tensioning device 5 are respectively provided with a protective structure that can reduce the sensitivity of the energetic material.

[0060] As can be seen from the structure of the bag-tying device described above, it integrates operations such as "automatic feeding (e.g., a barrel containing packaging bags and a magazine containing cable ties)", "automatic bag closing", "automatic cable tie application", and "automatic cable tie tensioning", achieving a high degree of automation and integration, significantly improving production efficiency and quality, and reducing labor costs and labor intensity. In particular, the first conveyor device, second conveyor device, clamping device, cable tie application device, and cable tie tensioning device of the bag-tying device described herein are each equipped with a protective structure capable of reducing the sensitivity of energetic materials, thereby enabling the bag-tying device to effectively meet the processing environment requirements of energetic materials.

[0061] The specific structure of each device in the automatic bag tying device of the present invention is described in detail below.

[0062] First, let's discuss the first conveying device 1 .

[0063] In this embodiment 1, please refer to the attached Figure 1 As shown, the first conveying device 1 adopts an explosion-proof conveying device, and a lifting component for lifting and positioning the barrel is provided at the bag-binding station of the first conveying device 1.

[0064] Furthermore, in this embodiment 1, the first conveying device 1 can preferably adopt the explosion-proof conveying device structure provided by Chinese Patent CN202223149164.X, which is equipped with protective structures such as a pneumatic motor and an immersion transmission, so that the conveying device can effectively meet the processing environment requirements of energetic materials. The lifting assembly can adopt various implementation structures. For example, the lifting assembly includes an airbag cylinder A and a positioning pin connected to the airbag cylinder A. The airbag cylinder A is connected to the lower side of the middle of the water trough of the first conveying device 1 (the water trough is a U-shaped trough with a cavity in the middle) through an auxiliary bracket. It can be understood that the airbag cylinder A is located below the bagging station. The positioning pin can be inserted into the positioning hole of the tray (the tray is used to support the barrel) under the drive of the airbag cylinder A to restrain the tray. The airbag cylinder A can then drive the tray and the barrel on it to perform a lifting and positioning movement, thereby separating the tray and the barrel on it from the first conveying device 1 and pausing them in the bagging station.

[0065] Next, let's discuss the second conveying device 2 .

[0066] In this embodiment 1, please refer to the attached Figure 1 To the attached Figure 4 As shown, the second conveying device 2 includes a conveying line 20 and an explosion-proof robot 21. The conveying line 20 adopts an explosion-proof conveying device, and the unloading side of the conveying line 20 is provided with a limiting component for stopping and limiting the magazine; the explosion-proof robot 21 is arranged between the unloading side of the conveying line 20 and the loading station, and the execution end of the explosion-proof robot 21 is provided with a first picking component for picking up the magazine and a second picking component for picking up the cable tie in the magazine, and the first picking component can cooperate with the explosion-proof robot 21 to move the magazine limited at the unloading side of the conveying line 20 to the loading station, and the second picking component can cooperate with the explosion-proof robot 21 to pull the cable tie in the magazine downward.

[0067] Further preferably, the structure of the conveyor line 20 can employ the explosion-proof conveying device structure disclosed in Chinese Patent CN202223149164.X. Similar to the first conveyor device 1 described above, the conveyor line 20 can also effectively meet the processing environment requirements for energetic materials. The restraining assembly can adopt various implementation structures, including the following examples: ① The restraining assembly includes an airbag cylinder B disposed on the unloading side of the frame of the conveyor line 20 and a baffle A connected to the airbag cylinder B. The baffle A, driven by the airbag cylinder B, can abut against a bracket (which carries the magazine) to stop and limit the bracket and position it against the edge. Alternatively, ② The restraining assembly includes a pen-shaped cylinder disposed on the unloading side of the frame of the conveyor line 20 and a guide post connected to the piston rod of the pen-shaped cylinder. The guide post, driven by the pen-shaped cylinder, can abut against the bracket to stop and limit the bracket and position it against the edge. As can be understood, a protective cover is also provided on the outside of the piston rod and guide post of the pen-shaped cylinder to prevent energetic dust from entering the motion mechanism, thereby improving the safety of the motion mechanism. In addition, other accessories such as blocks and proximity sensors are also configured on the unloading side of the conveyor line 20 to cooperate with the limiting assembly.

[0068] In addition, the conveying streamline 20 and the first conveying device 1 can preferably adopt a linear conveying streamline structure. In this case, the conveying streamline 20 and the conveying direction of the first conveying device 1 are perpendicular to each other.

[0069] Furthermore, the magazine structure is preferably used to hold a Q-shaped cable tie. To facilitate the description of its structure, the cable tie is first described: the cable tie in the present invention is a self-locking type, which is widely used in the market. Its conventional structure includes a long strip of cable tie body and a locking head provided at the head of the cable tie body. When the tail end of the cable tie body is passed through the locking head, the cable tie is arranged into a Q shape.

[0070] For the sake of convenience, if the cable tie arranged into a Q shape is defined as including a ring-shaped head and a strip-shaped tail connected to the tail end of the ring-shaped head, then the "ring-shaped head" is equivalent to "the part of the cable tie body arranged into a ring and the locking head", and the locking head is equivalent to the tail end of the ring-shaped head; the "strip-shaped tail" is equivalent to "the tail of the cable tie body".

