A packaging line

Abstract

This invention discloses a packaging production line, relating to the field of packaging technology, comprising: a bag filling machine having a bag storage mechanism, a bag gripping mechanism, a bag opening mechanism, a filling mechanism, and a conveying mechanism; a bag sealing machine having an openable sealing chamber in which packaging bags are heat-sealed; and a bag conveying mechanism disposed between the bag filling machine and the bag sealing machine, the bag conveying mechanism having bag conveying grippers that reciprocate along the bag filling machine and the bag sealing machine. The packaging production line provided by this invention separates the bag filling machine and the bag sealing machine, thereby allowing the bag sealing machine to operate at full capacity during bag sealing, avoiding resource waste.

Description

Technical Field

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

[0002] In a packaging production line, the packaging bags typically undergo operations such as bag taking, bag stretching, filling, and sealing. During filling, the bags are usually filled one by one. During sealing, depending on the capacity of the sealing chamber, multiple bags can be sealed simultaneously.

[0003] In existing technologies, the filling and sealing operations of packaging bags are generally carried out under the same conveyor mechanism. This results in the sealing process being carried out one bag at a time, following the filling rhythm, leading to low utilization of the sealing chamber. In addition, the sealing time in the sealing chamber is longer than the filling operation, which further slows down the filling rhythm and reduces the overall efficiency of the packaging production line. Summary of the Invention

[0004] In view of this, the present invention provides a packaging production line to solve the problem of low overall efficiency of existing packaging production lines.

[0005] The packaging production line provided by this invention includes: The bagging machine has a bag storage mechanism, a bag gripping mechanism, a bag opening mechanism, a filling mechanism, and a conveying mechanism; A bag sealing machine has an openable sealing chamber in which packaging bags are heat-sealed. A bag-carrying mechanism is disposed between the bagging machine and the sealing machine, and the bag-carrying mechanism has bag-carrying grippers that reciprocate along the bagging machine and the sealing machine.

[0006] The packaging production line provided by this invention sets up a bagging machine and a sealing machine separately, so that the sealing machine can operate at full capacity during the sealing process, thus avoiding the problem of wasting resources.

[0007] Optionally, the sealing machine is located behind or at the bottom of the bagging machine, and the sealing chamber is arranged parallel to the vertical plane of the conveying path of the conveying mechanism.

[0008] Optionally, the bag storage mechanism and the bag opening mechanism have a base, on which a bag storage chamber and a bag opening nozzle are connected. The bag storage chamber has two support plates arranged opposite to each other. One end of the two support plates forms an outlet suitable for removing the packaging bag. At least one support plate is connected to an adjustment drive device, which is used to adjust the interval between the two support plates. The adjustment drive device has a first adjustment drive device and a second adjustment drive device that are linked together. The drive end of the first adjustment drive device is connected to at least one support plate, and the drive end of the second adjustment drive device is connected to a push rod. The push rod is located downstream of the bag opening suction nozzle and is used to cooperate with the bag gripping mechanism to adjust the opening degree of the bag mouth of the packaging bag.

[0009] Optionally, the bag-grabbing mechanism includes: a horizontal rotating shaft and a mounting plate, the mounting plate being slidably connected to the horizontal rotating shaft along the axial direction, and a plurality of bag-grabbing manipulators being spaced apart along the circumferential direction on the mounting plate, with bag-grabbing suction nozzles connected to the bag-grabbing manipulators; The bag-grabbing robot moves back and forth along the horizontal axis with the mounting plate to pick up the packaging bags in the storage compartment one by one; The bag-grabbing robot arm rotates in a stepping motion along the horizontal rotating shaft to transfer the picked-up packaging bags to the bag-opening mechanism.

[0010] Optionally, a fixed seat and a sliding seat are connected to the horizontal rotating shaft, the fixed seat is fixedly connected to the horizontal rotating shaft, and the sliding seat is slidably connected to the horizontal rotating shaft; A connecting rod is connected to the sliding seat, and a through hole is provided on the fixed seat for the connecting rod to pass through. The sliding seat is connected to the mounting plate through the connecting rod. A rotating sleeve is fitted on the sliding seat and is coaxially rotatable relative to the sliding seat. The rotating sleeve is connected to an axial drive device.

[0011] Optionally, the bag-grabbing robot has a connecting arm, a drive rod movably connected to the connecting arm, and the bag-grabbing nozzle connected to the drive rod; a bag-supporting push plate is movably connected to the connecting arm, the bag-supporting push plate has extensions located on both sides of the bag-grabbing nozzle, a push plate drive member is connected to the bag-supporting push plate, and the push plate drive member has a driving force to drive the extensions of the bag-supporting push plate to move along the orientation direction of the bag-grabbing nozzle.

[0012] Optionally, the conveying mechanism has a first conveyor belt and a second conveyor belt arranged in parallel. A first conveyor gripper is connected to the first conveyor belt, and a second conveyor gripper is connected to the second conveyor belt. The first conveyor gripper and the second conveyor gripper cooperate to clamp the two ends of the bag opening of the packaging bag. The first conveyor belt is driven by a first drive wheel, and the second conveyor belt is driven by a second drive wheel. The first drive wheel and / or the second drive wheel are connected to an angle adjustment device, which is used to adjust the misalignment of the first drive wheel and the second drive wheel.

[0013] Optionally, both the first conveying gripper and the second conveying gripper have a base, a first claw body on the base, a sliding body slidably connected to the base, a second claw body connected to the sliding body, and a driving body connected to the second claw body. The driving body is used to drive the claw structure of the second claw body to cooperate with the claw structure of the first claw body to clamp one end of the bag opening of the packaging bag.

[0014] Optionally, the bag transport mechanism has a reciprocating moving device, on which a plurality of bag transport grippers are connected. Each bag transport gripper has a first clamping body and a second clamping body arranged in parallel and spaced apart. The first clamping body is connected to a first support, and the second clamping body is connected to a second support. A spacing adjustment component is connected to the first bracket and / or the second bracket. The spacing adjustment component drives the first bracket and / or the second bracket to move the clamping ends of the first clamp and the second clamp closer to each other or further apart.

[0015] Optionally, the bag sealing machine has a support frame, on which a bag sealing unit is mounted. The bag sealing unit includes: an intermediate body, a left compartment shell, and a right compartment shell, wherein the intermediate body is slidably mounted on the support frame. The left compartment shell is disposed on the left side of the intermediate body, and a first sealing compartment is formed between the left compartment shell and the intermediate body. A left compartment drive device is connected to the left compartment shell, and the left compartment drive device is used to drive the left compartment shell to move in a direction closer to or away from the intermediate body. The right compartment shell is located on the right side of the intermediate body, and a second sealing compartment is formed between the right compartment shell and the intermediate body. A right compartment drive device is connected to the right compartment shell, and the right compartment drive device is used to drive the right compartment shell to move in a direction closer to or away from the intermediate body. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a perspective view of a packaging production line provided in an embodiment of the present invention; Figure 2 for Figure 1 A perspective view of the bag sealing machine shown; Figure 3 for Figure 1 A perspective view of the bag-carrying mechanism shown; Figure 4 A perspective view of another packaging production line provided in an embodiment of the present invention; Figure 5 A perspective view of a bag storage mechanism and a bag opening mechanism provided by the present invention; Figure 6 for Figure 5 A three-dimensional view from the rear view angle; Figure 7 for Figure 5 A three-dimensional diagram viewed from below; Figure 8 This is a perspective view of a bag-grabbing mechanism cooperating with a bag storage mechanism and a bag-opening mechanism, provided in an embodiment of the present invention; Figure 9 for Figure 8 A partial perspective view of the bag-grabbing mechanism shown; Figure 10 for Figure 9 A second-angle stereoscopic view; Figure 11 This is a perspective view of a bag-grabbing mechanism provided in an embodiment of the present invention; Figure 12 This is a perspective view of a bag-grabbing robot provided in an embodiment of the present invention; Figure 13 for Figure 12 The image shown is a rear-view perspective 3D view of the bag-grabbing robot. Figure 14 A perspective view of the bag-opening mechanism provided by the present invention; Figure 15 for Figure 14 A 3D view of the back side; Figure 16 A perspective view of a specific embodiment of the conveying mechanism provided by the present invention; Figure 17 for Figure 16 Enlarged view of the middle drive wheel assembly area; Figure 18 for Figure 17 3D view of the middle drive wheel assembly; Figure 19 for Figure 18 The exploded view of the drive wheel assembly shown; Figure 20 for Figure 19 Further exploded view of the interior of the second drive wheel shown; Figure 21 for Figure 20 The combined main view; Figure 22 A perspective view of a specific embodiment of the conveying gripper assembly provided by the present invention; Figure 23 This is a schematic diagram showing the cooperation between the conveyor gripper assembly and the clamping mechanism. Figure 24 This is a schematic diagram of a bag-opening gripper assembly installed on a conveyor belt. Figure 25 A three-dimensional view of the second claw in the bag-opening gripper; Figure 26 A three-dimensional view of the first claw in the bag-opening gripper; Figure 27 A perspective view of another specific embodiment of the conveying gripper assembly provided by the present invention; Figure 28 for Figure 2 An enlarged view of area A of the bag sealing machine shown in the image; Figure 29 for Figure 2 An exploded view of a sealing chamber in the bag sealing machine shown in the figure; Figure 30 for Figure 29 Enlarged view of region B; Figure 31 for Figure 29 An exploded view of the left compartment shell shown; Figure 32 for Figure 31 Enlarged view of region C in the middle; Figure 33 for Figure 3 A partial three-dimensional view of the bag-carrying mechanism shown in the figure; Figure 34 for Figure 33 A perspective view of a bag-carrying gripper assembly in the bag-carrying mechanism shown; Figure 35 for Figure 24 Enlarged view of region D in the middle; Figure 36 for Figure 35 A diagram showing a hidden bag-carrying gripper; Figure 37 for Figure 36 A 3D image of a hidden bag-carrying gripper.

[0018] Explanation of reference numerals in the attached figures: 1. Bagging machine; 101. Bag storage mechanism; 102. Bag gripping mechanism; 103. Bag opening mechanism; 104. Filling mechanism; 105. Conveying mechanism; 1010. Bag storage bin; 1011. Support base plate; 1012. First folding edge; 1013. Support side plate; 1014. Second folding edge; 1021. Bag gripping nozzle; 1022. Horizontal rotating shaft; 1023. Fixed base; 1024. Sliding base; 1025. 10295. Connecting rod; 1020. Rotating sleeve; 1021. Bag-supporting push plate; 1022. Extension part; 1023. Mounting plate; 1024. Bag-grabbing robot; 1025. Connecting arm; 1026. Push plate drive component; 1027. Drive rod; 1028. Rotating component; 1029. Elastic mechanism; 10290. Limiting part; 1030. Bag-opening suction nozzle; 1031. Elastic top rod; 1032. Push... 1033. Moving top rod; 1034. Moving plate; 1035. Guide rod; 1036. Mounting base; 1037. Limiting component; 1038. Adjusting component; 1039. Angle plate; 1050. Conveyor gripper assembly; 10501. First conveyor gripper; 10502. Second conveyor gripper; 1051. First conveyor belt; 1052. Second conveyor belt; 1053. Drive shaft; 1054. Drive wheel assembly; 10541. The first... 10542. First drive wheel; 10543. Second drive wheel; 10544. Fixed disc; 10545. First rotating disc; 10546. Second rotating disc; 10547. Mounting notch; 1055. Mounting bracket; 1056. Telescopic rod; 1057. Rotating connecting rod; 10571. First connecting rod; 10572. Second connecting rod; 10573. Crank arm; 1058. First drive belt; 1059. Second drive belt; 2. Bag sealing machine; 201. Left compartment shell; 202. Right compartment shell; 203. Output mechanism; 204. Intermediate body; 205. Support frame; 206. Bag sealing gripper; 2061. Half gripper assembly; 2062. Clamping strip; 2063. Groove; 207. Heat sealing clamp; 2071. Heating plate; 2072. Pressure plate; 208. Airbag; 209. Elastic element; 2010. First vacuum tube; 2011. Second vacuum tube; 3. Bag transport mechanism; 301. Bag transport gripper assembly; 302. Reciprocating moving device; 3021. Lifting frame; 3022. Lifting drive device; 3023. Crank arm structure; 3024. Lateral drive device; 303. Bag transport gripper; 3031. First clamping body; 3032. Second clamping body; 304. First support; 305. Second support; 306. Spacing adjustment component; 307. Elastic component; 308. Strip hole; 309. Rotary drum; 3010. Clamping opening operation part; 3011. Fixed clamp; 3012. Movable clamp; 3013. Clamping opening component; 3014. Elastic holding mechanism; 3015. Linkage structure; 3016. Long rod component; 4. Packaging bag; 5. Substrate; 501. First claw body; 5010. First claw structure; 5011. Arc-shaped surface; 5012. Limiting post; 502. Second claw body; 5020. Second claw structure; 5021. Inclined surface; 5022. Stepped surface; 503. Sliding body; 504. Elastic body; 505. Driving body; 506. Clamping block; 6. Clamping mechanism; 7. Base; 7010. Inclined guide plate; 7011. First adjustment drive device; 7012. Second adjustment drive device; 7013. Drive plate; 7014. Rotating arm; 7015. First drive screw; 7016. Second drive screw. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0020] Example 1 like Figure 1 As shown, this embodiment provides a specific implementation of a packaging production line, including: a bagging machine 1 and a bag sealing machine 2. The bagging machine 1 has a bag storage mechanism 101, a bag gripping mechanism 102, a bag opening mechanism 103, a filling mechanism 104, and a conveying mechanism 105. The filling mechanism 104 is installed above the conveying mechanism 105, which has conveying grippers. The opening of the packaging bag 4 is kept open upwards on the conveying grippers. The packaging bag 4 is filled by the filling mechanism 104 as it passes through it. It should be noted that... Figure 1 The designation 104 for the filling mechanism is merely illustrative and indicates the installation location of the filling mechanism. Filling mechanisms are quite common in the prior art, and this application does not involve any improvement to the filling mechanism. Therefore, no detailed illustration or description is provided.

