Normalizing device for arranging and arraying thin film packaging bag finished products

Abstract

The invention discloses a tidying device for tidying and arraying finished thin film packaging bags in the technical field of plastic bag conveying, and the tidying device comprises a conveying belt, a material taking mechanical arm assembly located above the conveying belt, a pre-stacking mechanical arm assembly and a two-axis moving assembly for driving the pre-stacking mechanical arm assembly. The material taking mechanical arm assembly transfers a packaging bag pile at the tail end of a production line to a conveying belt, then the pre-stacking mechanical arm assembly is driven by the two-shaft moving assembly to conduct folding operation with the side edges facing inwards twice on the packaging bag pile, and the packaging bag pile is changed into a stable three-layer stacking structure from a tiled state. Through automatic pre-folding, the stability of bag stacks in the follow-up transferring process is remarkably improved, scattering and dislocation are avoided, the follow-up manual operation or automatic bundling procedure is simplified, and the automation level and the processing efficiency of the whole packaging process are improved.

Description

Technical Field

[0001] This invention relates to the field of plastic bag conveying technology, and more specifically to a straightening device for sorting and arranging finished film packaging bags. Background Technology

[0002] At the end of the continuous production line for thin film express bags, the continuous express bags need to be slit, sealed, and heat-sealed to form independent finished express bags with predetermined dimensions.

[0003] In highly automated modern plastic bag production lines, after the finished express delivery bags are cut, they are usually stacked into a certain number of stacks (or layers) by automated equipment. These neatly stacked bags are then transferred to subsequent processing steps.

[0004] Traditional post-processing steps typically rely on manual labor. Specifically, workers need to take a stack of finished express delivery bags from the incoming bag stacks and sort, fold, or roll them to reduce their volume, facilitate transportation, or adapt them to subsequent packaging and distribution needs.

[0005] In manual processing, taking the common "three-fold, two-turn" folding method as an example, workers typically need to fold the stack of bags three times: the first fold involves folding a portion of the stack's width (e.g., about one-third on the left) upwards; the second fold involves folding the remaining portion (e.g., about one-third on the right) upwards and accurately placing it on top of the first fold. After these two folds, the width of the stack becomes approximately one-third of its original width, but its thickness increases accordingly. The third fold is usually a center fold (half fold), at which point the final product's width becomes approximately one-sixth of the original bag width (one-third folded in half again), while the total thickness becomes six times the original.

[0006] After folding or rolling, the stack of bags needs to be secured with a binding mechanism (such as rubber bands, plastic cable ties, or tape) to prevent them from coming loose.

[0007] During the aforementioned manual bag removal and subsequent multiple folding or rolling processes, if the operator is not skilled or careful enough, the bag stacks that were originally precisely stacked neatly on the production line are very likely to scatter or become misaligned (i.e., "deviation") during the process of being manually removed and transferred to the operating table.

[0008] If the bags separate or become misaligned, workers must spend extra time reorganizing and aligning them. This not only significantly reduces the efficiency of subsequent processing but also affects the neatness of the final stack of finished bags and the quality of their binding. This uncertainty due to human factors is a major bottleneck in the current subsequent processing procedures. Summary of the Invention

[0009] The purpose of this invention is to provide a tidying device for sorting and arranging finished film packaging bags, so as to solve the problem that finished express bags are prone to scattering or misalignment due to manual handling and folding during subsequent processing, which affects processing efficiency and finished product quality.

[0010] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: A straightening device for arranging finished film packaging bags, comprising: The conveyor belt is located between the end of the continuous production line and the manual operating table; The picking robot assembly, located above the conveyor belt and configured to translate along the conveying direction of the conveyor belt, is used to transfer stacks of packaging bags stacked at the end of a continuous production line to the conveyor belt. The pre-stacked robot assembly, located above the conveyor belt, is used to grasp the sides of the stack of packaging bags on the conveyor belt. The two-axis moving assembly is located above the conveyor belt. The moving end of the two-axis moving assembly is connected to the pre-stacking robot assembly. The two-axis moving assembly is used to drive the pre-stacking robot assembly to perform translational and lifting movements. The translational movement direction of the pre-stacking robot is parallel to the width direction of the conveyor belt. The translational movement of the pre-stacked robotic arm assembly is configured to achieve side folding of the stack of packaging bags, including: In the first folding stroke, the pre-folding robot arm assembly grasps the first width side of the stack of packaging bags and moves it towards the center of the stack of packaging bags by about one-third of the width, and then releases it to complete the first fold; In the second folding stroke, the pre-folding robotic arm assembly grasps the opposite width side of the stack of packaging bags and moves it toward the center of the stack of packaging bags, so that it overlaps the part formed by the first fold, and then releases it to complete the second fold.

