A fully automatic sealing method and system for a sterile bag

Abstract

The present invention belongs to the technical field of aseptic packaging, and particularly relates to a fully automatic encapsulation method and system for aseptic bags. By further optimizing the fully automatic encapsulation method for aseptic bags, even if the aseptic bags originally entering the conveyor line are not tightly sucked inside themselves, causing the two sides of the aseptic bag to separate when the bag-gripping mechanism adsorbs the aseptic bag through a vacuum chuck, the middle of the aseptic bag is clamped by two crossbars originally used to fix the sealing mechanism to make the two sides of the aseptic bag adsorb again, and then the bag-gripping mechanism grabs the bag again, so as to ensure the effective progress of subsequent side bag-clamping on both sides and vacuum bag-opening.

Description

Technical Field

[0001] The present invention belongs to the technical field of aseptic packaging, and particularly relates to a fully automatic encapsulation method and system for aseptic bags. Background Art

[0002] In the pharmaceutical production process, in order to facilitate the transportation and storage of drugs, the drugs need to be put into packaging bags and then the packaging bags are sealed. This process requires the use of a sealing machine. The applicant has previously applied for multiple patents and continuously optimized the technology of automatic sealing of aseptic bags to improve the automation level. For example, a fully automatic double-bag encapsulation ORABS system for aseptic inner bags disclosed in Chinese Patent CN202011542324.X, and a double-aseptic-bag double-fully automatic encapsulation discharging and transferring ORABS system disclosed in CN202121741100.1. Generally speaking, the currently adopted fully automatic encapsulation method for aseptic bags by the applicant is as Figure 1 shown. An automatic device is used to sequentially perform bag grasping and lowering, vacuum bag sucking, bag grasping and lifting, bag grasping and transferring, bag releasing and lowering, side bag clamping, vacuum bag opening, discharging, and automatic sealing. The above process has extremely high requirements for aseptic bags and requires the inside of the aseptic bag to be tightly sucked. Otherwise, when the bag grasping mechanism adsorbs the aseptic bag through the vacuum suction cup, the two sides of the aseptic bag will be separated, resulting in the failure of subsequent side bag clamping and vacuum bag opening on both sides. In addition, a small number of tightly sealed aseptic bags may have the situation that the vacuum cannot be opened multiple times, which requires manual intervention, posing a risk of cross-contamination and affecting production efficiency. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies existing in the prior art and provide a fully automatic encapsulation method and system for aseptic bags.

[0004] The technical solution adopted by the present invention is as follows: A fully automatic encapsulation method for aseptic bags, and the fully automatic encapsulation equipment used includes a machine shell with an aseptic encapsulation cavity. An aseptic bag placing area, a sealing machine, and a bag grasping and transferring device are provided in the aseptic encapsulation cavity;

[0005] The sealing machine includes a frame, two cross beams, a cross beam driving mechanism for driving the two cross beams to move towards or away from each other, two groups of side bag clamping devices, and a side bag clamping driving mechanism for driving the two groups of side bag clamping devices. The two cross beams are arranged corresponding to the front and back sides of the aseptic bag. Sealing mechanisms are provided on the opposite side surfaces of the two cross beams. The two groups of side bag clamping devices are arranged corresponding to the two sides of the aseptic bag. It also includes two groups of vacuum suction cup assemblies respectively arranged corresponding to the front and back sides of the aseptic bag;

[0006] The bag grasping and transferring device includes a moving frame, a lifting driving mechanism for driving the moving frame to move up and down, and a horizontal displacement driving mechanism for driving the moving frame to move horizontally. A bag grasping component for grasping the aseptic bag and a bag grasping driving mechanism for driving the bag grasping component to move are arranged on the moving frame;

[0007] The method includes the following steps carried out in sequence:

[0008] (1) The lifting drive mechanism drives the bag-grabbing mechanism to descend to the bag-placement area;

[0009] (2) The bag-grabbing assembly operates to grab the sterile bag;

[0010] (3) The lifting drive mechanism drives the bag-grabbing mechanism to ascend;

[0011] (4) The horizontal displacement drive mechanism drives the bag-grabbing mechanism to horizontally displace to the area above the sealing machine;

[0012] (5) The lifting drive mechanism drives the bag-grabbing mechanism to descend to the first bag-placement height, such that the two cross beams are located on both sides of the middle area of the sterile bag;

[0013] (6) The cross beam drive mechanism drives the two cross beams to move towards each other, such that the two cross beams clamp the middle area of the sterile bag;

[0014] (7) The bag-grabbing assembly operates to release the sterile bag, and then operates again to grab the sterile bag;