[0021] During operation, the packaging bags 4 are first stacked in the storage mechanism 101, then picked up one by one by the bag gripping mechanism 102. The bag gripping mechanism 102 transfers the packaging bags 4 to the bag opening mechanism 103, where the bag opening is opened. The bags are then transferred to the conveying grippers of the conveying mechanism 105, and finally filled by the filling mechanism 104. The packaging bags 4 are conveyed linearly and stepwise on the conveying mechanism 105 to meet the filling rhythm of the filling mechanism 104 and the loading and unloading rhythm of the conveying grippers.

[0022] like Figure 1, Figure 2 As shown, the sealing machine 2 has an openable sealing chamber. After the packaging bag 4 is filled on the bagging machine 1, it is transferred to the sealing chamber of the sealing machine 2 for heat sealing.

[0023] like Figure 2 As shown, in some embodiments, the bag sealing machine 2 includes an intermediate body 204, a left compartment shell 201 disposed on one side of the intermediate body 204, and a right compartment shell 202 disposed on the other side of the intermediate body 204. When the left compartment shell 201 moves away from the intermediate body 204, the bag sealing compartment on the left side of the intermediate body 204 is opened; when the left compartment shell 201 moves closer to the intermediate body 204, the bag sealing compartment on the left side of the intermediate body 204 is closed. When the right compartment shell 202 moves away from the intermediate body 204, the bag sealing compartment on the right side of the intermediate body 204 is opened; when the right compartment shell 202 moves closer to the intermediate body 204, the bag sealing compartment on the right side of the intermediate body 204 is closed. During operation, by alternately opening and closing the bag sealing compartments on the left and right sides of the intermediate body 204, the packaging bag 4 is clamped and heat-sealed respectively, which can improve the overall efficiency of heat sealing of the system.

[0024] In some embodiments, when the left compartment shell 201 or the right compartment shell 202 moves away from the intermediate body 204, the heat-sealed packaging bag 4 inside the sealing compartment can fall from the bottom of the sealing compartment. An output mechanism 203 can be provided at the bottom of the sealing compartment, which can promptly transport the fallen packaging bag 4 to other areas. Specifically, the output mechanism 203 can be a horizontal conveyor belt.

[0025] like Figure 1 , Figure 3 As shown, a bag conveying mechanism 3 is provided between the conveying mechanism 105 of the bagging machine 1 and the sealing chamber of the sealing machine 2. The bag conveying mechanism 3 has a bag conveying gripper assembly 301 that reciprocates along the conveying mechanism 105 of the bagging machine 1 and the sealing chamber of the sealing machine 2. The bag conveying gripper assembly 301 of the bag conveying mechanism 3 is used to clamp several filled packaging bags 4 located at the end of the conveying mechanism 105 at one time, and then convey them to the sealing chamber of the sealing machine 2. The sealing chamber is then closed by moving the left chamber shell 201 or the right chamber shell 202. Since the sealing chamber can accommodate multiple packaging bags 4 in the length direction, multiple packaging bags 4 can be sealed simultaneously in the sealing chamber.

[0026] In the packaging production line provided in this embodiment, multiple packaging bags 4 can be sealed at once in the sealing chamber of the sealing machine 2 during the sealing operation. When the bagging machine 1 is working, it can only pick up packaging bags 4 one by one from the bag storage mechanism 101. This causes the conveying rhythm of the conveying mechanism 105 to be out of sync with the sealing rhythm of the sealing machine 2. However, the packaging production line provided in this embodiment sets up a bag transport mechanism 3 between the bagging machine 1 and the sealing machine 2 to transport the packaging bags 4, thus solving the problem of the inconsistent working rhythm between the conveying mechanism 105 and the sealing machine 2.

[0027] like Figure 1 As shown, in some embodiments, the sealing chamber of the sealing machine 2 is arranged parallel to and offset from the vertical plane of the conveying path of the conveying mechanism 105 of the bagging machine 1. With this arrangement, after the bag-carrying gripper assembly 301 of the bag-carrying mechanism 3 removes the packaging bag 4 from the conveying mechanism 105, it first shifts towards one side of the conveying path of the conveying mechanism 105, and then moves along the conveying path towards the sealing machine 2, directly moving the packaging bag 4 into the sealing chamber. This arrangement avoids interference between the material inside the packaging bag 4 and the machine during the transfer process.

[0028] It should be noted that in some embodiments, the sealing machine 2 is located after the conveying path of the bagging machine 1. However, this is not limiting; in some alternative embodiments, such as... Figure 4 As shown, the sealing machine 2 can also be set at the bottom of the conveying end of the bagging machine 1, which can reduce the overall floor space.

[0029] Example 2 like Figure 5 As shown, this embodiment provides a specific implementation of a bag storage mechanism 101 and a bag opening mechanism 103, including: a base 7, on which a bag storage chamber 1010, a bag opening suction nozzle 1030, and a push rod 1032 are connected. The bag storage chamber 1010 is suitable for stacking and accommodating multiple packaging bags 4. The bag opening suction nozzle 1030 is used to cooperate with the bag gripping mechanism 102 to open the bag opening of the packaging bag 4. The push rod 1032 is used to cooperate with the bag gripping mechanism 102 to adjust the opening degree of the bag opening of the packaging bag 4.

[0030] like Figure 5 As shown, the storage bag compartment 1010 has a supporting base plate 1011 and a supporting side plate 1013. The supporting base plate 1011 has an inclined supporting surface, and the downward inclined end of the supporting surface has a first folded edge 1012. The supporting side plate 1013 has a second folded edge 1014. The second folded edge 1014 is arranged opposite to the first folded edge 1012, and a gap suitable for taking out the packaging bag 4 is formed between the first folded edge 1012 and the second folded edge 1014.

[0031] like Figure 6 As shown, the support base plate 1011 is vertically connected to the drive plate 7013. During adjustment, the drive plate 7013 drives the support base plate 1011 to move closer to or further away from the support side plate 1013, thereby adapting to different sizes of the packaging bag 4.

[0032] like Figure 7As shown, the base 7 includes: an inclined guide plate 7010, a drive plate 7013 slidably attached to the inclined guide plate 7010, and a support base plate 1011 fixedly connected to the side of the drive plate 7013 away from the inclined guide plate 7010. With this configuration, when the drive plate 7013 slides on the inclined guide plate 7010, it can directly drive the support base plate 1011 to move synchronously and in the same direction.

[0033] like Figure 7 As shown, the support side plate 1013 is movably connected to the side of the drive plate 7013 via a rotating arm 7014. Specifically, the rotating arm 7014 is connected to the inclined guide plate 7010 via a rotating shaft. One end of the rotating arm 7014 is rotatably connected to the support side plate 1013, and the other end is rotatably connected to the drive plate 7013. With this configuration, when the drive plate 7013 slides on the inclined guide plate 7010, the rotating arm 7014 can drive the support side plate 1013 to move synchronously in the opposite direction. With this configuration, the movement of the drive plate 7013 can simultaneously drive the support base plate 1011 and the support side plate 1013 to move, thereby adjusting the two support plates to move closer or further apart more quickly, and ensuring that the outlet position of the adjusted bag storage compartment 1010 does not become misaligned, ensuring that the bag gripping nozzle 1021 of the bag gripping mechanism 102 can smoothly pick up the bag.

[0034] like Figure 5 As shown, the bag opening suction nozzle 1030 is fixedly connected to the base 7. During operation, the bag gripping mechanism 102's bag gripping suction nozzle 1021 moves the packaging bag 4 to the work position opposite to the bag opening suction nozzle 1030. Then, the bag gripping suction nozzle 1021 moves closer to the bag opening suction nozzle 1030, so that it is adsorbed on both sides of the packaging bag 4. Then, through the axial movement of the bag gripping mechanism 102, the bag gripping suction nozzle 1021 moves away from the bag suction nozzle 1030, thereby opening the bag opening of the packaging bag 4.

[0035] like Figure 5 As shown, in some embodiments, an adjustment drive device is connected to the base 7. The adjustment drive device has a first adjustment drive device 7011 and a second adjustment drive device 7012 that are linked together. The drive end of the first adjustment drive device 7011 is connected to the drive plate 7013, and the drive end of the second adjustment drive device 7012 is connected to the push rod 1032.

[0036] The bag storage mechanism 101 and bag opening mechanism 103 provided in this embodiment share a common base 7. A first adjustment drive device 7011 and a second adjustment drive device 7012 are respectively mounted on the base 7. The two adjustment drive devices are linked, meaning that operating one adjustment drive device allows the other to operate synchronously. Specifically, the first adjustment drive device 7011 adjusts the drive plate 7013, thereby adjusting the size of the bag storage chamber 1010. The second adjustment drive device 7012 adjusts the extension length of the push rod 1032, thereby adjusting the distance between the bag-gripping suction nozzle 1021 on the bag-gripping manipulator 10290 in the bag-gripping mechanism 102 and the bag-supporting push plate 1027, thus adjusting the opening size of the packaging bag 4. With this configuration, when changing to different sizes of packaging bags 4, only one adjustment action is needed to simultaneously adjust the size of the bag storage chamber 1010 and the opening size of the packaging bag 4, simplifying the adjustment process.

[0037] like Figure 5 , Figure 6 As shown, in some embodiments, the push rod 1032 is connected to the movable plate 1033, and guide rods 1034 are connected to both sides of the movable plate 1033, with the guide rods 1034 fixed to the base 7. This configuration allows the push rod 1032 to move by driving the movable plate 1033; when the movable plate 1033 moves, the guide rods 1034 constrain and guide it. Specifically, the guide rods 1034 restrict the movable plate 1033 to move only along its axial direction, ensuring the positional accuracy of the movable plate 1033 during movement, thereby ensuring the stability of the push rod 1032 during movement and improving the accuracy and reliability of the entire pushing action. Figure 5 , Figure 7 As shown, in some embodiments, the first adjusting drive device 7011 includes a first gear seat and a first drive screw 7015. The first gear seat has a first drive tooth, and one end of the first drive screw 7015 is connected to the first drive tooth. Specifically, the first drive tooth can be sleeved on the first drive screw 7015 and tightly connected to it. This arrangement allows the rotation of the first drive tooth to drive the first drive screw 7015 to rotate synchronously. The other end of the first drive screw 7015 extends out of the first gear seat and is threadedly connected to the drive plate 7013. With this arrangement, when the first drive tooth rotates, it drives the first drive screw 7015 to rotate. The first drive screw 7015 is threadedly engaged with the drive plate 7013, thereby driving the drive plate 7013 to slide along the axial direction of the first drive screw 7015.

