Four-corner lifting lug hooking device capable of automatically adjusting position of ton bag body

Abstract

A four-corner lifting lug hooking device capable of automatically adjusting the position of a ton bag body comprises a supporting frame body, a bag lifting mechanism is arranged on the upper portion of the supporting frame body, a vertically-arranged blanking bag clamping barrel is arranged in the center of the bag lifting mechanism, the bag lifting mechanism and the blanking bag clamping barrel are driven by a lifting mechanism to vertically ascend and descend, lifting lugs can be hooked by a lifting hook mechanism, and the bag lifting mechanism is provided with a lifting hook. Two sets of bag holding mechanisms are symmetrically arranged on the left side and the right side of the lower portion of the supporting frame body and can clamp the four corners of the lower portion of an inflated ton bag, two sets of belt clamping mechanisms capable of moving left and right are symmetrically arranged on the left side and the right side of the middle of the supporting frame body, and the belt clamping mechanisms are provided with conveying belt mechanisms which are vertically arranged; the conveying belt mechanisms can convey forwards and backwards in the front-back direction, a machine vision system is arranged above at least one set of belt clamping mechanisms, and the conveying belt mechanisms of the belt clamping mechanisms clamp bag bodies on the left side and the right side of the inflated ton bag. According to the ton bag deviation rectifying device, accurate deviation rectifying of ton bags can be achieved, and the problem of hanging failure of lifting lugs is avoided.

Description

Technical Field

[0001] The invention relates to a four-corner hanging hook device for automatically adjusting the position of a ton bag body, and belongs to the field of packaging machinery. Background Art

[0002] Patent document CN114789805A discloses an automatic packaging system for flexible bulk bags, in which the automatic hooking device is mainly to open the bag mouth of the bulk bag with four corner ears, insert the inner bag mouth into the swing arm bagging mechanism and clamp the two sides of the bag mouth, rotate and transfer the bulk bag to the discharge port, bag and clamp the bag mouth, and then lift it upward, and then inflate the bulk bag, at this time, rotate the two movable plates to clamp the lower part of the bulk bag, and finally the four hooks on the automatic hooking device are driven by the cylinder to swing and hook the four corner ears of the bulk bag to complete the hooking action; the above-mentioned automatic hooking device is easy to form the relative position deflection of the bulk bag itself and the automatic hooking device after the bulk bag is inflated and the passive plate is clamped and fixed, and when the four hooks start the hooking action at the same time, it will cause the problem of the hooking failure of the ear; in addition, the relative position of the bag clamping mechanism and the automatic hooking device of the device remains unchanged, and when the bulk bag is clamped and lifted, the four corner ears of the ton bag are as follows Figure 2 In the natural drooping state shown, when the four hook bodies swing and hook at the same time, the lifting lugs cannot smoothly enter the hook bodies to complete the lifting action of the lifting lugs and hooking. Summary of the invention

