Sleeving type inner and outer bag full-automatic packaging robot and method thereof

Abstract

The invention discloses a sleeving type inner and outer bag full-automatic packaging robot and a method thereof, and belongs to the technical field of packaging and control, the sleeving type inner and outer bag full-automatic packaging robot comprises a main rack, and a bag taking mechanism, a suction cup mechanism, a bag feeding mechanism, a discharging mechanism, a bag conveying mechanism, a heat sealing outer bag opening mechanism, a bag opening transferring mechanism and a sewing mechanism which are sequentially mounted on the main rack, the bag taking, blanking and sewing operations are realized; in addition, holding and transferring movement of the material bag can be achieved, and the operation that the upper movable suction cup set and the lower movable suction cup set rub the packaging bag is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging and control, in particular to a fully automatic packaging robot with nested inner and outer bags. Background Art

[0002] In industries that require packaging materials, such as sugar, food, feed, chemicals, starch, medicine, fertilizer, nano calcium carbonate and other industries, powders and granular materials need to be bagged, for example, using bagging-type inner and outer bags as packaging bags.

[0003] For example, the Chinese invention patent "A Fully Automatic Production Line for Packaging Inner and Outer Bags and Its Packaging Method, Publication No. CN107380547A" includes a bag-taking and bag-packing rack, a bag storage platform, a bag storage box, a bag-clamping and bag-supporting rack, a machine frame, a material platform, an automatic packaging scale, a belt conveyor, a heat-sealing base, and a bag-sewing device. This production line not only heat-seals the inner film bag of the over-the-counter bag after filling it with small granular materials, but also automatically inserts the inner film bag opening of the over-the-counter bag into the outer woven bag opening.

[0004] For example, the Chinese invention patent "A fully automatic production line for packaging materials with inner and outer bags in a set, publication number CN110697149A" includes a frame, a bag placement rack, a bag removal mechanism, a bag-covering mechanism, a rotating mechanism, a loading hopper, a bag clamping mechanism, a bag support mechanism, a bag insertion mechanism, a packaging scale, a discharge hopper, a discharge sealing mechanism, an air extrusion mechanism, an inner bag sealing mechanism, an inner bag clamping and moving mechanism, an inner bag insertion mechanism, an outer bag opening mechanism, a bag sewing and transfer mechanism, a sewing machine, a belt conveyor, a visual camera, and a rejection mechanism. It can operate smoothly in dusty environments and will not freeze during contraction and expansion. The bag sewing and transfer mechanism can clamp and sew both sides of the sewing thread of the outer bag opening of the set bag, preventing the sewing thread from being skewed. The visual camera identifies defective products after sewing, and the rejection mechanism rejects them, thereby improving the product qualification rate.

[0005] As mentioned above, after the packaging bag is loaded, it is generally pushed to the inner bag placement position by the conveyor below, and then the packaging bag and its upright bag mouth are introduced into the sewing machine. If the conveyor belt runs too fast, the material bag on it will tilt and fall. Therefore, due to the limitation of the conveyor pushing speed, the efficiency is low. Summary of the Invention

[0006] The purpose of the present invention is to provide a fully automatic packaging robot and method for inner and outer bags in combination with a set of inner and outer bags, which can realize the holding and transfer of material bags, and realize the operation of rubbing the packaging bags by the upper and lower suction cup groups.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A fully automatic packaging robot with a set of inner and outer bags comprises a main frame and a bag taking mechanism, a suction cup mechanism, a bag loading mechanism, a material unloading mechanism, a bag feeding mechanism, a heat-sealing and outer bag opening mechanism, a bag opening transfer mechanism, and a sewing mechanism which are sequentially installed on the main frame. The bag taking mechanism is used to suck the packaging bag, the suction cup mechanism is used to open the packaging bag, the bag loading mechanism is used to lift and fix the packaging bag, the material unloading mechanism is used for metering and unloading, the bag feeding mechanism is used to transfer the packaging bag containing the material, the heat-sealing and outer bag opening mechanism is used to heat-seal and insert the inner bag of the packaging bag, the bag opening transfer mechanism is used to transfer the bag opening of the packaging bag, and the sewing mechanism is used to sew the bag opening of the packaging bag, so that the robot can realize bag taking, material unloading and sewing operations. Among them, the package delivery mechanism includes a mobile component, a column frame and a package holding component; the mobile component includes a sub-frame, a guide rail group, a sliding seat and a mobile driving component, the guide rail group is arranged longitudinally, the base and the sub-frame are installed at both ends of the guide rail group, the mobile driving component is installed on the base, the sliding seat is slidably connected to the guide rail group, the sliding seat is connected to the mobile driving component, and the sliding seat can be driven by the mobile driving component to move back and forth longitudinally between the initial position and the transfer position; the left and right ends of the sliding seat are respectively installed with column frames, and the longitudinal front and rear sides of each column frame are respectively installed The bag-carrying assembly comprises a bag-carrying plate frame, a bag-carrying support, a bag-carrying track, and a bag-carrying drive. The bag-carrying support is mounted on the sliding seat via the bag-carrying track for transverse movement. The bag-carrying support is connected to the bag-carrying drive and can reciprocate laterally under the drive. Two oppositely arranged bag-carrying plates can move laterally inwardly into the moving channel a certain distance as the bag-carrying support moves to compress and hold the material bag. The bag-carrying track comprises a connecting rod assembly and a curved arm. The bag-carrying support is hinged to the sliding seat via the connecting rod assembly. The curved arm is connected to the sliding seat for transverse and vertical rotation. One end of the curved arm is connected to the bag-carrying support, and the other end is connected to the telescopic end of the bag-carrying drive. The fixed end of the bag-carrying drive is connected to the sliding seat. The bag-carrying support can be pushed by the curved arm to reciprocate laterally when the curved arm is driven by the driving member. This achieves the bag-carrying track connection. The bag-carrying drive is a standard pneumatic cylinder. The mobile drive is a motor, connected to the sliding base via a drive wheel assembly and a drive push rod; this provides the drive connection. The sliding base is connected to the guide rail assembly via linear bearings, which consists of four longitudinally extending straight shafts; this provides the guide rail connection. A slide is mounted on the base and sub-frame, located at the bottom of the moving channel, above the slide, and vertically lower than the bag-carrying plate frame. This supports the material bag and acts as a guide for sliding it toward the bag-sealing position, reducing the clamping force of the bag-carrying assembly and the pushing force required by the mobile drive.

[0009] As described above, the two opposing holding assemblies' holding drive members drive the holding plate frame to move laterally inward, compressing and clamping the material bag. The moving assembly, driven by the moving drive members, then moves longitudinally back and forth between its initial position and its transfer position, thereby clamping and transferring the material bag. Furthermore, two holding structures are positioned on either side of the column frame, utilizing dual holding stations to simultaneously hold and transfer the bag during a single longitudinal movement, achieving high efficiency.

[0010] Based on the above solution, in an improved solution, to address the issue of low holding force due to the relatively smooth holding surface of the bag holding plate, the bag holding assembly also includes holding blocks. These blocks are mounted on each longitudinal end of the inner end surface of the bag holding plate. These blocks are arranged vertically, and the protruding holding blocks at each longitudinal end of the plate enhance the holding force. The longitudinal ends of the bag holding plate are laterally inclined inward to enhance the position limiting and holding function.

[0011] Based on the aforementioned solution, in an improved solution, to address the problem of material bags tilting during movement due to the lower bag sealing structure plate frame and bag holding block, the bag holding transfer mechanism further includes a bag protection assembly. The bag protection assembly includes a left bag protection portion and a right bag protection portion. The left bag protection portion and the right bag protection portion are respectively arranged directly above the two oppositely arranged bag holding assemblies. The left bag protection portion includes a left bag protection drive, a bag protection elastic member, and a left bag protection pressure rod. The fixed end of the left bag protection drive is arranged on the left column frame. The telescopic end of the left bag protection drive is connected to the left bag protection rod via the bag protection elastic member. The left bag protection rod is arranged to extend longitudinally. The right bag protection portion includes a right bag protection drive and a right bag protection rod. The fixed end of the right bag protection drive is arranged on the right column frame. The telescopic end of the right bag protection drive is connected to the right bag protection rod. The right bag protection rod is arranged to extend longitudinally. The left and right bag protection drives are both three-axis cylinders. In this way, the bag protection driving member pushes the bag protection pressure rods of the same group toward each other to compress and clamp the material bag, and the bag protection elastic member plays a buffering role.