[0038] In some embodiments, the first gear housing also has a first driven tooth, which meshes with a first driving tooth. Specifically, the first driving tooth and the first driven tooth are two mating bevel gears; that is, the center lines of the first driving tooth and the first driven tooth are perpendicular to each other. With this arrangement, when the first driving tooth rotates, it can synchronously drive the first driven tooth to rotate. The first driven tooth can be connected to a synchronous shaft, which can then cooperate with the transmission structure within the second adjusting drive device 7012.

[0039] like Figure 5 As shown, the second adjustment drive device 7012 includes a second gear seat and a second drive screw 7016. The second gear seat has a second drive tooth and a second driven tooth that mesh with each other. The second drive tooth and the second driven tooth are two bevel gears that cooperate with each other. The second drive tooth and the first driven tooth are connected by a synchronous shaft, so that when the first driven tooth rotates, the second drive tooth can rotate synchronously.

[0040] One end of the second drive screw 7016 is connected to the second driven gear, and the other end of the second drive screw 7016 extends out of the second gear seat and is threadedly connected to the middle of the moving plate 1033. When the second driven gear rotates, it drives the second drive screw 7016 to rotate synchronously. Under the rotation of the second drive screw 7016, the threaded structure drives the push rod 1032 to adjust the extension distance.

[0041] like Figure 5 As shown, in some embodiments, the adjustment drive device has an operating handle connected to a first drive gear. Specifically, the operating handle can be a hand crank. During operation, the adjustment drive device is manually driven. Of course, the above description is not limiting; in some alternative embodiments, the operating handle can be replaced with an electric actuator, such as a motor.

[0042] like Figure 6As shown, in some embodiments, an elastic push rod 1031 is connected to the base 7, which is used to push the bag-supporting push plate 1027 on the bag-gripping mechanism 102. In its free state, the bag-supporting push plate 1027 of the bag-gripping mechanism 102 is generally positioned to keep the opening of the packaging bag 4 open. When the bag-gripping mechanism 102 moves towards the bag-opening mechanism 103, the bag-supporting push plate 1027 is abutted by the elastic push rod 1031, thereby moving to a position where the opening of the packaging bag 4 is not kept open. This arrangement facilitates the cooperation of the bag-opening suction nozzle 1030 and the bag-gripping suction nozzle 1021 to suction both sides of the packaging bag 4. When the bag gripping mechanism 102 is activated, causing the bag-supporting push plate 1027 to move away from the elastic top rod 1031, the bag opening suction nozzle 1030 and the bag gripping suction nozzle 1021 move away from each other, opening the bag opening of the packaging bag 4. The bag-supporting push plate 1027 then returns to a position where the bag opening of the packaging bag 4 can be kept open. With this configuration, the bag opening of the packaging bag 4 can be kept open by the bag gripping suction nozzle 1021 on the bag gripping mechanism 102 in conjunction with the bag-supporting push plate 1027.

[0043] like Figure 6 As shown, in some embodiments, a spring is fitted onto the elastic push rod 1031, and the spring has an elastic force that drives the elastic push rod 1031 outward. The elastic force of the spring is greater than the restoring force of the bag-supporting push plate 1027. With this configuration, when the bag-gripping mechanism 102 moves toward the bag-opening mechanism 103, causing the elastic push rod 1031 to act on the bag-supporting push plate 1027, the elastic force of the spring will not instantly push the bag-supporting push plate 1027 open rapidly. The spring needs to overcome the restoring force of the bag-supporting push plate 1027 while gradually releasing its elastic potential energy, which makes the bag-supporting push plate 1027 move at a relatively slow speed under the pushing of the elastic push rod 1031. Similarly, when the bag-gripping mechanism 102 moves away from the bag mechanism 103, the bag-supporting push plate 1027 can also move at a relatively slow speed under the pushing of the elastic push rod 1031. This design helps to precisely control the position and movement of the bag-opening pusher 1027. During the packaging process, the slowly moving bag-opening pusher 1027 can open the bag more gently and accurately, avoiding bag damage or poor bag-opening effect due to excessively fast movement.

[0044] Furthermore, although the elastic force of the spring is greater than the restoring force of the bag-supporting push plate 1027, the spring has the characteristic of elastic deformation. When the elastic push rod 1031 applies a pushing force to the bag-supporting push plate 1027, the spring will compress and deform as the bag-supporting push plate 1027 moves. If the pushing force is too large, the spring will compress further, and its elastic force will balance the pushing force, limiting the elastic push rod 1031 from continuing to push the bag-supporting push plate 1027 excessively, thereby protecting the bag-supporting push plate 1027 and its related structures from damage caused by excessive impact force and extending the service life of the equipment.

[0045] like Figure 6As shown, in some embodiments, the storage bag bins 1010 have at least four symmetrically arranged on the drive plate 7013. Correspondingly, the bag gripping mechanism 102 also has four sets of bag gripping nozzles 1021, and the bag opening mechanism 103 also has four sets of bag opening nozzles 1030. With this arrangement, two sets of conveyor lines can be set up, and each set of conveyor lines can transport two packaging bags 4 at a time. This arrangement allows the system to process a larger number of packaging bags 4 at the same time, greatly increasing the number of packaging bags 4 transported per unit time, thereby significantly improving the transport efficiency of packaging bags 4 and meeting the production needs of higher output.

[0046] During operation, after the bag gripping mechanism 102 removes the packaging bag 4 from the storage mechanism 101, the packaging bag 4 is transported to the opening mechanism 103. The opening mechanism 103 opens the bag opening of the packaging bag 4, and then it is transported to the conveying mechanism 105. The conveying mechanism 105 moves the packaging bag 4 to the filling mechanism 104, where materials are filled into the packaging bag 4. Specifically, at the opening mechanism 103, the bag gripper first opens the bag opening of the packaging bag 4 to a minimum size through the cooperation of the opening suction nozzle 1030 and the elastic push rod 1031. Then, during the transport of the packaging bag 4, the push rod 1032, in cooperation with the bag gripping mechanism 102, opens the bag opening of the packaging bag 4 to a suitable size.

[0047] Example 3 like Figure 8 As shown, this embodiment provides a specific implementation of a bag-gripping mechanism 102, including: a mounting plate 1029, which is slidably connected to a horizontal rotating shaft 1022. The mounting plate 1029 can rotate in a stepwise manner with the horizontal rotating shaft 1022, and can also reciprocate along the axial direction of the horizontal rotating shaft 1022. For example, the mounting plate 1029 can be mounted on the horizontal rotating shaft 1022 via a keyway structure.

[0048] like Figure 8 , Figure 9 As shown, multiple bag-grabbing manipulators 10290 are evenly distributed around the circumference of the mounting plate 1029. Each bag-grabbing manipulator 10290 is connected to a bag-grabbing suction nozzle 1021. The suction nozzle 1021 is used to pick up and separate the packaging bags 4 one by one from the storage bin 1010, and the rotation of the mounting plate 1029 transfers the picked-up packaging bags 4 to the bag-opening mechanism 103. Specifically, when picking up the packaging bags 4 from the storage bin 1010, the mounting plate 1029 moves axially along the horizontal rotating shaft 1022, causing the suction nozzle 1021 to move closer to or further away from the outlet of the storage bin 1010, thereby removing the packaging bags 4. Then, the mounting plate 1029 rotates stepwise along the horizontal rotating shaft 1022 to transfer the packaging bags 4 to the next workstation.

[0049] like Figure 8 As shown, in some embodiments, the mounting plate 1029 has three bag-grabbing robots 10290. These three robots are arranged circumferentially around a horizontal rotating shaft 1022 and can rotate in a stepping manner with the shaft, thereby achieving continuous and orderly feeding of the packaging bags 4. The multiple bag-grabbing robots 10290 arranged circumferentially, combined with the stepping rotating structure, enable simultaneous multi-station actions such as bag picking, bag transfer, and bag placement, significantly improving the continuity and efficiency of bag picking and feeding, reducing equipment waiting time, and making the overall packaging process smoother and more stable. Of course, the above description is not limiting. In some alternative embodiments, the number of bag-grabbing robots 10290 is not limited to three; it can also be one, two, or more.

[0050] like Figure 9 , Figure 10 As shown, in some embodiments, a fixed seat 1023 and a sliding seat 1024 are connected to the horizontal rotating shaft 1022. Specifically, the fixed seat 1023 can be connected to the horizontal rotating shaft 1022 by a tight fit or by a locking member; this arrangement makes the fixed seat 1023 and the horizontal rotating shaft 1022 integrally connected. The sliding seat 1024 is slidably connected to the horizontal rotating shaft 1022. Specifically, a keyway structure can be provided between the sliding seat 1024 and the horizontal rotating shaft 1022, so that the sliding seat 1024 can only slide along the axial direction of the horizontal rotating shaft 1022. The sliding seat 1024 is located on the side of the fixed seat 1023 away from the bag-grabbing robot 10290.

[0051] In some embodiments, a connecting rod 1025 passes through the fixed base 1023. One end of the connecting rod 1025 is connected to the mounting plate 1029, and the other end is connected to the sliding base 1024. Specifically, the fixed base 1023 has a through hole for the connecting rod 1025 to pass through, allowing the connecting rod 1025 to slide within the through hole. This configuration restricts the circumferential rotation of the sliding base 1024, allowing it to slide only along the axial direction of the horizontal rotating shaft 1022. With this embodiment, a keyway structure is not required between the sliding base 1024 and the horizontal rotating shaft 1022. Compared to a keyway structure, this embodiment offers greater structural stability. Specifically, during long-term use, the key and keyway in a keyway structure experience wear due to relative movement, gradually increasing the gap and affecting structural stability and transmission accuracy. In this embodiment, the constraint relationship between the connecting rod 1025 and the through hole in the fixed base 1023 is used to restrict the circumferential rotation of the sliding base 1024. When an external force attempts to make the sliding seat 1024 rotate circumferentially, the connecting rod 1025 is restricted by the hole in the fixed seat 1023 and cannot follow the sliding seat 1024 to make circumferential movement, thus preventing the sliding seat 1024 from rotating circumferentially.

[0052] In this embodiment, the sliding fit between the connecting rod 1025 and the through hole of the fixed seat 1023 is structurally simpler, eliminating the gap issues associated with keyway structures. This reduces the risk of loosening due to wear, allowing the entire structure to maintain better stability during long-term operation, extending the equipment's service life, and reducing maintenance costs. Furthermore, when the connecting rod 1025 slides within the through hole, its contact area with the through hole wall is relatively large, enabling it to better withstand forces from all directions, resulting in a more stable structure.

[0053] In some embodiments, to improve the smoothness of sliding, a linear bearing may be provided in the through hole of the fixing seat 1023.

[0054] In some embodiments, the connecting rods 1025 have at least three circumferentially parallel spacings arranged around the horizontal rotating shaft 1022. When the horizontal rotating shaft 1022 rotates in a stepwise manner, it directly drives the fixed seat 1023 to rotate synchronously. The fixed seat 1023, through the connecting rods 1025, drives the mounting plate 1029 and the sliding seat 1024 to rotate synchronously. This arrangement improves the stability when the mounting plate 1029, the fixed seat 1023, and the sliding seat 1024 rotate synchronously in the circumferential direction. Of course, the above description is not limiting. In some alternative embodiments, the connecting rods 1025 may be provided as one, two, or more.

[0055] In some embodiments, a rotating sleeve 1026 is connected to the sliding seat 1024, and a driving device is connected to the rotating sleeve 1026. The driving device is used to drive the rotating sleeve 1026 to slide along the axial direction of the horizontal rotating shaft 1022, thereby driving the sliding seat 1024 to move axially, and then driving the bag-grabbing robot 10290 to move axially.

[0056] like Figure 11 As shown, in some embodiments, multiple mounting discs 1029 may be sequentially spaced on the horizontal rotating shaft 1022. This arrangement enables the simultaneous parallel conveying of multiple sets of packaging bags 4, allowing for the synchronous conveying of multiple sets of packaging bags 4 within the same time period. Compared to the situation where only one set of packaging bags 4 can be processed at a time, this greatly increases the number of packaging bags 4 conveyed per unit time, meeting the demand for fast and efficient conveying of packaging bags 4 in large-scale production scenarios.