[0011] Furthermore, a strip flap is installed on both sides of the conveyor belt. The length direction of the strip flap is parallel to the conveying direction of the conveyor belt. The strip flap is connected to the side baffle of the conveyor belt through a pivot. The strip flap is configured to be able to rotate around the pivot under the action of external force, so that the strip flap tilts upward to the side of the stack of packaging bags for the pre-stacked robot arm assembly to grasp.

[0012] Furthermore, one end of the pivot has an extension shaft, on which a lever arm perpendicular to the extension shaft is fixedly connected, and the strip flap is fixedly connected to the pivot; Both sides of the conveyor belt are equipped with wedge-shaped force-applying plates for applying force to the free end of the lever arm; The lever arm and the strip flap are configured to have a radial angle, which enables the wedge-shaped force plate to apply an effective driving torque to the lever arm to drive the strip flap to flip upward. The wedge-shaped force-applying plate is configured to reciprocate along a direction parallel to the pivot axis, so that the wedge-shaped force-applying plate can drive the strip flap to rotate upward in the form of a sliding contact lever. Under the weight of its lever arm, the lever tends to cause the pivot to rotate downwards. During the process of the strip flap resetting under the weight of the lever arm, it is eventually stopped by the top of the side baffle of the conveyor belt and comes to a horizontal position.

[0013] Furthermore, linear slide assemblies parallel to the conveying direction of the conveyor belt are provided on both sides of the conveyor belt, and the two ends of the material handling robot assembly are respectively connected to the slider ends of the two linear slide assemblies. The wedge-shaped force plate is configured to move with the slider end of the linear slide assembly so that the wedge-shaped force plate can drive the strip flap to tilt upward and lift the two width sides of the stack of bags when the picking robot assembly has completely transferred the stack of bags onto the conveyor belt.

[0014] Furthermore, a pin perpendicular to the wedge-shaped force-applying plate is fixedly installed on the outer side of the wedge-shaped force-applying plate, and an angle seat for applying contact force to the pin is fixedly installed on the slider end of the linear slide assembly. A light axis guide rail parallel to the linear slide assembly is fixedly installed on the outer wall of the side baffle of the conveyor belt. A sliding sleeve for fixing the wedge-shaped force-applying plate away from the pin is provided on the light axis guide rail. The light axis guide rail is located below the lever arm. A return spring that abuts against the sliding sleeve is fitted on the optical axis guide rail. The return spring applies an elastic force to the wedge-shaped force plate so that the inclined surfaces of the wedge-shaped force plate separate from the lever arm as the slider end of the linear slide assembly moves toward the end of the continuous production line.

[0015] Furthermore, a clearance opening is formed on the side baffle of the conveyor belt for the stress arm to extend outward, and a receiving trough is formed on the side baffle of the conveyor belt corresponding to the position of the strip flap. The free end of the strip flap overlaps downward in the receiving trough to keep the strip flap in a horizontal state. The two ends of the settling tank are respectively provided with positioning seats for the pivot to rotate and connect the two ends of the shaft, and another shaft positioning seat is provided in the clearance notch for the extension shaft to rotate and connect.

[0016] Furthermore, the material handling robot assembly includes a crossbeam and several first gripper cylinders evenly spaced along the length of the crossbeam. The length of the crossbeam is consistent with the width of the conveyor belt. All the first gripper cylinders are fixedly connected to the crossbeam, and the claw ends of all the first gripper cylinders face the beginning of the conveyor belt.

[0017] Furthermore, a horizontal support plate is fixedly connected to the moving end of the two-axis moving assembly, and the extending direction of the horizontal support plate is consistent with the conveying direction of the conveyor belt. At both ends of the horizontal support plate, there are vertically downward extending mounting plates. The pre-stacked robot arm assembly consists of two second gripper cylinders, each of which is fixedly mounted on the mounting plate with its gripper end facing downward. The strip-shaped flap has a clearance opening at the position corresponding to the second gripper cylinder to avoid the claw end of the second gripper cylinder.