[0071] Combined with the above description of the cable tie structure, the structure of the magazine can be: including a first base, a second base, a plurality of support rods, two baffles B and a block, wherein the first base and the second base are arranged relative to each other up and down, and the first base is a flat plate, and the second base is a ring structure with a notch, and the plurality of support rods extend vertically and are arranged in a ring between the first base and the second base at intervals, and the plurality of support rods, the first base and the second base together form a receiving space for receiving the ring head of the cable tie, and accordingly, the second base is used as the ring head of the cable tie to enter and exit the The entrance and exit of the receiving space; the two baffles B extend vertically and are spaced apart next to the receiving space, and the two baffles B are also inclined to each other in an eight-shape, so that a limiting gap is formed between the two vertical sides of the two baffles B that are close to each other, and the limiting gap is respectively connected to the receiving space and the notch of the second base body, and the limiting gap is used to limit the ring-shaped head tail end and the strip tail end of the cable tie extending out of the receiving space; the stop block is elastically set next to one side of the limiting gap close to the notch by a spring piece, and is used to press and fix the ring-shaped head tail end of the cable tie located next to it to one of the baffles B.

[0072] Further preferably, the explosion-proof robot 21 adopts a commercially available four-axis explosion-proof robot, so its specific structure is not described in detail. It can also well meet the processing environment requirements of energetic materials.

[0073] For the first pickup assembly, please refer to the attached Figure 3 As shown, it includes a gripper cylinder 22 and a pair of grippers 23. The gripper cylinder 22 is connected to the execution end of the explosion-proof robot 21. The pair of grippers 23 are respectively connected to the gripper cylinder 22 and can move closer to or away from each other under the drive of the gripper cylinder 22 to clamp or release the magazine.

[0074] It can be understood that the method of the first picking component and the explosion-proof robot 21 working together is: the explosion-proof robot 21 drives the first picking component to move to the unloading side of the conveying line 20, and after the pair of jaws 23 of the first picking component clamps the magazine, the explosion-proof robot 21 drives the first picking component and the magazine to move together to the loading station, and the pair of jaws 23 of the first picking component releases the magazine and places the magazine at the loading station.

[0075] For the second pickup assembly, please refer to the attached Figure 3 and attached Figure 4As shown, it includes a base 24, a diaphragm cylinder B25, and a pressure plate 26. The base 24 is connected to the execution end of the explosion-proof robot 21. One end of the base 24 is formed into a bifurcated structure, and the diaphragm cylinder B25 is respectively provided on the two opposite inner sides of the bifurcated structure to clamp the strip tail of the cable tie in the magazine; the pressure plate 26 is placed between the two diaphragm cylinders B25 and is simultaneously positioned and connected to the bifurcated structure to press down the strip tail of the cable tie to facilitate pulling the cable tie downward; it is understandable that the pressure plate 26 is also located above the clamping part of the diaphragm cylinder B25, without interfering with each other. The diaphragm cylinder B25 adopts a Festo diaphragm clamping cylinder, and the clamping part of the diaphragm cylinder B25 is the cylinder's diaphragm (made of polyurethane material).

[0076] It can be understood that the method of cooperation between the second picking component and the explosion-proof robot 21 is: the explosion-proof robot 21 drives the second picking component to move to the loading station, and after the two diaphragm cylinders B25 of the second picking component clamp the strip tail of the cable tie, the explosion-proof robot 21 drives the second picking component and the cable tie to move downward together, so as to pull the cable tie downward.

[0077] Next, let's discuss the clamping device 3 and the tying belt device 4 .

[0078] In this embodiment 1, the holding device 3 is configured as two groups, and the two groups of holding devices 3 include a driving mechanism A and a holding hand 30 connected to the power output end of the driving mechanism A (see the attached Figure 14 To the attached Figure 19 As shown), the two driving mechanisms A are respectively arranged on the opposite sides of the bag-binding station, and the two material-holding arms 30 are respectively driven by the two driving mechanisms A to move closer to or separate from each other to achieve the closing or loosening of the bag opening.

[0079] The tying belt device 4 includes a driving mechanism B and a receiving hand 40 connected to the power output end of the driving mechanism B (see the attached Figure 5 To the attached Figure 13 As shown), the driving mechanism B is arranged between the bag-binding station and the loading station (and according to production needs, the driving mechanism B is higher than the bag-binding station), and the material receiving arm 40 can move up and down under the drive of the driving mechanism B, and move horizontally back and forth between the bag-binding station and the loading station.

[0080] From the actions of the material holding hand 30 and the material receiving hand 40, it can be seen that the drive mechanism A and the drive mechanism B can both meet the needs by adopting a lifting and rotating motion mechanism. Specifically, the structure of the lifting and rotating motion mechanism is: it includes a protective structure A, a main shaft 32, a power component A and a transmission component A, wherein the protective structure A includes a protective box A31 for containing deionized water, the main shaft 32 is vertically built into the protective box A31, and one shaft end of the main shaft 32 (which can be the upper shaft end or the lower shaft end) is sealed and extends out of the protective box A31 to be used as the power output end of the lifting and rotating motion mechanism; it can be understood that the power output ends of the drive mechanism A and the drive mechanism B are respectively the main shaft 32 of them. One shaft end; the power component A is used to provide power and is connected to the outside of the protective box A31, and the power output end of the power component A is sealed and extended into the protective box A31; the transmission component A has a first transmission component A and a second transmission component A, the first transmission component A is connected between the power output end of the power component A and the main shaft 32, and can drive the main shaft 32 to rotate; the second transmission component A is also connected between the power output end of the power component A and the main shaft 32, and can drive the main shaft 32 to move back and forth up and down.