[0057] Specifically, the horizontal rotating shaft 1022 serves as a power transmission component, its rotation driving multiple mounting discs 1029 to rotate synchronously. Each mounting disc 1029 is equivalent to an independent working unit carrier, and the related mechanisms connected to the mounting disc 1029 (such as the bag-grabbing suction nozzle 1021) can perform operations such as grabbing and transferring the packaging bags 4 at the corresponding positions. Since multiple mounting discs 1029 rotate around the horizontal rotating shaft 1022 simultaneously, each working unit works at the same time, realizing a parallel spatial and synchronous temporal conveying process for multiple sets of packaging bags 4, thereby improving conveying efficiency. From a space utilization perspective, the horizontal rotating shaft 1022 provides a basis for the linear arrangement of the mounting discs 1029, allowing each working unit to be distributed in an orderly manner along the axial direction, making full use of the equipment's three-dimensional space.

[0058] During operation, the bag-grabbing nozzles 1021 on each mounting plate 1029 pick up the packaging bags 4 from the corresponding storage bins 1010. Then, via the sliding seat 1024, the bag-grabbing robot 10290 moves axially outwards to remove the packaging bags 4 from the storage bins 1010. Driven by the horizontal rotating shaft 1022, multiple mounting plates 1029 rotate synchronously, transferring the packaging bags 4 from the bag-grabbing nozzles 1021 to the next workstation.

[0059] Example 4 like Figure 12 , Figure 13 As shown, this embodiment provides a specific implementation of a bag-gripping robot 10290, including: a connecting arm 10291, on which a bag-gripping suction nozzle 1021 is connected, which is used to grip and hold the packaging bag 4.

[0060] A bag-supporting push plate 1027 is movably connected to the connecting arm 10291. The bag-supporting push plate 1027 has two extensions 1028, which are located on both sides of a bag-gripping nozzle 1021. During operation, when a packaging bag 4 is adsorbed onto the bag-gripping nozzle 1021 and the opening of the packaging bag 4 is opened, the two extensions 1028 of the bag-supporting push plate 1027 move along the direction of the bag-gripping nozzle 1021, keeping the opening of the packaging bag 4 open. In actual production, the opening of the packaging bag 4 needs to be opened to different sizes depending on the size of the packaging bag 4. In some embodiments, the size of the opening of the packaging bag 4 can be adjusted by adjusting the relative distance between the two extensions 1028 of the bag-supporting push plate 1027 and the bag-gripping nozzle 1021.

[0061] like Figure 12As shown, in some embodiments, a pusher plate drive member 10292 is connected to the bag-holding pusher plate 1027, which drives the bag-holding pusher plate 1027 to move along the direction of the bag-gripping suction nozzle 1021. Specifically, the pusher plate drive member 10292 can be a spring, and a limiting part 10296 can be provided on the moving path of the bag-holding pusher plate 1027. Under the elastic force of the pusher plate drive member 10292, the bag-holding pusher plate 1027 remains abutting against the limiting part 10296. Of course, the above description is not limiting. In some alternative embodiments, the pusher plate drive member 10292 can also be a cylinder, hydraulic cylinder, electric push rod, etc.

[0062] The bag gripping mechanism 102 provided in this embodiment, through the setting of the bag supporting push plate 1027, can cooperate with the bag opening mechanism 103 to open the packaging bag 4 and keep the bag opening of the packaging bag 4 in an open state for transfer.

[0063] like Figure 12 , Figure 13 As shown, in some embodiments, a drive rod 10293 is rotatably connected to the top of the connecting arm 10291, and the drive rod 10293 is used to connect the bag-gripping nozzle 1021. Specifically, the bag-gripping nozzle 1021 can be connected to a nozzle mounting plate, and the middle part of the drive rod 10293 is connected to the nozzle mounting plate by a fastener. With this configuration, the relative rotation of the drive rod 10293 relative to the connecting arm 10291 can cause the bag-gripping nozzle 1021 to move relative to the bag. With this configuration, when the bag-supporting push plate 1027 pushes the packaging bag 4, the change in the position of the bag-gripping nozzle 1021 directly affects the size of the opening of the packaging bag 4. When the bag-gripping nozzle 1021 is close to the bag-supporting push plate 1027, the opening of the bag is relatively small; when the bag-gripping nozzle 1021 is far away from the bag-supporting push plate 1027, the opening of the bag is relatively large. This allows for precise control of the opening size of the four bags according to actual packaging needs, ensuring that materials can be smoothly packed into the bags, while avoiding packaging problems caused by the opening being too large or too small, such as material spillage or difficulty in bagging, thus improving packaging quality and efficiency.

[0064] This structure utilizes the lever principle and the motion characteristics of a revolute joint. The drive rod 10293 and the top of the connecting arm 10291 form a revolute joint, allowing the drive rod 10293 to rotate around this fixed point. When the drive rod 10293 rotates, with the point of rotation as the fulcrum, the drive rod 10293 acts as a lever, and the bag-gripping nozzle 1021 is connected to the middle of the lever. According to the lever principle, when the lever rotates around the fulcrum, each point on the lever moves along a circular trajectory centered on the fulcrum, thereby causing the bag-gripping nozzle 1021 to move relative to the fulcrum. The combined action of the bag-supporting push plate 1027 and the bag-gripping nozzle 1021 on the packaging bag 4 determines the size of the bag opening. Changes in the position of the bag-gripping nozzle 1021 cause changes in the direction and magnitude of its pulling force on the packaging bag 4, interacting with the pushing force of the bag-supporting push plate 1027, ultimately achieving precise control over the size of the bag opening.

[0065] like Figure 13 As shown, in some embodiments, the drive rod 10293 extends in the opposite direction to the extension direction of the connecting arm 10291. This arrangement allows the drive rod 10293 to be pushed from the inside of the mounting plate 1029, thereby causing the drive rod 10293 to move the bag-gripping nozzle 1021 away from the two extensions 1028 of the bag-supporting push plate 1027, thus adjusting the opening of the packaging bag 4 from a smaller opening to a suitable opening.

[0066] like Figure 13 As shown, in some embodiments, the extended end of the drive rod 10293 has a rotating element 10294, which may be a bearing or a ball joint. This arrangement ensures that the bag-gripping mechanism 102 maintains a suitable opening on the bag opening of the packaging bag 4 during movement. Of course, the above description is not limiting; in some alternative embodiments, the rotating element 10294 may be omitted.

[0067] like Figure 12 , Figure 13 As shown, in some embodiments, one end of the drive rod 10293 is rotatably connected to the extension end of the connecting arm 10291, and the middle part of the drive rod 10293 is connected to the connecting arm 10291 via an elastic mechanism 10295. The elastic mechanism 10295 has an elastic force that causes the drive rod 10293 to move closer to the connecting arm 10291, thereby keeping the bag-gripping nozzle 1021 in a relatively forward-protruding position. When adjusting the extension end of the drive rod 10293, the bag-gripping nozzle 1021 can be moved backward. Of course, the above description is not limiting. In some alternative embodiments, the drive rod 10293 and the connecting arm 10291 can also be slidably connected.

[0068] like Figure 12As shown, in some embodiments, the elastic mechanism 10295 includes a bolt and a spring, with the bolt passing through the drive rod 10293 and connected to the connecting arm 10291, and the spring sleeved on the bolt. Of course, the above description is not limiting; in some alternative embodiments, the elastic mechanism 10295 can also be other structures, such as metal springs, springs, or elastic rubber.

[0069] like Figure 13 As shown, in some embodiments, the bag-supporting push plate 1027 is rotatably connected to the connecting arm 10291. The connecting arm 10291 has a limiting part 10296, which is located on the side of the bag-supporting push plate 1027 away from the bag-grabbing nozzle 1021. When the bag-supporting push plate 1027 moves along the direction of the bag-grabbing nozzle 1021 under the action of the push plate drive member 10292, the limiting part 10296 abuts against the bag-supporting push plate 1027, thereby holding the bag-supporting push plate 1027 in that position. Of course, the above description is not limiting. In some alternative embodiments, the bag-supporting push plate 1027 and the connecting arm 10291 can also be slidably connected.

[0070] like Figure 12 As shown, in some embodiments, the pusher drive 10292 is a spring, which causes the bag-supporting pusher 1027 to move away from the bag-gripping suction nozzle 1021 by the elastic force of the spring.

[0071] like Figure 13 As shown, in some embodiments, a bag-gripping robot 10290 has two sets of bag-gripping suction nozzles 1021. Each set of suction nozzles 1021 has two nozzles spaced vertically apart. The two nozzles respectively grip the upper and lower positions of the packaging bag 4, thereby stably gripping one packaging bag 4. It should be noted that one nozzle located near the bag-supporting push plate 1027 is used to grip the bag opening end of the packaging bag 4. The bag-supporting push plate 1027 has two sets of extensions 1028, each set of extensions 1028 is used to cooperate with the nozzle in one set of bag-gripping suction nozzles 1021 used to grip the bag opening end of the packaging bag 4. In the above solution, by arranging two sets of bag-gripping suction nozzles 1021 on a bag-gripping robot 10290, two parallel packaging bags 4 can be gripped simultaneously, improving the efficiency of transporting the packaging bags 4.

[0072] Example 5 like Figure 14 , Figure 15As shown in the figure, a specific implementation of the bag opening mechanism 103 provided in this embodiment includes: a base 7, on which a first bag-supporting station and a second bag-supporting station are provided. Specifically, the first bag-supporting station is the bag opening station, and the second bag-supporting station is the bag feeding station. The bag opening station is used to open a small opening in the bag mouth of the packaging bag 4, and the bag feeding station is used to further enlarge the bag mouth of the packaging bag 4 until the opening size is appropriate. At the same time, the bag feeding station is used to transfer the packaging bag 4 from the bag gripping mechanism 102 to the conveying mechanism 105, that is, to transfer the packaging bag 4 from the bag gripping nozzle 1021 to the conveying gripper assembly 1050. With this configuration, the bag mouth of the packaging bag 4 is opened to the required position twice, which can improve the adsorption stability of the bag gripping nozzle 1021 on the bag gripping mechanism 102 on the packaging bag 4 and avoid the problem of the packaging bag 4 detaching during the bag-supporting process when it is opened to the required position only once.

[0073] like Figure 14 As shown, an opening suction nozzle 1030 is connected to the first bag-holding station. The opening suction nozzle 1030 is used to suction one side of the bag opening of the packaging bag 4, thereby cooperating with the bag gripping mechanism 102 on the other side of the bag opening to open the bag opening. Specifically, the opening suction nozzle 1030 suctions one side of the bag opening of the packaging bag 4, and the bag gripping mechanism 102 suctions the other side of the bag opening. Then, the two suction nozzles can open the bag opening by moving away from each other.

[0074] like Figure 8 , Figure 9 As shown, in some embodiments, the bag opening mechanism 103 is located on the rotation path of the bag gripping robot 10290 of the bag gripping mechanism 102. When the horizontal rotating shaft 1022 of the bag gripping mechanism 102 drives the bag gripping robot 10290 to the working position of the bag opening mechanism 103, the bag gripping suction nozzle 1021 on the bag gripping robot 10290 adsorbs one side of the packaging bag 4, and the other side of the packaging bag 4 is opposite to the bag opening suction nozzle 1030. Through the bag gripping mechanism 102... The sliding seat 1024 drives the bag-gripping robot 10290 to move inward along the axial direction, bringing the packaging bag 4 close to the opening suction nozzle 1030, so that the opening suction nozzle 1030 and the bag-gripping suction nozzle 1021 respectively adhere to the opposite sides of the packaging bag 4; then, when the sliding seat 1024 drives the bag-gripping robot 10290 to retract outward along the axial direction, the bag opening nozzle 1030 and the bag-gripping suction nozzle 1021 work together to open the bag opening of the packaging bag 4.

[0075] like Figure 14As shown, a push rod 1032 is connected to the second bag-holding station. The push rod 1032 extends towards the bag-gripping mechanism 102 and abuts against the rotating part 10294 on the drive rod 10293 of the bag-gripping mechanism 102. This causes the drive rod 10293 to move the bag-gripping suction nozzle 1021, thereby changing the distance between the bag-gripping suction nozzle 1021 and the extension 1028 of the bag-holding push plate 1027, and thus increasing the opening degree of the bag mouth of the packaging bag 4 on the bag-gripping mechanism 102. Specifically, the push plate drive part 10292 is linked with the bag-gripping suction nozzle 1021. When the push rod 1032 abuts against the drive rod 10293 and moves against the elastic force of the push plate drive part 10292, it can indirectly push the bag-gripping suction nozzle 1021, causing the bag-gripping suction nozzle 1021 to move further away from the bag-holding push plate 1027, thereby further opening the bag mouth of the packaging bag 4 and making the bag mouth open to the correct position.