[0015] (8) The cross beam drive mechanism drives the two cross beams to move away from each other, releasing the sterile bag;

[0016] (9) The lifting drive mechanism drives the bag-grabbing mechanism to descend to the second bag-placement height, such that the two cross beams are located on both sides of the bag mouth area of the sterile bag;

[0017] (10) The side bag-clamping drive mechanism drives the two groups of side bag-clamping devices to operate such that the two groups of side bag-clamping devices clamp both sides of the sterile bag, and the bag-grabbing assembly operates to release the sterile bag;

[0018] (11) The two groups of vacuum suction cup assemblies respectively adsorb the sterile bag on the front and back sides of the sterile bag and drive the vacuum suction cup assemblies to open the sterile bag;

[0019] (12) Feed materials into the opened sterile bag;

[0020] (13) The cross beam drive mechanism drives the two cross beams to move towards each other, such that the two cross beams clamp the bag mouth area of the sterile bag, and the sealing mechanism performs sealing.

[0021] In step (11), the two groups of vacuum suction cup assemblies are respectively fixed on the two cross beams. The cross beam drive mechanism drives the two cross beams to move towards each other, such that the two groups of vacuum suction cup assemblies approach the sterile bag and form a vacuum adsorption on the sterile bag. The cross beam drive mechanism drives the two cross beams to move away from each other, opening the sterile bag.

[0022] There are vacuum degree detection sensors respectively arranged in two groups of vacuum suction cup assemblies. In step (11), it is determined whether both groups of vacuum suction cup assemblies have completed adsorption by whether the vacuum degree detected by the vacuum degree detection sensors reaches the set value. If the adsorption is not completed, the side bag clamping driving mechanism drives the two groups of side bag clamping devices to reciprocate, and then makes the two groups of vacuum suction cup assemblies perform adsorption, repeating the action until it is determined by the vacuum degree detection sensors that both groups of vacuum suction cup assemblies have completed adsorption.

[0023] The bag sealer is connected with a bag sealer driving mechanism. In step (12), the bag sealer driving mechanism drives the bag sealer to move below the material outlet, so that the material outlet discharges materials into the opened sterile bag, and returns to the original position after the material discharging or bag sealing is completed.

[0024] A fully automatic sterile bag packaging system includes a fully automatic packaging device and a control system. The fully automatic packaging device includes a machine shell with a sterile packaging cavity. A bag placing area, a bag sealer, and a bag grasping and transferring device are arranged in the sterile packaging cavity.

[0025] The bag sealer includes a frame, two cross beams, a cross beam driving mechanism for driving the two cross beams to move towards or away from each other, two groups of side bag clamping devices, and a side bag clamping driving mechanism for driving the two groups of side bag clamping devices. The two cross beams are arranged corresponding to the front and back sides of the sterile bag. Sealing mechanisms are arranged on the opposite side surfaces of the two cross beams. The two groups of side bag clamping devices are arranged corresponding to the two sides of the sterile bag. It also includes two groups of vacuum suction cup assemblies respectively arranged corresponding to the front and back sides of the sterile bag.

[0026] The bag grasping and transferring device includes a moving frame, a lifting driving mechanism for driving the moving frame to lift up and down, and a horizontal displacement driving mechanism for driving the moving frame to move horizontally. A bag grasping assembly for adsorbing and grasping the sterile bag by vacuum suction cups and a bag grasping driving mechanism for driving the bag grasping assembly to move are arranged on the moving frame.

[0027] The control system includes:

[0028] A bag grasping and descending module, used to send a signal to the lifting driving mechanism to make the lifting driving mechanism drive the bag grasping mechanism to descend to the bag placing area.

[0029] A bag grasping action module, used to send a signal to the bag grasping assembly to make it act to grasp the sterile bag.

[0030] A bag grasping and lifting module, used to send a signal to the lifting driving mechanism to make the lifting driving mechanism drive the bag grasping mechanism to lift.

[0031] A bag grasping and transferring module, used to send a signal to the horizontal displacement driving mechanism to make the horizontal displacement driving mechanism drive the bag grasping mechanism to horizontally displace to the area above the bag sealer.