[0003] In order to solve the problem in the prior art that after the swing arm bagging mechanism completes the bagging of the ton bag, the four hooks are prone to fail in hooking when automatically hooking the four corner ears in a naturally drooping state, the present invention proposes a four-corner ear hooking device that automatically adjusts the position of the ton bag body, which comprises a supporting frame 1, a bag hanging mechanism 5 is provided on the upper part of the supporting frame 1, a vertically arranged blanking bag clamping tube 4 is provided at the center position of the bag hanging mechanism 5, an air intake pipe 7 is provided on the upper part of the blanking bag clamping tube 4, the bag hanging mechanism 5 and the blanking bag clamping tube 4 are driven by a lifting mechanism 6 to achieve vertical lifting, the bag hanging mechanism 5 comprises a bag hanging frame 51, the bag hanging frame 51 is connected to the lifting mechanism 6, a liftable hook lifting frame 52 is provided below the bag hanging frame 51, the four corners of the hook lifting frame 52 are each provided with a hook mechanism 53 at the lower end, the hook mechanism 53 is arranged along the diagonal direction of the hook lifting frame 52, and two adjacent groups of hook mechanisms 53 The hook mechanism 53 is symmetrically arranged about the X-axis or the Y-axis, and the hook mechanism 53 can hook the lifting ear C. Two groups of bag holding mechanisms 2 are symmetrically arranged on the left and right sides of the lower part of the support frame 1. The bag holding mechanism 2 can clamp the four corners of the lower part of the inflated ton bag A. Two groups of belt clamping mechanisms 3 that can move left and right are symmetrically arranged on the left and right sides of the middle part of the support frame 1. The belt clamping mechanism 3 is provided with a side-mounted conveyor belt mechanism 31, and the conveyor belt mechanism 31 can transport in the forward and backward directions. A machine vision system 8 is provided above at least one group of belt clamping mechanisms 3. The conveyor belt mechanism 31 of the belt clamping mechanism 3 clamps the bag bodies on the left and right sides of the inflated ton bag A. The machine vision system 8 identifies and locates the bag body positioning color block B provided on the bag body of the ton bag A, thereby determining the position deviation of the bag body of the ton bag A. The conveyor belt mechanism 31 is controlled by the control system to transport in the forward and reverse directions, and the bag body of the ton bag A with position deviation is adjusted to the target position.

[0004] The hook mechanism 53 includes a mounting plate 531, which is connected to the lower end of the hook lifting frame 52. The front lower end of the mounting plate 531 is hinged to the upper end of a vertically arranged swing hanger 533, and the rear lower end of the mounting plate 531 is hinged to the cylinder body of a swing cylinder 532. The cylinder rod of the swing cylinder 532 is hinged to the swing hanger 533. A rotating clamping cylinder 534 is provided inside the swing hanger 533. The lower swinging end of the rotating clamping cylinder 534 is connected to the hook tail of the hook 535. The hook head of the hook 535 faces the side of the blanking bag clamping tube 4. The rotating clamping cylinder 534 drives the hook 535 to rotate up and down.

[0005] A swing lock block 537 is provided in the upper middle part of the hook 535 in the left and right directions. The swing lock block 537 is connected to one end of the connecting rod 536. The other end of the connecting rod 536 is hinged to the cylinder rod of the swing locking cylinder 538. The cylinder body of the swing locking cylinder 538 is hinged to the middle part of the swing hanger 533. When the swing locking cylinder 538 drives the swing lock block 537 to swing to the lower position, the lower end of the swing lock block 537 is in contact with the upwardly tilted hook head of the hook 535. A lifting ear detection sensor 539 is provided on one side of the hook tail of the hook 535.

[0006] The belt clamping mechanism 3 includes a connecting frame 32, the front and rear ends of the connecting frame 32 are connected to the supporting frame body 1, the connecting frame 32 is hinged to the cylinder body of the pushing cylinder 33, the cylinder rod of the pushing cylinder 33 is hinged to the conveyor belt mechanism 31, and the pushing cylinder 33 drives the conveyor belt mechanism 31 to move horizontally in the left and right directions.

[0007] The bag holding mechanism 2 includes a box body 21, the front and rear ends of the box body 21 are connected to the support frame body 1, and two groups of clamping swing arms 22 are arranged in the box body 21. The long arm end of the clamping swing arm 22 is connected to the vertically arranged concave clamping bracket 24, and the short arm end of the clamping swing arm 22 is connected to the cylinder rod of the clamping swing cylinder 23. The cylinder body of the clamping swing cylinder 23 is hinged on the box body 21. When the clamping bracket 24 is in the initial position, the outer end plane is parallel to the left and right side planes of the support frame body 1. The clamping swing cylinder 23 drives the clamping swing arm 22 to swing toward the blanking bag clamping tube 4 to clamp the lower four corners of the inflated ton bag A.