[0076] like Figure 14 As shown, in some embodiments, an adjustment drive device is connected to the base 7. The drive end of the adjustment drive device is connected to the push rod 1032 and is used to adjust the length of the push rod 1032 extending toward the bag gripping mechanism 102. With this configuration, the extension length of the push rod 1032 can be adjusted according to the different sizes of the packaging bag 4, thereby adjusting the required opening size of the bag opening when transferring the packaging bag 4 to the conveying gripper assembly 1050 of the conveying mechanism 105. Specifically, the longer the push rod 1032 extends outward, the farther it drives the drive rod 10293 of the bag gripping mechanism 102, thus making the opening of the packaging bag 4 larger.

[0077] like Figure 14 As shown, in some embodiments, the push rod 1032 is connected to the movable plate 1033, the movable plate 1033 is connected to the drive end of the adjustment drive device, and the movable plate 1033 is connected to the base 7 via a guide rod 1034. This arrangement allows the guide rod 1034 to stabilize the sliding of the movable plate, making the movement distance and direction of the push rod 1032 more accurate.

[0078] like Figure 14 As shown, in some embodiments, the adjustment drive device includes a drive screw, which is threadedly connected to the moving plate 1033. The drive screw drives the moving plate 1033 to move along the axial direction of the drive screw by rotation. This configuration allows for more precise adjustment of the moving plate and the moving distance of the push rod 1032, thereby precisely controlling the size of the opening of the packaging bag 4.

[0079] like Figure 15As shown, in some embodiments, an elastic push rod 1031 is connected to the base 7 at the first bag-supporting station. The extended end of the elastic push rod 1031 is used to push the bag-supporting push plate 1027 on the bag-gripping mechanism 102. The bag-supporting push plate 1027 is used to cooperate with the bag-gripping suction nozzle 1021 to open the packaging bag 4.

[0080] like Figure 15 As shown, in some embodiments, a mounting base 1035 is connected to the base 7 at the first support bag station, and an elastic push rod 1031 is inserted through the mounting base 1035. The end of the elastic push rod 1031 away from the protruding end has a limiting member 1036, and a spring is sleeved on the elastic push rod 1031. The spring has an elastic force that drives the elastic push rod 1031 to move toward the protruding end.

[0081] Specifically, an adjusting element 1037 is threaded onto the elastic push rod 1031, and the spring abuts against the adjusting element 1037. The elastic force of the spring can be adjusted by adjusting the adjusting element 1037.

[0082] like Figure 14 As shown, in some embodiments, the base 7 has a corner plate 1038, and multiple bag-opening suction nozzles 1030 are connected to the corner plate 1038. The position of the bag-opening suction nozzles 1030 can be adjusted via the corner plate 1038, thereby better cooperating with the bag-gripping suction nozzles 1021 for opening bags. Specifically, an elongated hole for connecting fasteners can be provided on the corner plate 1038, and the bag-opening suction nozzles 1030 can be connected to the elongated hole via fasteners, thereby realizing the position adjustment of the bag-opening suction nozzles 1030.

[0083] like Figure 14 As shown, in some embodiments, the bag-opening suction nozzle 1030 and the push rod 1032 are respectively arranged in two symmetrical sets on the base 7. This arrangement allows two conveyor lines to be served simultaneously. Each set can be equipped with multiple bag-opening suction nozzles 1030, thereby allowing multiple packaging bags 4 to be opened simultaneously on the same conveyor line.

[0084] Example 6 like Figure 16 As shown, this embodiment provides a specific implementation of a conveying mechanism 105, including: a conveyor belt, on which a plurality of conveying gripper assemblies 1050 are sequentially connected. Each conveying gripper assembly 1050 has two symmetrical conveying grippers, namely: a first conveying gripper 10501 and a second conveying gripper 10502. The first conveying gripper 10501 and the second conveying gripper 10502 are respectively used to clamp the two ends of the bag opening of the packaging bag 4, thereby conveying the packaging bag 4 in a conveying state with the bag opening open, so as to facilitate filling of the packaging bag 4 at the filling station.

[0085] like Figure 17As shown, in some embodiments, the conveyor belt has a first conveyor belt 1051 and a second conveyor belt 1052 arranged in parallel, wherein the first conveyor belt 1051 has two parallel and spaced-apart sections, and the second conveyor belt 1052 is located between the two first conveyor belts 1051. A first conveyor gripper 10501 is connected to the first conveyor belt 1051, and a second conveyor gripper 10502 is connected to the second conveyor belt 1052. In use, the distance between the first conveyor gripper 10501 and the second conveyor gripper 10502 can be adjusted by adjusting the relative displacement of the first conveyor belt 1051 and the second conveyor belt 1052, thereby adapting to packaging bags 4 of different sizes. Of course, the above description is not limiting; in some alternative embodiments, the first conveyor belt 1051 and the second conveyor belt 1052 may each have one parallel section.

[0086] like Figure 18 As shown, in some embodiments, a drive wheel assembly 1054 is connected to the conveyor belt. The drive wheel assembly 1054 is driven to rotate via a drive shaft 1053. The drive wheel assembly 1054 includes a first drive wheel 10541 and a second drive wheel 10542. The first drive wheel 10541 is connected to the first conveyor belt 1051, and the second drive wheel 10542 is connected to the second conveyor belt 1052. An angle adjustment device is connected to the first drive wheel 10541 and / or the second drive wheel 10542. The angle adjustment device is used to drive the first drive wheel 10541 and / or the second drive wheel 10542 to rotate relative to each other, thereby realizing the relative displacement of the first conveyor belt 1051 and the second conveyor belt 1052. It should be noted that the aforementioned angle adjustment device can be a separate device for adjusting the angle of the first drive wheel 10541 and the second drive wheel 10542, or it can be a control mechanism for a motor that drives the first drive wheel 10541 and the second drive wheel 10542 respectively. That is, in some embodiments, the first drive wheel 10541 and the second drive wheel 10542 can be driven by separate motors, and the angle of the two drive wheels can be adjusted by adjusting the speed difference between the two motors.

[0087] The conveying mechanism 105 provided in this embodiment uses two conveying jaws in each set of conveying jaws 1050 to clamp the two ends of the bag opening of the packaging bag 4. One of the two conveying jaws is connected to the first conveyor belt 1051 and the other is connected to the second conveyor belt 1052. When the size of the packaging bag 4 changes, the relative displacement of the two conveyor belts can be adjusted by the relative rotation of the two drive wheels of the drive wheel set 1054, thereby adjusting the relative distance between the two conveying jaws and thus adapting to the conveying of packaging bags 4 of different sizes.

[0088] like Figure 19As shown, in some embodiments, there are two first drive wheels 10541 arranged side by side with a gap between them, and one second drive wheel 10542 located between the two first drive wheels 10541. This arrangement allows the gripper bodies of the conveyor grippers to extend from both sides of the conveyor belt, thereby forming two conveyor lines and ensuring the stability of the conveyor gripper assembly 1050 during conveying.

[0089] like Figure 20 As shown, in some embodiments, a fixed disk 10543, a first rotating disk 10544, and a second rotating disk 10545 are connected to the drive shaft 1053. The fixed disk 10543 is fixedly connected to the drive shaft 1053, while the first rotating disk 10544 and the second rotating disk 10545 are movably connected to the drive shaft 1053. Specifically, the first rotating disk 10544 and the second rotating disk 10545 are provided with multiple oblong holes spaced circumferentially, and fasteners are inserted into these oblong holes, connecting to the fixed disk 10543. This arrangement allows the fasteners to move within the oblong holes when the first rotating disk 10544 and the second rotating disk 10545 rotate relative to the fixed disk 10543.

[0090] It should be noted that the first drive wheel 10541 is fixedly connected to the first rotating disk 10544, and the second drive wheel 10542 is fixedly connected to the second rotating disk 10545. Specifically, the first drive wheel 10541 and the first rotating disk 10544 can be fixedly connected by a snap-fit, and the second drive wheel 10542 and the second rotating disk 10545 can be integrally formed. With this configuration, the first rotating disk 10544 can drive the first drive wheel 10541 to rotate, and the second rotating disk 10545 can drive the second drive wheel 10542 to rotate. Therefore, by adjusting the angle between the first rotating disk 10544 and the second rotating disk 10545, the misalignment distance between the first drive wheel 10541 and the second drive wheel 10542 can be adjusted.

[0091] like Figure 20 , Figure 21As shown, in some embodiments, the first rotating disk 10544 is located between the fixed disk 10543 and the second rotating disk 10545. A first drive wheel 10541 on the first rotating disk 10544, located on the side closer to the second rotating disk 10545, needs to pass through the second rotating disk 10545 to connect with the first rotating disk 10544. Therefore, the second rotating disk 10545 has a mounting notch 10546 in its circumferential direction to avoid the first drive wheel 10541. This arrangement allows for the connection of a first drive wheel 10541 to each side of the first rotating disk 10544, thereby connecting a first conveyor belt 1051 to each first drive wheel 10541. Then, a second drive wheel 10542 is connected to the second rotating disk 10545, and a second conveyor belt 1052 is connected to the second drive wheel 10542, thus achieving a conveyor belt structure with a second conveyor belt 1052 positioned between two spaced-apart first conveyor belts 1051. This conveyor belt structure allows two conveyor lines to be formed on both sides of the conveyor belt.

[0092] like Figure 20 As shown, in some embodiments, the angle adjustment device is mounted on the fixed disk 10543. Specifically, the angle adjustment device is located on the side of the second rotating disk 10545 away from the first rotating disk 10544 and the fixed disk 10543. This arrangement allows for more convenient angle adjustment of the first rotating disk 10544 and / or the second rotating disk 10545. The first rotating disk 10544 and the second rotating disk 10545 each have an arc-shaped perforation for a mounting bolt to pass through, through which the angle adjustment device is connected to the fixed disk 10543.

[0093] like Figure 20 As shown, in some embodiments, the angle adjustment device includes a mounting bracket 1055, which is connected to the fixed plate 10543 by bolts passing through the arc-shaped waist holes of the first rotating plate 10544 and the second rotating plate 10545. A telescopic rod 1056 and a rotating connecting rod 1057 are connected to the mounting bracket 1055. One end of the telescopic rod 1056 is a fixed end, and the other end is connected to the rotating connecting rod 1057. The rotating connecting rod 1057 is rotatably connected to the mounting bracket 1055, and the other end of the rotating connecting rod 1057 is connected to the first drive wheel 10541 and / or the second drive wheel 10542. During operation, by adjusting the telescopic rod 1056, the telescopic rod 1056 can be extended or retracted, thereby driving the rotating connecting rod 1057 to rotate, which in turn drives the first drive wheel 10541 and / or the second drive wheel 10542 to rotate relative to each other. This allows the two conveyor belts connected to the first drive wheel 10541 and the second drive wheel 10542 to move out of alignment, thereby adjusting the spacing between the conveyor grippers on the two conveyor belts.

[0094] like Figure 21As shown, in some embodiments, the end of the drive shaft 1053 has a limiting groove for the telescopic rod 1056 to pass through. This limiting groove extends radially along the drive shaft 1053, and the telescopic rod 1056 is perpendicular to the drive shaft 1053. During operation, the groove wall of the limiting groove forms a physical barrier against the telescopic rod 1056. When an external force is applied that causes the telescopic rod 1056 to move circumferentially, the groove wall bears and counteracts this force, thereby constraining the movement of the telescopic rod 1056 and keeping it in its original position. In other words, the limiting groove ensures that the telescopic rod 1056 is installed correctly and will not shift during operation.

[0095] like Figure 21 As shown, in some embodiments, the rotating link 1057 has two sets, and the two sets of rotating links 1057 are rotatably connected to the telescopic rod 1056 respectively. One set of rotating links 1057 is connected to the first drive wheel 10541, and the other set of rotating links 1057 is connected to the second drive wheel 10542. Specifically, each set of rotating links 1057 includes: a first link 10571, a second link 10572, and a crank arm 10573. The telescopic rod 1056 is connected to the crank arm 10573 through the first link 10571. The middle of the crank arm 10573 is rotatably connected to the mounting bracket 1055. The other end of the crank arm 10573 is rotatably connected to the second link 10572. The other end of the second link 10572 is connected to the first rotating disk 10544 or the second rotating disk 10545. With this configuration, the first rotating disk 10544 and the second rotating disk 10545 can be driven to rotate relative to each other by a telescopic rod 1056.