[0012] Based on the above solution, in an improved solution, to solve the problem of squeezing out air from the material bag and clinging to both sides of the bag opening, the bag-carrying transfer mechanism further includes an air-extrusion assembly, which is arranged on the longitudinal front side of the column frame. The air-extrusion assembly includes a left air-extrusion section and a right air-extrusion section, which are respectively arranged directly above the two oppositely arranged bag-carrying assemblies. The left air-extrusion section includes a left air-extrusion drive, an air-extrusion elastic member, and an air-extrusion pressure rod. The fixed end of the left air-extrusion drive is arranged on the left column frame. The telescopic end of the left air-extrusion drive is connected to the left air-extrusion pressure rod via the air-extrusion elastic member. The left air-extrusion pressure rod is arranged longitudinally. The right air-extrusion section includes a right air-extrusion drive and a right air-extrusion pressure rod. The fixed end of the right air-extrusion drive is arranged on the right column frame. The telescopic end of the right air-extrusion drive is connected to the right air-extrusion pressure rod. The right air-extrusion pressure rod is arranged longitudinally. The left and right air-extrusion pressure rods have the same structure and are in a bow-shaped structure, with a breakpoint formed in the middle of the air-extrusion surface as an air outlet. The left and right squeezing drive members are both three-axis cylinders. In this way, the squeezing drive members push the squeezing rods of the same group toward each other to press the material bag tightly against the bag opening to discharge the gas therein, and the squeezing elastic member plays a buffering role.

[0013] Based on the above scheme, in an improved scheme, in order to solve the problem of tilting that may occur before being held tightly by the bag holding assembly, the bag holding transfer mechanism also includes a guardrail assembly. The left and right sides of the moving channel of the sliding seat are respectively installed with guardrail assemblies. The guardrail assembly includes a vertical rod, a horizontal screw and a longitudinal railing. The bottom end of the vertical rod is installed on the sliding seat, and the top end of the vertical rod is installed with a horizontally extending horizontal screw. The inner end of the horizontal screw is matched with a nut to adjust the connection with the longitudinal railing so that it can adjust the horizontal telescopic length. The longitudinal railing is extended longitudinally. The longitudinal ends of the longitudinal railing are tilted outward laterally to play a guiding role. In this way, the material bag can stand on the slide next to the longitudinal railing. The two longitudinal railings are extended to play a limiting and supporting role. The horizontal nut and the adjustable telescopic length of the nut can adjust the spacing between the longitudinal railings according to the size of the material bag. In a preferred embodiment, the end portions of the longitudinal railing are respectively located between the longitudinal ends of the bag holding plate frame. The two bag holding blocks of the bag holding assembly include a short bag holding block and a long bag holding block of different heights. The short bag holding block is located on the longitudinal inner side of the long bag holding block. The vertical height of the longitudinal railing is higher than the short bag holding block and lower than the long bag holding block. In this way, combined with the position of the bag holding assembly, the support is better to ensure that the material bag will not fall over.

[0014] Based on the above scheme, in an improved scheme, the suction cup mechanism includes an upper suction cup assembly and a lower suction cup assembly; the upper suction cup assembly includes an upper movable suction cup group, an upper movable disc seat, a horizontal telescopic member, an upper support and an upper telescopic member, the upper movable suction cup group is arranged at the bottom end of the upper movable disc seat, the upper movable disc seat is arranged at the bottom of the upper support, the upper movable disc seat and the upper support can slide relative to each other, the horizontal telescopic member can drive the upper movable disc seat to move back and forth horizontally, the telescopic end of the upper telescopic member is connected to the upper support, and the upper telescopic member can drive the upper movable disc seat and the horizontal telescopic member to move up and down. The lower suction cup assembly includes a lower movable suction cup group, a lower disc seat, a rebound member and a lower support, the lower support is arranged below the lower disc seat, the rebound member is arranged between the lower disc seat and the lower support, the lower movable suction cup group is arranged at the I end of the top end of the lower disc seat, and the lower movable suction cup group and the upper movable suction cup group are on the same side. Among them, the upper movable disc seat moves up and down between the initial position, the contact position and the adsorption position under the drive of the upper telescopic member, the upper movable disc seat contacts the lower disc seat at the contact position, and the rebound member is compressed when the upper movable disc seat is between the contact position and the adsorption position. The upper movable suction cup group and the lower movable suction cup group are respectively provided with ventilation joints to connect to the external air source equipment so that they can be adsorbed or released. The upper movable disc seat is slidably connected to the upper support, or slidably connected to the upper fixed disc seat described below. Specifically, the suction cup assembly also includes a slide rail, the slide rail includes a slide and a suction cup rail, the slide is slidably connected to the suction cup rail, the upper movable disc seat is arranged on the slide, and the suction cup rail is arranged on the upper support or the upper fixed disc seat. In this way, an assembly that can slide relative to each other can be achieved. The rebound member includes an elastic member and a guide rod, the top end of the guide rod is fixed to the lower disc seat, the bottom end of the guide rod can be slidably connected to the lower support up and down, and the elastic member is arranged between the lower disc seat and the lower support. The guide post serves as a slide rail structure, and the elastic member can be a spring or a spring sheet, forming a resilient member structure. When compressed, it has a restoring force, playing a buffering contact role, while promoting close contact between the lower disc seat and the upper movable disc seat, so as to improve the rubbing effect, and maintaining close contact as the upper movable disc seat moves between the adsorption position and the contact position. As mentioned above, the upper telescopic member can drive the upper movable disc seat to move up and down between the initial position, the contact position, and the adsorption position. The upper movable disc seat presses the packaging bag against the lower disc seat at the adsorption position, and then the upper movable suction cup group and the lower movable suction cup group respectively adsorb the upper and lower surfaces of the packaging bag, and the horizontal telescopic member can drive the upper movable disc seat to move back and forth horizontally, driving the two sides of the packaging bag to move relative to each other, thereby realizing the upper movable suction cup group and the lower movable suction cup group rubbing the packaging bag, forming wrinkles between the double-layer packaging bag (film), and the packaging bag can be easily opened.

[0015] Based on the above scheme, in an improved scheme, in order to be suitable for the inner and outer bag packaging scenario, the upper suction cup assembly of the bag opening suction cup mechanism also includes an upper fixed disc seat and an upper fixed suction cup group. The upper fixed disc seat and the upper movable disc seat are respectively arranged at the two ends of the bottom of the upper support, and the upper fixed suction cup group is arranged at the bottom end of the upper fixed disc seat; the lower suction cup assembly also includes a lower fixed suction cup group, which is arranged at the II end of the top end of the lower disc seat, and the lower fixed suction cup group is on the same side as the upper fixed suction cup group. Wherein, the upper fixed suction cup group and the lower fixed suction cup group are respectively equipped with ventilation joints to connect to the external air source equipment so that it can be adsorbed or released. In this way, the upper movable suction cup group and the lower movable suction cup group are arranged relative to each other to form a pair of suction cups, and the upper fixed suction cup group and the lower fixed suction cup group are arranged relative to each other to form another pair of suction cup structures. The two pairs of suction cup structures are staggered, and can be distributed to adsorb the inner bag (inner packaging bag) and the outer bag (outer packaging bag), thereby being suitable for inner and outer bag packaging.

[0016] Based on the above solution, in an improved solution, to open a packaging bag, the control process of the upper and lower suction cup assemblies of the bag opening suction cup mechanism is as follows: Step 21: The upper telescopic member performs a downward drive action, pushing the upper movable disc seat downward to the adsorption position. Specifically, the upper movable disc seat first moves downward to a contact position so that it contacts the lower disc seat, and then moves downward to the adsorption position to compress the resilient member; Step 22: The upper and lower movable suction cup groups perform an adsorption action; Step 23: The horizontal telescopic member performs a lateral drive action, pushing the upper movable disc seat horizontally; Step 24: The upper telescopic member performs an upward drive action, pushing the upper movable disc seat upward from the adsorption position to the initial position. In the first case, when executing Step 23 and Step 24, Step 23 is executed and completed before Step 24 is executed and completed; while Step 24 is executed during Step 23. In the second case, the upper movable disc seat also moves horizontally during the process of moving upward from the adsorption position to the contact position. As mentioned above, in the first case, the bag opening rubbing motion of the upper suction cup group and the lower suction cup group is a planar rubbing and its path is only a planar horizontal movement path, while in the second case, the bag opening rubbing path is a horizontal movement path and an upward movement path forming a three-dimensional curved surface, forming an oblique three-dimensional rubbing, and the rubbing path is longer, so as to have a better rubbing and bag opening effect.