[0008] The beneficial effects of the present invention are: A. The bag holding mechanism 2 is used to clamp and fix the inflated ton bag A, the belt clamping mechanism 3 clamps the bag body of the ton bag A, and the machine vision system 8 identifies and locates the bag body to confirm the position deviation of the ton bag A. The control system controls the forward and reverse conveying of the conveyor belt mechanism 31 and realizes accurate deviation correction through the friction between the conveyor belt and the bag body of the ton bag A, so that the four corner ears C are adjusted to the position that can meet the hooking of the four hook mechanisms 53, avoiding the problem of hooking failure of the ears C.

[0009] B. The hook mechanism 53 is configured as a liftable structure. The hook 535 first descends and swings to the position directly below the lifting lug C, and then the lifting lug C falls into the hook 535 during the process of the hook 535 rising. This can meet the hooking requirements when the four-corner lifting lugs C are in a naturally drooping state after the ton bag A is lifted, thereby satisfying the hooking requirements of the lifting lugs C in different states on the ton bag A.

[0010] C. The bag holding mechanism 2 swings to clamp the four corners of the lower part of the inflated ton bag A, and can first fix the lower part of the ton bag A, thereby providing a guarantee for the accuracy of the machine vision system 8 in identifying and positioning.

[0011] D. The inward and outward swinging action of the swinging hanger 533 on the hook mechanism 53 can swing the hook 535 to the ready hooking position of the lifting ear C, the downward rotation of the hook 535 can realize the unhooking action, and the swinging locking action of the swing lock block 537 can prevent the lifting ear C from being accidentally unhooked. The overall design structure of the hook mechanism 53 is compact and occupies little space, which improves the reliability of the hooking and unhooking actions of the lifting ear C. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a three-dimensional axonometric view of the present invention.

[0013] Figure 2 It is a schematic diagram of the structure of ton bag A.

[0014] Figure 3 It is a three-dimensional axonometric view of the hanging bag mechanism 5.

[0015] Figure 4 It is a front view of the hanging bag mechanism 5.

[0016] Figure 5 yes Figure 4 Bottom view of .

[0017] Figure 6 It is a structural schematic diagram of the hook mechanism 53.

[0018] Figure 7 It is a schematic structural diagram of the hook mechanism 53 from another angle.

[0019] Figure 8 3 is a schematic structural diagram of the belt clamping mechanism 3.

[0020] Fig. 9 It is a structural schematic diagram of the bag holding mechanism 2.

[0021] Fig.10 This is a schematic diagram of the status of ton bag A during deviation correction.

[0022] Fig.11 This is a schematic diagram of the state of preparing to hook the lifting eye C.

[0023] Fig.12 It is a schematic diagram of the state in which the hooking eye C is completed.

[0024] Fig.13 It is a schematic diagram of the state when the lifting eye C is unhooked. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and beneficial effects of the present invention more clear, embodiments of the present invention are described in detail below with reference to the accompanying drawings. The embodiments are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0026] See also Figures 1 to 9, a four-corner hanging ear hook hanging device for automatically adjusting the position of a ton bag body, comprising a supporting frame 1, a bag hanging mechanism 5 is provided on the upper part of the supporting frame 1, a vertically arranged blanking bag clamping tube 4 is provided at the center position of the bag hanging mechanism 5, an air inlet pipe 7 is provided on the upper part of the blanking bag clamping tube 4, the bag hanging mechanism 5 and the blanking bag clamping tube 4 are driven by a lifting mechanism 6 to realize vertical lifting, the bag hanging mechanism 5 comprises a bag hanging frame 51, the bag hanging frame 51 is connected to the lifting mechanism 6, a liftable hook lifting frame 52 is provided below the bag hanging frame 51, hook mechanisms 53 are provided at the lower ends of the four corners of the hook lifting frame 52, the hook mechanisms 53 are arranged along the diagonal direction of the hook lifting frame 52, two adjacent groups of hook mechanisms 53 are symmetrically arranged about the X-axis or the Y-axis, the hook mechanisms 53 can hook the hanging ears C, two groups of bag holding mechanisms 2 are symmetrically provided on the left and right sides of the lower part of the supporting frame 1, the bag holding mechanisms 2 can clamp the four corners of the lower part of the inflated ton bag A. Two groups of belt clamping mechanisms 3 that can move left and right are symmetrically arranged on the left and right sides of the middle part of the support frame 1. The belt clamping mechanism 3 is provided with a conveyor belt mechanism 31 arranged sideways. The conveyor belt mechanism 31 can transport in the forward and backward directions. A machine vision system 8 is arranged above at least one group of belt clamping mechanisms 3. The conveyor belt mechanism 31 of the belt clamping mechanism 3 clamps the bag bodies on the left and right sides of the inflated ton bag A. The machine vision system 8 identifies and locates the bag body positioning color block B provided on the bag body of the ton bag A to determine the position deviation of the bag body of the ton bag A. The conveyor belt mechanism 31 is controlled by the control system to transport in the forward and reverse directions, and the bag body of the ton bag A with position deviation is adjusted to the target position. In this embodiment, the machine vision system 8 is arranged on the upper left side of the belt clamping mechanism 3, and a bag body positioning color block C is provided on the upper left side of the bag body of the ton bag A.