[0018] Furthermore, the claw end of the second gripper cylinder is configured to be replaceably fitted with gripper finger components with different gripping ranges.

[0019] Furthermore, the slider end of the linear slide assembly is preset to pause briefly at a position near the end of the stroke during the entire stroke of the movement from the beginning to the end of the conveyor belt. This position is configured such that the picking robot assembly releases the stack of packaging bags onto the conveyor belt.

[0020] The beneficial effects of this invention are: This device achieves automated double-sided folding of flat stacks of packaging bags by coordinating the work of a picking robot assembly, a pre-folding robot assembly, and a two-axis moving assembly. Specifically, after the picking robot assembly transfers the stack of packaging bags from the end of the production line to the conveyor belt, the pre-folding robot assembly, driven by the two-axis moving assembly, grasps both sides of the stack of packaging bags and folds them towards the center in one reciprocating translational motion cycle, quickly forming a three-layer stacked structure with a reduced width and a more compact and stable structure. During the subsequent transport of this pre-folded stack to the manual operating table or automatic strapping station, its inherent stability prevents it from easily scattering or misaligning, thus avoiding the inefficiency and inconsistent quality problems caused by manual re-alignment. Attached Figure Description

[0021] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0022] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention; Figure 2 This is a top view schematic diagram of an embodiment of the present invention; Figure 3 This is a front view of an embodiment of the present invention; Figure 4 This is a pre-stacked stack of packaging bags according to an embodiment of the present invention; Figure 5 for Figure 1 Enlarged schematic diagram of the structure at point A in the diagram; Figure 6 for Figure 2 Enlarged schematic diagram of the structure at point B in the diagram; Figure 7 for Figure 3 Enlarged schematic diagram of the structure at point C; Figure 8 This is a schematic diagram showing the positional relationship between the linear slide assembly and the force-applying wedge plate in an embodiment of the present invention; Figure 9 This is an enlarged structural schematic diagram of the linear slide assembly and the force-applying wedge plate in an embodiment of the present invention; Figure 10 for Figure 9 A schematic diagram of the local structural decomposition; Figure 11 for Figure 9 Enlarged schematic diagram of the structure at point D; Figure 12 for Figure 10 Enlarged schematic diagram of the structure at point E in the diagram; The labels in the diagram represent the following: 1-Conveyor belt; 1a-Side baffle; 1b-Avoidance notch; 1c-Accommodation trough; 2-Material handling robot assembly; 3-Pre-stacking robot assembly; 4-Two-axis moving assembly; 5-Strip flap; 6-Pivot; 6a-Extension shaft; 7-Lever arm; 8-Wedge-shaped force application plate; 8a-Pin; 9-Linear slide assembly; 9a-Angle seat; 10-Optical axis guide rail; 11-Sliding sleeve; 12-Reset spring; 13-Shaft positioning seat; 14-Crossbeam; 15-First gripper cylinder; 16-Second gripper cylinder; 17-Avoidance notch; 18-Packaging bag stack; 19-Horizontal support plate. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Reference Figures 1 to 12 This embodiment provides a tidying device for sorting and arranging finished film packaging bags, which solves the problem that finished express bags are prone to scattering or misalignment due to manual handling and folding during subsequent processing, thus affecting processing efficiency and finished product quality.

[0025] Specifically, this device includes a conveyor belt 1, a material handling robot assembly 2, a pre-stacking robot assembly 3, and a two-axis moving assembly 4. The conveyor belt 1 is located at the end of the continuous production line between the conveyor belt and the manual operating table, and is used to transfer stacks of packaging bags 18.

[0026] The material handling robot assembly 2 is located above the conveyor belt 1 and can move horizontally along the conveying direction of the conveyor belt 1. It is responsible for transferring the stack of packaging bags 18 stacked at the end of the continuous production line onto the conveyor belt 1.

[0027] The pre-folding robot arm assembly 3 is also located above the conveyor belt 1 and is used for subsequent folding operations.

[0028] The moving end of the two-axis moving component 4 is connected to the pre-stacking robot component 3, which can drive the pre-stacking robot component 3 to perform translational and lifting movements. The translational movement direction of the pre-stacking robot is parallel to the width direction of the conveyor belt 1.

