Automatic packaging line

Abstract

The automatic packaging production line belongs to the technical field of packaging and comprises a bag storage mechanism, a bag taking mechanism, a conveying mechanism, a bag opening mechanism and a filling mechanism. The bag storage mechanism is used for storing packaging bags, the bag taking mechanism is used for taking out the packaging bags, the conveying mechanism is used for conveying the packaging bags, the bag opening mechanism is used for opening the bag opening of the packaging bags, and the filling mechanism is used for filling materials into the packaging bags. The automatic packaging production line places multiple groups of packaging bags in parallel through multiple bag storage bins arranged in parallel on the bag storage mechanism. The bag taking mechanism is provided with multiple bag taking manipulators corresponding to the bag storage bins. The bag taking manipulators place multiple packaging bags in parallel on multiple groups of conveying clamps of the conveying mechanism, so that multiple packaging bags are conveyed in parallel. Then, the bag opening mechanism and the filling mechanism simultaneously convey multiple groups of packaging bags in parallel at the bag opening station and the material filling station, thereby improving the efficiency of filling the packaging bags.

Description

Technical Field

[0001] This invention relates to the field of packaging technology, and more specifically to an automated packaging production line. Background Technology

[0002] Automated packaging production lines are commonly used in the food industry. In an automated packaging production line, a conveyor system transports packaging bags, then opens the bag openings and fills the bags with food, thus achieving automated filling.

[0003] For example, Chinese patent document CN104354922A discloses an automatic packaging production line, including a conveying mechanism, a sorting device, a bag-lifting device, a bag-injecting device, and a discharge nozzle. The conveying mechanism transports the packaging bags to the bag-lifting platform of the sorting platform. A bag-lifting belt drives a bag-lifting device to move the packaging bags from the bag-lifting platform to the sorting platform. The sorting platform is equipped with fixed baffles and bag-pushing baffles. Through the cooperation of the fixed baffles and bag-pushing baffles, the packaging bags are sorted and positioned within a designated area. During operation, the bag-lifting device lifts the packaging bags on the sorting platform to a vertical position, and then the bag-injecting device inserts the packaging bags into the discharge nozzle, through which the packaged goods are output.

[0004] However, the aforementioned automated packaging production line is merely a production line method where materials and work materials are transferred sequentially, resulting in low efficiency.

[0005] Chinese patent document CN112743265A discloses an omnidirectional welding robot for a welding production line, including a gantry and a welding robotic arm set below the gantry. Two conveying structures are arranged side by side on both sides of the gantry. The welding robotic arm can perform welding work on products on the other conveying structure while products are being conveyed on one conveying structure, thereby shortening the waiting time and enabling continuous welding work, thus greatly improving production efficiency.

[0006] However, in automated packaging production lines, the key to improving the filling efficiency of packaging bags currently does not lie in increasing the filling speed or the conveying speed of the packaging bags. Firstly, faster filling and conveying speeds lead to lower stability and a higher risk of errors. Secondly, current automated packaging production lines have short waiting times for filling packaging bags, so increasing filling efficiency does not significantly improve overall production efficiency. Therefore, the insights provided by the production method disclosed in CN112743265A cannot be applied to current automated packaging production lines to improve production efficiency. Summary of the Invention

[0007] Therefore, the technical problem to be solved by the present invention is to overcome the shortcomings of the low efficiency of the existing automatic packaging production line in conveying and filling packaging bags, thereby providing an automatic packaging production line.

[0008] To solve the above-mentioned technical problems, the present invention provides an automated packaging production line, comprising:

[0009] The bag storage mechanism has multiple bag filling compartments arranged in parallel, and each bag filling compartment is suitable for storing multiple packaging bags stacked and layered by gravity.

[0010] The bag-picking mechanism has multiple bag-picking robotic arms that are arranged one-to-one with the bag-filling bins. Each bag-picking robotic arm takes out the packaging bags from each bag-filling bin and transfers them to the bag-loading station. The bag-picking robotic arms are linked together by a bag-picking linkage mechanism.

[0011] The conveying mechanism includes a conveying device and a gripper module connected to the conveying device. The gripper module has several rows of support members that move along the conveying direction of the production line, and multiple sets of conveying grippers that are arranged on the support members and correspond one-to-one with the bag filling bins. Each set of conveying grippers is used to grip one packaging bag located at the corresponding bag loading station; and under the drive of the conveying device, it is conveyed sequentially toward the bag opening station, the filling station, and the bag unloading station; the sets of conveying grippers are linked together by a gripper linkage mechanism.

[0012] The bag opening mechanism is set at the bag opening station and has multiple sets of bag opening suction nozzles that correspond one-to-one with the bag filling chamber. Each set of bag opening suction nozzles is linked by a bag opening linkage mechanism and works with the conveying gripper that arrives at the bag opening station to open the bag opening of the packaging bag.

[0013] The filling mechanism is set at the filling station and has multiple discharge nozzles that correspond one-to-one with the conveying grippers. The multiple discharge nozzles are used to simultaneously fill multiple packaging bags.

[0014] Optionally, the bag-picking robot has a flipping mechanism mounted on the frame and a bag-picking nozzle mounted on the flipping mechanism; the flipping mechanism flips the packaging bag taken out from the bagging chamber by the bag-picking nozzle into a vertical state with the bag surface parallel to the conveying direction of the production line.

[0015] Optionally, the flipping mechanism has a flipping drive rod rotatably mounted on the frame, and the flipping drive rod is connected to the bag-taking linkage mechanism; the bag-taking linkage mechanism drives the flipping drive rod to rotate, thereby taking the bag-taking suction nozzle out of the bagging chamber and completing the flipping.

[0016] Optionally, the bag-picking mechanism also has a transfer linkage mechanism and a plurality of bag-moving grippers that are configured on the transfer linkage mechanism in a one-to-one correspondence with the bag-picking robot arm; the bag-moving grippers take turns clamping the packaging bag that has been flipped into a vertical state, and the transfer linkage mechanism removes the packaging bag clamped by the bag-moving grippers from the bag-picking nozzle and transfers it to the bag-loading station.

[0017] Optionally, the bag-picking linkage mechanism has a flipping linkage rod and a flipping crank disposed on each of the flipping drive rods, with one end of each flipping crank connected to the flipping linkage rod; the transfer linkage mechanism has a bag-transfer drive component rotatably disposed on the frame with its rotation axis perpendicular to the conveying direction of the production line, a bag-transfer clamping drive component movably disposed on the bag-transfer drive component, and a bag-transfer clamping power mechanism disposed between the bag-transfer drive component and the bag-transfer clamping drive component; at least one of the bag-transfer jaws is disposed on the bag-transfer clamping drive component.

