Robotic bag opening arm for M-bag packaging line

Abstract

This invention discloses a bag-opening robot for a packaging production line of M-bags, belonging to the field of packaging equipment technology. This robot solves the problem of low efficiency caused by poor coordination between bag opening and delivery actions in existing technologies. Key features include: a pair of rod supports positioned on both sides of the production line; rotating rods rotatably connected to the rod supports at both ends; a pair of long rods hinged to the rotating rods at their upper ends, with the rotating rods equipped with a first driving element for swinging the long rods; two sets of clamping assemblies located at the lower ends of the long rods, with their clamping openings facing the central axis of the production line, and the long rods equipped with a second driving element for opening and closing the clamping openings; a vertical rod located between the long rods and fixed to the rotating rods at its upper end, with its lower end rotatably connected to a bag-supporting assembly, and the vertical rod equipped with a third driving element for rotating the bag-supporting assembly; and a driving mechanism connected to one end of the rotating rods, driving its forward and backward rotation to deliver or reset the long rods. This robot is used for opening and delivering packaging bags on a production line.

Description

Technical Field

[0001] This invention relates to the field of packaging equipment technology. More specifically, this invention relates to a bag-opening robot for a packaging production line of M-bags. Background Technology

[0002] In the operation of M-type bags on packaging lines, reliably opening the bag opening and smoothly delivering it to the filling station are critical process steps. In existing technologies, common bag opening methods rely on multiple separately controlled actuators. For example, an independent clamping mechanism grips the two edges of the bag, while another mechanism performs the opening operation. This separate control method has shortcomings in motion coordination; the timing of the clamping and opening actions can easily produce slight deviations. Due to the material characteristics of M-type bags (such as the flexibility of the composite film and the strength differences in the sealing area) and slight inconsistencies in the initial state of the bag opening, this asynchrony in timing may lead to uneven force on the bag opening during opening, resulting in local wrinkles or skewing. This reduces the success rate of bag opening and causes inconvenience to subsequent filling processes.

[0003] Furthermore, after opening the bag, the bag, still open, needs to be transferred to the filling position. Existing equipment often requires releasing the clamping mechanism first, followed by transferring the bag via an additional conveying mechanism or another gripping mechanism. This separate design of opening and delivery increases the steps and time required for process transition. During the connection between releasing the clamping mechanism and taking over the delivery mechanism, the state of the already opened bag may change or even partially close, requiring additional corrective actions or leading to delivery failure. Simultaneously, the coordination of multiple mechanisms increases the complexity of the mechanical structure and the difficulty of coordinating the control system. These factors collectively restrict the improvement of overall packaging efficiency and make it difficult to meet the production cycle requirements of high-speed production lines. Therefore, how to achieve an efficient and smooth connection between opening and delivery while ensuring the reliability of bag opening is a problem that needs to be solved in this field. Summary of the Invention

[0004] One object of the present invention is to solve at least the above-mentioned problems and to provide at least the advantages that will be described later.

[0005] To achieve these objectives and other advantages according to the present invention, a bag-opening robot for a packaging production line of M bags is provided, comprising: A pair of rod supports are respectively installed on the left and right sides of the packaging production line and are located at the same height; The rotating rod has its two ends rotatably connected to a pair of rod supports, so that the rotating rod can rotate in the front-to-back direction; A pair of long rods are arranged below the rotating rod and on both sides of the central axis of the packaging production line. The upper ends of the pair of long rods are hinged to the rotating rod so that the long rods can swing in the left and right directions. The rotating rod is provided with a first driving member corresponding to each long rod. The output end of the first driving member is connected to the long rod corresponding to it to drive the long rod to swing. Two sets of clamping components are respectively disposed at the lower end of a pair of long rods. The clamping ports of both sets of clamping components face the central axis of the packaging line to clamp the two sides of the packaging bag on the packaging line. Each long rod is provided with a second driving component. The output end of the second driving component is connected to the clamping component at the lower end of the long rod to drive the clamping port of the clamping component to open and close for clamping. A vertical rod is located between a pair of long rods. The upper end of the vertical rod is fixedly connected to the rotating rod, and the lower end of the vertical rod is rotatably connected to a bag-supporting assembly. A third driving component is also provided on the vertical rod. The output end of the third driving component is connected to the bag-supporting assembly to drive the bag-supporting assembly to rotate and then insert it into the bag opening of the packaging bag on the packaging production line. A drive mechanism, connected to one end of the rotating rod, is used to drive the rotating rod to rotate in the front-back direction, thereby causing a pair of long rods to swing forward to deliver a packaged bag with the opening of the bag or to return to its original position.