[0032] The first bag placing module is used to transmit a signal to the lifting drive mechanism to drive the bag grasping mechanism to descend to the first bag placing height, so that the two cross beams are located on both sides of the middle area of the sterile bag;

[0033] The cross beam clamping module is used to transmit a signal to the cross beam drive mechanism to drive the two cross beams to move towards each other, so that the two cross beams clamp the middle area of the sterile bag;

[0034] The second bag grasping module is used to transmit a signal to the bag grasping assembly to release the sterile bag and then grasp the sterile bag again;

[0035] The cross beam releasing module is used to transmit a signal to the cross beam drive mechanism to drive the two cross beams to move away from each other, so that the two cross beams clamp the middle area of the sterile bag;

[0036] The second bag placing module is used to transmit a signal to the lifting drive mechanism to drive the bag grasping mechanism to descend to the second bag placing height, so that the two cross beams are located on both sides of the bag mouth area of the sterile bag;

[0037] The side bag clamping module is used to transmit a signal to the side bag clamping drive mechanism to drive the two groups of side bag clamping devices to act to clamp both sides of the sterile bag;

[0038] The bag placing action module is used to transmit a signal to the bag grasping assembly to release the sterile bag;

[0039] The vacuum bag opening module is used to transmit a signal to make the two groups of vacuum suction cup assemblies adsorb the sterile bag on the front and back sides of the sterile bag respectively and drive the vacuum suction cup assemblies to open the sterile bag;

[0040] The discharging module aligns the opened sterile bag with the discharging port and controls the discharging port to discharge materials into the sterile bag;

[0041] The sealing module is used to transmit a signal to the cross beam drive mechanism and the sealing mechanism, so that the cross beam drive mechanism drives the two cross beams to move towards each other to clamp the bag mouth area of the sterile bag, and the sealing mechanism performs sealing;

[0042] The control module is connected to the bag grasping descending module, the bag grasping action module, the bag grasping lifting module, the bag grasping transfer module, the first bag placing module, the cross beam clamping module, the second bag placing module, the cross beam releasing module, the second bag placing module, the side bag clamping module, the bag placing action module, the vacuum bag opening module, the discharging module, and the sealing module, and controls the bag grasping descending module, the bag grasping action module, the bag grasping lifting module, the bag grasping transfer module, the first bag placing module, the cross beam clamping module, the second bag placing module, the cross beam releasing module, the second bag placing module, the side bag clamping module, the bag placing action module, the vacuum bag opening module, the discharging module, and the sealing module to sequentially output signals to perform corresponding actions.

[0043] Two groups of vacuum suction cup assemblies are respectively fixed on two cross beams. The vacuum bag opening module transmits signals to the cross beam driving mechanism and the vacuum suction cup assemblies, and successively drives the two cross beams to move towards each other by the cross beam driving mechanism so that the two groups of vacuum suction cup assemblies approach the sterile bag, the vacuum suction cup assemblies evacuate to form a vacuum adsorption of the vacuum suction cup assemblies on the sterile bag, and the cross beam driving mechanism drives the two cross beams to move away from each other to open the sterile bag.

[0044] Vacuum degree detection sensors are respectively arranged in the two groups of vacuum suction cup assemblies. The control system includes a vacuum adsorption detection module and a bag shaking module. The vacuum adsorption detection module is connected to the vacuum degree detection sensors to receive the vacuum degree signals detected by the vacuum degree detection sensors and determines whether both groups of vacuum suction cup assemblies have completed adsorption according to whether the vacuum degrees detected by the vacuum degree detection sensors of the two groups of vacuum suction cup assemblies reach the set values. If the adsorption is not completed, a signal is transmitted to the bag shaking module, and the bag shaking module transmits a signal to the side bag clamping driving mechanism to drive the two groups of side bag clamping devices to reciprocate, and then the two groups of vacuum suction cup assemblies are made to adsorb again, repeating the action until it is judged by the vacuum degree detection sensors that both groups of vacuum suction cup assemblies have completed adsorption.

[0045] The sealing machine is connected with a sealing machine driving mechanism. The sealing machine driving mechanism drives the sealing machine to move below the discharge port, enables the discharge port to discharge materials into the opened sterile bag, and resets after the feeding or sealing is completed.

[0046] The beneficial effects of the present invention are as follows: By further optimizing the full-automatic packaging method for sterile bags, even if the sterile bags originally entering the conveyor line are not tightly sucked inside themselves, causing the two sides of the sterile bag to separate when the bag grasping mechanism adsorbs the sterile bag through the vacuum suction cups, the middle part of the sterile bag is clamped by the two cross bars originally used to fix the sealing mechanism to make the two sides of the sterile bag adsorb again, and then the bag grasping mechanism grasps the bag again, so as to ensure the effective progress of subsequent side bag clamping and vacuum bag opening. Description of the Drawings

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, obtaining other drawings without creative efforts still belongs to the scope of the present invention.