[0018] Optionally, there are two bag-moving clamping drive components, which are respectively driven by the bag-moving clamping power mechanism to reciprocate in the same or opposite directions and are disposed on the bag-moving drive components; one of the claws in each bag-moving gripper is disposed on both bag-moving clamping drive components.

[0019] Optionally, the bag transfer drive has a bag transfer drive rod as a rotating shaft and a bag transfer frame fixedly mounted on the bag transfer drive rod; the bag transfer clamping drive and the bag transfer clamping power mechanism are mounted on the bag transfer frame.

[0020] Optionally, a transmission wheel and a rocker arm pivot are rotatably provided on the side wall along the conveying direction of the production line; multiple cam drive components are formed on the transmission wheel; rocker arms are provided on the rocker arm pivot, each corresponding to one of the multiple cams; one end of each rocker arm is slidably engaged with the outer periphery of the corresponding cam drive component; the multiple cam drive components have different high points and low points; the cam drive components drive the rocker arms to swing on the side wall by rotation; the multiple rocker arms are respectively linked to the flipping drive rod and the bag transfer drive component through connecting rods.

[0021] Optionally, in the gripper module of the conveying mechanism, two conveying grippers are grouped together. Each conveying gripper includes two symmetrically arranged claws. In each group, the two conveying grippers symmetrically clamp the two ends of the bag opening. When the bag opening nozzle of the bag opening mechanism is used to open the bag opening, the two groups of conveying grippers move closer to each other to keep the bag opening of the clamped bag open.

[0022] Optionally, the conveying mechanism has an adjustment structure mounted on the frame for driving two conveying grippers symmetrically clamped at both ends of the bag opening of the packaging bag in the gripper module at the bag opening station to move closer to each other.

[0023] Optionally, the adjustment structure includes: an adjustment track arranged along the conveying direction of the production line; an adjustment drive rod arranged between the support members of the two conveying grippers of each gripper module; the adjustment drive rod is provided with an operating handle; when the gripper module is conveyed to the bag opening station, the operating handle abuts against the adjustment track to generate deflection and drive the support members of the two conveying grippers to move relative to each other to cooperate in opening the bag; and after the filling mechanism completes the bag filling, the operating handle disengages from the adjustment track to close the bag opening.

[0024] Optionally, the filling mechanism includes a bag-supporting device and a lifting drive device. The bag-supporting device has a bag-supporting robot arm for expanding the opening of the packaging bag. The lifting drive device is connected to the bag-supporting device and is used to drive the bag-supporting device to move up and down so that the bag-supporting robot arm extends into the opening of the packaging bag.

[0025] Optionally, the lifting drive device is connected to the discharge nozzle, and the discharge nozzle is driven by the lifting drive device to move downward and extend into the opening of the packaging bag.

[0026] Optionally, the discharge nozzle has multiple interconnected, vertically retractable sections.

[0027] Optionally, the lifting drive device includes: a first lifting member and a second lifting member that slide relative to each other, the bag-supporting robot is movably connected to the first lifting member and moves up and down with the first lifting member, the discharge nozzle is connected to the second lifting member and moves up and down with the second lifting member, the second lifting member is provided with a drive block that cooperates with the bag-supporting robot, and when the second lifting member moves closer to or away from the first lifting member, the drive block drives the bag-supporting robot to open or close.

[0028] Optionally, the bag-opening robot is connected to a biasing member, which has a biasing force to drive the bag-opening robot to open. When the second lifting member moves away from the first lifting member, the driving block on the lifting member restricts the bag-opening robot to close it. When the second lifting member moves closer to the first lifting member, the driving block releases the restriction on the bag-opening robot, allowing the bag-opening robot to open under the biasing force of the biasing member.

[0029] Optionally, it also includes: a bag unloading device, which is disposed at the bag unloading station of the conveying mechanism, and is used to receive and unload the packaging bags on the conveying grippers.

[0030] Optionally, the bag unloading device includes: a bag unloading slide and a bag unloading drive device connected to the bag unloading slide. The bag unloading slide is slidably mounted on the frame of the conveying mechanism, and the bag unloading slide is provided with bag unloading grippers that correspond one-to-one with the conveying grippers.

[0031] Optionally, the bag unloading drive device includes: a bag unloading drive rod, which is rotatably mounted on the frame. The bag unloading drive rod is connected to the bag unloading slide via a connecting rod. The bag unloading drive rod drives the bag unloading slide to slide between the receiving position and the discharging position by rotation.

[0032] The technical solution of this invention has the following advantages:

[0033] 1. The automatic packaging production line provided by the present invention uses multiple bag-filling bins arranged in parallel on a bag storage mechanism to place multiple sets of packaging bags side by side. The bag-retrieving mechanism has multiple bag-retrieving robotic arms arranged one-to-one with the bag-filling bins. The bag-retrieving robotic arms load the multiple sets of packaging bags side by side onto multiple sets of conveying grippers of the conveying mechanism, thereby conveying multiple packaging bags side by side at the same time. Then, at the bag opening station and the filling station, the multiple sets of packaging bags side by side are conveyed simultaneously by the bag opening mechanism and the filling mechanism, respectively, thereby improving the efficiency of filling the packaging bags.

[0034] 2. The automatic packaging production line provided by the present invention uses a bag-picking linkage mechanism in the drive mechanism to link multiple parallel bag-picking robots, thereby taking out multiple packaging bags in parallel from the bagging bin and conveying them to the bag-loading station; in the conveying mechanism, a gripper linkage mechanism links multiple sets of parallel conveying grippers, so that multiple sets of conveying grippers can simultaneously clamp and convey multiple packaging bags in parallel; in the bag-opening mechanism, a bag-opening linkage mechanism is used to simultaneously open multiple parallel packaging bags, thereby improving the production efficiency of bag filling. Attached Figure Description

[0035] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This is a perspective view of a specific embodiment of the automated packaging production line provided in the embodiments of the present invention;

[0037] Figure 2 for Figure 1 A three-dimensional view of the conveyor mechanism;

[0038] Figure 3 for Figure 1 A three-dimensional view of the bag-retrieving mechanism;

[0039] Figure 4 for Figure 3 A 3D view of the flipping mechanism and the bag-retrieving nozzle;

[0040] Figure 5 for Figure 4 A second-angle perspective view of the front;

[0041] Figure 6 for Figure 4 A 3D view of the back side;

[0042] Figure 7 for Figure 3 A three-dimensional view of the transfer linkage mechanism and bag-moving gripper;

[0043] Figure 8 for Figure 7 A second-angle perspective view of the front;

[0044] Figure 9 for Figure 7 A 3D view of the back side;

[0045] Figure 10 A perspective view showing the transmission wheel and rocker arm pivot mounted on the frame engaging with the flipping drive rod and the bag-moving drive component, respectively.