[0027] Furthermore, the hook mechanism 53 includes a mounting plate 531, which is connected to the lower end of the hook lifting frame 52, the front lower end of the mounting plate 531 is hinged to the upper end of the vertically arranged swing hanger 533, the rear lower end of the mounting plate 531 is hinged to the cylinder body of the swing cylinder 532, the cylinder rod of the swing cylinder 532 is hinged to the swing hanger 533, and a rotating clamping cylinder 534 is provided inside the swing hanger 533, the lower swing end of the rotating clamping cylinder 534 is connected to the hook tail of the hook 535, the hook head of the hook 535 faces the side of the blanking bag clamping tube 4, and the rotating clamping cylinder 534 drives the hook 535 to realize the up and down rotation.

[0028] Furthermore, a swing lock block 537 is provided in the upper middle part of the hook 535 in the left and right directions. The swing lock block 537 is connected to one end of the connecting rod 536. The other end of the connecting rod 536 is hinged to the cylinder rod of the swing locking cylinder 538. The cylinder body of the swing locking cylinder 538 is hinged to the middle part of the swing hanger 533. When the swing locking cylinder 538 drives the swing lock block 537 to swing to the lower position, the lower end of the swing lock block 537 is in contact with the upwardly tilted hook head of the hook 535. A lifting ear detection sensor 539 is provided on one side of the hook tail of the hook 535.

[0029] Furthermore, the hook lifting frame 52 is connected to the cylinder rod of the hook lifting cylinder 54, the cylinder body of the hook lifting cylinder 54 is connected to the hanging bag frame 51, and the hook lifting cylinder 54 drives the hook lifting frame 52 and the hook mechanism 53 to vertically lift.

[0030] Furthermore, the belt clamping mechanism 3 includes a connecting frame 32, the front and rear ends of the connecting frame 32 are connected to the supporting frame body 1, the connecting frame 32 is hinged to the cylinder body of the pushing belt cylinder 33, the cylinder rod of the pushing belt cylinder 33 is hinged to the conveyor belt mechanism 31, and the pushing belt cylinder 33 drives the conveyor belt mechanism 31 to move horizontally in the left and right directions.

[0031] Furthermore, the bag holding mechanism 2 includes a box body 21, the front and rear ends of the box body 21 are connected to the support frame body 1, and two groups of clamping swing arms 22 are arranged in the box body 21. The long arm end of the clamping swing arm 22 is connected to the vertically arranged concave clamping bracket 24, and the short arm end of the clamping swing arm 22 is connected to the cylinder rod of the clamping swing cylinder 23. The cylinder body of the clamping swing cylinder 23 is hinged on the box body 21. When the clamping bracket 24 is in the initial position, the outer end plane is parallel to the left and right side planes of the support frame body 1. The clamping swing cylinder 23 drives the clamping swing arm 22 to swing toward the direction of the blanking bag clamping tube 4 to clamp the lower four corners of the inflated ton bag A.