[0048] Figure 1 It is a full-automatic packaging method for sterile bags in the prior art;

[0049] Figure 2 It is a schematic diagram of the control system in the sterile full-automatic packaging system of the present invention. Detailed Embodiments

[0050] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0051] The directional and positional terms mentioned in the present invention, such as up, down, front, back, left, right, inside, outside, top, bottom, side, etc., are only with reference to the directions or positions in the accompanying drawings. Therefore, the directional and positional terms used are for explaining and understanding the present invention, rather than limiting the protection scope of the present invention.

[0052] The present invention provides a full-automatic aseptic bag packaging system, including a full-automatic packaging device and a control system.

[0053] Among them, the full-automatic packaging device includes a casing having an aseptic packaging cavity. An aseptic bag placement area, a sealing machine, and a bag-grabbing and transferring device are provided in the aseptic packaging cavity. The sealing machine includes a frame, two cross beams, a cross beam driving mechanism for driving the two cross beams to move towards or away from each other, two groups of side bag-clamping devices, and a side bag-clamping driving mechanism for driving the two groups of side bag-clamping devices. The two cross beams are arranged corresponding to the front and back sides of the aseptic bag. Sealing mechanisms are provided on the opposite side surfaces of the two cross beams. The two groups of side bag-clamping devices are arranged corresponding to the two sides of the aseptic bag, and two sets of vacuum suction cup assemblies are respectively arranged corresponding to the front and back sides of the aseptic bag. The bag-grabbing and transferring device includes a moving frame, a lifting driving mechanism for driving the moving frame to move up and down, and a horizontal displacement driving mechanism for driving the moving frame to move horizontally. A bag-grabbing assembly for adsorbing and grabbing the aseptic bag by vacuum suction and a bag-grabbing driving mechanism for driving the bag-grabbing assembly to act are arranged on the moving frame. Specifically, the structures of the sealing machine and the bag-grabbing and transferring device adopted in the present invention are basically the same as those of the inner bag sealing machine and the bag-grabbing and transferring device in the applicant's prior patent 202011542324.X, and will not be specifically described in this patent. The present invention optimizes the control system based on the existing mechanical equipment technology, further optimizes the full-automatic packaging method technology of the aseptic bag, significantly reduces the requirements for the aseptic bag, and greatly improves the success rate of the full-automatic packaging of the aseptic bag.

[0054] Specifically, the optimized control system of the present invention is as Figure 2 shown, including a control module, a bag-grabbing lowering module, a bag-grabbing action module, a bag-grabbing lifting module, a bag-grabbing transfer module, a first bag-placement module, a cross beam clamping module, a second bag-placement module, a cross beam loosening module, a second bag-placement module, a side bag-clamping module, a bag-placement action module, a vacuum bag-opening module, a discharging module, and a sealing module.

[0055] Among them, the bag-gripping descent module, the bag-gripping lifting module, the bag-gripping transfer module, the first bag-releasing module, and the second bag-releasing module all cooperate with the bag-gripping drive mechanism of the bag-gripping transfer device to drive the movement of the bag-gripping assembly. Among them, the control signal of the bag-gripping descent module is transmitted to the lifting drive mechanism to make the bag-gripping mechanism descend from the original position to the bag-releasing area; the control signal of the bag-gripping lifting module is transmitted to the lifting drive mechanism to make the bag-gripping mechanism rise from the bag-releasing area to the original position; the control signal of the bag-gripping transfer module is transmitted to the horizontal displacement drive mechanism to make the bag-gripping mechanism horizontally displace from the original position to the area above the sealing machine; the control signal of the first bag-releasing module is transmitted to the lifting drive mechanism to make the bag-gripping mechanism descend from the area above the sealing machine to the first bag-releasing height, so that the two cross beams are located on both sides of the middle area of the sterile bag; the control signal of the second bag-releasing module is transmitted to the lifting drive mechanism to make the bag-gripping mechanism descend from the first bag-releasing height to the second bag-releasing height, so that the two cross beams are located on both sides of the bag mouth area of the sterile bag.

[0056] Among them, the bag-gripping action module, the second bag-gripping module, and the bag-releasing action module all cooperate with the bag-gripping assembly of the bag-gripping transfer device to realize the control of the bag-gripping and bag-releasing actions of the bag-gripping assembly. Among them, the control signal of the bag-gripping action module is to only control the bag-gripping assembly to perform the bag-gripping action, the control signal of the bag-releasing action module is to only control the bag-gripping assembly to perform the bag-releasing action, and the control signal of the second bag-gripping module is to make the bag-gripping assembly first perform the bag-releasing action and then perform the bag-gripping action. Specifically, the specific structure of the bag-gripping assembly of the present invention is the same as that of the applicant's prior patent 202011542324.X, and it adopts a vacuum suction cup type gripping structure. Correspondingly, how to control the bag-gripping and bag-releasing actions of the bag-gripping assembly is also the prior art and will not be specifically elaborated here.