[0046] Figure 11 for Figure 10 A three-dimensional view of the interaction between the central drive wheel and the rocker arm pivot and the tilting drive rod;

[0047] Figure 12 for Figure 11 A 3D view of the back side;

[0048] Figure 13 for Figure 10 A three-dimensional view of the interaction between the central drive wheel and the rocker arm pivot with the bag-moving drive component;

[0049] Figure 14 This is a perspective view of the gripper module in the conveying device;

[0050] Figure 15 A 3D view of the bag opening mechanism;

[0051] Figure 16 A 3D view showing the interaction between the adjustment structure on the frame and the gripper module;

[0052] Figure 17for Figure 16 Enlarged view of region A in the middle;

[0053] Figure 18 for Figure 14 A schematic diagram of the internal structure of one end of the gripper module;

[0054] Figure 19 A three-dimensional view of the filling mechanism;

[0055] Figure 20 for Figure 19 A three-dimensional view of one end of the filling mechanism;

[0056] Figure 21 This is a perspective view of the bag unloading device;

[0057] Figure 22 for Figure 21 A three-dimensional diagram viewed from below.

[0058] Explanation of reference numerals in the attached figures:

[0059] 1. Bagging bin; 2. Packaging bag; 3. Bag picking mechanism; 4. Conveying device; 5. Gripper module; 6. Conveying gripper; 7. Tilting drive rod; 8. Bag picking nozzle; 9. Bag moving drive rod; 10. Bag moving gripper; 11. First cam; 12. Second cam; 13. Bag opening mechanism; 14. Bag opening nozzle; 16. Adjustment drive rod; 17. Operating handle; 18. Adjustment track; 19. Filling mechanism; 20. Discharge nozzle; 21. Bag supporting robot; 22. First lifting component; 23. Second lifting component; 24. Drive block; 25. Offset component; 26. Bag unloading device; 27. 28. Bag unloading slide; 29. ​​Bag unloading gripper; 30. Bag unloading drive rod; 31. First rocker arm; 32. Second rocker arm; 33. First support assembly; 34. Second support assembly; 35. First slider; 36. Second slider; 37. Bag transfer frame; 38. Slide plate; 39. Bag transfer clamping power mechanism; 40. Tilting linkage rod; 41. Tilting crank; 42. Beam; 43. Frame; 44. Bag opening drive rod; 45. Lifting column; 46. Blocking ring; 47. Limiting structure; 48. Movable claw; 49. Tension spring; 50. Fixed claw; 51. Mounting hole; 52. Mounting shaft. Detailed Implementation

[0060] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0062] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0064] The automated packaging production line provided in this embodiment can be used for food packaging, such as vacuum packaging of food.

[0065] like Figure 1 The diagram illustrates a specific implementation of the automated packaging production line provided in this embodiment, comprising: a bag storage mechanism, a bag retrieval mechanism 3, a conveying mechanism, a bag opening mechanism 13, and a filling mechanism 19. The bag storage mechanism stores packaging bags 2, the bag retrieval mechanism 3 retrieves packaging bags 2, the conveying mechanism conveys packaging bags 2, the bag opening mechanism 13 opens the opening of the packaging bags 2, and the filling mechanism 19 fills the packaging bags 2 with materials.

[0066] The bag storage mechanism has multiple bag-filling compartments 1 arranged in parallel, and each bag-filling compartment 1 is suitable for storing multiple packaging bags 2 stacked in layers by gravity. That is, when the bottom layer of packaging bag 2 is removed from the bag-filling compartment 1, the packaging bag 2 on the upper layer can automatically take its place and be taken out.

[0067] The bag-picking mechanism 3 has multiple bag-picking robots that are arranged one-to-one with the bag-filling bins 1. Each bag-picking robot takes out the packaging bag 2 from each of the bag-filling bins 1 and transfers it to the bag-loading station. The bag-picking robots are linked together by a bag-picking linkage mechanism. That is to say, during operation, under the linkage action of the bag-picking linkage mechanism, multiple bag-picking robots can simultaneously take out the packaging bag 2 from multiple bag-filling bins 1, thereby achieving the purpose of conveying multiple packaging bags 2 in parallel.

[0068] like Figure 2 As shown, the conveying mechanism has a conveying device 4 and a gripper module 5 connected to the conveying device 4. The gripper module 5 has several rows of support members that are movable along the conveying direction of the production line, and multiple sets of conveying grippers 6 that are arranged on the support members in a one-to-one correspondence with the bagging bin 1. Each set of conveying grippers 6 is used to grip one of the packaging bags 2 located at the corresponding bag-loading station; and under the drive of the conveying device 4, they are conveyed sequentially toward the bag-opening station, the filling station, and the bag-unloading station; the sets of conveying grippers 6 are linked together by a gripper linkage mechanism; that is, during operation, under the linkage action of the gripper linkage mechanism, each set of conveying grippers 6 can simultaneously grip one packaging bag 2 from the bag-loading station, and then simultaneously convey it sequentially toward the bag-opening station, the filling station, and the bag-unloading station, thereby achieving the purpose of conveying multiple packaging bags 2 in parallel.

[0069] The bag opening mechanism 13 is located at the bag opening station. The bag opening mechanism 13 has multiple sets of bag opening suction nozzles 14 that correspond one-to-one with the bag filling chamber 1. Each set of bag opening suction nozzles 14 is linked by a bag opening linkage mechanism, and works with the conveying grippers 6 that arrive at the bag opening station to open the bag opening of the packaging bag 2. That is to say, during operation, when multiple packaging bags 2 are conveyed in parallel to the bag opening station at the same time, under the linkage of the bag opening linkage mechanism, the multiple sets of bag opening suction nozzles 14 can simultaneously open the packaging bags 2 on the multiple sets of conveying grippers 6 in parallel, thereby realizing the simultaneous operation of multiple sets of packaging bags 2 in parallel.

[0070] The filling mechanism 19 is located at the filling station and has multiple discharge nozzles 20 that correspond one-to-one with the conveying grippers 6. Multiple packaging bags 2 are simultaneously filled through these discharge nozzles 20. Since multiple packaging bags 2 can be processed simultaneously in a single filling operation, production efficiency can be significantly improved.

[0071] The automatic packaging production line provided in this embodiment stores packaging bags 2 in multiple rows through multiple bag-filling bins 1 arranged in parallel in the bag storage mechanism. During operation, the bag-picking mechanism 3 picks up bags from multiple rows of packaging bags 2 simultaneously, and then conveys, opens, and fills multiple packaging bags 2 in parallel. During the bag picking, bag clamping, bag opening, and bag filling actions, the multiple rows of packaging bags 2 are operated simultaneously through linkage mechanisms, completing the operation of multiple packaging bags 2 in one go, thereby improving the overall production efficiency.