[0017] Based on the above scheme, in an improved scheme, in order to solve the problem that the lower disc seat protrudes in the initial position and affects the placement of the packaging bags, the lower suction cup assembly of the bag opening suction cup mechanism also includes a lower telescopic member, the telescopic end of the lower telescopic member is connected to the bottom of the lower support, and the lower telescopic member can drive the lower disc seat to move up and down, and the lower disc seat moves up and down between the initial position and the contact position under the drive of the lower telescopic member; at this time, before the upper movable disc seat moves down to the contact position, the lower disc seat has completed the upward movement to the contact position. The fixed end of the upper telescopic member is configured with an external connection portion to be fixed to the application equipment. The fixed end of the lower telescopic member is configured with an external connection portion to be fixed to the application equipment. In this way, when placing the packaging bags, the flat table surface is contracted to arrange the packaging bags, and then the packaging bags are lifted up and moved up, then pressed down and adsorbed, and then the upper movable suction cup group is pulled up and the lower movable suction cup group is pulled down, thereby opening the packaging bags.

[0018] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0019] 1. The present invention utilizes a bag-taking mechanism, a suction cup mechanism, a bag-loading mechanism, a material-unloading mechanism, a bag-feeding mechanism, a heat-sealing and opening mechanism for opening the outer bag, a bag-opening transfer mechanism, and a sewing mechanism, all arranged in sequence, to facilitate bag-taking, material-unloading, and sewing operations. The bag-holding structure is composed of two opposing bag-holding components. The bag-holding drive element drives the bag-holding plate frame to move laterally inward, compressing and clamping the material bag. The moving component is then driven by the moving drive element to reciprocate longitudinally between an initial position and a transfer position, thereby achieving material bag clamping and transfer. Simultaneously, two bag-holding structures are arranged on either side of the column frame, utilizing dual clamping stations to simultaneously hold and transfer the bag during a single longitudinal movement, resulting in high efficiency.

[0020] 2. The upper telescopic member can be used to drive the upper movable disc seat to move up and down between the initial position, the contact position and the adsorption position. The upper movable disc seat presses the packaging bag against the lower disc seat at the adsorption position, and then the upper movable suction cup group and the lower movable suction cup group adsorb the upper and lower surfaces of the packaging bag respectively. Moreover, the horizontal telescopic member can drive the upper movable disc seat to move back and forth horizontally, driving the two sides of the packaging bag to move relative to each other, thereby realizing the operation of the upper movable suction cup group and the lower movable suction cup group to rub the packaging bag, forming wrinkles between the double-layer packaging bag (film), and the packaging bag can be easily opened.

[0021] 3. Adjust and control the running time of the upper telescopic part and the horizontal telescopic part so that the bag opening and rubbing path is a three-dimensional curved surface composed of the horizontal moving path and the upward moving path, forming an oblique three-dimensional rubbing, and the rubbing path is longer, so as to have a better rubbing and bag opening effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of the packaging robot of the present invention. Figure 2 yes Figure 1 side view. Figure 3 yes Figure 1 Top view of . Figure 4 yes Figure 1 Front view of. Figure 5 yes Figure 1 Schematic diagram of the partial structure of the upper suction cup assembly. Figure 6 yes Figure 5 Another perspective structural diagram of . Figure 7 yes Figure 5 main view. Figure 8 yes Figure 5 Top view of . Figure 9 yes Figure 1 Schematic diagram of bag opening. Figure 10 yes Figure 1 Schematic diagram of the package delivery mechanism structure. Figure 11 yes Figure 10 Another perspective and a schematic diagram of the local structure of the state where the bag holding drive component and the crank arm are not connected. Figure 12 yes Figure 10 Front view of. Figure 13 yes Figure 10 Top view of . Figure 14 yes Figure 10 side view.

[0023] Among them, there are the quantitative unit 1, the inner bag placement mechanism 3, the double-station bag table 4, the main frame 6, the bag removal mechanism 7, the bag comparison mechanism 8, the suction cup mechanism 9, the bag loading mechanism 10, the crocodile mouth bucket 11, the bag feeding mechanism 12, the outer bag heat-sealing mechanism 13, the sewing mechanism 14, and the bag opening transfer mechanism 15. The upper movable plate seat 901, the horizontal cylinder 902, the fixed seat 903, the upper fixed plate seat 904, the guide plate 905, the fixed plate 906, the union nut 907, the slide seat 908, the guide post 909, the upper support 910, the upper movable suction cup 911, the elbow 912, the pipe thread 913, the pipe joint 914, the screw II 916, the lock nut 917, the lower plate seat 918, the lower movable suction cup 919, the vent joint 920, the rebound member 921, the lower support 922, the lower cylinder 923, and the upper cylinder 924. Conveyor 121, auxiliary frame 122, suction cup track assembly 123, bag holding assembly 124, first drag chain connecting frame 125, first pad 126, second drag chain connecting frame 127, right bag guard 128, left bag guard 129, guardrail assembly 1210, long bag holding block 1211, short bag holding block 1212, motor cover 1213, machine base 1214, driving gear set 1215, second pad 1216, cylinder base 1217, left Column frame 1218, square tube seat 1219, left air squeezing part 1220, bridge drag chain 1221, right air squeezing part 1222, linear bearing 1223, accordion connecting cover 1226, bearing dust cover 1227, right column frame 1228, third pad 1229, fourth pad 1230, electrical box 1231, proximity switch seat 1232, shaft sealing plate 1235, installation base plate 1236, fifth pad 1237, material bag 38. DETAILED DESCRIPTION

[0024] The specific implementation of the invention is further described below with reference to the accompanying drawings.

[0025] As mentioned above, the set-type inner and outer bag fully automatic packaging robot of this embodiment includes a basic solution and an improved solution. For example, the improved solution includes a suction cup mechanism bag rubbing solution, for example, the improved solution includes an oblique three-dimensional rubbing solution, etc. The specific feature combinations of each application example solution can be found in the above. The following will be explained with examples of all feature combinations.

[0026] like Figures 1-14 As shown in the figure, the material bag (packaging bag) containing the material is transferred in the longitudinal direction, and the left and right sides are the transverse directions. The bag opening suction cup mechanism moves up and down and horizontally.

[0027] The packaging robot includes a main frame 6 and a bag taking mechanism 7, a suction cup mechanism 9, a bag loading mechanism 10, a material discharge mechanism, a bag feeding mechanism 12, a heat-sealing and outer bag opening mechanism 13, a bag opening transfer mechanism 15, and a sewing mechanism 14, which are sequentially installed on the main frame 6. The bag taking mechanism is used to suck the packaging bag, the suction cup mechanism is used to open the packaging bag, the bag loading mechanism is used to lift and fix the packaging bag, the material discharge mechanism is used for quantitative measurement and material discharge, the bag feeding mechanism is used to transfer the packaging bag containing the material, the heat-sealing and outer bag opening mechanism is used to heat-seal and insert the inner bag of the packaging bag, the bag opening transfer mechanism is used to transfer the bag opening of the packaging bag, and the sewing mechanism is used to sew the bag opening of the packaging bag, so that the robot can realize bag taking, material discharge and sewing operations. Among them, the unloading mechanism includes a quantitative unit 1, a crocodile mouth bucket 11, etc., the heat-sealing and opening outer bag mechanism 13 first heat-seals the inner bag and then uses the inner bag insertion mechanism 3 to insert and longitudinally unfold the outer bag, etc., which are all existing technologies. The main controller operates according to the preset process to form a set-type inner and outer bag fully automatic packaging robot (set-type inner and outer bag fully automatic packaging machine), which will not be repeated here; this application is to improve the suction cup mechanism 9 and the bag feeding mechanism 12, which will be explained in detail below.