[0029] During operation, after the stack of packaging bags 18 is placed onto the conveyor belt 1 by the picking robot assembly 2, the two-axis moving assembly 4 controls the pre-stacking robot assembly 3 to perform one folding cycle. This cycle includes a first folding stroke and a second folding stroke. During the first folding stroke, the pre-folding robot arm assembly 3 descends and grasps one side (e.g., the first width side) of the packaging bag stack 18, then moves about one-third of the width towards the center of the packaging bag stack 18 before releasing, completing the first fold; Next, during the second folding stroke, the pre-folding robot arm assembly 3 moves to the other side of the packaging bag stack 18, descends and grabs another width side, and moves it in the same direction towards the center, stacking it on top of the part formed by the first fold and then releasing it to complete the second fold.

[0030] After these two folds, the originally flat stack of packaging bags 18 is transformed into a three-layer structure with overlapping layers. Compared with the unfolded state, the stability of the stack of packaging bags 18 in this form is significantly improved during the subsequent transfer process. After being transported to the manual work station, the worker only needs to perform a final center fold and tie it, which greatly simplifies manual operation and ensures the neatness of the stack of bags.

[0031] In the above scheme, it may be difficult for the pre-stacked robotic arm component 3 to directly grasp the side of the stack of packaging bags 18 placed flat on the conveyor belt 1, because the side of the stack of bags is very thin and not easily gripped by the mechanical gripper.

[0032] To solve this problem, a preferred solution is to provide a strip flap 5 on both sides of the conveyor belt 1. The length direction of the strip flap 5 is parallel to the conveying direction of the conveyor belt 1, and it is rotatably connected to the side baffle 1a of the conveyor belt 1 via a pivot 6.

[0033] When gripping is required, the strip flap 5 flips upward around the pivot 6 under the action of external force, thereby tilting the side of the stack of packaging bags 18 upward at an angle that is easy to grip, so that it enters the effective gripping range of the pre-stacked robotic arm assembly 3.

[0034] To achieve automatic flipping of the strip flap 5, a reliable drive mechanism is required. Using a motor or pure cylinder for direct drive would not only increase the complexity and control difficulty of the system, but also result in relatively high equipment costs.

[0035] Therefore, this embodiment proposes a simple and low-cost purely mechanical linkage drive scheme: one end of the pivot 6 extends outward to form an extension shaft 6a, and a lever arm 7 perpendicular to the extension shaft 6a is fixedly connected to the extension shaft 6a. Simultaneously, a wedge-shaped force-applying plate 8 is provided on both sides of the conveyor belt 1. The strip-shaped flap 5 is fixedly connected to the pivot 6, and the lever arm 7 and the strip-shaped flap 5 are set to have a certain radial angle.

[0036] The wedge-shaped force-applying plate 8 is configured to reciprocate in a direction parallel to the axis of the pivot 6. When the wedge-shaped force-applying plate 8 translates, its wedge-shaped inclined surface slides against the free end of the lever arm 7 and applies an effective driving torque to it. This torque is transmitted through the extension shaft 6a and the pivot 6, ultimately causing the strip flap 5 to flip upward.

[0037] After the wedge-shaped force plate 8 resets, the lever arm 7 falls due to its own gravity, causing the strip-shaped flap 5 to flip downwards and reset. Finally, it is stopped by the top of the side baffle 1a of the conveyor belt 1, returning to a horizontal state. This design utilizes the lever principle and gravity reset, has a simple structure, and requires no additional power source.

[0038] Furthermore, in order to precisely synchronize the flipping action of the strip flap 5 with the workflow of the entire device, the drive of the flap can be linked with the movement of the material handling robot assembly 2.

[0039] Specifically, linear slide assembly 9 parallel to the conveying direction of conveyor belt 1 is provided on both sides of conveyor belt 1. The two ends of the material handling robot assembly 2 are respectively connected to the slider ends of the two linear slide assembly 9 to realize its translation along the conveying direction.

[0040] One common way to implement this process is to directly fix the wedge-shaped force-applying plate 8 to the slider end of the linear slide assembly 9. However, this fixed connection method has a potential problem: the total height of the wedge-shaped force-applying plate 8 cannot be higher than the horizontal strip flap 5, otherwise an impact will occur during the movement of the slider end.

[0041] If a guide ramp is also provided at the front end of the wedge-shaped force plate 8 to avoid impact, it may cause the wedge-shaped force plate 8 to contact the lever arm 7 and lift the strip flip plate 5 in advance during the process of the material handling robot assembly 2 dragging the stack of packaging bags 18 to the conveyor belt 1. This unexpected premature flipping is very likely to hook or tear the side of the packaging bag.