[0096] like Figure 16As shown, in some embodiments, the conveyor belt is a synchronous belt, and the outer periphery of the drive wheel assembly 1054 has a toothed structure for engaging with the conveyor belt. A main drive wheel is connected to the drive shaft 1053, and a first drive belt 1058 and a second drive belt 1059 are connected to the main drive wheel. The first drive belt 1058 is connected to the drive end of a motor, which drives the drive shaft 1053 to rotate. The second drive belt 1059 is connected to the horizontal rotating shaft 1022 of the bag-gripping mechanism 102, thereby driving the horizontal rotating shaft 1022 to rotate synchronously. This arrangement allows the bag-gripping robot 10290 on the horizontal rotating shaft 1022 to move synchronously with the conveyor gripper assembly 1050 on the conveyor belt, thus facilitating the coordinated operation of the bag-gripping mechanism 102 and the conveying mechanism 105. Specifically, when the drive shaft 1053 rotates, it drives the conveyor belt of the conveying mechanism 105 to perform step-by-step conveying. Simultaneously, when the horizontal rotating shaft 1022 rotates, it drives the bag-grabbing robot 10290 of the bag-grabbing mechanism 102 to move step-by-step. Thus, with each rotation, a packaging bag 4 from the bag-grabbing robot 10290 is moved to a conveyor gripper on the conveyor belt. This simplifies and coordinates the cooperation between the bag-grabbing mechanism 102 and the conveying mechanism 105. This regular synchronous movement makes the entire packaging process smoother, reducing problems such as jamming or collisions caused by improper coordination between mechanisms, and improving the overall operational stability and reliability of the equipment.

[0097] Example 7 like Figure 22 , Figure 23 As shown, this embodiment provides a specific implementation of a conveying gripper assembly 1050, including two symmetrically arranged conveying grippers, namely a first conveying gripper 10501 and a second conveying gripper 10502. During operation, the first conveying gripper 10501 and the second conveying gripper 10502 respectively grip the two ends of the bag opening of the packaging bag 4. This arrangement facilitates opening the bag opening of the packaging bag 4. Specifically, by adjusting the distance between the first conveying gripper 10501 and the second conveying gripper 10502, the opening degree of the packaging bag 4 can be adjusted. Maintaining the bag opening degree during transport facilitates subsequent filling operations.

[0098] like Figure 24 As shown, the conveyor belt of the conveyor mechanism 105 has a first conveyor belt 1051 and a second conveyor belt 1052 arranged in parallel, and the misalignment distance between the first conveyor belt 1051 and the second conveyor belt 1052 can be adjusted.

[0099] In this embodiment, the conveyor gripper assembly 1050 is used such that the first conveyor gripper 10501 is fixedly connected to the first conveyor belt 1051, and the second conveyor gripper 10502 is fixedly connected to the second conveyor belt 1052. With this configuration, when the size of the packaging bag 4 to be gripped changes, the offset distance between the first conveyor belt 1051 and the second conveyor belt 1052 can be adjusted to accommodate the gripping and conveying of packaging bags 4 of different sizes.

[0100] like Figures 22-24 As shown, in some embodiments, the conveying gripper includes: a base 5, the base 5 having a sliding cavity, and a slider 503 slidably inserted into the sliding cavity. An elastic body 504 is disposed within the sliding cavity, the elastic body 504 being connected to the slider 503, and the elastic body 504 having an elastic force that drives the slider 503 to move toward one end within the sliding cavity. Specifically, the elastic body 504 is generally used to maintain the elastic force that grips the conveying gripper.

[0101] In some embodiments, the base 5 is strip-shaped, with a conveying gripper connected to each end of the base 5, meaning the two conveying grippers are respectively connected to the two ends of the base 5. This configuration allows for the simultaneous operation of two conveyor lines.

[0102] like Figure 25 , Figure 26 As shown, in some embodiments, the conveying gripper further includes a first gripper body 501, a second gripper body 502, and a drive body 505. The drive body 505 is connected between the sliding body 503 and the second gripper body 502. The drive body 505 can be a horizontally arranged roller. The drive body 505 cooperates with the opening mechanism 6 to drive the sliding body 503 to slide against the elastic force of the elastic body 504, thereby causing the conveying gripper to open. Of course, the above description is not limiting. In some alternative embodiments, the drive body 505 can be integrally formed with the second gripper body 502 and can be a protruding structure.

[0103] like Figure 25 , Figure 26 As shown, in some embodiments, one end of the first claw body 501 is fixedly connected to the base 5, and the other end extends in a direction away from the base 5. The extended end of the first claw body 501 has a first claw structure 5010. One end of the second claw body 502 is connected to the slider 503, and the other end extends in a direction away from the base 5. The extended end of the second claw body 502 has a second claw structure 5020.

[0104] like Figures 24-26As shown, the first claw structure 5010 and the second claw structure 5020 are opposite each other. The opposing surfaces of the first claw structure 5010 and the second claw structure 5020 each have a toothed structure, which is used to improve the clamping stability of the packaging bag 4. A clamping block 506 is detachably connected to the first claw structure 5010, and the clamping block 506 has a toothed structure formed on it. The second claw structure 5020 has a toothed structure directly formed on its surface facing the first claw structure 5010.

[0105] like Figure 25 , Figure 26 As shown, in some embodiments, the second claw body 502 is rotatably connected to the slider 503. The extension of the second claw body 502 has an inclined surface 5021, and the extension of the first claw body 501 has an arcuate surface 5011 that mates with the inclined surface 5021. With this configuration, when the first claw body 501 moves along its extension direction, the engagement of the inclined surface 5021 and the arcuate surface 5011 allows the first claw body 501 to rotate simultaneously around a rotation axis connected to the slider 503, thereby increasing the opening between the first claw structure 5010 and the second claw structure 5020. Of course, the above description is not limiting; in some alternative embodiments, the second claw body 502 and the slider 503 can be directly and fixedly connected.

[0106] like Figure 25 , Figure 26 As shown, in some embodiments, a limiting post 5012 is provided on the extension of the first claw body 501, and a stepped surface 5022 that mates with the limiting post 5012 is provided on the extension of the second claw body 502. With this configuration, when the first claw body 501 is opened and then reset, it can be rotated in the opposite direction, thereby aligning the first claw structure 5010 and the second claw structure 5020.

[0107] like Figure 25 , Figure 26 As shown, in some embodiments, the sliding cavity is located at both ends of the base 5, specifically a cylindrical cavity.

[0108] In addition, such as Figure 27 As shown, in some alternative embodiments, the sliding cavity can also extend through the base 5 along the length direction of the base 5. With this configuration, an elastic body 504 can be provided in the sliding cavity, and the sliding bodies 503 at both ends can be connected through the elastic body 504.

[0109] Example 8 like Figure 2As shown, this embodiment provides a specific implementation of a bag sealing machine 2, including: a support frame 205, with multiple bag sealing units spaced laterally along the support frame 205. Each bag sealing unit has a middle body 204, a left compartment shell 201, and a right compartment shell 202. The middle body 204 is slidably mounted on the support frame 205, the left compartment shell 201 is relatively movable and positioned to the left of the middle body 204, and the right compartment shell 202 is relatively movable and positioned to the right of the middle body 204. The left compartment shell 201 and the right compartment shell 202 can be driven by a driving device, such as a motor, cylinder, hydraulic cylinder, or electric push rod.

[0110] like Figures 28-30 As shown, the left compartment shell 201 is located on the left side of the intermediate body 204, and a first sealing compartment is formed between the left compartment shell 201 and the intermediate body 204. A left compartment drive device is connected to the left compartment shell 201, and the left compartment drive device is used to drive the left compartment shell 201 to move in a direction closer to or away from the intermediate body 204. The right compartment shell 202 is located on the right side of the intermediate body 204, and a second sealing compartment is formed between the right compartment shell 202 and the intermediate body 204. A right compartment drive device is connected to the right compartment shell 202, and the right compartment drive device is used to drive the right compartment shell 202 to move in a direction closer to or away from the intermediate body 204.

[0111] like Figures 28-30 As shown, each of the sealing compartments has sealing claws 206 and heat-sealing plates 207. The heat-sealing plates 207 are located above the sealing claws 206 and are used to seal the packaging bag 4. Each sealing compartment is connected to a first vacuum tube 2010, which is used to create a vacuum inside the sealing compartment. This arrangement effectively removes excess gas from the packaging bag 4.

[0112] It should be noted that since the intermediate body 204 is slidably connected to the support frame 205, when the left compartment shell 201 and the right compartment shell 202 simultaneously clamp the intermediate body 204, a vacuum operation is performed on a certain sealing compartment, and that compartment shell can connect to the intermediate body 204. Specifically, if the sealing compartment between the left compartment shell 201 and the intermediate body 204 is vacuumed, while the sealing compartment between the right compartment shell 202 and the intermediate body 204 is not vacuumed, moving the left compartment shell 201 will move the intermediate body 204 along with it; if the right compartment shell 202 is moved, the right compartment shell 202 will move away from the intermediate body 204, thereby opening the sealing compartment between the right compartment shell 202 and the intermediate body 204, and vice versa.

[0113] The bag sealing machine 2 provided in this embodiment has two sealing chambers arranged side by side in each sealing unit. The two sealing chambers work together with a conveyor line to alternately seal the packaging bags 4 on the conveyor line. With this configuration, when the conveyor line's conveying efficiency is increased, the alternating use of the two sealing chambers ensures that each sealing chamber has sufficient sealing time, thereby guaranteeing successful sealing without affecting the conveyor line's conveying efficiency.

[0114] like Figure 2 As shown, in some embodiments, four sealing units are spaced laterally on the support frame 205, each sealing unit being used in conjunction with a conveyor line to achieve multi-line conveying production. It should be noted that the above embodiments are not limited; in some alternative embodiments, the sealing units may be provided in only one set, or in two, three, or more sets, as needed.

[0115] like Figure 29 , Figure 30 As shown, in some embodiments, the heat-sealing clamp 207 includes a heating plate 2071 and a pressure plate 2072 disposed opposite to each other. A driving device is connected to the pressure plate 2072, which drives the pressure plate 2072 to move closer to or away from the heating plate 2071. Specifically, the heating plate 2071 is disposed inside the intermediate body 204, and the pressure plate 2072 is disposed inside the left compartment shell 201 and the right compartment shell 202. During operation, when the left compartment shell 201 or the right compartment shell 202 moves closer to the intermediate body 204, the pressure plate 2072 moves relative to the heating plate 2071. At this time, the opening of the packaging bag 4 is located between the pressure plate 2072 and the heating plate 2071. Subsequently, the driving device is activated, driving the pressure plate 2072 to press against the heating plate 2071, tightly pressing the opening of the packaging bag 4. Then, the heating plate 2071 begins to heat, thus achieving heat sealing of the opening of the packaging bag 4. By moving the pressure plate 2072 towards the heating plate 2071 in two stages, in conjunction with a vacuuming operation, the air inside the packaging bag 4 can be completely removed, thereby improving the quality of the product inside the packaging bag 4. Of course, the above description is not limiting. In some alternative embodiments, two cooperating heating plates 2071 can be used to improve heating efficiency. The two heating plates 2071 can move simultaneously within the packaging chamber, or only one can be moved to move closer to or further away from each other.

[0116] like Figure 31 , Figure 32As shown, in some embodiments, the driving device includes an airbag 208 connected to a second vacuum tube 2011. During operation, the second vacuum tube 2011 supplies air into the airbag 208, driving the pressure plate 2072 to move closer to the heating plate 2071; conversely, the second vacuum tube 2011 evacuates air from the airbag 208, driving the pressure plate 2072 away from the heating plate 2071. This driving method controls the force exerted by the pressure plate 2072 on the heating plate 2071, preventing damage to the heating plate 2071, while ensuring stable heat sealing of the packaging bag opening. Of course, the above description is not limiting; in some alternative embodiments, the driving device can also employ other structures, such as cylinders, hydraulic cylinders, or electric push rods.