[0057] Among them, the cross beam clamping module and the cross beam loosening module both cooperate with the cross beam drive mechanism to realize the control of the cross beam drive mechanism to drive the two cross beams to move towards each other and move away from each other. The cross beam clamping module is to control the two cross beams to move towards each other to a relative position where they can clamp the sterile bag, and the cross beam loosening module is to control the two cross beams to move away from each other to a certain distance. In addition, two groups of vacuum suction cup assemblies are respectively fixed on the two cross beams. The vacuum bag-opening module transmits signals to the cross beam drive mechanism and the vacuum suction cup assemblies, and successively drives the two cross beams to move towards each other by the cross beam drive mechanism so that the two groups of vacuum suction cup assemblies approach the sterile bag, the vacuum suction cup assemblies perform vacuum pumping so that the vacuum suction cup assemblies form a vacuum adsorption on the sterile bag, and the cross beam drive mechanism drives the two cross beams to move away from each other to open the sterile bag.

[0058] Among them, the side bag-clamping module cooperates with the side bag-clamping drive mechanism to realize the side bag-clamping drive mechanism to drive the two groups of side bag-clamping devices to act so that the two groups of side bag-clamping devices clamp the two sides of the sterile bag.

[0059] The bag sealer is connected with a bag sealer driving mechanism. The discharging module is connected with the bag sealer driving mechanism, and its control signal is transmitted to the bag sealer driving mechanism to drive the bag sealer to move below the discharging port, so that the discharging port discharges materials into the sterile bag after the bag is opened, and it returns to the original position after the feeding is completed or the sealing is completed. Whether the feeding is completed can be determined by setting a weighing module for weighing judgment, or a time automatic start-stop control module can also be set to set the feeding amount through a preset feeding time.

[0060] Among them, the sealing module cooperates with the crossbeam driving mechanism and the sealing mechanism, and its control signal is transmitted to the crossbeam driving mechanism to drive the two crossbeams to move towards each other to clamp the bag mouth area of the sterile bag, and is transmitted to the sealing mechanism to energize the sealing mechanism to seal the bag mouth area of the sterile bag. Specifically, the sealing mechanism seals the bag mouth of the sterile bag by being energized and heated.

[0061] The control module controls the bag grasping and descending module, the bag grasping action module, the bag grasping and lifting module, the bag grasping and transferring module, the first bag placing module, the crossbeam clamping module, the second bag placing module, the crossbeam releasing module, the second bag placing module, the side bag clamping module, the bag placing action module, the vacuum bag opening module, the discharging module, and the sealing module to output signals in sequence to perform corresponding actions. Under the control of the control module, the full-automatic packaging method of the sterile bag of the present invention includes the following steps performed in sequence:

[0062] (1) The lifting drive mechanism drives the bag grasping mechanism to descend to the bag placing area;

[0063] (2) The bag grasping assembly acts to grasp the sterile bag;

[0064] (3) The lifting drive mechanism drives the bag grasping mechanism to ascend;

[0065] (4) The horizontal displacement drive mechanism drives the bag grasping mechanism to horizontally displace to the area above the bag sealer;

[0066] (5) The lifting drive mechanism drives the bag grasping mechanism to descend to the first bag placing height, so that the two crossbeams are located on both sides of the middle area of the sterile bag;

[0067] (6) The crossbeam drive mechanism drives the two crossbeams to move towards each other to clamp the middle area of the sterile bag;

[0068] (7) The bag grasping assembly acts to release the sterile bag, and then acts again to grasp the sterile bag;

[0069] (8) The crossbeam drive mechanism drives the two crossbeams to move away from each other to release the sterile bag;

[0070] (9) The lifting drive mechanism drives the bag grasping mechanism to descend to the second bag placing height, so that the two crossbeams are located on both sides of the bag mouth area of the sterile bag;

[0071] (10)The side clamp bag driving mechanism drives two groups of side clamp bag devices to act, so that the two groups of side clamp bag devices clamp both sides of the sterile bag, and the bag grasping assembly acts to release the sterile bag;

[0072] (11)Two groups of vacuum suction cup assemblies adsorb the sterile bag on the front and back sides of the sterile bag respectively and drive the vacuum suction cup assemblies to open the sterile bag;

[0073] (12)Discharge materials into the opened sterile bag;

[0074] (13)The crossbeam driving mechanism drives two crossbeams to move towards each other, so that the two crossbeams clamp the bag mouth area of the sterile bag, and the sealing mechanism performs sealing.