[0028] The package delivery (package transfer) mechanism 12 of the packaging robot includes a moving component, which includes a sub-frame 122, a guide rail group 123, a sliding seat and a moving drive member. The guide rail group 123 is arranged to extend longitudinally, and the base and sub-frame 122 are installed at both ends of the guide rail group 123. The moving drive member is installed on the base, and the sliding seat is slidably connected to the guide rail group. The sliding seat is connected to the moving drive member, and the sliding seat can move longitudinally back and forth between the initial position and the transfer position under the drive of the moving drive member; it also includes a column frame and a package holding component 124, and the left and right ends of the sliding seat are respectively installed with column frames (left column frame 1218 and right column frame 1228), and the longitudinal front and rear sides of each column frame are respectively installed. It is equipped with a bag holding assembly 124, that is, the column frames at the left and right ends have the same structure and are arranged in a mirror image, and the bag holding assemblies at the left and right ends have the same structure and are arranged in a mirror image. A moving channel is formed between the column frames at the left and right ends of the sliding seat and the bag holding assembly to circulate the material bag 38; the bag holding assembly includes a bag holding plate frame, a bag holding support, a bag holding track and a bag holding drive 1241. The bag holding support can be installed on the sliding seat in a horizontal direction through the bag holding track. The bag holding support is connected to the bag holding drive, and the bag holding support can move back and forth horizontally under the drive of the bag holding drive. The two oppositely arranged bag holding plate frames can move laterally inward and protrude into the moving channel a certain distance as the bag holding support moves to compress and hold the material bag 38. Among them, the mobile driving part and the bag holding driving part, etc., as the driving parts of the driving equipment, are all existing equipment, such as motor drive, hydraulic cylinder drive, cylinder drive configuration corresponding air source and solenoid valve, controller connection control, etc., and their connection and control all adopt existing technology. This application will apply it and combine it with relevant mechanical structures such as guide rail group and bag holding plate rack to achieve it. The mobile driving part adopts a mobile motor, and the mobile motor is equipped with a motor cover 1213, which is installed on the machine base 1214. It is connected (hinged) to the sliding seat through the active wheel group 1215 and the transmission push rod, and the zero point mounting seat is configured therein to install the zero point detection sensor. All of them are existing technology and will not be described in detail here. In this way, by the forward rotation and flipping of the mobile motor, the transmission is controlled by the active gear group to push the transmission push rod longitudinally forward and backward to achieve drive connection with the sliding seat. The sliding seat includes a frame composed of a square tube seat 1219 and a mounting platform on which a column frame is installed. In order to protect the bearings, a guard plate (screw connection) is configured to form a hollow box structure, and ordinary carbon steel or AISI304 material can be used. To improve sliding performance, the guide rail assembly is connected via linear bearings 1223. The guide rail assembly consists of four longitudinally extending straight shafts, with shaft seals 1235 installed at the ends. Other features include accordion connection covers 1226 and bearing dust covers 1227. This completes the guide rail connection. Furthermore, a bridge-type drag chain 1221 is mounted on top, secured to the column frame and peripheral application equipment frame via bolts connected by first and second drag chain connectors 125 and 127 at the ends.The column frame consists of two opposing square tubes, with an electrical box 1231 mounted between them via a third pad 1229 and bolted connections. A flange plate is welded to its base, which is bolted to the center of the sliding base with second and fourth pads 1216 and 1230. Materials include 6061 aluminum alloy or AISI 304. The package rail can adopt a track structure similar to that of guide rail assembly 123, in which case the package drive is arranged horizontally. Alternatively, a rotatable curved lever clamping structure can be employed, in which case the package drive can be arranged vertically. This application takes the rotatable curved rod clamping structure as an example. The bag holding track includes a connecting rod group and a curved arm 1242. The bag holding support is hinged to the sliding seat through the connecting rod group and the bearing. The curved arm 1242 can be rotatably connected to the sliding seat in the horizontal and vertical planes (hinged through the rotating shaft, bearing and bearing seat). One end of the curved arm 1242 is connected to the bag holding support, and the other end of the curved arm 1242 is connected (hinged) to the telescopic end of the bag holding drive 1241. The fixed end of the bag holding drive 1241 (hinged to the top of the stand through the sleeve shaft and the bearing seat, and the stand is welded or bolted) is connected to the sliding seat. The bag holding support can be pushed by the curved arm to move back and forth in the horizontal direction when the bag holding drive drives the curved arm to rotate; in this way, the bag holding track connection is realized. As shown in the figure, the bag-carrying assembly is assembled independently for easy assembly and disassembly. It utilizes a bag-carrying base supporting structure, which is bolted to the sliding base. The bag-carrying drive, connecting rod assembly, and other components are separately welded or bolted to the bag-carrying base and can be made of 6061 aluminum alloy or AISI 304. The bag-carrying drive 1241 utilizes a standard pneumatic cylinder to provide a strong clamping force. The corresponding air source, solenoid valve, and controller connection control are all existing technologies and will not be further described here. The material bag 38 can be directly held by the bag-carrying assembly, in which case the weight of the bag is held and supported by the bag-carrying assembly, with no relative motion between the bag and the sliding base. Alternatively, the bag can be placed on the sliding base mounting platform and held by the bag-carrying assembly, in which case the weight of the bag is supported by the mounting platform and held by the bag-carrying assembly, with no relative motion between the bag and the sliding base. Alternatively, the bag can be placed on a dedicated peripheral slide and held by the bag-carrying assembly, in which case the weight of the bag is supported by the dedicated slide and held by the bag-carrying assembly, with relative motion between the bag and the sliding base. This application uses a dedicated peripheral slide structure as an example. A slide is mounted (bolted together) on the base 1214 and sub-frame 122. The slide is located at the bottom of the moving channel, above the slide base, and vertically lower than the bag-carrying plate frame. It can be made of 6061 aluminum alloy or AISI304. This structure supports the material bag and acts as a slideway for sliding toward the bag sealing position. This reduces the clamping force of the bag-carrying assembly and the pushing force required by the moving drive components when the material bag is heavy and the slide is relatively smooth. The base 1214 and sub-frame 122 are arranged on the ground with the installation base plate 1236.The bag feeding mechanism operates as follows: During installation, the sliding base is mounted on the guide rail assembly, which is then mounted on the machine base and sub-frame. The motor assembly is then installed, followed by the bag-holding assembly. During operation, the machine base serves as the front end, and the sub-frame serves as the rear end. The unloading, sealing, and transfer positions are arranged sequentially from front to back. Initially, the front and rear bag-holding structures are in the unloading and sealing positions, respectively. After the unloading mechanism unloads the bag, it lands on the slide, triggering the bag-holding assembly to tighten the bag inward. The motor is then activated to propel the sliding base from its initial position to the rear end, where it moves to the transfer position. When the two bag-holding structures reach the sealing and transfer positions, respectively, the mechanism stops. The lifting assembly is then triggered to release the bag outward, and the motor is then activated to propel the sliding base back to its initial position, repeating the aforementioned cycle. In this manner, the front bag-holding structure moves the bag between them from the unloading position to the sealing position, while the rear bag-holding structure moves the bag between them from the sealing position to the transfer position, enabling dual bag transfer. A conveyor 121 extending backward is arranged at the transfer position, and the material bags are conveyed to the next process through the conveyor 121 belt and fence. A proximity switch is installed through the proximity switch seat 1232 to detect position information. The proximity switch and its connection control are all existing technologies. As mentioned above, the bag holding structure is composed of two relatively arranged bag holding components. The bag holding drive drives the bag holding plate frame to move laterally inward to press and hold the material bag, and then the moving component is driven by the moving drive component to move back and forth longitudinally between the initial position and the transfer position, thereby realizing the material bag holding and transfer movement. The holding structure is used to ensure that the material bag will not fall over. At the same time, two bag holding structures are arranged on both sides of the column frame, and a double holding station is used to simultaneously hold and transfer the bag in one longitudinal movement, which has high efficiency.

[0029] To address the issue of low holding force due to the relatively smooth holding surface of the bag holding plate, the bag holding assembly also includes holding blocks. These blocks are mounted on each longitudinal end of the inner end surface of the bag holding plate. These blocks can be two identical blocks or, as shown in the figure, one long and one short. These blocks are arranged vertically, and the protruding blocks at each longitudinal end of the plate enhance the holding force. The longitudinal ends of the bag holding plate are tilted inward laterally to improve positioning and holding.