[0072] like Figure 3-6 As shown, in the automatic packaging production line provided in this embodiment, the bag-picking robot has a flipping mechanism mounted on the frame 42 and a bag-picking nozzle 8 mounted on the flipping mechanism. The flipping mechanism flips the packaging bag 2 taken out from the bagging chamber 1 by the bag-picking nozzle 8 into a vertical state with the bag surface parallel to the conveying direction of the production line. By flipping the packaging bag 2 into a vertical state, it is easy to insert the packaging bag 2 into the gripper module 5 on the conveying mechanism, and then the packaging bag 2 is vertically conveyed by the conveying mechanism, which facilitates the subsequent opening and filling operations of the packaging bag 2.

[0073] like Figure 5 , Figure 6 As shown, the flipping mechanism has a flipping drive rod 7 rotatably mounted on the frame 42, which is connected to the bag-picking linkage mechanism. The bag-picking linkage mechanism drives the flipping drive rod 7 to rotate, causing the bag-picking nozzle 8 to remove the packaging bag 2 from the bagging chamber 1 and complete the flipping. Specifically, multiple flipping drive rods 7 are rotatably arranged side-by-side on the frame 42. Each flipping drive rod 7 rotates to drive a set of bag-picking nozzles 8 to flip, thereby removing the packaging bag 2 from the bottom of the bagging chamber 1 and flipping it to a vertical position. The lower ends of the multiple flipping drive rods 7 are connected to the same flipping linkage rod 39 via a flipping crank 40. By driving this flipping linkage rod 39, multiple flipping drive rods 7 can be driven to rotate synchronously. Through this arrangement, multiple parallel bag-picking nozzles 8 can be driven simultaneously to remove the packaging bag 2 from multiple parallel bagging chambers 1. It should be noted that in this embodiment, the plurality of the flipping drive rods 7 are rotatably connected to a beam 41, and the beam 41 is fixedly connected to the frame 42.

[0074] like Figure 3 , Figure 7-9As shown, in the automatic packaging production line provided in this embodiment, the bag-picking mechanism 3 also has a transfer linkage mechanism and multiple bag-transfer grippers 10 arranged on the transfer linkage mechanism, corresponding one-to-one with the bag-picking robot. The bag-transfer grippers 10 take turns clamping the packaging bag 2 that has been flipped into a vertical state. The transfer linkage mechanism removes the packaging bag 2 clamped by the bag-transfer grippers 10 from the bag-picking suction nozzle 8 and transfers it to the upper bag station. Through the movement of the packaging bag 2 by the bag-transfer grippers 10, the packaging bag 2 can be transferred to the conveying grippers 6 of the conveying mechanism by insertion. Specifically, during the process of vertically conveying the vertically positioned packaging bag 2 to the upper bag station by the bag-transfer grippers 10, the packaging bag 2 is inserted into the conveying grippers 6 that have arrived at the upper bag station first. The conveying grippers 6 wait for the packaging bag 2 to be inserted and clamp it. Then the bag-transfer grippers 10 release the packaging bag 2, thereby completing the transfer of the packaging bag 2. By setting the above, the opening distance of the conveying gripper 6 in the conveying mechanism can be reduced, thereby ensuring a more accurate position after the packaging bag 2 is clamped.

[0075] like Figure 7-9As shown, the transfer linkage mechanism includes a bag-transfer driving component rotatably mounted on the frame 42 with its rotation axis perpendicular to the conveying direction of the production line; a bag-transfer clamping driving component movably mounted on the bag-transfer driving component; and a bag-transfer clamping power mechanism 38 disposed between the bag-transfer driving component and the bag-transfer clamping driving component. At least one of the bag-transfer jaws 10 is disposed on the bag-transfer clamping driving component. Specifically, there are two bag-transfer clamping driving components, each driven by the bag-transfer clamping power mechanism 38 to reciprocate in the same or opposite directions on the bag-transfer driving component. One of the jaws of each bag-transfer jaw 10 is disposed on both bag-transfer clamping driving components. Specifically, the bag-transfer driving component has a bag-transfer driving rod 9 serving as a rotating shaft and a bag-transfer frame 36 fixedly mounted on the bag-transfer driving rod 9. The bag-transfer clamping driving component and the bag-transfer clamping power mechanism 38 are disposed on the bag-transfer frame 36. The bag-transfer clamping drive is specifically a sliding plate 37 slidably disposed on both sides of the bag-transfer frame 36. One end of one of the multiple bag-transfer grippers 10 located on the same side is connected to both sliding plates 37. The bag-transfer clamping power mechanism 38 is specifically a linear drive device such as a cylinder, hydraulic cylinder, or electric push rod. One end of the bag-transfer clamping power mechanism 38 is rotatably connected to the bag-transfer frame 36, and the other end is rotatably connected to the sliding plate 37. During operation, the bag-transfer clamping power mechanism 38 extends and retracts, driving the bag-transfer clamping drive to slide left and right along the bag-transfer frame 36. The bag-transfer clamping drive causes the movable gripper 47 in the bag-transfer gripper 10 to open, allowing the packaging bag 2 to enter between the two grippers, and then closes to clamp the packaging bag 2. Furthermore, in this embodiment, the movable claw 47 in the bag transfer gripper 10 is rotatably connected to the bag transfer clamping drive, and the bottom end of the movable claw 47 is also rotatably connected to the bag transfer frame 36. With the above arrangement, the movable claw 47 in the bag transfer gripper 10 can be opened as wide as possible, so that the packaging bag 2 can smoothly enter between the two claws during the bag turning process, so as to facilitate the clamping of the packaging bag 2.

[0076] like Figure 8As shown, in the transfer linkage mechanism provided in this embodiment, each of the bag-transfer grippers 10 has a tension spring 48 connected between its movable claw 47 and the bag-transfer frame 36. The tension spring 48 has an elastic force that drives the movable claw 47 to move towards the fixed claw 49. Furthermore, the movable claw 47 is movably connected to the slide plate 37. Specifically, the slide plate 37 has a mounting hole 50 for connecting the movable claw 47, and a mounting shaft 51 is connected to the movable claw 47. The diameter of the mounting hole 50 is larger than that of the mounting shaft 51, allowing the mounting shaft 51 to have a certain amount of sway after passing through the mounting hole 50. Within this sway, the tension spring 48 causes the movable claw 47 to close with the fixed claw 49. With this configuration, when there is inconsistency among the multiple bag-transfer grippers 10 arranged side-by-side, the aforementioned sway and tension spring 48 ensure that all the parallel bag-transfer grippers 10 can close smoothly, thereby securely clamping the packaging bag 2.