[0117] like Figure 32 As shown, in some embodiments, an elastic element 209 is connected to the pressure plate 2072. The elastic element 209 has an elastic force that drives the pressure plate 2072 to press against the airbag 208. The elastic element 209, in conjunction with the evacuation of the second vacuum tube 2011, keeps the airbag 208 in a compressed state, preventing deformation of the airbag 208 during vacuuming of the sealing chamber, which could lead to displacement of the pressure plate 2072. Furthermore, after the airbag 208 has finished inflating, the elastic element 209 helps it return to a contracted state, facilitating the next operation.

[0118] It should be noted that there is a sequential order between the vacuuming operation via the second vacuum tube 2011 and the vacuuming operation via the first vacuum tube 2010. Specifically, when vacuuming a sealing chamber using the first vacuum tube 2010, the gas inside the airbag 208 must first be expelled using the second vacuum tube 2011. This is to prevent the vacuum environment inside the sealing chamber from sucking out the airbag 208, thus affecting the extraction of air from the packaging bag 4. Furthermore, after the air inside the packaging bag 4 has been completely extracted, air must be supplied to the airbag 208 again through the second vacuum tube 2011. This inflates the airbag 208, squeezing the opening of the packaging bag 4 between the pressure plate 2072 and the heating plate 2071, thereby achieving vacuum sealing of the packaging bag 4. Electrically controlled valves can be connected to the first vacuum tube 2010 and the second vacuum tube 2011 respectively. By controlling the valves, the air supply sequence of the first vacuum tube 2010 and the second vacuum tube 2011 can be controlled.

[0119] like Figure 32As shown, in some embodiments, the pressure plate 2072 has connecting posts at both ends. The connecting posts pass through the pressure plate 2072 and are connected to the equipment. The elastic element 209 is sleeved on the connecting posts and has an elastic force that drives the pressure plate 2072 to slide along the connecting posts away from the heating plate 2071. The connecting posts guide the movement direction of the pressure plate 2072, preventing it from becoming misaligned and ensuring consistent operation when pressing multiple packaging bags 4.

[0120] like Figure 30 , Figure 32 As shown, in some embodiments, the sealing gripper 206 has two symmetrically arranged half-claw groups 2061, and each half-claw group 2061 has multiple grooves 2063 on its clamping surface. When the two half-claw groups 2061 clamp the opening of the packaging bag 4, the grooves 2063 facilitate the expulsion of air from the packaging bag 4 during vacuuming, ensuring successful vacuuming of the packaging bag 4.

[0121] like Figure 31 As shown, in some embodiments, each half-claw assembly 2061 has a plurality of half-claws spaced apart, and each half-claw has at least one groove 2063 on its clamping surface. Multiple packaging bags 4 can be clamped sequentially by the spaced-apart half-claws. Furthermore, it is easy to replace any damaged half-claw. Of course, the above description is not limiting; in some alternative embodiments, each half-claw assembly 2061 may also have a single, continuous half-claw.

[0122] like Figure 32 As shown, in some embodiments, the clamping surface of the half-claw is detachably connected to a clamping strip 2062, and the groove 2063 is formed on the clamping strip 2062. This configuration allows for maintenance by replacing the clamping strip 2062 when the groove 2063 of the clamping surface is damaged, thus improving maintenance efficiency.

[0123] like Figure 2 As shown, in some embodiments, an output mechanism 203 is provided on the support frame 205 at the bottom of the sealing unit. Specifically, the output mechanism 203 can be a conveyor belt that transports in a transverse direction, conveying the sealed packaging bag 4 outward.

[0124] The packaging machine provided in this embodiment has two parallel sealing chambers in each sealing unit working together with a conveyor line. When one sealing chamber is performing a sealing operation, the other sealing chamber can be ready to receive the next packaging bag 4. By alternating the use of the two sealing chambers, it is ensured that each sealing chamber has enough sealing time to ensure successful sealing without affecting the conveyor line's conveying efficiency.

[0125] When the packaging bag 4 is delivered to the corresponding position in the sealing chamber, the gas in the airbag 208 is first discharged through the second vacuum tube 2011. Then, the first vacuum tube 2010 is opened to perform a vacuuming operation on the sealing chamber, thereby removing excess gas from the packaging bag 4. This process is ensured to be performed in the correct sequence by controlling the electrically controlled valves on the first vacuum tube 2010 and the second vacuum tube 2011.

[0126] Once the air inside the packaging bag 4 has been completely removed, air is supplied to the airbag 208 through the second vacuum tube 2011. The airbag 208 drives the pressure plate 2072 to move closer to the heating plate 2071, tightly pressing the opening of the packaging bag 4 between the pressure plate 2072 and the heating plate 2071. Then, the heating plate 2071 begins to heat, achieving heat sealing of the opening of the packaging bag 4. During this process, the elastic element 209 cooperates with the air extraction and supply operations of the second vacuum tube 2011 to maintain the compressed state of the airbag 208, preventing deformation of the airbag 208 from causing the pressure plate 2072 to move or become misaligned. At the same time, the connecting column guides the movement direction of the pressure plate 2072, preventing the pressure plate 2072 from being pressed off-center.

[0127] The sealed packaging bag 4 is conveyed outward through the output mechanism 203 set at the bottom of the sealing unit on the support frame 205 for subsequent processing.

[0128] Example 9 like Figure 3 , Figure 33 As shown, this embodiment provides a specific implementation of a bag-carrying mechanism 3. The bag-carrying mechanism 3 is used to transport packaging bags 4 from a bagging machine 1 to a sealing machine 2. It includes a reciprocating moving device 302, on which a bag-carrying gripper assembly 301 is connected. The bag-carrying gripper assembly 301 can have multiple sets arranged in parallel, thereby simultaneously transporting packaging bags 4 from multiple conveyor lines. Specifically, the reciprocating moving device 302 can be equipped with a moving platform, on which a belt is connected. The belt is driven by a motor to reciprocate. A slide rail can be provided at the bottom of the moving platform.

[0129] like Figure 3 , Figure 33 As shown, the bag-carrying gripper assembly 301 has at least one bag-carrying gripper 303. Each bag-carrying gripper 303 has a first clamping body 3031 and a second clamping body 3032 arranged in parallel at intervals. During operation, the first clamping body 3031 is used to clamp one end of the bag opening of the packaging bag 4, and the second clamping body 3032 is used to clamp the other end of the bag opening of the packaging bag 4. With this configuration, by adjusting the distance between the first clamping body 3031 and the second clamping body 3032, the bag opening can be stretched from an open state to a closed state, thereby facilitating subsequent bag sealing.

[0130] like Figure 34 , Figure 35As shown, in some embodiments, the first clamp 3031 is connected to the first bracket 304, and the second clamp 3032 is connected to the second bracket 305. A spacing adjustment member 306 is connected to the first bracket 304 and / or the second bracket 305. The spacing adjustment member 306 drives the first bracket 304 and / or the second bracket 305 to move the clamping ends of the first clamp 3031 and the second clamp 3032 closer to or further apart from each other. Specifically, the spacing adjustment member 306 can be a crank arm mechanism, connected to a drive motor via a connecting rod, thereby driving the first bracket 304 and / or the second bracket 305 to move.

[0131] The bag conveying mechanism 3 provided in this embodiment can clamp the packaging bag 4 in the open state on the bagging machine 1, then flatten the bag opening of the packaging bag 4 on the bag conveying mechanism 3, and finally transport it to the sealing chamber of the sealing machine 2 to complete the sealing. With this configuration, the flattening mechanism on the bagging machine 1 can be omitted, thereby simplifying the structure of the bagging machine 1.

[0132] like Figure 35 As shown, in some embodiments, the second clamping body 3032 is slidably connected to the second support 305, and an elastic member 307 is connected to the second clamping body 3032. The elastic member 307 has an elastic force that drives the clamping end of the second claw body 502 away from the clamping end of the first clamping body 3031. Specifically, the second support 305 has a strip-shaped hole 308, and the second clamping body 3032 is slidably connected in the strip-shaped hole 308. The elastic member 307 can be a tension spring, with one end connected to the second clamping body 3032 and the other end connected to the second support 305, thereby pulling the second clamping body 3032 to one end located in the strip-shaped hole 308. In this position, the clamping end of the second clamping body 3032 is away from the clamping end of the first clamping body 3031. With this setup, if multiple bag-carrying claws 303 are arranged sequentially on a bag-carrying claw assembly 301, it is difficult to ensure that the distance the two clamps need to move is the same for each bag-carrying claw 303 when stretching the opening of the packaging bag 4. Therefore, in this embodiment, when the second support 305 is moved, the second clamp 3032 moves with the second support 305 by means of a tension spring. If some bag-carrying claws 303 have stretched the opening of the packaging bag 4 to the correct position, while others have not, as the second support 305 continues to move, the tension springs connected to those bag-carrying claws 303 that have stretched the opening to the correct position will further extend, but the distance between the two clamps will not change; while the bag-carrying claws 303 that have not yet stretched the opening to the correct position will continue to stretch the opening, thereby ensuring that the opening of each packaging bag 4 can be stretched.

[0133] like Figure 35 , Figure 36As shown, in some embodiments, both the first clamping body 3031 and the second clamping body 3032 are rotatably connected to the first bracket 304. Specifically, the pivots of the first clamping body 3031 and the second clamping body 3032 are connected to the middle of the clamping body. With this configuration, when the ends of the first clamping body 3031 and the second clamping body 3032 that are away from the clamping end approach each other, the clamping ends of the two clamping bodies can be driven to move away from each other.

[0134] like Figure 36 , Figure 37 As shown, the first clamping body 3031 and the second clamping body 3032 are respectively connected to a rotating cylinder 309 via the rotating cylinder 309 and the first support 304. The rotating cylinder 309 has a through hole at its center, and an opening clamping operation part 3010 passes through the through hole. The first clamping body 3031 and the second clamping body 3032 respectively have a fixed clamp 3011 and a movable clamp 3012. The fixed clamp 3011 is mounted on the rotating cylinder 309 with a rotating sleeve 1026. The opening clamping operation part 3010 passes through the through hole of the rotating cylinder 309 and abuts against the movable clamp 3012. An opening clamping member 3013 is provided in the first support 304. The opening clamping member 3013 is driven by a driving device. The opening clamping member 3013 cooperates with the opening clamping operation part 3010 to drive the movable clamp 3012 to open. Specifically, the driving device can be a separately driven motor connected to the first bracket 304. The driving end of the motor is connected to the clamping member 3013 by a thread, so that when the driving end of the motor rotates, it can drive the clamping member 3013 to reciprocate, thereby opening the movable clamp 3012.

[0135] One end of the movable clamp 3012 and the fixed clamp 3011 are rotatably connected, and the other end of the movable clamp 3012 and the fixed clamp 3011 form a clamping end. An elastic retaining mechanism 3014 is connected to the movable clamp 3012. The elastic retaining mechanism 3014 has an elastic force that drives the clamping end of the movable clamp 3012 to approach the clamping end of the fixed clamp 3011.

[0136] In the above scheme, by extending the opening clamping operation part 3010 forward, the opening ends of the movable clamp 3012 and the fixed clamp 3011 can be driven away from each other, thereby achieving opening; when the opening clamping operation part 3010 retracts backward, the elastic holding mechanism 3014 can drive the opening ends of the movable clamp 3012 and the fixed clamp 3011 to move closer to each other, thereby achieving clamping of the packaging bag 4. Specifically, in some embodiments, the elastic holding mechanism 3014 includes: a screw and a spring. The screw passes through the fixed clamp 3011 and is fixedly connected to the movable clamp 3012. The spring is sleeved on the screw, with one end abutting against the fixed clamp 3011 and the other end abutting against the end of the screw. The spring has an elastic force that drives the clamping end of the movable clamp 3012 to move closer to the clamping end of the fixed clamp 3011.

[0137] like Figure 37 As shown, in some embodiments, a linkage structure 3015 is provided between the first clamping body 3031 and the second clamping body 3032, through which the clamping ends of the first clamping body 3031 and the second clamping body 3032 are linked in opposite directions. Specifically, the linkage structure 3015 includes two parallel and spaced connecting pieces, one end of which is rotatably connected to the first clamping body 3031, and the other end of which is rotatably connected to the second clamping body 3032.