[0006] Preferably, the clamping assembly includes: A clamp mounting slot is provided on the long rod, with the opening of the clamp mounting slot facing the central axis of the packaging production line, and two pairs of ear holes are provided on the groove wall of the clamp mounting slot. An active clamp body includes a first connecting part with a thickness less than the distance between the walls of the clamp body mounting groove, a first clamp head connected to the first connecting part and extending toward the central axis of the packaging assembly line, and a first linkage part connected to the first connecting part. The first connecting part is accommodated in the clamp body mounting groove and has a first pin hole aligned with a pair of ear holes. A first pin passes through the pair of ear holes and the first pin hole to make the active clamp body rotatably connected to the clamp body mounting groove. The passive clamp body includes a second connecting part with a thickness smaller than the distance between the walls of the clamp body mounting groove, a second clamp head connected to the second connecting part and extending toward the central axis of the packaging assembly line, and a second linkage part connected to the second connecting part. The second connecting part is accommodated in the clamp body mounting groove and has a second pin hole aligned with another pair of ear holes. A second pin passes through the other pair of ear holes and the second pin hole to make the passive clamp body rotatably connected to the clamp body mounting groove. The first clamping head and the second clamping head form a clamping opening. A first linkage rod is provided between the first linkage part and the second linkage part. One end of the first linkage rod is hinged to the first linkage part, and the other end is hinged to the second linkage part. When the first clamping head of the active clamping body moves away from the second clamping head, the passive clamping body is linked, so that the second clamping head of the passive clamping body also moves away from the first clamping head. When the first clamping head of the active clamping body approaches the second clamping head, the passive clamping body is linked, so that the second clamping head of the passive clamping body also approaches the first clamping head.

[0007] Preferably, the second driving component is a second cylinder, the cylinder body of the second cylinder is hinged to the middle of the long rod, and the piston rod of the second cylinder is hinged to the first clamp head.

[0008] Preferably, a first hinge seat is provided below each long rod below the rotating rod, the upper end of the long rod is hinged to the first hinge seat, and a first fastener is also provided on the first hinge seat. The first fastener passes around the rotating rod and is connected to the first hinge seat to fix the first hinge seat on the rotating rod. The first driving component is a first cylinder. A fixing plate is provided below each first cylinder corresponding to the rotating rod. The fixing plate is bent at a right angle. The top surface of one side of the fixing plate is connected to the lower surface of the rotating plate, and a second hinge seat is provided on the bottom surface. The cylinder body of the first cylinder is hinged to the second hinge seat. The other side of the fixing plate is connected to the side of the first hinge seat. A second fastener is also provided on the fixing plate. The second fastener passes around the rotating rod and is connected to the fixing plate to fix the fixing plate on the rotating rod.

[0009] Preferably, the cross-section of the long rod is groove-shaped, and the groove opening faces the central axis of the packaging production line; A short rod is provided between the groove walls at the upper part of the long rod, and a round hole adapted to the short rod is provided at the end of the piston rod of the first cylinder. The end of the piston rod of the first cylinder is sleeved on the short rod to form a rotatable connection. A third hinge seat is provided at the bottom of the groove in the middle of the long rod, and the cylinder body of the second cylinder is hinged to the third hinge seat; The clamp mounting slot is located in the slot at the lower end of the long rod.

[0010] Preferably, the pouch support assembly includes: A circular shaft, which passes horizontally through the lower end of the vertical rod along the width direction of the packaging assembly line and is rotatably connected to the vertical rod; A pair of V-shaped arms are respectively disposed at both ends of the circular shaft. One end of the V-shaped arm is connected to the circular shaft, and the other end extends downstream along the packaging production line to the front and lower part of the vertical bar. A pair of bag support plates are respectively connected to the other end of a pair of V-shaped arms. The bag support plates are fixed along the height of the V-shaped arms in an adjustable manner. The bag support plates include pointed corner plates that extend upstream of the packaging production line.

[0011] Preferably, the third driving component is a third cylinder, the cylinder body of the third cylinder is hinged to the middle of the vertical rod, a second linkage rod is provided on the round shaft, and the piston rod of the third cylinder is hinged to the second linkage rod.