[0081] In the lifting and rotating motion mechanism, it is further preferred that the protective box A31 is connected to the water inlet and outlet pipes, and a control solenoid valve, a flow meter, a water full automatic stop valve, etc. are installed on the water inlet and outlet pipes.

[0082] In the lifting and rotating motion mechanism, it is further preferred that the first transmission component A includes a rack A33, a sleeve A34 and a gear A35, the rack A33 is horizontally slidably built into the protective box A31, and is simultaneously connected to the power output end of the power component A; the sleeve A34 is sleeved on the outside of the main shaft 32, and the main shaft 32 is also circumferentially stopped and axially slidably connected to the sleeve A34; the gear A35 is fixedly sleeved on the outside of the sleeve A34 relative to the sleeve A34, and the gear A35 is also meshed with the rack A33.

[0083] And further preferably, the structure for realizing the circumferential stop and axial sliding connection between the main shaft 32 and the sleeve A34 is as follows: a mounting bracket A36 is fixedly arranged in the protective box A31, and a mounting hole is provided on the mounting bracket A36; the main shaft 32 passes through the mounting hole, and a flat portion 320 extending along its axial direction is provided on the side wall of the main shaft 32; the sleeve A34 has a sleeve body 340 in the shape of a hollow sleeve, and the inner hole cross-section of the sleeve body 340 is non-circular (such as a waist-shaped hole), and is slidably matched with the flat portion 320, so that the main shaft 32 passes through the sleeve body 340 and is circumferentially stopped and axially slidably connected to the sleeve body 340; at the same time, the sleeve body 340 is also coaxially arranged with the main shaft 32, and the sleeve body 340 is also positioned and connected in the mounting hole by screw connection or interference fit connection.

[0084] The structure for achieving the gear A35 being fixedly mounted on the outside of the sleeve A34 relative to the sleeve A34 is as follows: a key 341 is fixedly provided on the outer wall of the sleeve body 340, and a recessed slot A350 is recessed on the inner wall of the gear A35. When the gear A35 is mounted on the outside of the sleeve A34, the recessed slot A350 is snap-connected with the key 341.

[0085] In addition, in order to further enhance the connection stability between the gear A35 and the sleeve A34, a stop ring 342 is fixedly provided on the outer wall of the sleeve body 340, and a stop washer 37 is fixedly provided on the sleeve body 340 (the fixing method can be a tight fit or a threaded connection). The stop washer 37 and the stop ring 342 respectively stop and limit the axial sides of the gear A35.

[0086] The structure built into the protective box A31 that enables the horizontal sliding of the rack A33 is as follows: a horizontally extending slide rail A is fixedly provided on the mounting frame A36, and the rack A33 is slidably connected to the slide rail A. Furthermore, the length extension direction of the slide rail A is parallel to the length extension direction of the rack A33.

[0087] In the lifting and rotating motion mechanism, it is further preferred that the second transmission assembly A can adopt a variety of implementation structures, for example:

[0088] The first implementation structure: the second transmission component A includes a floating joint 38 and a connecting member 39, the connecting member 39 is axially fixed and circumferentially movable connected to the main shaft 32, and the floating joint 38 is connected between the power output end of the power component A and the connecting member 39.

[0089] Further preferably, the structure for achieving axial stopping of the connecting member 39 and circumferentially movable connection to the main shaft 32 is as follows: a recessed slot B321 extending circumferentially thereof is provided on the other axial end of the main shaft 32, and the slots B321 are configured as at least two and are symmetrically arranged; the connecting member 39 has a connecting portion 390 and a clamping portion 391, the connecting portion 390 is fixedly connected to the floating joint 38, and the clamping portion 391 is configured as at least two and are integrally connected to the side of the connecting portion 390 facing away from the floating joint 38, and at the same time, at least two of the clamping portions 391 can respectively be stopped axially along the main shaft 32 and be circumferentially movable and clamped in at least two of the slots B321 along the main shaft 32.

[0090] The second implementation structure: the second transmission component A includes a lifting plate 310 and a slewing bearing 311. The lifting plate 310 is built into the protective box A31 and can move axially along the main shaft 32. The lifting plate 310 is connected to the power output end of the power component A; the main shaft 32 is rotatably mounted on the lifting plate 310 through the slewing bearing 311.

[0091] Further preferably, the structure built into the protective box A31 that enables the lifting plate 310 to move axially along the main shaft 32 is: a plurality of guide rods 312 extending axially along the main shaft 32 are fixedly provided on the mounting frame A36, and the lifting plate 310 is slidably connected to the plurality of guide rods 312 through a sleeve B (the sleeve B is a conventional sleeve structure).