[0030] In order to solve the problem that the material bag may tilt during the movement due to the bag sealing structure limiting the plate frame and the lower bag holding block, the bag holding transfer mechanism also includes a bag protection assembly. The bag protection assembly is used in pair with the bag holding structure. One or two bag protection assemblies can be arranged according to actual needs. As shown in the figure, this application takes the arrangement of two bag protection assemblies as an example. The bag protection assembly includes a left bag protection part 129 and a right bag protection part 128. The left bag protection part 129 and the right bag protection part 128 are arranged directly above the two relatively arranged bag holding assemblies 124. The left bag protection part 129 includes a left bag protection drive, a bag protection elastic part and a left bag protection pressure rod. The fixed end of the left bag protection drive is connected to the left column frame (left column frame 1218) through a cylinder seat kit (including a cylinder seat and a first pad 126, the two groups have the same structure) with bolts. The telescopic end of the left bag protection drive is connected to the left bag protection pressure rod through a bag protection elastic part. The left bag protection pressure rod is longitudinally extended. The right bag protection part 128 includes a right bag protection drive and a right bag protection elastic part. The bag pressure rod and the fixed end of the right bag driver are connected to the right column frame (right column frame 1228) through a cylinder base kit (one group includes the cylinder base and the fifth pad 1237, and the other group includes the cylinder base, etc., with the same structure) with bolts. The telescopic end of the right bag driver is connected to the right bag pressure rod, which is arranged to extend longitudinally. The left and right bag drivers are both three-axis cylinders, equipped with corresponding air sources and solenoid valves, and controller connection and control, which are all existing technologies and will not be explained in detail here. In this way, the bag driver pushes the bag pressure rods in the same group towards each other to compress and clamp the material bag, and the bag elastic member acts as a buffer.

[0031] In order to solve the problem of squeezing out the air in the material bag and sticking to both sides of the bag opening, the bag transfer mechanism also includes an air squeezing component, which is arranged on the longitudinal front side of the column frame. The air squeezing component includes a left air squeezing part 1220 and a right air squeezing part 1222. The left air squeezing part 1220 and the right air squeezing part 1222 are respectively arranged directly above the two oppositely arranged bag holding components 124. The left air squeezing part 1220 includes a left air squeezing drive part, an air squeezing elastic part and an air squeezing pressure rod. The fixed end of the left air squeezing drive part is screwed into the cylinder seat kit (see above) The bolt connection is arranged on the column frame on the left side (left column frame 1218), the telescopic end of the left extrusion drive is connected to the left extrusion pressure rod through the extrusion elastic member, the left extrusion pressure rod is arranged to extend longitudinally, the right extrusion part 1222 includes the right extrusion drive and the right extrusion pressure rod, the fixed end of the right extrusion drive is connected to the column frame on the right side (right column frame 1228) through the cylinder seat kit (including the cylinder seat 1217 and the pad) with bolts, the telescopic end of the right extrusion drive is connected to the right extrusion pressure rod, and the right extrusion pressure rod is arranged to extend longitudinally. Among them, the left extrusion pressure rod and the right extrusion pressure rod have the same structure and are in the shape of a bow, with a breakpoint formed in the middle of the extrusion surface as an air outlet. The left extrusion drive and the right extrusion drive are both three-axis cylinders, and the configuration of the corresponding air source and solenoid valve, controller connection control, etc. are all existing technologies and will not be elaborated here. In this way, the extrusion drive member pushes the same group of extrusion pressure rods to approach each other to achieve compression and close contact with the bag opening to discharge the gas inside the bag, and the extrusion elastic member plays a buffering role.

[0032] In order to solve the problem of tilting that may occur before being held tightly by the bag holding assembly, the bag holding transfer mechanism also includes a guardrail assembly 1210. The guardrail assembly 1210 is installed on the left and right sides of the moving channel of the sliding seat respectively. The guardrail assembly 1210 includes a vertical rod, a horizontal screw and a longitudinal railing. The bottom end of the vertical rod is installed on the sliding seat, and the top end of the vertical rod is installed with a transversely extending horizontal screw. The transverse outer end of the horizontal screw is connected or welded with a matching nut, and the transverse inner end of the horizontal screw is matched with a limit nut and a locking nut to adjust the connection with the longitudinal railing so that it can adjust the transverse telescopic length. The longitudinal railing is arranged to extend longitudinally. Among them, the longitudinal ends of the longitudinal railing are tilted outward laterally to play a guiding role. In this way, the material bag can stand on the slide or sliding seat next to the longitudinal railing. The two longitudinal railings are extended to play a limiting and supporting role. The adjustable telescopic length of the horizontal screw and nut can adjust the spacing between the longitudinal railings according to the size of the material bag. In a preferred embodiment, the end portions of the longitudinal railing are respectively located between the longitudinal ends of the bag holding plate frame. At this time, the two bag holding blocks of the bag holding assembly include a short bag holding block and a long bag holding block of different heights. The short bag holding block is located on the longitudinal inner side of the long bag holding block. The vertical height of the longitudinal railing is higher than the short bag holding block and lower than the long bag holding block. In this way, combined with the position of the bag holding assembly, the support is better to ensure that the material bag will not fall over.

[0033] The suction cup mechanism 9 of the packaging robot includes an upper suction cup assembly and a lower suction cup assembly; the upper suction cup assembly includes an upper movable suction cup group, an upper movable disc seat 901, a horizontal telescopic member, an upper support 910 and an upper telescopic member, the upper movable suction cup group is arranged at the bottom end of the upper movable disc seat 901, the upper movable disc seat 901 is arranged at the bottom of the upper support 910, the upper movable disc seat 901 and the upper support 910 can slide relative to each other, the horizontal telescopic member can drive the upper movable disc seat 901 to move back and forth horizontally, and the telescopic member can extend The retracted end is connected to the upper support 910, and the upper telescopic member can drive the upper movable disc seat 901 and the horizontal telescopic member to move up and down; the lower suction cup assembly includes a lower movable suction cup group, a lower disc seat 918, a rebound member 921 and a lower support 922. The lower support 922 is arranged below the lower disc seat 918, and the rebound member 921 is arranged between the lower disc seat 918 and the lower support 922. The lower movable suction cup group is arranged at the I end of the top end of the lower disc seat 918, and the lower movable suction cup group and the upper movable suction cup group are on the same side. Among them, the upper movable disc seat 901 moves up and down between the initial position, the contact position and the adsorption position under the drive of the upper telescopic member. The upper movable disc seat 901 contacts the lower disc seat 918 at the contact position. The rebound member 921 is compressed when the upper movable disc seat is between the contact position and the adsorption position. The upper and lower movable suction cup groups are respectively equipped with ventilation joints 920 to connect to external air source equipment to enable adsorption or release. The telescopic parts can be made of air cylinders, hydraulic cylinders or electric push rods, and their components and connection controls are all existing technologies. Figure 1 As shown, the suction cup structure needs to be configured with an external air source and controller, and its connection and control are all existing technologies; for example, the external air source is a vacuum pump, and the vent connector 920 includes an elbow 912, and pipe teeth 913 and pipe connectors 914 are arranged at both ends of the elbow, which are connected to the suction cup structure (upper movable suction cup group, etc.) through the pipe teeth, and are connected to the external air source and controller through the pipe connector and the vent pipe; etc.; no further explanation is given here; in combination with the external air source and controller, the telescopic part is explained using the cylinder as an example. Specifically, the upper telescopic part is the upper cylinder 924, the horizontal telescopic part is the horizontal cylinder 902, and the lower telescopic part described later is the lower cylinder 923. The upper movable suction cup group adopts one or more upper movable suction cups 911, and the lower movable suction cup group adopts one or more lower movable suction cups 919, such as Figure 1As shown, the upper and lower movable suction cup assemblies are illustrated using two existing integrated suction cups as a set. For example, the integrated suction cups are secured to the upper movable disc base via screws I (e.g., M6×20 hexagon socket head screws). The integrated suction cups can be made of 304 stainless steel for corrosion resistance and wear resistance, ensuring a smooth suction surface. The upper and lower disc bases can be constructed entirely of 6061 aluminum alloy for lightweight construction. The upper movable disc base 901 is slidably connected to the upper support 922. Specifically, the suction cup assembly also includes a slide rail, which utilizes existing technology and includes a slide seat and a suction cup track. The slide seat is slidably connected to the suction cup track, the upper movable disc seat is mounted on the slide seat, and the suction cup track is mounted on the upper support. As shown in the figure, the slide seat 908 is a U-shaped plate, and the suction cup track is a guide post 909. The two guide posts 909 are secured to the upper support 910 via a guide plate 905, screws II (e.g., hexagon socket head screws M6×12) 916, and lock nuts 917. This allows for relative sliding assembly. A horizontal cylinder drives the upper movable disc seat and the upper movable suction cup to move horizontally left and right. The fixed end of the horizontal cylinder 902 is secured to the upper support 910 via a fixed seat 903. The telescopic end of the horizontal cylinder 902 is secured to the slide seat via a fixed plate 906 and a union nut 907. The upper movable disc seat is secured to the slide seat via screws and a connecting plate. Among them, in the initial state, the slide is at the midpoint of the guide column in the length direction, and the horizontal movement of the upper movable disc seat (and its upper movable suction cup) refers to horizontal movement to the right and left to reset, or horizontal movement to the left and right to reset, or horizontal movement to the right and then left and right to reset, or horizontal movement to the left and then right and left to reset, or the above-mentioned operation combination is set to the number of kneading times according to actual needs; the horizontal cylinder control process is set according to actual needs, so as to obtain an application example, the upper movable disc seat moves horizontally to the left with the slide and then moves to the right to reset, or the upper movable disc seat moves horizontally to the right with the slide and then moves to the left to reset, or the upper movable disc seat moves horizontally to the left with the slide and then moves horizontally to the end and then moves to the left to reset, or the upper movable disc seat moves horizontally to the right with the slide and then moves horizontally to the left to reset, or the upper movable disc seat moves horizontally to the right with the slide and then moves horizontally to the left to reset. The above-mentioned application examples can be realized in combination with other features. The rebound member 921 includes an elastic member and a guide rod. The top end of the guide rod is welded or threaded to the lower disc seat 918. The bottom end of the guide rod is matched with a limit nut to slide up and down and connect to the lower support 922. The elastic member is arranged between the lower disc seat 918 and the lower support 922. The guide column serves as a slide rail structure, and the elastic member can be a spring or a spring sheet to form a rebound member structure. Specifically, at least three guide rods and one elastic member are evenly arranged. As shown in the figure, four guide rods are arranged and springs are sleeved on the guide rods. In this way, the elastic member is compressed and has a restoring force, which plays a role in buffering contact and at the same time promotes close contact between the lower disc seat and the upper movable disc seat to improve the rubbing effect. As the upper movable disc seat moves between the adsorption position and the contact position, it can also maintain close contact.As mentioned above, the upper telescopic member can drive the upper movable disc seat to move up and down between the initial position, the contact position and the adsorption position. The upper movable disc seat presses the packaging bag on the lower disc seat at the adsorption position, and then the upper movable suction cup group and the lower movable suction cup group respectively adsorb the upper and lower surfaces of the packaging bag (the packaging bag is laid flat so that its two outer walls form the upper and lower surfaces), and the horizontal telescopic member can drive the upper movable disc seat to move back and forth horizontally, driving the two sides of the packaging bag to move relative to each other, thereby realizing the upper movable suction cup group and the lower movable suction cup group (inner bag suction cup) rubbing the packaging bag, forming wrinkles between the double-layer packaging bags (films), and then driving the upper movable disc seat to move upward, so that the packaging bag can be easily opened, and the adsorption area of ​​the inner bag suction cup is increased, with greater adsorption force, ensuring that inner bags with static electricity and stickiness can be opened.