[0012] Preferably, the vertical rod includes: A pair of strips are connected by a connecting plate. The upper ends of the pair of strips are fixed to a rotating rod, and the lower ends of the pair of strips are provided with through holes adapted to the round shaft. The round shaft passes through the through holes, and the second linkage rod is connected to the part of the round shaft located between the pair of strips.

[0013] Preferably, the drive mechanism includes a drive motor, a reducer, and a rocker arm mechanism connected in sequence, and the rocker arm mechanism is connected to the rotating rod.

[0014] Preferably, the rod support includes: a base plate and a collar disposed on the base plate, wherein a bearing for connecting the rotating rod is coaxially disposed inside the collar; The rotating rod includes: a square rod with cylindrical rotating parts coaxially connected to both ends, the rotating parts being connected to the bearing, and one rotating part extending to the outside of the rod support; The rocker arm mechanism includes a first link, a second link, and a third link. One end of the first link is connected to the output shaft of the reducer, and the other end is hinged to one end of the second link. One end of the third link has an elongated hole along its length. The other end of the second link is slidably connected to the elongated hole. The other end of the third link is connected to a rotating part extending outside the rod support.

[0015] This invention offers at least the following advantages: The invention significantly improves bag-opening efficiency and reliability through an integrated collaborative design. The forward and backward rotation of the rotating rod, combined with the left and right swinging of the long rod, enables the clamping assembly to precisely grip both edges of the packaging bag and complete the tightening action. Simultaneously, the bag-supporting assembly at the end of the vertical rod is driven to insert into the bag opening, ensuring the bag opening remains open. This integrated bag-opening and delivery process effectively reduces the conversion time between traditional processes and significantly increases the operating speed of the packaging line. The linkage design between the clamping assembly and the bag-supporting assembly ensures the stability of the packaging bag operation. When the long rod swings outward to tighten the bag opening, the bag-supporting assembly keeps the bag opening open, preventing accidental closure during transportation. This collaborative mechanism keeps the packaging bag in a taut and flat state, providing ideal working conditions for subsequent filling processes and significantly reducing the bag-clamping error rate. Centralized control of the drive mechanism simplifies the equipment transmission structure. A single drive source synchronously drives the movement of the two long rods through the rotating rod, ensuring a high degree of consistency in the movement of the left and right long rods. This design eliminates the potential for asynchronous movement caused by multiple power sources, improving equipment operational reliability and reducing maintenance complexity. The overall layout employs a symmetrical structure to enhance equipment stability. A pair of rod supports provide a stable foundation, and the spatial distribution of the long rods and vertical rods creates a three-point collaborative operation mode. This structural design allows the robot to maintain its center of gravity balance during swinging, effectively suppressing vibrations during high-speed operation. Meanwhile, the modular component layout provides ample maintenance space for critical components, improving equipment operability.

[0016] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the bag-opening robot described in this invention; Figure 2 This is a three-dimensional structural diagram of the bag-opening robot described in this invention; Figure 3 This is a three-dimensional structural diagram of the bag-opening robot described in this invention; Figure 4 This is a schematic diagram showing the position of the pair of long rods approaching the central axis of the assembly line according to the present invention; Figure 5 This is a schematic diagram showing the initial positions of the pair of long rods described in this invention; Figure 6 This is a schematic diagram showing the initial position of the bag support assembly described in this invention; Figure 7 This is a schematic diagram showing the position of the bag support assembly as it is inserted into the bag opening according to the present invention; Figure 8 This is a perspective view of the clamping assembly described in this invention located in a long rod; Figure 9 This is a three-dimensional structural diagram of the clamping assembly described in this invention. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0019] It should be noted that in the description of this invention, the terms "lateral", "longitudinal", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] like Figures 1-9 As shown, the present invention provides a bag-opening robot for a packaging production line of M bags, comprising: A pair of rod supports 100 are respectively installed on the left and right sides of the packaging line and are located at the same height; The rotating rod 200 has its two ends rotatably connected to a pair of rod supports 100, so that the rotating rod 200 can rotate in the front-back direction. Here, "front" refers to the downstream of the packaging line and "back" refers to the upstream of the packaging line. A pair of long rods 300 are disposed below the rotating rod 200 and located on both sides of the central axis of the packaging production line. The upper ends of the pair of long rods 300 are hinged to the rotating rod 200 so that the long rods 300 can swing in the left and right directions. A first driving member 400 is provided on the rotating rod 200 corresponding to each long rod 300. The output end of the first driving member 400 is connected to the corresponding long rod 300 to drive the long rod 300 to swing. Two sets of clamping components 500 are respectively disposed at the lower ends of a pair of long rods 300. The clamping openings of the two sets of clamping components 500 face the central axis of the packaging line, so as to clamp the two sides of the packaging bag on the packaging line respectively. Each long rod 300 is provided with a second driving member 600. The output end of the second driving member 600 is connected to the clamping component 500 at the lower end of the long rod 300 to drive the clamping opening of the clamping component 500 to clamp. A vertical rod 700 is located between a pair of long rods 300. The upper end of the vertical rod 700 is fixedly connected to the rotating rod 200, and the lower end of the vertical rod 700 is rotatably connected to a bag support assembly 800. A third driving member 900 is also provided on the vertical rod 700. The output end of the third driving member 900 is connected to the bag support assembly 800 to drive the bag support assembly 800 to rotate and then insert into the bag opening of the packaging bag on the packaging production line. A drive mechanism 1000 is connected to one end of the rotating rod 200 to drive the rotating rod 200 to rotate in the front-back direction, thereby causing a pair of long rods 300 to swing forward to deliver a packaged bag with the opening of the bag or to return to its original position.