[0077] like Figure 10-13 As shown, in the automatic packaging production line provided in this embodiment, a transmission wheel and a rocker arm pivot are rotatably mounted on the side wall along the conveying direction of the production line. Multiple cam drive components are formed on the transmission wheel. The rocker arm pivot is provided with rocker arms that correspond one-to-one with the multiple cams. One end of each rocker arm slides into the outer periphery of the corresponding cam drive component. The multiple cam drive components have different high and low points. The cam drive components rotate to drive the rocker arms to swing on the side wall. The multiple rocker arms are respectively linked to the flipping drive rod 7 and the bag-transfer drive component via connecting rods. That is, when the transmission wheel rotates, the flipping drive rod 7 and the bag-transfer drive component perform step-by-step actions under the cooperation of the multiple cams and rocker arms. Specifically, the bag-moving drive component first drives the bag-moving gripper 10 upward to reach the position where it engages with the bag-taking nozzle 8. Then, the flipping drive rod 7 drives the bag-taking nozzle 8 downward to reach the position where it engages with the bag-moving gripper 10. During this process, the packaging bag 2 comes into contact with the fixed claw 49 in the bag-moving gripper 10 after flipping. Since the movable claw 47 in the bag-moving gripper 10 has a sufficiently large opening angle, the packaging bag 2 can enter between the two claws during the flipping process. Then, the packaging bag 2 is clamped by closing the movable claw 47.

[0078] like Figure 2 , Figure 14 As shown, in the automatic packaging production line provided in this embodiment, the two conveying grippers 6 in the gripper module 5 of the conveying mechanism are a group. Each conveying gripper 6 includes two symmetrically arranged claws. In each group, the two conveying grippers 6 symmetrically clamp the two ends of the bag opening of the packaging bag 2. The two groups of conveying grippers 6 can move closer to or further away from each other.

[0079] like Figure 15 As shown, the opening nozzles 14 of the bag opening mechanism 13 suction each other on both sides of the opening of the packaging bag 2, and then the two suction nozzles move away from each other to open the opening of the packaging bag 2. However, when opening the opening of the packaging bag 2, both ends of the opening of the packaging bag 2 are held by two sets of conveying claws 6, keeping the opening of the packaging bag 2 in a taut state. Therefore, during the opening of the packaging bag 2, the two sets of conveying claws 6 in the claw module 5 need to move closer to each other to cooperate with the opening of the packaging bag 2. In addition, during the subsequent conveying process of the packaging bag 2, it is also necessary to perform operations such as filling the packaging bag 2. Therefore, the opening of the packaging bag 2 needs to be kept in the open state; that is, the two sets of conveying claws 6 holding both ends of the opening of the packaging bag 2 need to maintain this close-to-each-other state.

[0080] like Figure 16 , Figure 17 As shown, in the automatic packaging production line provided in this embodiment, the conveying mechanism has an adjustment structure mounted on the frame 42, which drives the two conveying grippers 6 symmetrically clamped at both ends of the bag opening of the packaging bag 2 in the gripper module 5 at the bag opening station to move closer to each other. During operation, this adjustment structure drives the gripper module 5, causing the two sets of conveying grippers 6 clamping at both ends of the bag opening of the packaging bag 2 to move closer to each other, thereby cooperating with the bag opening mechanism 13 to open the bag opening of the packaging bag 2.

[0081] like Figure 14 , 17 As shown, the adjustment structure includes: an adjustment track 18 arranged along the conveying direction of the production line; an adjustment drive rod 16 arranged between the support members of the two conveying grippers 6 of each gripper module 5; the adjustment drive rod 16 is provided with an operating handle 17; when the gripper module 5 is conveyed to the bag opening station, the operating handle 17 abuts against the adjustment track 18 to generate deflection and drive the support members of the two conveying grippers 6 to move relative to each other to cooperate in opening the bag; and after the filling mechanism 19 completes the bag filling, the operating handle 17 disengages from the adjustment track 18 to close the bag opening.

[0082] like Figure 14 , Figure 18As shown, the gripper module 5 includes four parallel support members, including a first support member group 32 and a second support member group 33. Two support members in the first support member group 32 can slide relative to each other laterally along a direction perpendicular to the conveying direction of the packaging bag 2. Similarly, two support members in the second support member group 33 can also slide relative to each other laterally. Two grippers for clamping the packaging bag 2 are respectively connected to the two support members that can slide laterally relative to each other. The lateral sliding of the two support members causes the two grippers to clamp the packaging bag 2. Meanwhile, two sets of conveying grippers 6, which are used to clamp the two ends of the bag opening of the packaging bag 2, are respectively connected to the first support group 32 and the second support group 33. The first support group 32 and the second support group 33 can slide relative to each other in the longitudinal direction parallel to the conveying direction of the packaging bag 2. Through the relative longitudinal sliding of the first support group 32 and the second support group 33, the two sets of conveying grippers 6 clamping the two ends of the bag opening of the packaging bag 2 move closer to each other to cooperate with the bag opening mechanism 13 to perform the bag opening operation. Specifically, the two ends of the first support assembly 32 and the second support assembly 33 are respectively connected to the first slider 34 and the second slider 35. The first slider 34 and the second slider 35 are respectively connected to the two ends of the rocker arm on the adjusting drive rod 16 through connecting rods. During operation, the adjusting drive rod 16 rotates to drive the rocker arm to rotate, thereby causing the first slider 34 and the second slider 35 connected to the two ends of the rocker arm through connecting rods to slide relative to each other, so as to drive the first support assembly 32 and the second support assembly 33 to move relative to each other along the longitudinal direction parallel to the conveying direction of the packaging bag 2, thereby causing the conveying grippers 6 clamped at both ends of the bag opening of the packaging bag 2 to move closer or further apart.

[0083] like Figure 19 , Figure 20 As shown, in the automated packaging production line provided in this embodiment, the filling mechanism 19 includes a bag-supporting device and a lifting drive device. The bag-supporting device has a bag-supporting robot 21 for widening the opening of the packaging bag 2. The lifting drive device is connected to the bag-supporting device and is used to drive the bag-supporting device to move up and down so that the bag-supporting robot 21 extends into the opening of the packaging bag 2. During operation, when the packaging bag 2 arrives at the filling station, the lifting drive device drives the bag-supporting device to descend, so that the bag-supporting robot 21 of the bag-supporting device extends into the open opening of the packaging bag 2. Then, the bag-supporting robot 21 widens the opening of the packaging bag 2, thereby facilitating subsequent filling processes.

[0084] Specifically, the lifting drive device includes a first lifting member 22 and a second lifting member 23 that are slidably coupled to each other. The bag-opening robot 21 is movably connected to the first lifting member 22 and moves up and down following the first lifting member 22. The bag-opening robot 21 includes two bag-opening claws that are slidably coupled to each other. The two bag-opening claws are rotatably connected to the first lifting member 22 respectively. A biasing member 25 is connected to the tail of the two bag-opening claws. The biasing member 25 has a biasing force that drives the bag-opening robot 21 to open.