[0032] See also Figure 10 to Figure 13 , which illustrates the working principle of this embodiment: The external swing arm bagging mechanism clamps the bag opening of the ton bag A and swings to transfer it to the bottom of the blanking bag clamping tube 4. The lifting mechanism 6 drives the bag hanging mechanism 5 and the blanking bag clamping tube 4 vertically downward. The blanking bag clamping tube 4 bags and clamps the bag opening of the ton bag A and then returns to the initial position; Inflate the ton bag A from the air inlet pipe 7, the clamp swing cylinder 23 drives the clamp swing arm 22 to swing 45 degrees to clamp the four corners of the lower part of the ton bag A, and the push belt cylinder 33 drives the conveyor belt mechanism 31 to move horizontally inward to clamp the bag body on the left and right sides of the ton bag A; The machine vision system 8 identifies the bag body positioning color block B on the bag body of the ton bag A, confirms the position coordinates of the bag body positioning color block B, calculates the deviation based on the position coordinate data and the set target range, and the control system controls the conveyor belt mechanism 31 to transport in the forward and reverse directions, adjusts the bag body of the ton bag A with position deviation to the target range, corrects the position of the four corner lifting ears C relative to the four hook mechanisms 53, and then the push cylinder 33 drives the conveyor belt mechanism 31 back to the initial position; The hook lifting cylinder 54 drives the hook lifting frame 52 to move vertically downward to the bottom of the four corner lifting ears, and the swing cylinder 532 drives the swing hanging frame 533 to swing inward until the hook head of the hook 535 is close to the four corners of the ton bag A. The hook lifting cylinder 54 drives the hook lifting frame 52 to return to the initial position vertically upward, so that the hanging four corner lifting ears are lifted by the hook 535, and the lifting ear detection sensor 539 sends a "lifting ear" signal in the hook 535, and the swing locking cylinder 538 drives the swing lock block 537 to swing downward to fit the hook head, completing the hooking action of the lifting ear C; The bag blanking clamping tube 4 starts to unload materials. When unloading is completed, the lifting mechanism 6 drives the bag hanging mechanism 5 and the bag blanking clamping tube 4 vertically downward, so that the ton bag A drops onto the external pallet, and the swing locking cylinder 538 drives the swing locking block 537 to swing upward to the initial position, and the rotary clamping cylinder 534 drives the hook 535 to rotate downward to make the lifting ear C detach from the hook 535, and the swing cylinder 532 drives the swing hanger 533 to swing outward to the initial position, completing the action of removing the lifting ear.

Claims

1. A four-corner hanging hook device for automatically adjusting the position of a ton bag body, comprising a support frame (1), a bag hanging mechanism (5) is provided on the upper part of the support frame (1), a vertically arranged blanking bag clamping cylinder (4) is provided at the center of the bag hanging mechanism (5), an air inlet pipe (7) is provided on the upper part of the blanking bag clamping cylinder (4), the bag hanging mechanism (5) and the blanking bag clamping cylinder (4) are driven by a lifting mechanism (6) to realize vertical lifting, and the characteristics are: The bag lifting mechanism (5) comprises a bag lifting frame (51), the bag lifting frame (51) is connected to the lifting mechanism (6), a lifting hook lifting frame (52) is provided below the bag lifting frame (51), the four corners of the hook lifting frame (52) are provided with hook mechanisms (53), the hook mechanisms (53) are arranged along the diagonal direction of the hook lifting frame (52), two adjacent groups of hook mechanisms (53) are symmetrically arranged about the X-axis or the Y-axis, the hook mechanisms (53) can hook the lifting ears (C), two groups of bag holding mechanisms (2) are symmetrically arranged on the left and right sides of the lower part of the support frame (1), the bag holding mechanisms (2) can clamp the four corners of the lower part of the inflated ton bag (A), the left and right sides of the middle part of the support frame (1) are provided with a bag holding mechanism (2), and the bag holding mechanism (2) can clamp the four corners of the lower part of the inflated ton bag (A). Two groups of belt clamping mechanisms (3) that can move left and right are symmetrically arranged on the side. The belt clamping mechanisms (3) are provided with a conveyor belt mechanism (31) arranged sideways. The conveyor belt mechanism (31) can convey in the forward and reverse directions along the front-back direction. A machine vision system (8) is provided above at least one group of belt clamping mechanisms (3). The conveyor belt mechanism (31) of the belt clamping mechanism (3) clamps the bag bodies on the left and right sides of the inflated ton bag (A). The machine vision system (8) identifies and locates the bag body positioning color block (B) provided on the bag body of the ton bag (A) so as to determine the position deviation of the bag body of the ton bag (A). The conveyor belt mechanism (31) is controlled by a control system to convey in the forward and reverse directions, and the bag body of the ton bag (A) with position deviation is adjusted to the target position.