[0034] In order to solve the problem that the lower disc seat bulges out in the initial position and affects the placement of the packaging bags, the lower suction cup assembly of the bag opening suction cup mechanism also includes a lower telescopic member. The telescopic end of the lower telescopic member is connected to the bottom of the lower support. The lower telescopic member can drive the lower disc seat 918 and the lower support 922 to move up and down, and the lower disc seat 918 moves up and down between the initial position and the contact position under the drive of the lower telescopic member; at this time, before the upper movable disc seat moves down to the contact position, the lower disc seat has completed the upward movement to the contact position. The lower telescopic member is the lower cylinder 923, which is connected and fixed by configuring screws. In this way, when placing the packaging bags, it shrinks so that the top of the packaging bag has a flat table surface for arranging the packaging bags, and then the packaging bags are lifted up and moved up, and then pressed down and adsorbed. Then the upper movable suction cup group pulls up and the lower movable suction cup group pulls down, which plays the role of opening the packaging bag.

[0035] The control process of the upper suction cup assembly and the lower suction cup assembly of the packaging robot is as follows: Step 21, the upper telescopic member performs a downward drive action to push the upper movable disc seat downward to the adsorption position. Specifically, the upper movable disc seat first moves down to the contact position so that it contacts the lower disc seat, and then moves down to the adsorption position so that the rebound member is compressed; Step 22, the upper movable suction cup group and the lower movable suction cup group perform an adsorption action; Step 23, the horizontal telescopic member performs a lateral drive action to push the upper movable disc seat to move horizontally; Step 24, the upper telescopic member performs an upward drive action to push the upper movable disc seat upward from the adsorption position to the initial position. Among them, the upper telescopic member and the upper movable suction cup and other components and their configurations are connected to the external air source and controller. For example, the upper telescopic member adopts a cylinder, etc., which are all existing technologies and will not be elaborated here. Similarly, the lower telescopic member and the connection control are also the same, and the lower telescopic member can be configured according to actual conditions. There are two scenarios for executing steps 23 and 24: the first is to run and complete step 23 first, then run and complete step 24; the second is to run step 24 during step 23. Based on these two scenarios, various application examples can be implemented based on actual circumstances. The following selects some application examples for further explanation. Regarding the second scenario, the upper movable disc seat also moves horizontally during its upward movement from the adsorption position to the contact position. The upward movement of the upper movable disc seat from the adsorption position to the contact position refers to moving from the adsorption position to a position between the contact position, such as from the adsorption position to the contact position, or from the adsorption position to the midpoint between the contact position and the adsorption position. Therefore, the specific scenarios include running step 23 first, then running step 24 before step 23 is completed, and then either completing step 23 simultaneously or first, depending on the circumstances. Alternatively, running steps 23 and 24 simultaneously, then either completing step 23 simultaneously or first, depending on the circumstances. The schematic diagram of the bag opening control example for the upper and lower telescopic members defines the initial position p1, contact position p2, suction position p3, and the midpoint between the contact and suction positions p4. The control process is as follows. Step 1: Initially, the upper movable plate (and its upper suction cup) and the lower plate (and its lower suction cup) are at initial position p1. The upper cylinder is operated to move the upper movable plate downward, while the lower cylinder is operated to move the lower plate upward. Step 2: After the lower plate moves to its contact position p2, the lower cylinder is stopped. The upper movable plate then moves downward to its contact position p2 and continues to move downward until it reaches suction position p3, where the upper cylinder is stopped. Step 3: The vacuum pump and vacuum valve (external air source) are operated to create negative pressure within the upper and lower suction cups, causing suction to occur and secure the bag. Step 4: The horizontal cylinder is operated to push the upper movable plate to the right along with the slide from the midpoint of the guide post. Simultaneously, the upper cylinder is operated to push the upper movable plate upward from suction position p3.Step 5: When the upper movable disc seat moves up to the midpoint position p4, it moves to the right to the end with the slide, and then the horizontal cylinder pushes back, and the upper movable disc seat continues to move up and moves to the left from the right end with the slide. Step 6: When the upper movable disc seat moves up to the contact position p2, it returns to its original position (at the midpoint of the guide column) with the slide. At this time, the horizontal cylinder is stopped, and the upper movable disc seat continues to move up until it reaches its initial position p1, and then the upper cylinder is stopped. Step 7: After the packaging bag is clamped by the subsequent clamping mechanism, the vacuum pump is stopped to stop the adsorption action of the upper and lower movable suction cups, and the packaging bag is released. Among them, the position of the inner bag can be detected by arranging a photoelectric switch, and the next action is triggered only after the previous action is in place. As mentioned above, in the first case, the bag opening rubbing motion of the upper suction cup group and the lower suction cup group is a planar rubbing and its path is only a planar horizontal movement path, while in the second case, the bag opening rubbing path is a horizontal movement path and an upward movement path forming a three-dimensional curved surface, forming an oblique three-dimensional rubbing, and the rubbing path is longer, so as to have a better rubbing and bag opening effect.