[0021] The packaging production line includes a conveyor for transporting packaging bags and an extension plate located in front of the conveyor's outlet. Suction cups are installed above and below the extension plate, and the extension plate also has through holes corresponding to the lower suction cups. When the conveyor transports the packaging bag to its outlet, the conveyor stops, and the bag opening rests on the extension plate. The suction cups above and below the extension plate move towards the extension plate and respectively adhere to the upper and lower surfaces of the bag opening. The upper suction cup then returns to its original position, moving away from the lower suction cup, thereby opening the bag.

[0022] Initially, the pair of long rods 300 of the bag-opening robot are positioned on the left and right sides of the conveyor outlet. The distance between the lower ends of the pair of long rods 300 is greater than the width of the packaging bag. The clamping component 500 is in an open state, and the bag-supporting component 800 is located in front of the bag opening at the conveyor outlet. When the bag opening is opened, the third drive component 900 drives the bag-supporting component 800 to rotate and insert it into the bag opening. Then, the first drive component 400 drives the pair of long rods 300 to move closer to the central axis of the packaging line, so that the side of the packaging bag enters the clamping opening of the clamping component 500. Then, the second drive component 600 drives the clamping opening to close, clamping the side of the packaging bag. At this time, the first drive component 400 drives the pair of long rods 300 to move away from the central axis of the packaging line, so that the edge of the bag opening is tightened and flattened. Since the bag opening is supported by the bag-supporting component 800, the bag opening is still in an open state. Next, the drive mechanism 1000 drives the rotating rod 200 to rotate forward, and the rotating rod 200 then drives a pair of long rods 300 to swing forward.

[0023] The packaging assembly line also includes a bag clamping and filling mechanism located in front of the bag-opening robot. When a pair of long rods 300 swing forward and drive the bag with its opening open forward, the bag clamping and filling mechanism clamps the upper and lower edges of the bag opening, thus completing the bag delivery process and allowing the bag to enter the station of the bag clamping and filling mechanism. The third drive unit 900 drives the bag-supporting assembly 800 to rotate in the opposite direction and reset, causing the bag-supporting assembly 800 to be pulled out of the bag opening. The second drive unit 600 drives the clamping opening to open and no longer clamp the sides of the bag. Then, the drive mechanism 1000 drives the rotating rod 200 to rotate the pair of long rods 300 backward and reset, completing the bag opening and delivery work and preparing for the next work cycle.