[0085] like Figure 20 As shown, the second lifting member 23 is provided with a driving block 24 that cooperates with the bag-opening robot 21. When the second lifting member 23 moves closer to the first lifting member 22, the driving block 24 extends between the tails of the two cooperating bag-opening claws of the bag-opening robot 21, bringing the front ends of the two bag-opening claws of the bag-opening robot 21 closer together so as to extend into the opening of the packaging bag 2. When the second lifting member 23 moves away from the first lifting member 22, the driving block 24 withdraws from between the tails of the two bag-opening claws, causing the two cooperating bag-opening claws to move away from each other under the action of the biasing member 25, thereby opening the bag-opening robot 21 and widening the opening of the packaging bag 2.

[0086] like Figure 19 , Figure 20 As shown, the lifting drive device is connected to the discharge nozzle 20, and is driven downwards by the lifting drive device to extend into the opening of the packaging bag 2. Specifically, the discharge nozzle 20 is connected to the second lifting member 23 of the lifting drive device to move up and down with the second lifting member 23. The discharge nozzle 20 has multiple interlocking, vertically extendable sections, and the second lifting member 23 is connected to the lowest section of the discharge nozzle 20 via a connecting rod. This allows the lowest section of the discharge nozzle 20 to rotate and disengage the upper section when it is extended. This design facilitates docking the outlet of the filling device with the discharge nozzle 20 when cleaning the filling device. Alternatively, as an alternative embodiment, the discharge nozzle 20 can also be fixedly connected to the lifting drive device. When cleaning the filling device, both the discharge nozzle 20 and the filling device can be raised simultaneously, and a support can be placed under the discharge nozzle 20 for simultaneous cleaning.

[0087] like Figure 1 , Figure 21 and Figure 22As shown, the automatic packaging production line provided in this embodiment also includes: a bag unloading device 26, which is disposed at the bag unloading station of the conveying mechanism. The bag unloading device 26 is used to receive the packaging bags 2 on the conveying grippers 6 and unload the packaging bags 2. Specifically, the bag unloading device 26 includes: a bag unloading slide 27 and a bag unloading drive device connected to the bag unloading slide 27. The bag unloading slide 27 is slidably mounted on the frame 42 of the conveying mechanism, and the bag unloading slide 27 is provided with bag unloading grippers 28 corresponding one-to-one with the conveying grippers 6. The bag unloading drive device includes: a bag unloading drive rod 29, which is rotatably disposed on the frame 42. The bag unloading drive rod 29 is connected to the bag unloading slide 27 through a connecting rod, and the bag unloading drive rod 29 drives the bag unloading slide 27 to slide between the receiving position and the discharging position by rotation. When the unloading slide is driven to the receiving position, the unloading bag gripper 28 can be simultaneously driven by a linear drive device such as a cylinder, hydraulic cylinder or electric push rod to open and close, so as to clamp the packaging bag 2 on the conveying gripper 6; then, the conveying gripper 6 simultaneously opens to transfer the packaging bag 2 to the unloading bag gripper 28; when the unloading slide is driven to the unloading position, the unloading bag gripper 28 opens again to unload the packaging bag 2.

[0088] Working principle

[0089] like Figure 1 , Figure 2 As shown, the automatic packaging production line provided in this embodiment first fills multiple bagging bins 1 with packaging bags 2. Then, multiple bag-picking robots of the bag-picking mechanism 3 simultaneously take out multiple packaging bags 2 from multiple bagging bins 1 and transport them to the bag-loading station. Then, the gripper module 5 on the conveying mechanism clamps multiple packaging bags 2 in parallel and then transports them to multiple stations under the drive of the conveying device 4.

[0090] like Figure 3 As shown, when the bag-taking mechanism 3 is working, firstly, the bag-taking suction nozzle 8 takes out the packaging bag 2 from the bottom of the bagging chamber 1 and flips it into a vertical state. Then, the bag-transferring claw 10 clamps the packaging bag 2 from the open end of the packaging bag 2 and vertically clamps and transfers the packaging bag 2 to the bag-up station. At the bag-up station, the bag is vertically clamped at both ends of the bag opening by the conveying claw 6 for conveying.

[0091] like Figure 4-6As shown, the multiple flipping drive rods 7, driven by the flipping linkage rod 39, simultaneously drive the multiple bag-picking nozzles 8, causing the bag-picking nozzles 8 to pick up the bag from the bottom of the bagging chamber 1 and flip the packaging bag 2 to a vertical position. It should be noted that the vertical position described in this embodiment is not limited to the vertical position of the packaging bag 2, but refers to any state in which the packaging bag 2 is parallel to its conveying direction, such as a vertically inclined state.

[0092] like Figure 7-9 As shown, the transfer linkage mechanism drives multiple bag-moving grippers 10 to remove the packaging bag 2 from the bag-taking nozzle 8 and transfer it to the bag-up station. Specifically, when the bag-moving grippers 10 remove the packaging bag 2 from the bag-taking nozzle, the packaging bag 2 is in a vertical position. Then, during the process of transferring the packaging bag 2 to the bag-up station, the packaging bag 2 is still in a vertical position, so that the packaging bag 2 can be accurately inserted into the conveying gripper 6.

[0093] like Figure 10-13 As shown, on the frame 42, the first cam 11 and the second cam 12 are concentrically arranged, enabling synchronous rotation. The rotation of the first cam 11 drives the first rocker arm 30 to swing and move, and the first rocker arm 30 is connected to the flipping drive rod 7 via a connecting rod; the rotation of the second cam 12 drives the second rocker arm 31 to swing and move, and the second rocker arm 31 is connected to the bag transfer drive rod 9 via a connecting rod. Thus, the first rocker arm 30 drives the flipping drive rod 7 to rotate, driving the bag-taking nozzle 8 to flip, and the second rocker arm 31 drives the bag transfer drive rod 9 to rotate, driving the bag transfer gripper 10 to move.

[0094] like Figure 15 As shown, the bag opening mechanism 13 includes multiple sets of cooperating bag opening suction nozzles 14. The bag opening suction nozzles 14 open the bag opening 2 by suctioning from both sides of the packaging bag 2. Multiple bag opening suction nozzles 14 are arranged sequentially along the length direction of the two bag opening drive rods 43. During operation, the relative movement of the two bag opening drive rods 43 along the length direction causes the multiple sets of bag opening suction nozzles 14 to suction from both sides and open the bag opening 2.