[0092] In this embodiment 1, the transmission assembly A in the drive mechanism A and the drive mechanism B can randomly adopt the above-mentioned combination of the first transmission assembly A and the second transmission assembly A according to production requirements. For example, the transmission assembly A in the drive mechanism A can adopt the second embodiment of the combination of the first transmission assembly A and the second transmission assembly A; and the transmission assembly A in the drive mechanism B can adopt the first embodiment of the combination of the first transmission assembly A and the second transmission assembly A.

[0093] In the lifting and rotating motion mechanism, it is further preferred that the power assembly A includes two driving cylinders A313, the two driving cylinders A313 are independently fixedly connected to the outside of the protective box A31, and the piston rods of the two driving cylinders A313 are respectively sealed and extended into the protective box A31, and are respectively connected to the input ends of the first transmission assembly A and the second transmission assembly A. Specifically:

[0094] When the second transmission assembly A adopts the first implementation structure, the piston rod of one of the driving cylinders A313 is fixedly connected to the rack A33, and the piston rod of the other driving cylinder A313 is connected to the floating joint 38.

[0095] When the second transmission assembly A adopts the second implementation structure, the piston rod of one of the driving cylinders A313 is fixedly connected to the rack A33, and the piston rod of the other driving cylinder A313 is fixedly connected to the lifting plate 310.

[0096] In addition, in this embodiment 1, please refer to the attached Figure 15 As shown, the material holding arm 30 includes a first connecting arm 300 and a plurality of rod-shaped fingers 301, the first connecting arm 300 is an L-shaped structure formed by connecting a horizontal arm and a vertical arm, and the end of the horizontal arm away from the vertical arm is fixedly connected to an axial end (specifically the upper axial end) of the main shaft 32 of the driving mechanism A; the plurality of fingers 301 are equally divided into two rows and are respectively arranged on the vertical arms, and the plurality of fingers 301 are all arranged obliquely relative to the vertical arm, and the plurality of fingers 301 are symmetrically arranged relative to the vertical center line of the vertical arm.

[0097] Please see the attached Figure 6 As shown, the material receiving arm 40 includes a second connecting arm 400 and a material receiving portion 401. The second connecting arm 400 is elongated and fixedly connected to the material receiving portion 401 and one end (specifically, the lower end) of the main shaft 32 of the drive mechanism B. The material receiving portion 401 is provided with a notched annular slot 402 to match the shape of the cable tie, which has been pre-arranged into a Q shape. Furthermore, a plurality of stoppers 403 are spaced around the periphery of the annular slot 402 to block and restrict the cable tie. Note: The term "blocking restriction" can also be understood as a clamping restriction. Furthermore, the position of the stoppers 403 relative to the annular slot 402 is adjustable to improve the adaptability of the material receiving arm.

[0098] From the above description of the specific structures of the clamping device 3 and the tying belt device 4, it can be seen that both have the following advantages: ① The protective box A is configured in the lifting and rotating motion mechanism, which can greatly reduce the sensitivity of energetic materials to the lifting and rotating motion mechanism during operation, thereby effectively avoiding the risk of explosion of energetic materials and providing excellent isolation and protection for the lifting and rotating motion mechanism, so that it can well meet the processing environment requirements of energetic materials. ② The lifting and rotating motion mechanism integrates "lifting linear motion" and "rotational motion" into one. On the one hand, it can greatly reduce the volume of the lifting and rotating motion mechanism and reduce the occupied space, which is beneficial to the configuration and installation of the protective box A, as well as the configuration and installation of the clamping device and the tying belt device. On the other hand, due to the high integration of the lifting and rotating motion mechanism, it can greatly improve the working rhythm and work efficiency, thereby well meeting the requirements of automated production.

[0099] Next, let's discuss the cable tie tightening device 5 .

[0100] In this embodiment 1, please refer to the attached Figure 20 To the attached Figure 25 As shown, the cable tie tensioning device 5 includes a protective structure B, a clamping assembly and a driving mechanism C, wherein the protective structure B includes a protective box B50 for containing deionized water, and the protective box B50 is arranged next to the bag-binding station (and according to production needs, the protective box B50 is also higher than the bag-binding station); the clamping assembly includes a third connecting arm 51 and a flexible clamping head 52, one end of the third connecting arm 51 is placed outside the protective box B50 and points to the bag-binding station, and one end of the third connecting arm 51 is also connected to the flexible clamping head The head 52; the other end of the third connecting arm 51 extends into the protective box B50; the driving mechanism C includes an explosion-proof power assembly and a transmission assembly B. The explosion-proof power assembly is used to provide power and is connected to the outside of the protective box B50, and the power output end of the explosion-proof power assembly is sealed and extends into the protective box B50; the transmission assembly B is connected between the power output end of the explosion-proof power assembly and the other end of the third connecting arm 51, and can drive the clamping assembly as a whole to move linearly toward or away from the bag-tying station. That is, when the cable tie tensioning device 5 is working, the driving mechanism C first drives the clamping assembly to move toward the bag-tying station so that the clamping assembly can clamp the strip-shaped tail of the cable tie; then the driving mechanism C drives the clamping assembly to move away from the bag-tying station to tighten the cable tie.

[0101] Further preferably, in this embodiment 1, the protection box B50 is connected to the water inlet and outlet pipes, and a control solenoid valve, a flow meter, a water full automatic stop valve, etc. are installed on the water inlet and outlet pipes.