[0075] In the present invention, the two crossbeams originally used for sealing perform a clamping action on the middle part of the sterile bag, so that the two sides of the sterile bag that may be separated are reattached. Then, the bag grasping assembly grabs the two sides of the sterile bag that remain attached for the second time, ensuring the completion of the subsequent side clamp bag clamping action and the vacuum bag opening action, and reducing the requirement for the electrostatic adsorption effect on the sterile bag.

[0076] In addition, the present invention is also provided with a vacuum adsorption detection module and a bag shaking module. The bag shaking module cooperates with the side clamp bag driving mechanism to realize the reciprocating action of the side clamp bag driving mechanism driving two groups of side clamp bag devices, so that both sides of the sterile bag shake repeatedly, so that the electrostatic adsorption force of the sterile bag with too tight adsorption on both sides is reduced and a gap appears. Then, in cooperation with the vacuum bag opening module, the bag opening action is realized. Vacuum degree detection sensors are respectively arranged in the two groups of vacuum suction cup assemblies. The vacuum adsorption detection module is connected to the vacuum degree detection sensors to receive the vacuum degree signals detected by the vacuum degree detection sensors of the two groups of vacuum suction cup assemblies, and determines whether both groups of vacuum suction cup assemblies have completed adsorption according to whether the vacuum degrees detected by the vacuum degree detection sensors of the two groups of vacuum suction cup assemblies reach the set value. If the adsorption is not completed, a signal is transmitted to the bag shaking module, and the bag shaking module sends a signal to shake the bag. Through the above further settings, it is avoided that the vacuum bag opening action fails due to too good electrostatic adsorption effect of the sterile bag, the link of manual intervention is reduced, and the production efficiency and the effect of sterile production are improved.

[0077] In addition, there is also a bag grasping reset module (not shown in the figure). The bag grasping reset module cooperates with the bag grasping driving mechanism of the bag grasping transfer device. When the two groups of side clamp bag devices clamp both sides of the sterile bag, the bag grasping reset module controls the bag grasping assembly to release the sterile bag, then controls the lifting driving mechanism to make the bag grasping assembly rise from the second bag releasing height to the area above the sealing machine, and finally controls the horizontal displacement driving mechanism to horizontally displace the bag grasping mechanism from the area above the sealing machine to the original position to complete the reset, so that the next bag grasping transfer task can be carried out. A sealing machine can be equipped with only one group of bag grasping transfer devices, that is, only complete the bag grasping transfer task of one sterile bag at a time, or multiple groups of bag grasping transfer devices can be set up to improve the production efficiency through efficient cooperation with the working efficiency of the sealing machine.

[0078] Those of ordinary skill in the art can understand that all or part of the steps in implementing the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disks, optical discs, etc.

[0079] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A fully automatic packaging method for a sterile bag, and the fully automatic packaging equipment used therein includes a casing having a sterile packaging chamber. The sterile packaging chamber is provided with a bag placing area, a sealing machine, and a bag grasping and transferring device. The sealing machine includes a frame, two cross beams, a cross beam driving mechanism for driving the two cross beams to move towards or away from each other, two sets of side bag clamping devices, and a side bag clamping driving mechanism for driving the two sets of side bag clamping devices. The two cross beams are arranged corresponding to the front and back sides of the sterile bag. Sealing mechanisms are provided on the opposite side surfaces of the two cross beams. The two sets of side bag clamping devices are arranged corresponding to the two sides of the sterile bag. The sealing machine further includes two sets of vacuum suction cup assemblies respectively arranged corresponding to the front and back sides of the sterile bag. The bag grasping and transferring device includes a moving frame, a lifting driving mechanism for driving the moving frame to move up and down, and a horizontal displacement driving mechanism for driving the moving frame to move horizontally. A bag grasping assembly for grasping the sterile bag and a bag grasping driving mechanism for driving the bag grasping assembly to move are provided on the moving frame. It is characterized in that The method includes the following steps carried out in sequence: (1) The lifting driving mechanism drives the bag grasping mechanism to descend to the bag placing area. (2) The bag grasping assembly operates to grasp the sterile bag. (3) The lifting driving mechanism drives the bag grasping mechanism to ascend. (4) The horizontal displacement driving mechanism drives the bag grasping mechanism to horizontally displace to the area above the sealing machine. (5) The lifting driving mechanism drives the bag grasping mechanism to descend to the first bag placing height, so that the two cross beams are located on both sides of the middle area of the sterile bag. (6) The cross beam driving mechanism drives the two cross beams to move towards each other, so that the two cross beams clamp the middle area of the sterile bag. (7) The bag grasping assembly operates to release the sterile bag, and then operates again to grasp the sterile bag. (8) The cross beam driving mechanism drives the two cross beams to move away from each other, releasing the sterile bag. (9) The lifting driving mechanism drives the bag grasping mechanism to descend to the second bag placing height, so that the two cross beams are located on both sides of the bag mouth area of the sterile bag. (10) The side bag clamping driving mechanism drives the two sets of side bag clamping devices to operate so that the two sets of side bag clamping devices clamp both sides of the sterile bag, and the bag grasping assembly operates to release the sterile bag. (11) The two sets of vacuum suction cup assemblies respectively adsorb the sterile bag on the front and back sides of the sterile bag and drive the vacuum suction cup assemblies to open the sterile bag. (12) Feed materials into the opened sterile bag. (13) The cross beam driving mechanism drives the two cross beams to move towards each other, so that the two cross beams clamp the bag mouth area of the sterile bag, and the sealing mechanism performs sealing.