[0042] In order to achieve precise timing control and make the structure more compact, and considering the potential problems of the direct connection method, this embodiment provides a separate linkage design.

[0043] In this design, a pin 8a perpendicular to the wedge-shaped force-applying plate 8 is fixedly installed on the outer side of the wedge-shaped force-applying plate 8, while a corner seat 9a for contacting and applying force to the pin 8a is fixedly installed on the slider end of the linear slide assembly 9.

[0044] Meanwhile, a light axis guide rail 10 parallel to the linear slide assembly 9 is fixedly installed on the outer wall of the side baffle 1a of the conveyor belt 1. The wedge-shaped force application plate 8 is fixedly connected to and sleeved on the light axis guide rail 10 through a sliding sleeve 11, so that it can only move horizontally. A return spring 12 that abuts against the sliding sleeve 11 is also sleeved on the light axis guide rail 10.

[0045] In this way, during the process of the material handling robot assembly 2 transferring the stack of packaging bags 18, the corner seat 9a and the pin 8a do not contact each other, and the wedge-shaped force plate 8 is kept in the initial position under the action of the return spring 12; when the stack of packaging bags 18 is placed and the slider end continues to move, the corner seat 9a will contact and push the pin 8a, so that the wedge-shaped force plate 8 overcomes the spring force to perform force application movement. When the slider end moves in the opposite direction, the corner seat 9a separates from the pin 8a, and the wedge-shaped force plate 8 automatically resets under the action of the return spring 12.

[0046] To facilitate the installation and movement of the aforementioned mechanical structure, some adaptive modifications are required to the side baffle 1a of the conveyor belt 1. A clearance opening 1b is formed on the side baffle 1a at the position of the stress arm 7, allowing the stress arm 7 to extend outward and swing. A receiving trough 1c is formed on the side baffle 1a corresponding to the position of the strip flap 5. When the strip flap 5 is reset, its free end can overlap downwards within the receiving trough 1c, thereby ensuring that the upper surface of the strip flap 5 is flush with the surface of the conveyor belt 1.

[0047] In addition, to ensure the stability and durability of the rotating mechanism, shaft positioning seats 13 with rotatable connection are provided at both ends of the receiving trough 1c for the two ends of the pivot 6, and another shaft positioning seat 13 is added in the clearance notch 1b for the extension shaft 6a. Since this position is where the lever arm 7 is located, it is the main force area in the entire flipping drive process. Therefore, adding a shaft seat here can effectively strengthen the support stiffness of the pivot 6 at this position and ensure the stability and durability of the structure under long-term repeated stress.

[0048] To effectively grasp and transfer the stack of packaging bags 18 across its entire width, the material handling robot assembly 2 can be specifically defined as including a crossbeam 14 and several first gripper cylinders 15 evenly spaced along the length of the crossbeam 14. The length direction of the crossbeam 14 is consistent with the width direction of the conveyor belt 1. All the first gripper cylinders 15 are fixed on the crossbeam 14, and the gripper ends are uniformly facing the beginning of the conveyor belt 1 (i.e., the end of the production line) to facilitate gripping the material stack from the front.

[0049] For the pre-stacking robot assembly 3 that performs the folding action, it can be specifically configured as follows: a horizontal support plate 19 is fixedly connected to the moving end of the two-axis moving assembly 4, and the extending direction of the horizontal support plate 19 is consistent with the conveying direction of the conveyor belt 1. Vertically downward extending mounting plates are fixedly connected to both ends of the horizontal support plate 19. The pre-stacking robot assembly 3 consists of two second gripper cylinders 16, each of which is fixed to the two mounting plates with its claw tip facing downward, corresponding to the two sides of the stack of packaging bags 18.

[0050] To prevent the claw tip of the second gripper cylinder 16 from interfering with the strip flap 5 during the gripping process, a clearance opening 17 for avoiding the claw tip can be pre-formed on the strip flap 5 at the position corresponding to the second gripper cylinder 16.

[0051] Considering that different batches of packaging bag stacks 18 may vary in thickness, material, or size, the required clamping force will also differ. To improve the adaptability of the device, the claw tip of the second gripper cylinder 16 is designed to be replaceable, allowing for the installation of gripper fingers with different gripping ranges or shapes. For example, when the packaging bag stack 18 is thicker, gripper fingers with a larger opening range can be used; when the standard gripper finger length is insufficient, longer gripper fingers can be used to ensure stable gripping of the target. This adaptability design also applies to the aforementioned first gripper cylinder 15.