[0138] like Figure 33 As shown, in some embodiments, a lifting device is connected to the reciprocating moving device 302. The lifting device has a lifting frame 3021, which is driven to rise and fall by a lifting drive device 3022. The bag-carrying gripper assembly 301 is movably connected to the lifting frame 3021, and a lateral drive device 3024 is connected to the bag-carrying gripper assembly 301. The lateral drive device 3024 is used to drive the bag-carrying gripper assembly 301 to move outward. With this configuration, after the bag-carrying gripper assembly 301 clamps the packaging bag 4 on the bagging machine 1, it first moves outward by the lateral drive device 3024 to disengage the packaging bag 4 from the conveying gripper assembly 1050 of the bagging machine 1, and then rises by the lifting drive device 3022 to facilitate the transport of the packaging bag 4 on the bag-carrying mechanism 3.

[0139] like Figure 33As shown, in some embodiments, the lifting drive device 3022 has a drive shaft 1053, which is connected to the lifting frame 3021 via a crank arm structure 3023. The crank arm structure 3023 is also connected to the spacing adjustment member 306. With this configuration, when the lifting frame 3021 moves upward, the spacing adjustment member 306 can simultaneously straighten the opening of the packaging bag 4. This configuration eliminates the need for an additional power source or complex control logic to separately drive the lifting and bag opening straightening operations, saving equipment costs and control complexity, and improving overall work efficiency. Specifically, the crank arm structure 3023 can be connected to the spacing adjustment member 306 via a long rod 3016. Universal joints can be provided at both ends of the long rod 3016, connecting it to the crank arm structure 3023 and the spacing adjustment member 306 respectively.

[0140] First, the reciprocating moving device 302 drives the bag-carrying gripper assembly 301 to move above the conveyor line of the bagging machine 1; Then, the lifting drive device drives the bag transport gripper group 301 to descend. The first gripper 3031 and the second gripper 3032 of each bag transport gripper 303 in the bag transport gripper group 301 are activated. The first gripper 3031 clamps one end of the bag opening of the packaging bag 4, and the second gripper 3032 clamps the other end of the bag opening of the packaging bag 4, thereby holding the packaging bag 4 in the open state on the bagging machine 1.

[0141] Then, the lateral drive device 3024 drives the bag-carrying gripper group 301 to move outward, so that the packaging bag 4 is disengaged from the conveying gripper group 1050 of the bagging machine 1.

[0142] Finally, the lifting drive device 3022 drives the lifting frame 3021 to rise, raising the bag-carrying gripper assembly 301 holding the packaging bag 4 to a height suitable for transportation. During the rising process, since the crank arm structure 3023 is simultaneously connected to the spacing adjustment component 306, the spacing adjustment component 306 simultaneously stretches the opening of the packaging bag 4.

[0143] The packaging production line provided in this embodiment can be adjusted according to the size of the material to be packaged and the packaging bag 4 during use. Specifically, at the bag storage mechanism 101 and the bag opening mechanism 103, the first adjustment drive device 7011 adjusts the drive plate 7013 by operating the adjustment drive device, changing the size of the bag storage chamber 1010 to accommodate the size of the packaging bag 4; at the same time, the second adjustment drive device 7012 operates synchronously to adjust the extension length of the push rod 1032, changing the distance between the bag gripping nozzle 1021 and the bag supporting push plate 1027 to accommodate the opening size of the packaging bag 4. At the conveying mechanism 105, according to the size of the packaging bag 4, the first drive wheel 10541 and the second drive wheel 10542 are adjusted to rotate relative to each other by the angle adjustment device, so that the first conveyor belt 1051 and the second conveyor belt 1052 generate relative displacement, and the distance between the first conveyor gripper 10501 and the second conveyor gripper 10502 is adjusted.

[0144] The operation includes processes such as bag taking, bag opening, conveying and bagging, and bag sealing.

[0145] During bag retrieval, the bag-grabbing mechanism 102's suction nozzle 1021 picks up the packaging bag 4 from the side of the storage bin 1010 of the storage mechanism 101. The sliding seat 1024 drives the bag-grabbing robot 10290 to move axially outward, removing the packaging bag 4 from the storage bin 1010. The mounting plate 1029 rotates in a step-by-step manner with the horizontal rotating shaft 1022, driving the bag-grabbing robot 10290 to move the packaging bag 4.

[0146] During bag opening, the bag-gripping robot 10290 rotates the packaging bag 4 to the bag opening mechanism 103. The sliding seat 1024 drives the bag-gripping robot 10290 to move axially inward, bringing the packaging bag 4 close to the bag opening suction nozzle 1030. The bag opening suction nozzle 1030 and the bag-gripping suction nozzle 1021 respectively adhere to opposite sides of the packaging bag 4. The sliding seat 1024 drives the bag-gripping robot 10290 to retract axially outward, opening the bag opening. Subsequently, the push rod 1032 abuts against the push plate drive component 10292 of the bag-gripping mechanism 102, further opening the bag opening.

[0147] During conveying and bagging, the conveyor belt of the conveying mechanism 105 operates, and the first conveying gripper 10501 and the second conveying gripper 1050 of the conveying gripper assembly 1050 clamp the packaging bag 4 with the bag opening open, and convey it to the filling mechanism 104 in a straight step along the conveyor belt, where the filling mechanism 104 fills the material.

[0148] During sealing, the bag-carrying gripper assembly 301 of the bag-carrying mechanism 3 clamps several filled packaging bags 4 at the end of the conveying mechanism 105 at once, first shifting them to one side of the conveying path of the conveying mechanism 105, and then moving them along the path into the sealing chamber of the sealing machine 2. The left chamber shell 201 or the right chamber shell 202 of the sealing machine 2 moves to close the sealing chamber, simultaneously heat-sealing multiple packaging bags 4. The heat-sealed packaging bags 4 fall from the bottom of the sealing chamber and are conveyed to other areas by the output mechanism 203.

[0149] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the present invention.

Claims

1. A packaging production line, characterized in that, include: The bagging machine (1) has a bag storage mechanism (101), a bag gripping mechanism (102), a bag opening mechanism (103), a filling mechanism (104) and a conveying mechanism (105). The bag sealing machine (2) has an openable sealing chamber in which the packaging bag (4) is heat-sealed; The bag conveying mechanism (3) is disposed between the bag filling machine (1) and the bag sealing machine (2), and the bag conveying mechanism (3) has bag conveying grippers (303) that reciprocate along the bag filling machine (1) and the bag sealing machine (2).

2. The packaging production line according to claim 1, characterized in that, The sealing machine (2) is located behind or at the bottom of the bagging machine (1), and the sealing chamber is arranged parallel to the vertical plane of the conveying path of the conveying mechanism (105).

3. The packaging production line according to claim 1, characterized in that, The bag storage mechanism (101) and the bag opening mechanism (103) have a base (7), on which a bag storage chamber (1010) and a bag opening nozzle (1030) are connected. The bag storage chamber (1010) has two support plates arranged opposite to each other. One end of the two support plates forms an outlet suitable for taking out the packaging bag (4). At least one support plate is connected to an adjustment drive device, which is used to adjust the interval between the two support plates. The adjustment drive device has a first adjustment drive device (7011) and a second adjustment drive device (7012) that are linked together. The drive end of the first adjustment drive device (7011) is connected to at least one support plate, and the drive end of the second adjustment drive device (7012) is connected to a push rod (1032). The push rod (1032) is located downstream of the bag opening nozzle (1030) and is used to cooperate with the bag gripping mechanism (102) to adjust the opening degree of the bag mouth of the packaging bag (4).

4. The packaging production line according to claim 1, characterized in that, The bag-grabbing mechanism (102) includes: a horizontal rotating shaft (1022) and a mounting plate (1029). The mounting plate (1029) is slidably connected to the horizontal rotating shaft (1022) along the axial direction. A plurality of bag-grabbing manipulators (10290) are arranged at intervals along the circumference on the mounting plate (1029). A bag-grabbing suction nozzle (1021) is connected to the bag-grabbing manipulator (10290). The bag-grabbing robot (10290) moves back and forth along the horizontal rotating shaft (1022) with the mounting plate (1029) to pick up the packaging bags (4) in the storage bag bin (1010) one by one; The bag-grabbing robot (10290) rotates in a stepping manner along the horizontal rotating shaft (1022) to transfer the picked-up packaging bag (4) to the bag-opening mechanism (103).

5. The packaging production line according to claim 4, characterized in that, A fixed seat (1023) and a sliding seat (1024) are connected to the horizontal rotating shaft (1022). The fixed seat (1023) is fixedly connected to the horizontal rotating shaft, and the sliding seat (1024) is slidably connected to the horizontal rotating shaft. A connecting rod (1025) is connected to the sliding seat (1024), and the fixed seat (1023) has a through hole for the connecting rod (1025) to pass through. The sliding seat (1024) is connected to the mounting plate (1029) through the connecting rod (1025). A rotating sleeve (1026) is sleeved on the sliding seat (1024). The rotating sleeve (1026) is coaxially rotatable relative to the sliding seat (1024). The rotating sleeve (1026) is connected to an axial drive device.

6. The packaging production line according to claim 4, characterized in that, The bag-grabbing robot (10290) has a connecting arm (10291), on which a drive rod (10293) is movably connected, and the bag-grabbing nozzle (1021) is connected to the drive rod (10293); a bag-supporting push plate (1027) is movably connected to the connecting arm (10291), and the bag-supporting push plate (1027) has extensions (1028) located on both sides of the bag-grabbing nozzle (1021). A push plate drive member (10292) is connected to the bag-supporting push plate (1027), and the push plate drive member (10292) has a driving force that drives the extensions (1028) of the bag-supporting push plate (1027) to move along the orientation direction of the bag-grabbing nozzle (1021).

7. The packaging production line according to claim 1, characterized in that, The conveying mechanism (105) has a first conveyor belt (1051) and a second conveyor belt (1052) arranged in parallel. A first conveyor gripper (10501) is connected to the first conveyor belt (1051), and a second conveyor gripper (10502) is connected to the second conveyor belt (1052). The first conveyor gripper (10501) and the second conveyor gripper (10502) cooperate to clamp the two ends of the bag opening of the packaging bag (4). The first conveyor belt (1051) is driven by the first drive wheel (10541), and the second conveyor belt (1052) is driven by the second drive wheel (10542). The first drive wheel (10541) and / or the second drive wheel (10542) are connected to an angle adjustment device, which is used to adjust the first drive wheel (10541) and the second drive wheel (10542) to be misaligned.

8. The packaging production line according to claim 7, characterized in that, Both the first conveying gripper (10501) and the second conveying gripper (10502) have a base (5). The base (5) has a first claw body (501). A sliding body (503) is slidably connected to the base (5). A second claw body (502) is connected to the sliding body (503). A driving body (505) is connected to the second claw body (502). The driving body (505) is used to drive the claw structure of the second claw body (502) to cooperate with the claw structure of the first claw body (501) to clamp one end of the bag opening of the packaging bag (4).

9. The packaging production line according to any one of claims 1-8, characterized in that, The bag transport mechanism (3) has a reciprocating moving device (302), and a plurality of bag transport grippers (303) are connected to the reciprocating moving device (302). The bag transport grippers (303) have a first gripper (3031) and a second gripper (3032) arranged in parallel and spaced apart. The first gripper (3031) is connected to a first support (304), and the second gripper (3032) is connected to a second support (305). A spacing adjustment member (306) is connected to the first bracket (304) and / or the second bracket (305). The spacing adjustment member (306) drives the first bracket (304) and / or the second bracket (305) to move the clamping ends of the first clamp (3031) and the second clamp (3032) closer to each other or further away from each other.

10. The packaging production line according to any one of claims 1-8, characterized in that, The bag sealing machine (2) has a support frame (205) and a bag sealing unit on the support frame (205). The bag sealing unit includes: an intermediate body (204), a left compartment shell (201) and a right compartment shell (202). The intermediate body (204) is slidably disposed on the support frame (205). The left compartment shell (201) is disposed on the left side of the intermediate body (204), and a first sealing compartment is formed between the left compartment shell (201) and the intermediate body (204). A left compartment drive device is connected to the left compartment shell (201), and the left compartment drive device is used to drive the left compartment shell (201) to move in a direction closer to or away from the intermediate body (204). The right compartment shell (202) is located on the right side of the intermediate body (204), and a second sealing compartment is formed between the right compartment shell (202) and the intermediate body (204). A right compartment drive device is connected to the right compartment shell (202), and the right compartment drive device is used to drive the right compartment shell (202) to move in a direction closer to or away from the intermediate body (204).

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