2. The fully automatic aseptic bag packaging method according to claim 1, wherein: In step (11), the two sets of vacuum suction cup assemblies are respectively fixed on the two cross beams. The cross beam driving mechanism drives the two cross beams to move towards each other, so that the two sets of vacuum suction cup assemblies approach the sterile bag and form a vacuum adsorption on the sterile bag. The cross beam driving mechanism drives the two cross beams to move away from each other, opening the sterile bag.

3. The fully automatic aseptic bag packaging method according to claim 1, characterized in that: Vacuum degree detection sensors are respectively arranged in the two sets of vacuum suction cup assemblies. In step (11), it is determined whether both sets of vacuum suction cup assemblies have completed adsorption by whether the vacuum degree detected by the vacuum degree detection sensors reaches the set value. If the adsorption is not completed, the side bag clamping driving mechanism drives the two sets of side bag clamping devices to reciprocate, and then the two sets of vacuum suction cup assemblies are made to perform adsorption again. The operation is repeated until it is determined by the vacuum degree detection sensors that both sets of vacuum suction cup assemblies have completed adsorption.

4. The fully automatic aseptic bag packaging method according to claim 1, characterized in that: The bag sealer is connected with a bag sealer driving mechanism. In step (12), the bag sealer driving mechanism drives the bag sealer to move below the discharge port, so that the discharge port discharges materials into the opened sterile bag, and after the feeding or sealing is completed, it returns to the original position.