[0052] Finally, to optimize motion control and reduce mechanical shock, the slider end of the linear slide assembly 9 can be preset to pause briefly near the end of the stroke during its entire movement from the beginning to the end of the conveyor belt 1. This pause position is precisely configured to be the location where the picking robot assembly 2 releases the stack of packaging bags 18 onto the conveyor belt 1.

[0053] This pause can first reduce the inertia caused by conveying and stopping, so that the stack of packaging bags 18 can fall more stably on the conveyor belt 1; Secondly, it serves as a clear action node, marking the imminent start of the pre-folding action; Furthermore, the pause followed by a restart to contact lever 7 effectively reduces the impact on lever 7 and the entire tilting mechanism compared to a high-speed direct impact, thus extending the service life of the equipment.

[0054] Furthermore, since lever arm 7 has a certain mass due to its own gravity for resetting, if the lever arm 7 is impacted at high speed without stopping, the strip flap 5 may overturn due to inertia (for example, exceeding the predetermined angle). The low-speed start after the stop can avoid this overshoot phenomenon and ensure the accuracy of the flip angle.

[0055] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered as falling within the scope of protection of the embodiments of the present invention.

Claims

1. A straightening device for arranging finished film packaging bags, characterized in that, include: The conveyor belt (1) is located between the end of the continuous production line and the manual operating table; The picking robot assembly (2) is located above the conveyor belt (1) and is configured to translate along the conveying direction of the conveyor belt (1). The picking robot assembly (2) is used to transfer a stack of packaging bags (18) stacked at the end of the continuous production line to the conveyor belt (1). A pre-stacked robotic arm assembly (3) is located above the conveyor belt (1) and is used to grab the side of the stack of packaging bags (18) on the conveyor belt (1). A two-axis moving assembly (4) is located above the conveyor belt (1). The moving end of the two-axis moving assembly (4) is connected to the pre-stacked robot assembly (3). The two-axis moving assembly (4) is used to drive the pre-stacked robot assembly (3) to perform translational and lifting movements. The translational movement direction of the pre-stacked robot is parallel to the width direction of the conveyor belt (1). The translational movement of the pre-stacked robotic arm assembly (3) is configured to achieve side folding of the stack of packaging bags (18), including: In the first folding stroke, the pre-folding robot arm assembly (3) grasps the first width side of the packaging bag stack (18) and moves it one-third width toward the center of the packaging bag stack (18), and then releases it to complete the first fold; In the second folding stroke, the pre-folding robot arm assembly (3) grasps the opposite width side of the stack of packaging bags (18) and moves it toward the center of the stack of packaging bags (18) so that it overlaps the portion formed by the first fold, and then releases it to complete the second fold.

2. The straightening device for arranging finished film packaging bags according to claim 1, characterized in that, A strip flap (5) is provided on both sides of the conveyor belt (1). The length direction of the strip flap (5) is parallel to the conveying direction of the conveyor belt (1). The strip flap (5) is connected to the side baffle (1a) of the conveyor belt (1) by a pivot (6). The strip flap (5) is configured to be able to rotate around the pivot (6) under the action of external force so that the strip flap (5) tilts upward to the side of the stack of packaging bags (18) for the pre-stacked robot arm assembly (3) to grab.

3. A straightening device for arranging finished film packaging bags according to claim 2, characterized in that, One end of the pivot (6) is formed with an extension shaft (6a), and a lever arm (7) perpendicular to the extension shaft (6a) is fixedly connected to the extension shaft (6a). The strip flap (5) is fixedly connected to the pivot (6). Both sides of the conveyor belt (1) are provided with wedge-shaped force-applying plates (8) for applying force to the free end of the lever arm (7). The lever arm (7) and the strip flap (5) are configured to have a radial angle, which is used to enable the wedge-shaped force plate (8) to apply an effective driving torque to the lever arm (7) to drive the strip flap (5) to flip upward. The wedge-shaped force plate (8) is configured to reciprocate in a direction parallel to the axis of the pivot (6) so that the wedge-shaped force plate (8) can drive the strip flap (5) to rotate upward in the form of sliding contact with the lever arm (7); Under the gravity of its lever arm (7), the pivot (6) tends to drive the strip flap (5) to rotate downward. During the process of the strip flap (5) flipping down and resetting under the gravity of the lever arm (7), it is finally stopped by the top of the side baffle (1a) of the conveyor belt (1) and is in a horizontal state.