[0095] like Figure 14As shown, in the gripper module 5 on the conveying device 4, two conveying grippers 6 form a group, and there are multiple groups for gripping multiple parallel packaging bags 2. In each group, two conveying grippers 6 symmetrically grip both ends of the bag opening of the packaging bag 2. When opening the bag opening of the packaging bag 2, the two cooperating groups of conveying grippers move closer together to cooperate in opening the bag. Each conveying gripper 6 has two symmetrical groups of grippers, which cooperate to grip both sides of the packaging bag 2 to form a clamping effect. Specifically, the gripper module 5 has an adjusting drive rod 16. The adjusting drive rod 16 rotates to drive the conveying grippers 6 gripping both ends of the bag opening of the packaging bag 2 to move closer together. The end of the adjusting drive rod 16 is provided with an operating handle 17. In use, by pressing down on the operating handle 17, the adjusting drive rod 16 can be rotated, thereby driving the two groups of conveying grippers 6 to move closer together.

[0096] like Figure 16 , Figure 17 As shown, an adjusting rail 18 is provided on the frame 42 of the conveying mechanism. The adjusting rail 18 is movably connected to the bag opening station of the frame 42. When the gripper module 5 is conveyed past the bag opening station, the conveying grippers 6 on the gripper module 5, which are clamping the two ends of the bag opening of the packaging bag 2, are moved closer together by the driving force of the adjusting rail 18, thereby cooperating with the bag opening. Furthermore, the adjusting rail 18 extends from the bag opening station to the filling station. After the bag opening is opened at the bag opening station, the gripper module 5 continues to move towards the filling station. During the conveying process, the gripper module 5 always maintains the bag opening state through the continuous action of the adjusting rail 18.

[0097] like Figure 1 , Figure 19 and Figure 20 As shown, the filling mechanism 19 has multiple discharge nozzles 20, which are mounted on a lifting drive device. The lifting drive device drives the discharge nozzles 20 to extend into the opening of the packaging bag 2 for filling. The lifting drive device includes a first lifting member 22 and a second lifting member 23 arranged in parallel. The discharge nozzle 20 is mounted on the second lifting member 23, and the first lifting member 22 is located below the second lifting member 23. A bag-opening robot is mounted on the first lifting member 22. When filling the packaging bag 2, the bag-opening robot first extends into the opening of the packaging bag 2 to widen it, and then the discharge nozzle 20 extends into the packaging bag 2 to fill, thereby preventing material from contaminating the bag opening.

[0098] like Figure 19 , Figure 20As shown, in the lifting drive device, the two ends of the second lifting member 23 are connected to lifting columns 44. During operation, the lifting columns 44 drive the second lifting member 23 to move by lifting up and down. The two ends of the first lifting member 22 are slidably connected to the lifting columns 44. A blocking ring 45 is provided on the lifting column 44 below the first lifting member 22. The blocking ring 45 supports the first lifting member 22 below. When the lifting column 44 moves up and down, it simultaneously drives the first lifting member 22 to move. A limiting structure 46 is provided on the frame 42 to limit the movement path of the first lifting member 22. The limiting structure 46 blocks the first lifting member 22 when it descends to a certain position, so that the first lifting member 22 stops moving downward. At this position, the lifting column 44 continues to drive the second lifting member 23 to move downward, and causes the two ends of the first lifting member 22 to slide upward along the lifting column 44. Through the relative movement of the second lifting member 23 and the first lifting member 22, the bag-holding robot 21 on the first lifting member 22 is driven to open and hold the bag.

[0099] During operation, the lifting column 44 first simultaneously drives the first lifting component 22 and the second lifting component 23 to move downwards, so that the bag-opening robot 21 on the first lifting component 22 first extends into the opening of the packaging bag 2. After that, the first lifting component 22 is blocked by the limiting structure 46 on the frame 42 and cannot continue to move downwards. The lifting column 44 continues to drive the second lifting component 23 to move downwards. During this process, the second lifting component 23 moves closer to the first lifting component 22, so that the driving block 24 on the second lifting component 23 releases the obstruction of the bag-opening robot 21 on the first lifting component 22. The bag-opening robot 21 opens under the action of the biasing component 25 to enlarge the bag opening. At the same time, the discharge nozzle 20 extends downwards into the enlarged bag opening under the drive of the second lifting component 23, and then the filling operation is performed. After the filling is completed, the lifting column 44 first drives the second lifting component 23 to move upward, and at the same time drives the discharge nozzle 20 and the driving block 24 to move upward. The driving block 24 drives the bag-supporting robot 21 on the first lifting component 22 to close. When the blocking ring 45 on the lifting column 44 supports the bottom of the first lifting component 22, the lifting column 44 drives the first lifting component 22 to move upward, and removes the bag-supporting robot 21 from the packaging bag 2.

[0100] like Figure 1 , Figure 20 and Figure 21As shown, a bag unloading device 26 is provided at the bag unloading station of the conveying mechanism. The bag unloading device 26 cooperates with the gripper module 5 on the conveying device 4 to unload the packaging bag 2 from the conveying gripper 6. The bag unloading device 26 includes a bag unloading slide 27 and a bag unloading drive rod 29. The bag unloading slide 27 is horizontally slidably connected to the frame 42 and has a receiving position and a discharging position by sliding on the frame 42. The bag unloading drive rod 29 is rotatably connected to the frame 42 and is connected to the bag unloading slide 27 via a connecting rod. During operation, the bag unloading drive rod 29 drives the bag unloading slide 27 to slide between the receiving position and the discharging position by rotation. The unloading slide 27 is connected to a plurality of unloading grippers 28 corresponding one-to-one with the conveying grippers 6. During operation, the unloading grippers 28 clamp the opening of the packaging bag 2, and then cooperate with the opening of the conveying grippers 6 to remove the packaging bag 2 from the conveying grippers 6, and then transfer it to the unloading position for unloading.