[0036] In order to be suitable for the inner and outer bag packaging scenarios, the upper suction cup assembly of the bag opening suction cup mechanism also includes an upper fixed disc seat 904 and an upper fixed suction cup group. The upper fixed disc seat 904 and the upper movable disc seat 901 are respectively arranged at the two ends of the bottom of the upper support 910, and the upper fixed suction cup group is arranged at the bottom end of the upper fixed disc seat; at this time, the lower suction cup assembly also includes a lower fixed suction cup group, which is arranged at the II end of the top end of the lower disc seat 918, and the lower fixed suction cup group is on the same side as the upper fixed suction cup group. As shown in the figure, both the upper fixed suction cup group and the lower fixed suction cup group use small suction cups, specifically two suction cups with holes of 8mm in diameter, which are respectively equipped with ventilation joints to connect to external air source equipment so that they can be adsorbed or released. Both are existing technologies and will not be explained in detail here. The adsorption and release time points of the upper fixed suction cup group and the lower fixed suction cup group are the same as those of the upper movable suction cup group and the lower movable suction cup group. By controlling the vacuum valves (solenoid valves) of each pipeline, the vacuum valves are opened at the appropriate time to perform negative pressure adsorption, and the vacuum valves are closed at the next appropriate time to remove the negative pressure to release the inner and outer bags; see Figure 7, combined with the movement of the upper movable disc seat, the upper fixed disc seat and the lower disc seat, the upper fixed suction cup group and the lower fixed suction cup group simultaneously perform related actions with the upper movable suction cup group and the lower movable suction cup group to achieve control, which will not be described in detail here. At this time, the upper movable disc seat 901 can be slidably connected to the upper support 922 or the upper fixed disc seat 904. One solution is shown in the aforementioned embodiment 1, and the other solution is briefly described as follows. The upper movable disc seat 901 can also be slidably connected to the upper fixed disc seat 904. As shown in the figure, two guide pillars 909 are fixed to the upper fixed disc seat 904 through a guide plate 905 and screws II (for example, hexagon socket head screws M6×12) 916 and lock nuts 917 to achieve relative sliding assembly. In this way, the upper movable suction cup group and the lower movable suction cup group are arranged relative to each other to form a pair of suction cups, while the upper fixed suction cup group and the lower fixed suction cup group are arranged relative to each other to form another pair of suction cup structures. The two pairs of suction cup structures are staggered and can be distributed to absorb the inner bag (inner packaging bag) and the outer bag (outer packaging bag), thus being suitable for inner and outer bag packaging.

[0037] The upper suction cup structure of the set-type fully automatic packaging robot for inner and outer bags includes an upper suction cup assembly, which includes an upper movable suction cup group, an upper movable disc seat, a horizontal telescopic member, an upper support, and an upper telescopic member. The upper movable suction cup group is arranged at the bottom end of the upper movable disc seat, the upper movable disc seat is arranged at the bottom of the upper support, the upper movable disc seat and the upper support can slide relative to each other, the horizontal telescopic member can drive the upper movable disc seat to move back and forth horizontally, the telescopic end of the upper telescopic member is connected to the upper support, and the upper telescopic member can drive the upper movable disc seat and the horizontal telescopic member to move up and down, wherein the upper movable suction cup group is configured with a ventilation joint to be connected to an external air source device so that it can be adsorbed or released. The upper suction cup structure also includes a slide rail, which includes a slide seat and a suction cup track, the slide seat is slidably connected to the suction cup track, the upper movable disc seat is arranged on the slide seat, and the suction cup track is arranged on the upper support or the upper fixed disc seat. In a preferred embodiment, the upper suction cup structure further includes an upper fixed disc seat and an upper fixed suction cup group, wherein the upper fixed disc seat and the upper movable disc seat are respectively arranged at the two ends of the bottom of the upper support, and the upper fixed suction cup group is arranged at the bottom end of the upper fixed disc seat; wherein the upper fixed suction cup group is configured with a ventilation joint to connect to an external air source device so that it can be adsorbed or released; wherein the upper movable disc seat is slidably connected to the upper support or the upper fixed disc seat. In a preferred embodiment, the control process of the upper suction cup assembly of the upper suction cup structure is as follows: step 11, the upper telescopic member performs a downward driving action to push the upper movable disc seat downward to the adsorption position, specifically, the upper movable disc seat first moves downward to the contact position and then moves downward to the adsorption position; step 12, the upper movable suction cup group performs an adsorption action; step 13, the horizontal telescopic member performs a lateral driving action to push the upper movable disc seat to move horizontally; step 14, the upper telescopic member performs an upward driving action to push the upper movable disc seat upward from the adsorption position to the initial position; wherein the upper movable disc seat also moves horizontally during the process of moving upward from the adsorption position to the initial position. As mentioned above, the upper telescopic part can drive the upper movable disc seat to move up and down between the initial position, contact position and adsorption position. The upper movable disc seat presses the packaging bag on the lower disc seat at the adsorption position, and then the upper movable suction cup group and the lower movable suction cup group adsorb the upper and lower surfaces of the packaging bag respectively. Moreover, the horizontal telescopic part can drive the upper movable disc seat to move back and forth horizontally, driving the two sides of the packaging bag to move relative to each other, thereby realizing the operation of the upper movable suction cup group and the lower movable suction cup group to rub the packaging bag, and forming a wrinkle gap between the double-layer packaging bag (film) to allow air to enter, thereby driving the upper movable disc seat to move upward, and the packaging bag can be easily opened.

[0038] In order to monitor the integrity of sewing, the packaging robot also includes a sewing vision detection unit, which is used to identify the integrity of the seams at the bag opening of the packaging bag. The identification process is as follows: by installing an industrial camera or a camera in the middle or outlet of the sewing machine, the video or image of the bag opening and the seams on it is captured in real time and dynamically, and then uploaded to the upper host (computer or server), based on which the original image of the bag opening and the seams on it is obtained, and then grayscale and other image processing are performed to identify the packaging bag and seams in the original image. Finally, the integrity of the seams is judged, and it can be determined whether the seam is single or double, whether it is a straight line, and whether it is closed across the bag opening. The main purpose is to check whether the seam forms a closed path across the bag opening to determine the integrity.

[0039] As described above, based on this fully automatic packaging robot with integrated inner and outer bags, the packaging method of this packaging robot is as follows: first, the bag-taking mechanism sucks the packaging bag, then the suction cup mechanism opens the packaging bag, then the bag-loading mechanism lifts and secures the packaging bag, then the material-discharging mechanism performs quantitative and material-discharging, then the bag-feeding mechanism wraps and transfers the packaging bag containing the material, then the heat-sealing outer bag mechanism opens the outer bag of the packaging bag, heat-seals it, and inserts the inner bag of the packaging bag, then the bag-opening transfer mechanism clamps and transfers the bag opening, and finally the sewing mechanism sews the bag opening, completing the packaging operation. A sewing visual inspection unit can also be used to identify the integrity of the seam at the bag opening. The specific method steps, such as the control process of the upper suction cup assembly, can be found in the aforementioned description, and only a brief description is provided here.

[0040] It should be pointed out that the examples of the above embodiments can be preferably combined with one or more of them according to actual needs, and multiple examples use a set of drawings to illustrate the combined technical features, which will not be explained one by one here.

[0041] It should be noted that the orientations or positional relationships indicated by terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation.

[0042] The above description is a detailed description and illustration of the preferred embodiments of the present invention, but these descriptions are not intended to limit the scope of protection claimed by the present invention. Any equivalent changes or modifications completed under the technical teachings suggested by the present invention should fall within the scope of patent protection covered by the present invention.

Claims

1. A fully automatic packaging robot for inner and outer bags of a set type, comprising a main frame and a bag taking mechanism, a suction cup mechanism, a bag loading mechanism, a material unloading mechanism, a bag feeding mechanism, a heat-sealing and outer bag opening mechanism, a bag opening transfer mechanism, and a sewing mechanism sequentially mounted on the main frame, wherein the bag taking mechanism is used to suck the packaging bag, the suction cup mechanism is used to open the packaging bag, the bag loading mechanism is used to lift and fix the packaging bag, the material unloading mechanism is used for metering and unloading, the bag feeding mechanism is used to transfer the packaging bag containing the material, the heat-sealing and outer bag opening mechanism is used to heat-seal and insert the inner bag into the packaging bag, the bag opening transfer mechanism is used to transfer the bag opening of the packaging bag, and the sewing mechanism is used to sew the bag opening of the packaging bag, thereby realizing bag taking, material unloading, and sewing operations; and characterized in that: Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring or rubber cushion, and castor is arranged on the pin of base bottom four, to carry mobile handler location. The seat is installed on the sliding seat and can be moved laterally through the bag holding track. The bag holding support is connected to the bag holding driving member, and the bag holding support can move back and forth laterally under the drive of the bag holding driving member. The two oppositely arranged bag holding plate racks can move laterally inward and protrude into the moving channel a certain distance as the bag holding support moves to compress and hold the material bag; wherein, the bag holding track includes a connecting rod group and a curved arm, the bag holding support is hinged to the sliding seat through the connecting rod group, and the curved arm can be connected to the sliding seat in a rotatable manner in the horizontal and vertical planes, one end of the curved arm is connected to the bag holding support, and the other end of the curved arm is connected to the telescopic end of the bag holding driving member, and the fixed end of the bag holding driving member is connected to the sliding seat, and the bag holding support can be pushed by the curved arm to move back and forth laterally when the bag holding driving member drives the curved arm to rotate.