4. A straightening device for arranging finished film packaging bags according to claim 3, characterized in that, Linear slide assembly (9) parallel to the conveying direction of the conveyor belt (1) is provided on both sides of the conveyor belt (1), and the two ends of the material handling robot assembly (2) are respectively connected to the slider ends of the two linear slide assemblies (9). The wedge-shaped force plate (8) is configured to move with the slider end of the linear slide assembly (9) so that the wedge-shaped force plate (8) can drive the strip flip plate (5) to tilt upward and lift the two width sides of the stack of packaging bags (18) when the material handling robot assembly (2) completely transfers the stack of packaging bags (18) onto the conveyor belt (1).

5. A straightening device for arranging finished film packaging bags according to claim 4, characterized in that, A pin (8a) perpendicular to the wedge-shaped force-applying plate (8) is fixedly provided on the outer side of the wedge-shaped force-applying plate (8), and a corner seat (9a) for contacting and applying force to the pin (8a) is fixedly provided on the slider end of the linear slide assembly (9). A light axis guide rail (10) parallel to the linear slide assembly (9) is fixedly installed on the outer wall of the side baffle (1a) of the conveyor belt (1). A sliding sleeve (11) for fixing the wedge-shaped force plate (8) away from the pin (8a) is provided on the light axis guide rail (10). The light axis guide rail (10) is located below the lever arm (7). A return spring (12) that abuts against the sliding sleeve (11) is sleeved on the optical axis guide rail (10). The return spring (12) applies an elastic force to the wedge-shaped force plate (8) so that the slider end of the linear slide assembly (9) moves toward the end of the continuous production line, and the inclined surface of the wedge-shaped force plate (8) separates from the lever arm (7).

6. A straightening device for arranging finished film packaging bags according to claim 5, characterized in that, A clearance notch (1b) is formed on the side baffle (1a) of the conveyor belt (1) corresponding to the position of the lever (7) for the lever (7) to extend outward. A receiving trough (1c) is formed on the side baffle (1a) of the conveyor belt (1) corresponding to the position of the strip flap (5). The free end of the strip flap (5) overlaps downward on the receiving trough (1c) to keep the strip flap (5) in a horizontal state. The two ends of the receiving trough (1c) are respectively provided with positioning seats (13) for rotating connecting shafts at both ends of the pivot (6), and another shaft positioning seat (13) for rotating connecting the extension shaft (6a) is provided in the clearance notch (1b).

7. A straightening device for arranging finished film packaging bags according to claim 1, characterized in that, The material handling robot assembly (2) includes a crossbeam (14) and several first gripper cylinders (15) evenly distributed along the length direction of the crossbeam (14). The length direction of the crossbeam (14) is consistent with the width direction of the conveyor belt (1). All the first gripper cylinders (15) are fixedly connected to the crossbeam (14), and the claw ends of all the first gripper cylinders (15) face the beginning of the conveyor belt (1).

8. A straightening device for arranging finished film packaging bags according to claim 6, characterized in that, The moving end of the two-axis moving assembly (4) is fixedly connected to a horizontal support plate (19), and the extending direction of the horizontal support plate (19) is consistent with the conveying direction of the conveyor belt (1). At both ends of the horizontal support plate (19), there are vertically downward extending mounting plates. The pre-stacked manipulator assembly (3) consists of two second gripper cylinders (16), each of which is fixedly mounted on the mounting plate with its claw end facing downward. The strip flap (5) has a clearance opening (17) formed at the position corresponding to the second gripper cylinder (16) to avoid the claw end of the second gripper cylinder (16).

9. A straightening device for arranging finished film packaging bags according to claim 8, characterized in that, The claw end of the second gripper cylinder (16) is configured to be replaceably fitted with gripper fingers having different gripping ranges.

10. A straightening device for arranging finished film packaging bags according to claim 4, characterized in that, The slider end of the linear slide assembly (9) is preset to pause briefly at a position near the end of the stroke during the entire stroke of the movement from the beginning to the end of the conveyor belt (1), where the picking robot assembly (2) releases the stack of packaging bags (18) onto the conveyor belt (1).

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