[0102] The flexible clamping head 52 includes two clamping fingers 520, which are positioned opposite and spaced apart at one end of the third connecting arm 51. A diaphragm cylinder A521 is mounted on at least one of the opposing sides of the two clamping fingers 520. The diaphragm cylinder A521 utilizes a Festo diaphragm clamping cylinder, which features a simple structure, small footprint, excellent dynamics (output force varies during movement), and strong torsion resistance. This allows the clamping head to provide a flexible clamping force, preventing unnecessary damage to the cable tie.

[0103] The explosion-proof power assembly includes an air motor 54, a vertically mounted rotating spindle 55, and a speed reducer 56 connected between the power output shaft of the air motor 54 and the lower end of the rotating spindle 55. The upper end of the rotating spindle 55 is sealed and extends into the protective housing B50. The rotating spindle 55 is also axially fixed and circumferentially rotates relative to the protective housing B50. Because it uses an air motor, it operates without sparks, overheating, explosions, or electrical short circuits. It is safe and explosion-proof, making it particularly suitable for environments with flammable and explosive substances or high temperatures.

[0104] The transmission assembly B includes a rack B57 and a gear B58. The rack B57 is horizontally slidably arranged in the protective box B50, and the rack B57 is also positioned and connected to the other end of the third connecting arm 51; the gear B58 is meshed and connected to the rack B57, and at the same time, the gear B58 is also positioned and connected to the upper shaft end of the rotating main shaft 55.

[0105] Further preferably, with respect to the flexible clamping head 52, if the two opposite sides of the two clamping fingers 520 are respectively defined as clamping sides, then among the two clamping sides, one of the clamping sides is provided with the diaphragm cylinder A521, and the other clamping side is provided with anti-slip grooves 522, so as to enhance the friction between the clamping fingers and the cable tie and improve the clamping stability.

[0106] Regarding the third connecting arm 51, its structure can be described in detail as follows: it includes an arm body A510 and an arm body B511, the arm body A510 is a long strip extending in a direction parallel to the sliding direction of the rack B57, and one end of the arm body A510 in the longitudinal direction points to the bag-binding station and is connected to the flexible clamping head 52; the arm body B511 is an inverted U-shaped structure, the arm body B511 slides with a side wall of the protective box B50, and one end of the arm body B511 is fixedly connected to the other end of the arm body A510 in the longitudinal direction, and the other end of the arm body B511 is fixedly connected to the rack B57.

[0107] Among them, the structure for realizing the fixed connection between the other end side of the arm body B511 and the rack B57 is: the driving mechanism C also includes a mounting frame B59, the mounting frame B59 is fixedly built into the protective box B50, and a horizontally extending slide rail B is fixedly laid on the mounting frame B59, and one end of the slide rail B points to the bag-binding station (the length extension direction of the slide rail B is also parallel to the length extension direction of the rack B57); the transmission assembly B also includes a slide 512, the slide 512 is slidably connected to the slide rail B, and the slide 512 is respectively fixedly connected to the rack B57 and the other end side of the arm body B511.

[0108] Regarding the rotating main shaft 55, its structure can be described in detail as follows: it includes two coaxially arranged shaft sections, wherein the lower shaft end of the first shaft section is fixedly connected to the output shaft of the reducer 56, and the upper shaft end of the first shaft section is sealed and extended into the protective box B50, and the upper shaft end of the first shaft section is also circumferentially rotated and axially stopped with the protective box B50 through a bearing seat; the second shaft section is rotatably mounted on the mounting frame B59, and the lower shaft end of the second shaft section is fixedly connected to the upper shaft end of the first shaft section, and the upper shaft end of the second shaft section can be positioned and inserted into the inner hole of the gear B58 by a tight fit connection method or a "key and keyway matching method".

[0109] In addition, based on processing requirements, after tightening the cable tie, the cable tie tensioning device 5 will control the clamping assembly to continue moving away from the bag-tying station until the "excess portion" of the cable tie that does not contribute to tightening the bag opening is broken (Note: To achieve rapid breaking of the cable tie portion, a suitably sized incision can be pre-set at a predetermined position on the cable tie body, i.e., the size of the incision must not affect the clamping assembly's ability to clamp and tighten the cable tie), to prevent the cable tie from being too long and causing damage to the packaging bag. Therefore, to collect the broken cable tie portion, the cable tie tensioning device 5 also includes a flow channel 513 for guiding the outflow of waste material; the flexible clamping head 52 can be driven by the drive mechanism C to move above the inlet of the flow channel 513.

[0110] From the above description of the structure of the cable tie tensioning device 5, it can be seen that it has the following advantages: on the one hand, the cable tie tensioning device adopts a flexible clamping head that can provide a flexible and variable clamping force to the outside to clamp the cable tie, which can not only avoid unnecessary damage to the cable tie, but also well meet the operational requirements of the cable tie being tightened and partially broken along the preset incision; on the other hand, the cable tie tensioning device is equipped with a protective box B for containing deionized water and a transmission component B, as well as an explosion-proof power component with an explosion-proof function, etc., which can greatly reduce the sensitivity of energetic materials to the working cable tie tensioning device (because energetic materials will be passivated when they come into contact with water or in a certain humidity environment, and their sensitivity will be reduced), thereby effectively avoiding the risk of explosion of energetic materials, so that the cable tie tensioning device can well meet the processing environment requirements of energetic materials.