[0101] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An automated packaging production line, characterized in that, include: The bag storage mechanism has multiple bag filling compartments (1) arranged in parallel, and each bag filling compartment (1) is suitable for storing multiple packaging bags (2) stacked by gravity. The bag-picking mechanism (3) has multiple bag-picking robots that are arranged one-to-one with the bag-filling bin (1). Each bag-picking robot includes a flipping mechanism and a bag-picking suction nozzle (8) arranged on the flipping mechanism. The flipping mechanism flips the packaging bag (2) taken out by the bag-picking suction nozzle (8) from the bag-filling bin (1) into a vertical state with the bag surface parallel to the conveying direction of the production line. The bag-picking robots are linked together by a bag-picking linkage mechanism. The bag-picking linkage mechanism includes a flipping linkage rod (39) and a flipping crank (40) arranged on each flipping drive rod (7). One end of each flipping crank (40) is connected to the flipping linkage rod (39) to drive the multiple bag-picking robots to pick up and flip bags synchronously. The bag-picking mechanism (3) is also provided with a transfer linkage mechanism and multiple bag-transfer grippers (10) arranged one-to-one with the bag-picking robots. The relay clamp holds the packaging bag (2) which has been flipped into a vertical position, and transfers it to the upper bag station through the transfer linkage mechanism; The conveying mechanism includes a conveying device (4) and a gripper module (5) connected to the conveying device (4). The gripper module (5) has several rows of support members that move along the conveying direction of the production line, and multiple sets of conveying grippers (6) arranged on the support members that correspond one-to-one with the bag filling bin (1). Each set of conveying grippers (6) is used to grip one of the packaging bags (2) located at the corresponding bag loading station. Driven by the conveying device (4), the bag is conveyed sequentially towards the bag opening station, the filling station, and the bag unloading station. The sets of conveying grippers (6) are linked by a gripper linkage mechanism. The conveying mechanism is also provided with an adjustment structure, which includes an adjustment track (18) and an adjustment drive rod (16) arranged along the conveying direction of the production line. When the gripper module (5) is conveyed to the bag opening station, the operating handle (17) of the adjustment drive rod (16) abuts against the adjustment track (18) to drive and grip the packaging bag (2). The two conveying grippers (6) at both ends of the bag opening move closer to each other to cooperate in opening the bag and maintain the bag opening in an open state; The bag opening mechanism (13) is set at the bag opening station and has multiple sets of bag opening nozzles (14) that correspond one-to-one with the bag filling chamber (1). Each set of bag opening nozzles (14) is linked by a bag opening linkage mechanism and works with the conveying gripper (6) that arrives at the bag opening station to open the bag opening of the packaging bag (2). The filling mechanism (19) is set at the filling station and has multiple discharge nozzles (20) and a bag-supporting device that are arranged one-to-one with the conveying gripper (6). The bag-supporting device includes a bag-supporting robot (21) for expanding the bag opening and a lifting drive device. The lifting drive device drives the bag-supporting robot (21) to extend into the packaging bag (2) to support the bag, and at the same time drives the discharge nozzles (20) to extend downward into the bag. Multiple packaging bags (2) are filled simultaneously through multiple discharge nozzles (20). The bag unloading device (26) is set at the bag unloading station and includes a bag unloading slide (27) and a bag unloading drive device. The bag unloading slide (27) is provided with bag unloading grippers (28) that correspond one-to-one with the conveying grippers (6). The bag unloading drive device drives the bag unloading slide (27) to slide between the receiving position and the discharging position to receive and unload the filled packaging bags (2).

2. The automated packaging production line according to claim 1, characterized in that, The transfer linkage mechanism has a bag-moving drive that is rotatably mounted on the frame (42) with its rotation axis perpendicular to the conveying direction of the production line, a bag-moving clamping drive that is movably mounted on the bag-moving drive, and a bag-moving clamping power mechanism (38) that is mounted between the bag-moving drive and the bag-moving clamping drive; at least one of the bag-moving jaws (10) is mounted on the bag-moving clamping drive.

3. The automated packaging production line according to claim 2, characterized in that, The bag transfer clamping drive consists of two parts, which are driven by the bag transfer clamping power mechanism (38) to reciprocate in the same or opposite directions and are disposed on the bag transfer drive; one of the claws of each bag transfer gripper (10) is disposed on the two bag transfer clamping drive components.

4. The automated packaging production line according to claim 2, characterized in that, The bag transfer drive has a bag transfer drive rod (9) that serves as a rotating shaft and a bag transfer frame (36) fixedly mounted on the bag transfer drive rod (9); the bag transfer clamping drive and the bag transfer clamping power mechanism (38) are mounted on the bag transfer frame (36).

5. The automated packaging production line according to claim 2, characterized in that, A transmission wheel and a rocker arm pivot are rotatably provided on the side wall along the conveying direction of the production line; multiple cam drive components are formed on the transmission wheel; rocker arms are provided on the rocker arm pivot, each corresponding to one of the multiple cams; one end of each rocker arm is slidably engaged with the outer periphery of the corresponding cam drive component; the multiple cam drive components have different high points and low points; the cam drive components drive the rocker arms to swing on the side wall by rotating; the multiple rocker arms are respectively linked to the flipping drive rod (7) and the bag transfer drive component through connecting rods.

6. The automated packaging production line according to claim 1, characterized in that, In the conveying mechanism, the two conveying grippers (6) in the gripper module (5) are a group. Each conveying gripper (6) includes two symmetrically arranged claws. In each group, the two conveying grippers (6) are symmetrically clamped at both ends of the bag opening of the packaging bag (2).

7. The automated packaging production line according to claim 6, characterized in that, The conveying mechanism has an adjustment structure mounted on the frame (42) for driving the two conveying grippers (6) symmetrically clamped at both ends of the bag opening of the packaging bag (2) in the gripper module (5) at the bag opening station to move closer to each other.

8. The automated packaging production line according to claim 7, characterized in that, When the gripper module (5) is conveyed to the bag opening station, the operating handle (17) abuts against the adjusting track (18) to generate deflection and drive the respective support members of the two conveying grippers (6) to move relative to each other to cooperate in opening the bag; and after the filling mechanism (19) completes the bag filling, the operating handle (17) disengages from the adjusting track (18) and closes the bag opening.

9. The automated packaging production line according to any one of claims 1-8, characterized in that, The discharge nozzle (20) has multiple sections that are interlocked and extendable vertically.

10. The automated packaging production line according to any one of claims 1-8, characterized in that, The lifting drive device includes a first lifting member (22) and a second lifting member (23) that slide relative to each other. The bag-supporting robot (21) is movably connected to the first lifting member (22) and moves up and down with the first lifting member (22). The discharge nozzle (20) is connected to the second lifting member (23) and moves up and down with the second lifting member (23). The second lifting member (23) is provided with a drive block (24) that cooperates with the bag-supporting robot (21). When the second lifting member (23) moves closer to or further away from the first lifting member (22), the drive block (24) drives the bag-supporting robot (21) to open or close.

11. The automated packaging production line according to claim 10, characterized in that, The bag-holding robot (21) is connected to a biasing member (25). The biasing member (25) has a biasing force that drives the bag-holding robot (21) to open. When the second lifting member (23) moves away from the first lifting member (22), the driving block (24) on the lifting member restricts the bag-holding robot (21) to close. When the second lifting member (23) moves closer to the first lifting member (22), the driving block (24) releases the restriction on the bag-holding robot (21) so that the bag-holding robot (21) opens under the biasing force of the biasing member (25).

12. The automated packaging production line according to any one of claims 1-8, characterized in that, The bag unloading drive device includes: a bag unloading drive rod (29), which is rotatably mounted on the frame (42). The bag unloading drive rod (29) is connected to the bag unloading slide (27) via a connecting rod. The bag unloading drive rod (29) drives the bag unloading slide (27) to slide between the receiving position and the discharging position by rotating.

Images