2. According to claim 1, a four-corner hanging hook device for automatically adjusting the position of a ton bag body is characterized by: The hook mechanism (53) comprises a mounting plate (531), the mounting plate (531) is connected to the lower end of the hook lifting frame (52), the front portion of the lower end of the mounting plate (531) is hinged to the upper end of a vertically arranged swing hanger (533), the rear portion of the lower end of the mounting plate (531) is hinged to the cylinder body of a swing cylinder (532), the cylinder rod of the swing cylinder (532) is hinged to the swing hanger (533), a rotary clamping cylinder (534) is arranged inside the swing hanger (533), the lower swing end of the rotary clamping cylinder (534) is connected to the hook tail of the hook (535), the hook head of the hook (535) faces the side of the blanking clamping tube (4), and the rotary clamping cylinder (534) drives the hook (535) to realize an up and down rotation action.

3. According to claim 2, a four-corner hanging hook device for automatically adjusting the position of a ton bag body is characterized by: A swing lock block (537) is provided above the middle part of the hook (535) in the left-right direction. The swing lock block (537) is connected to one end of a connecting rod (536). The other end of the connecting rod (536) is hinged to the cylinder rod of a swing locking cylinder (538). The cylinder body of the swing locking cylinder 538 is hinged to the middle part of the swing hanger (533). When the swing locking cylinder (538) drives the swing lock block (537) to swing to the lower position, the lower end of the swing lock block (537) fits with the upwardly tilted hook head of the hook (535). A lifting ear detection sensor (539) is provided on one side of the hook tail of the hook (535).

4. According to claim 1, a four-corner hanging hook device for automatically adjusting the position of a ton bag body is characterized by: The belt clamping mechanism (3) comprises a connecting frame (32), the front and rear ends of the connecting frame (32) are connected to the supporting frame body (1), the connecting frame (32) is hinged to the cylinder body of the pushing belt cylinder (33), the cylinder rod of the pushing belt cylinder (33) is hinged to the conveyor belt mechanism (31), and the pushing belt cylinder (33) drives the conveyor belt mechanism (31) to move horizontally in the left and right directions.

5. According to claim 1, a four-corner hanging hook device for automatically adjusting the position of a ton bag body is characterized by: The bag holding mechanism (2) comprises a box body (21), the front and rear ends of the box body (21) are connected to the support frame (1), two groups of clamping swing arms (22) are arranged in the box body (21), the long arm end of the clamping swing arm (22) is connected to a vertically arranged concave clamping bracket (24), the short arm end of the clamping swing arm (22) is connected to the cylinder rod of the clamping swing cylinder (23), the cylinder body of the clamping swing cylinder (23) is hinged on the box body (21), and when the clamping bracket (24) is in the initial position, the outer end plane is parallel to the left and right side planes of the support frame (1), and the clamping swing cylinder (23) drives the clamping swing arm (22) to swing towards the blanking clamping tube (4) to clamp the four corners of the lower part of the inflated ton bag (A).

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