[0111] Finally, regarding other devices or components.

[0112] In this embodiment 1, the loading station is spaced apart and arranged in parallel with the unloading side of the conveying line 20. A support frame 6 for receiving the magazine is provided at the loading station. Figure 2 and attached Figure 3 As shown, the receiving arm 40 can be movably inserted into the support frame 6 to receive the cable tie pulled downward in cooperation with the second picking assembly and the explosion-proof robot 21 .

[0113] Further preferably, the support frame 6 comprises an upper plate 60 and a lower plate 61, both of which are annular bodies with notches and arranged parallel to each other, and two support columns 62 fixedly connected between the upper and lower plates. Furthermore, the upper plate 60 is provided with a latch 63 for engaging with the magazine. Note: The portion of the support frame 6 that contacts the magazine is made of anti-static Teflon material.

[0114] In addition, a dust hood (not shown in the figure) is provided above the bag-binding station. The dust hood can move up and down relative to the bag-binding station under the drive of the airbag cylinder.

[0115] Note: The terms "A", "B", "C", "first", "second", "third", etc. mentioned in this specification are only for the convenience of description and are not intended to limit the scope of the invention.

[0116] The following briefly describes the working method of the bag tying device in conjunction with the bag tying device structure provided in Example 1:

[0117] The working method of the bag tying device is as follows:

[0118] S1: When the first conveying device 1 conveys the barrel to the bagging station, the controller controls the lifting assembly to work, so as to drive the tray and the barrel to move upward to a set height, so that the tray is separated from the first conveying device 1;

[0119] When the conveyor line 20 conveys the magazine to its unloading side, the controller controls the limiting component to stop and limit the bracket carrying the magazine and position it against the side. Subsequently, the controller controls the explosion-proof robot 21 to work in conjunction with the first picking component to move the magazine confined at the unloading side of the conveyor line 20 to the support frame 6 in the loading station.

[0120] Note: The order of the above-mentioned lifting and positioning operation of the barrel and the moving operation of the magazine can be set according to the production cycle requirements, and the present invention does not impose any restrictions;

[0121] S2: The controller controls the two drive mechanisms A, the drive mechanism B, and the explosion-proof robot 21 to work, thereby achieving:

[0122] The two driving mechanisms A drive the two holding arms 30 to move closer to each other, closing the mouth of the lifted packaging bag;

[0123] The driving mechanism B first drives the receiving hand 40 to move to the loading station and movably inserts it into the support frame 6. Then, after the explosion-proof robot 21 and the second picking component work together to pull the cable tie in the magazine downward, the receiving hand 40 can receive the pulled cable tie. Then, the driving mechanism B drives the receiving hand 40 to move to the bag-binding station and puts the cable tie on the bag opening of the packaging bag closed by the holding device 3. Subsequently, the driving mechanism B drives the receiving hand 40 to reset and wait for the next cable tie removal operation.

[0124] S13: The controller controls the operation of the explosion-proof power assembly to achieve the following: first, the flexible clamping head 52 is driven to move toward the bag-tying station and clamp the strip tail of the cable tie, and then the flexible clamping head 52 is driven to move away from the bag-tying station, tightening the cable tie and breaking the "extra part" of the cable tie that has no effect on tightening the bag opening along the preset incision; and the broken cable tie part flows out through the flow channel 513; then, the driving mechanism A drives the material holding arm 30 to reset, thus completing one-time cable tie binding of the bag opening.

[0125] Example 2:

[0126] This embodiment 2 also provides an automatic bag tying device for the F0 area, and compared with embodiment 1, the main difference of the bag tying device in this embodiment 2 is that: in this embodiment 2, the bag tying device also includes a folding device 8, which is arranged next to the bag tying station and can fold the bag mouth of the packaging bag after one-time strapping; and after the folding device 8 completes folding the bag mouth of the packaging bag, the holding device 3, the strapping device 4 and the strap tensioning device 5 are operated in sequence to perform a second strapping on the folded bag mouth.

[0127] That is, the bag tying device provided in Example 1 can complete the strapping process on the bag opening of the packaging bag once, and the bag tying device provided in this Example 2 can complete the strapping process on the bag opening of the packaging bag twice or more.

[0128] Further preferably, the structure of the folding device 8 in this embodiment 2 is as follows: Figure 26 As shown, the folding device 8 includes a first rotating cylinder 81, a second rotating cylinder 82 and a driving cylinder B83, wherein the first rotating cylinder 81 is configured as two and is spaced apart next to the bag-binding station and close to the bag opening of the packaging bag, and the turntables of the two first rotating cylinders 81 are respectively provided with a turning rod 80 pointing to the bag opening of the packaging bag; the turntables of the second rotating cylinder 82 are respectively connected to the cylinder bodies of the two first rotating cylinders 81 to drive the two first rotating cylinders 81 to rotate synchronously; the driving cylinder B83 is fixed relative to the ground, and the piston rod of the driving cylinder B83 is connected to the cylinder body of the second rotating cylinder 82, and can drive the turning rods 80 on the two first rotating cylinders 81 to synchronously approach or move away from the bag opening of the packaging bag.