5. A full-automatic sterile bag packaging system, comprising a full-automatic packaging device and a control system. The full-automatic packaging device includes a machine shell with a sterile packaging chamber, and a bag placing area, a bag sealer, and a bag grasping and transferring device are arranged in the sterile packaging chamber; The bag sealer includes a frame, two cross beams, a cross beam driving mechanism for driving the two cross beams to move towards or away from each other, two groups of side bag clamping devices, and a side bag clamping driving mechanism for driving the two groups of side bag clamping devices. The two cross beams are arranged corresponding to the front and back sides of the sterile bag. Sealing mechanisms are arranged on the opposite side surfaces of the two cross beams. The two groups of side bag clamping devices are arranged corresponding to the two sides of the sterile bag. It also includes two groups of vacuum suction cup assemblies respectively arranged corresponding to the front and back sides of the sterile bag; The bag grasping and transferring device includes a moving frame, a lifting driving mechanism for driving the moving frame to lift up and down, and a horizontal displacement driving mechanism for driving the moving frame to move horizontally. A bag grasping component for grasping the sterile bag and a bag grasping driving mechanism for driving the bag grasping component to move are arranged on the moving frame; It is characterized in that The control system includes: A bag grasping and descending module, which is used to send a signal to the lifting driving mechanism to drive the bag grasping mechanism to descend to the bag placing area by the lifting driving mechanism; A bag grasping action module, which is used to send a signal to the bag grasping component to make it act to grasp the sterile bag; A bag grasping and lifting module, which is used to send a signal to the lifting driving mechanism to drive the bag grasping mechanism to lift up by the lifting driving mechanism; A bag grasping and transferring module, which is used to send a signal to the horizontal displacement driving mechanism to drive the bag grasping mechanism to horizontally displace to the area above the bag sealer by the horizontal displacement driving mechanism; A first bag placing module, which is used to send a signal to the lifting driving mechanism to drive the bag grasping mechanism to descend to the first bag placing height, so that the two cross beams are located on both sides of the middle area of the sterile bag; A cross beam clamping module, which is used to send a signal to the cross beam driving mechanism to drive the two cross beams to move towards each other by the cross beam driving mechanism, so that the two cross beams clamp the middle area of the sterile bag; A second bag grasping module, which is used to send a signal to the bag grasping component to make it release the sterile bag and then grasp the sterile bag again; A cross beam releasing module, which is used to send a signal to the cross beam driving mechanism to drive the two cross beams to move away from each other by the cross beam driving mechanism, so that the two cross beams clamp the middle area of the sterile bag; A second bag placing module, which is used to send a signal to the lifting driving mechanism to drive the bag grasping mechanism to descend to the second bag placing height, so that the two cross beams are located on both sides of the bag mouth area of the sterile bag; A side bag clamping module, which is used to send a signal to the side bag clamping driving mechanism to drive the two groups of side bag clamping devices to act by the side bag clamping driving mechanism, so that the two groups of side bag clamping devices clamp the two sides of the sterile bag; A bag placing action module, which is used to send a signal to the bag grasping component to make it release the sterile bag; A vacuum bag opening module, which is used to send a signal to make the two groups of vacuum suction cup assemblies adsorb the sterile bag on the front and back sides of the sterile bag respectively and drive the vacuum suction cup assemblies to open the sterile bag; A discharging module, which aligns the opened sterile bag with the discharge port and controls the discharge port to discharge materials into the sterile bag; The sealing module is used to transmit signals to the crossbeam driving mechanism and the sealing mechanism, so that the crossbeam driving mechanism drives two crossbeams to move towards each other to clamp the bag mouth area of the sterile bag, and the sealing mechanism performs sealing. The control module is connected to the bag grasping and descending module, the bag grasping action module, the bag grasping and lifting module, the bag grasping and transferring module, the first bag discharging module, the crossbeam clamping module, the second bag discharging module, the crossbeam releasing module, the second bag discharging module, the side bag clamping module, the bag discharging action module, the vacuum bag opening module, the discharging module, and the sealing module, and controls the bag grasping and descending module, the bag grasping action module, the bag grasping and lifting module, the bag grasping and transferring module, the first bag discharging module, the crossbeam clamping module, the second bag discharging module, the crossbeam releasing module, the second bag discharging module, the side bag clamping module, the bag discharging action module, the vacuum bag opening module, the discharging module, and the sealing module to sequentially output signals to perform corresponding actions.

6. The fully automatic aseptic bag packaging system according to claim 5, wherein: Two groups of vacuum suction cup assemblies are respectively fixed on two crossbeams. The vacuum bag opening module transmits signals to the crossbeam driving mechanism and the vacuum suction cup assemblies, and sequentially performs the following operations: the crossbeam driving mechanism drives two crossbeams to move towards each other so that the two groups of vacuum suction cup assemblies approach the sterile bag; the vacuum suction cup assemblies perform vacuum pumping so that the vacuum suction cup assemblies form a vacuum adsorption on the sterile bag; the crossbeam driving mechanism drives two crossbeams to move away from each other to open the sterile bag.

7. The fully automatic aseptic bag packaging system according to claim 5, characterized in that: Vacuum degree detection sensors are respectively arranged in two groups of vacuum suction cup assemblies. The control system includes a vacuum adsorption detection module and a bag shaking module. The vacuum adsorption detection module is connected to the vacuum degree detection sensors to receive the vacuum degree signals detected by the vacuum degree detection sensors, and determines whether both groups of vacuum suction cup assemblies have completed adsorption according to whether the vacuum degrees detected by the vacuum degree detection sensors of the two groups of vacuum suction cup assemblies reach the set value. If the adsorption is not completed, a signal is transmitted to the bag shaking module, and the bag shaking module transmits a signal to the side bag clamping driving mechanism to drive the two groups of side bag clamping devices to reciprocate, and then the two groups of vacuum suction cup assemblies perform adsorption again. The operation is repeated until it is determined by the vacuum degree detection sensors that both groups of vacuum suction cup assemblies have completed adsorption.

8. The fully automatic aseptic bag packaging system according to claim 5, characterized in that: The sealing machine is connected with a sealing machine driving mechanism. The sealing machine driving mechanism drives the sealing machine to move below the discharging port, so that the discharging port discharges materials into the opened sterile bag, and returns to the original position after the material discharging or sealing is completed.

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