2. The fully automatic packaging robot for inner and outer bags according to claim 1, characterized in that: It also includes a sewing visual inspection unit, which is used to identify the integrity of the seams on the bag opening. The identification process is as follows: capture the original image of the bag opening and the seams on it, identify the bag and seams in the original image, and determine whether the seams are closed across the bag opening.

3. The fully automatic packaging robot for inner and outer bags according to claim 1, characterized in that: The bag holding assembly also includes a bag holding block, and the longitudinal ends of the inner end surface of the bag holding plate frame are respectively installed with bag holding blocks, and the bag holding blocks are arranged vertically, wherein the longitudinal ends of the bag holding plate frame are laterally inclined inward; the bag delivery mechanism also includes a bag protection assembly, and the bag protection assembly includes a left bag protection part and a right bag protection part, and the left bag protection part and the right bag protection part are respectively arranged above the two relatively arranged bag holding assemblies, the left bag protection part includes a left bag protection part, a bag protection elastic part and a left bag protection rod, and the left bag protection part includes a left bag protection part The fixed end of the protective bag driving member is arranged on the left column frame, the telescopic end of the left protective bag driving member is connected to the left protective bag pressure rod through the protective bag elastic member, and the left protective bag pressure rod is arranged to extend longitudinally, and the right protective bag part includes a right protective bag driving member and a right protective bag pressure rod, the fixed end of the right protective bag driving member is arranged on the right column frame, the telescopic end of the right protective bag driving member is connected to the right protective bag pressure rod, and the right protective bag pressure rod is arranged to extend longitudinally, wherein the left protective bag driving member and the right protective bag driving member are both three-axis cylinders.

4. The fully automatic packaging robot for inner and outer bags according to claim 1, characterized in that: The bag delivery mechanism also includes an air squeezing component, which is arranged on the longitudinal front side of the column frame, and the air squeezing component includes a left air squeezing part and a right air squeezing part, and the left air squeezing part and the right air squeezing part are respectively arranged directly above the two oppositely arranged bag holding components, and the left air squeezing part includes a left air squeezing drive, an air squeezing elastic part and an air squeezing pressure rod, the fixed end of the left air squeezing drive is arranged on the left column frame, the telescopic end of the left air squeezing drive is connected to the left air squeezing pressure rod through the air squeezing elastic part, and the left air squeezing pressure rod is longitudinally extended. The right air squeezing part includes a right air squeezing drive and a right air squeezing pressure rod, the fixed end of the right air squeezing drive is arranged on the right column frame, the telescopic end of the right air squeezing drive is connected to the right air squeezing pressure rod, and the right air squeezing pressure rod is longitudinally extended, wherein the left air squeezing pressure rod and the right air squeezing pressure rod have the same structure and are in a bow-shaped structure, and wherein the left air squeezing drive and the right air squeezing drive are both three-axis cylinders.

5. The fully automatic packaging robot for inner and outer bags according to claim 1, characterized in that: The package delivery mechanism also includes a guardrail assembly. Guardrail assemblies are respectively installed on the left and right sides of the moving channel of the sliding seat. The guardrail assembly includes a vertical rod, a horizontal screw and a longitudinal railing. The bottom end of the vertical rod is installed on the sliding seat, and the top end of the vertical rod is installed with a transversely extending horizontal screw. The inner end of the transverse screw is matched with a nut and can be adjusted to connect the longitudinal railing so that it can adjust the transverse telescopic length. The longitudinal railing is arranged to extend longitudinally, and the longitudinal ends of the longitudinal railing are laterally inclined outward.

6. The fully automatic packaging robot with inner and outer bags according to claim 1, characterized in that: The suction cup mechanism includes the following contents: An upper suction cup assembly, the upper suction cup assembly comprising an upper movable suction cup group, an upper movable disc seat, a horizontal telescopic member, an upper support and an upper telescopic member, the upper movable suction cup group being arranged at the bottom end of the upper movable disc seat, the upper movable disc seat being arranged at the bottom of the upper support, the upper movable disc seat and the upper support being able to slide relative to each other, the horizontal telescopic member being able to drive the upper movable disc seat to reciprocate horizontally, the telescopic end of the upper telescopic member being connected to the upper support, the upper telescopic member being able to drive the upper movable disc seat and the horizontal telescopic member to move up and down; A lower suction cup assembly, comprising a lower movable suction cup group, a lower disc seat, a rebound member, and a lower support, wherein the lower support is arranged below the lower disc seat, the rebound member is arranged between the lower disc seat and the lower support, and the lower movable suction cup group is arranged at the I end of the top end of the lower disc seat, and the lower movable suction cup group and the upper movable suction cup group are on the same side; Among them, the upper movable disc seat moves up and down between the initial position, the contact position and the adsorption position under the drive of the upper telescopic member, the upper movable disc seat contacts the lower disc seat at the contact position, and the rebound member is compressed when the upper movable disc seat is between the contact position and the adsorption position. The upper movable suction cup group and the lower movable suction cup group are respectively equipped with ventilation joints to connect to external air source equipment so that they can be adsorbed or released.

7. The fully automatic packaging robot for inner and outer bags according to claim 6, characterized in that: The upper suction cup assembly also includes an upper fixed plate seat and an upper fixed suction cup group, the upper fixed plate seat and the upper movable plate seat are respectively arranged at the two ends of the bottom of the upper support, and the upper fixed suction cup group is arranged at the bottom end of the upper fixed plate seat; the lower suction cup assembly also includes a lower fixed suction cup group, the lower fixed suction cup group is arranged at the II end of the top end of the lower plate seat, and the lower fixed suction cup group and the upper fixed suction cup group are on the same side; wherein the upper fixed suction cup group and the lower fixed suction cup group are respectively provided with ventilation joints to be connected to external air source equipment so that they can be adsorbed or released; wherein the upper movable plate seat is slidably connected to the upper support or the upper fixed plate seat; the upper suction cup assembly also includes a slide rail, the slide rail includes a slide seat and a suction cup rail, the slide seat is slidably connected to the suction cup rail, the upper movable plate seat is arranged on the slide seat, and the suction cup rail is arranged on the upper support or the upper fixed plate seat.

8. The fully automatic packaging robot for inner and outer bags according to claim 6, characterized in that: The resilient member includes an elastic member and a guide rod, the top end of the guide rod is fixed to the lower disc seat, the bottom end of the guide rod is slidably connected to the lower support, and the elastic member is arranged between the lower disc seat and the lower support.

9. The fully automatic packaging robot for nested inner and outer bags according to claim 6, characterized in that: The control process of the upper suction cup assembly and the lower suction cup assembly is as follows: Step 21, the upper telescopic member performs a downward driving action to push the upper movable disc seat downward to the adsorption position. Specifically, the upper movable disc seat first moves downward to the contact position so that it contacts the lower disc seat, and then moves downward to the adsorption position so that the resilient member is compressed; Step 22, the upper movable suction cup group and the lower movable suction cup group perform an adsorption action; Step 23, the horizontal telescopic member performs a lateral driving action to push the upper movable disc seat to move horizontally; Step 24, the upper telescopic member performs an upward driving action to push the upper movable disc seat upward from the adsorption position to the initial position; The upper movable disc seat also moves horizontally during the process of moving upward from the adsorption position to the contact position.

10. A packaging method for a fully automatic packaging robot with nested inner and outer bags, characterized in that: The packaging robot comprises the packaging robot as described in any one of claims 1 to 9, and the packaging method of the packaging robot is as follows: first, the packaging bag is sucked by the bag-taking mechanism, and then the packaging bag is opened by suction by the suction cup mechanism, and then the packaging bag is lifted and fixed by the bag-loading mechanism, and then the material is quantitatively measured and unloaded by the unloading mechanism, and then the packaging bag containing the material is wrapped and transferred by the bag-feeding mechanism, and then the outer bag of the packaging bag is opened and heat-sealed and the inner bag of the packaging bag is inserted by the heat-sealing outer bag-opening mechanism, and then the bag mouth of the packaging bag is clamped and transferred by the bag mouth transfer mechanism, and then the bag mouth of the packaging bag is sewed by the sewing mechanism.

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