[0129] It can be understood that the operation method of the folding device 8 is (briefly described): after the bag opening of the packaging bag is tied with a strap once, the driving cylinder B83 drives the two turning rods 80 to move synchronously toward the bag opening of the packaging bag until the two turning rods 80 are respectively placed on both sides of the bag opening of the packaging bag; then the second rotating cylinder 82 and the first rotating cylinder 81 work together to fold and bend the bag opening of the packaging bag.

[0130] After the clamping device 3 works again to clamp the folded opening of the packaging bag, the driving cylinder B83 drives the two turning rods 80 to move synchronously away from the opening of the packaging bag; then, the tying belt device 4 and the tying belt tensioning device 5 work in sequence again to perform a second tying of the folded opening of the packaging bag (Note: at this time, the method of the tying belt device 4 and the tying belt tensioning device 5 working again is the same as the working method provided in the above embodiment 1, so it will not be repeated here).

[0131] In addition, in this embodiment 2, an accordion cover 84 is provided on the outer cover of the piston rod of the driving cylinder B83, which can prevent energetic dust from entering the motion mechanism, improve the safety of the motion mechanism operation, and enable the folding device 8 to well meet the processing environment requirements of energetic materials.

[0132] In summary, the automatic bag-tying device of the present invention not only has good protection and can well meet the processing environment requirements of energetic materials; it also has a simple and reasonable structure, a high degree of automation and integration, good and simple control logic, and is conducive to production implementation.

[0133] In the above description, many specific details are set forth in order to fully understand the present invention. However, the above description is only a preferred embodiment of the present invention. The present invention can be implemented in many other ways different from those described herein, so the present invention is not limited to the specific implementation disclosed above. At the same time, any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention using the methods and technical contents disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of protection of the technical solution of the present invention.

Claims

1. An automatic bag-tying device for use in the F0 area, which is used to gather the mouth of the lifted packaging bag and pick up a cable tie to tie the mouth of the packaging bag; characterized by: The bag-tying device comprises a first conveying device (1), a second conveying device (2), a clamping device (3), a tying belt device (4) and a tying belt tightening device (5). The first conveying device (1) is used to convey a barrel containing packaging bags, wherein the bag opening of the packaging bag is pre-lifted to a predetermined height above the barrel opening; and a bag-binding station is provided on the first conveying device (1); The second conveying device (2) is used to convey magazines carrying cable ties pre-arranged into a Q shape, and is capable of moving the magazines one by one to a loading station; the loading station is arranged between the unloading side of the second conveying device (2) and the bagging station; The holding device (3) is configured into two groups, and the two groups of holding devices (3) each include a driving mechanism A and a holding hand (30) connected to the power output end of the driving mechanism A. The two driving mechanisms A are respectively arranged beside the two opposite sides of the bag-binding station. The two holding hands (30) are respectively driven by the two driving mechanisms A to move closer to or separate from each other, so as to close or loosen the bag opening of the packaging bag suspended in the bag-binding station. The strapping device (4) comprises a driving mechanism B and a material receiving hand (40) connected to the power output end of the driving mechanism B, the driving mechanism B is arranged between the bag-tying station and the loading station, and the material receiving hand (40) can move up and down under the drive of the driving mechanism B, and can move horizontally back and forth between the bag-tying station and the loading station, so as to be able to pick up the strap from the loading station, transfer the strap, and sleeve it on the bag mouth of the packaging bag that is closed by the holding device (3); The tie-tie tensioning device (5) is also arranged beside the bag-tying station and is capable of clamping and tightening the tie-tie to achieve tight tying of the bag opening; In addition, the driving mechanism A and the driving mechanism B both adopt a lifting and rotating motion mechanism, which comprises a protective structure A, a main shaft (32), a power assembly A and a transmission assembly A, wherein the protective structure A comprises a protective box A (31) for containing deionized water, the main shaft (32) is vertically built into the protective box A (31), and one axial end of the main shaft (32) is sealed and extends out of the protective box A (31) to be used as the power output end of the lifting and rotating motion mechanism; the power assembly A is used to provide power , and is connected to the outside of the protective box A (31), and the power output end of the power component A is sealed and extended into the protective box A (31); the transmission component A has a first transmission component A and a second transmission component A, the first transmission component A is connected between the power output end of the power component A and the main shaft (32), and can drive the main shaft (32) to rotate; the second transmission component A is also connected between the power output end of the power component A and the main shaft (32), and can drive the main shaft (32) to move up and down; The first conveying device (1), the second conveying device (2) and the cable tie tensioning device (5) are each provided with a protective structure.

2. The automatic bag-tying device for F0 area according to claim 1, characterized in that: The material holding arm (30) includes a first connecting arm (300) and a plurality of rod-shaped fingers (301), wherein the first connecting arm (300) is an L-shaped structure formed by connecting a horizontal arm and a vertical arm, and the end of the horizontal arm away from the vertical arm is fixedly connected to an axial end of the main shaft (32) of the driving mechanism A; the plurality of fingers (301) are equally divided into two rows and respectively arranged on the vertical arm, and the plurality of fingers (301) are all arranged obliquely relative to the vertical arm, and the plurality of fingers (301) are symmetrically arranged relative to the vertical center line of the vertical arm; The material receiving arm (40) comprises a second connecting arm (400) and a material receiving portion (401), wherein the second connecting arm (400) is fixedly connected to the material receiving portion (401) and one axial end of the main shaft (32) of the driving mechanism B, respectively; the material receiving portion (401) is provided with an annular hole groove (402) with a notch to match the shape of the cable tie that is pre-arranged into a Q shape; and a plurality of limit blocks (403) for blocking and limiting the cable tie are also arranged at intervals around the periphery of the annular hole groove (402).

3. The automatic bag-tying device for F0 area according to claim 1, characterized in that: The cable tie tensioning device (5) comprises a protective structure B, a clamping assembly and a driving mechanism C, wherein: The protective structure B comprises a protective box B (50) for containing deionized water, and the protective box B (50) is arranged next to the bag-binding station; The clamping assembly comprises a third connecting arm (51) and a flexible clamping head (52), one end of the third connecting arm (51) is placed outside the protection box B (50) and points to the bag-binding station, and one end of the third connecting arm (51) is also connected to the flexible clamping head (52); the other end of the third connecting arm (51) is extended into the protection box B (50); The driving mechanism C includes an explosion-proof power assembly and a transmission assembly B. The explosion-proof power assembly is used to provide power and is connected to the outside of the protective box B (50), and the power output end of the explosion-proof power assembly is sealed and extended into the protective box B (50); the transmission assembly B is connected between the power output end of the explosion-proof power assembly and the other end of the third connecting arm (51), and can drive the clamping assembly as a whole to move linearly toward or away from the bag-binding station.

4. The automatic bag-tying device for F0 area according to claim 3, characterized in that: The flexible clamping head (52) includes two clamping fingers (520), the two clamping fingers (520) are arranged opposite to each other and spaced apart at one end of the third connecting arm (51), and a diaphragm cylinder A (521) is provided on at least one of the two opposite sides of the two clamping fingers (520); The explosion-proof power assembly includes an air motor (54), a rotating main shaft (55) arranged vertically, and a reducer (56) connected between the power output shaft of the air motor (54) and the lower shaft end of the rotating main shaft (55). The upper shaft end of the rotating main shaft (55) is sealed and extended into the protective box B (50). At the same time, the rotating main shaft (55) is axially stopped and circumferentially rotated relative to the protective box B (50). The transmission assembly B includes a rack B (57) and a gear B (58), wherein the rack B (57) is horizontally slidably arranged in the protective box B (50), and the rack B (57) is also positioned and connected to the other end of the third connecting arm (51); the gear B (58) is meshed and connected to the rack B (57), and at the same time, the gear B (58) is also positioned and connected to the upper shaft end of the rotating main shaft (55).

5. The automatic bag-tying device for F0 area according to claim 1, characterized in that: The first conveying device (1) adopts an explosion-proof conveying device, and a lifting component for lifting and positioning the barrel is provided at the bag-binding station of the first conveying device (1); The second conveying device (2) includes a conveying line (20) and an explosion-proof robot (21), wherein the conveying line (20) adopts an explosion-proof conveying device, and the unloading side of the conveying line (20) is provided with a limiting component for stopping and limiting the magazine; the explosion-proof robot (21) is arranged between the unloading side of the conveying line (20) and the loading station, and the execution end of the explosion-proof robot (21) is provided with a first picking component for picking up the magazine and a second picking component for picking up the cable tie in the magazine, and the first picking component can cooperate with the explosion-proof robot (21) to move the magazine limited at the unloading side of the conveying line (20) to the loading station, and the second picking component can cooperate with the explosion-proof robot (21) to pull the cable tie in the magazine downward.

6. The automatic bag-tying device for F0 area according to claim 5, characterized in that: The loading station is provided with a support frame (6) for receiving the magazine, and the receiving hand (40) can be movably inserted into the support frame (6) to receive the cable tie pulled downward in cooperation with the second picking component and the explosion-proof robot (21); A dust hood is provided above the bag-binding station, and the dust hood can move up and down relative to the bag-binding station.

7. The automatic bag-tying device for F0 area according to claim 1, characterized in that: The bag-tying device further comprises a folding device (8), which is arranged beside the bag-tying station and is capable of folding the opening of the packaging bag after one-time tying with a strap; After the folding device (8) completes folding the opening of the packaging bag, the holding device (3), the strapping device (4) and the strap tensioning device (5) are operated in sequence to perform a second strapping on the folded opening of the packaging bag.

8. The automatic bag-tying device for F0 area according to claim 7, characterized in that: The folding device (8) comprises a first rotary cylinder (81), a second rotary cylinder (82) and a driving cylinder B (83), wherein the first rotary cylinder (81) is configured as two and is spaced apart and arranged beside the bag-binding station and close to the bag opening of the packaging bag, and the turntables of the two first rotary cylinders (81) are respectively provided with a turning rod (80) pointing to the bag opening of the packaging bag; the turntables of the second rotary cylinder (82) are respectively connected to the cylinder bodies of the two first rotary cylinders (81) to drive the two first rotary cylinders (81) to rotate synchronously; the piston rod of the driving cylinder B (83) is connected to the cylinder body of the second rotary cylinder (82) and can drive the turning rods (80) on the two first rotary cylinders (81) to synchronously approach or move away from the bag opening of the packaging bag.

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