[0024] This technical solution significantly improves bag opening efficiency and reliability through overall collaborative design. The forward and backward rotation of the rotating rod 200, combined with the left and right swinging of the long rod 300, enables the clamping component 500 to accurately grip both edges of the packaging bag and complete the tensioning action. Simultaneously, the bag-supporting component 800 at the end of the vertical rod 700 is driven to insert into the bag opening, ensuring that the bag opening remains open. This integrated bag opening and delivery process effectively reduces the conversion time between traditional processes and significantly improves the operating speed of the packaging line. The linkage design of the clamping component 500 and the bag-supporting component 800 ensures the stability of the packaging bag operation. When the long rod 300 swings outward to tighten the bag opening, the bag-supporting component 800 keeps the bag opening open, preventing the bag opening from accidentally closing during transportation. This collaborative mechanism keeps the packaging bag in a taut and flat state at all times, providing ideal working conditions for subsequent filling processes and significantly reducing the bag clamping error rate. The centralized control of the drive mechanism 1000 simplifies the equipment transmission structure. A single drive source synchronously drives the two long rods 300 on both sides via the rotating rod 200, ensuring a high degree of consistency in the movements of the left and right long rods 300. This design eliminates the potential for asynchronous movements caused by multiple power sources, improving both the reliability of equipment operation and reducing maintenance complexity. The overall layout adopts a symmetrical structure to enhance equipment stability. A pair of rod supports 100 provide a stable support foundation, and the spatial distribution of the long rods 300 and the vertical rods 700 forms a three-point collaborative operation mode. This structural design allows the robot to maintain its center of gravity balance during swinging, effectively suppressing vibration during high-speed operation. At the same time, the modular component layout provides ample maintenance space for key components, improving the operability of the equipment.

[0025] Furthermore, the clamping assembly 500 includes: A clamp mounting groove 501 is provided on the long rod 300. The opening of the clamp mounting groove 501 faces the central axis of the packaging production line. Two pairs of ear holes are provided on the groove wall of the clamp mounting groove 501. The active clamp body 502 includes a first connecting part with a thickness less than the distance between the walls of the clamp body mounting groove 501, a first clamp head connected to the first connecting part and extending toward the central axis of the packaging assembly line, and a first linkage part connected to the first connecting part. The first connecting part is accommodated in the clamp body mounting groove 501 and has a first pin hole aligned with a pair of ear holes. A first pin passes through the pair of ear holes and the first pin hole to make the active clamp body 502 rotatably connected to the clamp body mounting groove 501. The passive clamp body 503 includes a second connecting part with a thickness smaller than the distance between the walls of the clamp body mounting groove 501, a second clamp head connected to the second connecting part and extending toward the central axis of the packaging assembly line, and a second linkage part connected to the second connecting part. The second connecting part is accommodated in the clamp body mounting groove 501 and has a second pin hole aligned with another pair of ear holes. A second pin passes through the other pair of ear holes and the second pin hole to make the passive clamp body 503 rotatably connected to the clamp body mounting groove 501. The first clamping head and the second clamping head form a clamping opening. A first linkage rod 504 is provided between the first linkage part and the second linkage part. One end of the first linkage rod 504 is hinged to the first linkage part, and the other end is hinged to the second linkage part. When the first clamping head of the active clamping body 502 moves away from the second clamping head, the passive clamping body 503 is linked, so that the second clamping head of the passive clamping body 503 also moves away from the first clamping head. When the first clamping head of the active clamping body 502 approaches the second clamping head, the passive clamping body 503 is linked, so that the second clamping head of the passive clamping body 503 also approaches the first clamping head.

[0026] The clamping assembly 500 achieves efficient and reliable bag edge clamping through a specific mechanical structure. The main body of the assembly is a clamp mounting groove 501 fixed to the end of a long rod 300. Two pairs of symmetrical ear holes are formed in the groove wall for mounting the active clamp 502 and the passive clamp 503, respectively. The active clamp 502 includes a first connecting part, a first clamp head extending towards the central axis of the assembly line, and a first linkage part. The first connecting part is rotatably connected to the ear holes via a first pin. The passive clamp 503 has a corresponding structure and is independently hinged to the mounting groove via a second pin. A clamping opening is formed between the two clamp heads, and the first linkage part and the second linkage part are connected by a first linkage rod 504, forming a mechanical linkage relationship.

[0027] When the second driving component 600 (such as the second cylinder) actuates, its piston rod directly drives the active clamp 502 to rotate. Taking the clamping action as an example: the cylinder piston rod extends, pushing the first clamp head closer to the second clamp head. At this time, the first linkage rod 504 tilts accordingly, forcibly driving the second linkage part of the passive clamp 503 to move in the opposite direction, so that the second clamp head moves synchronously closer to the first clamp head. This linkage mechanism ensures that the two clamp heads always open and close symmetrically. For example, when clamping a packaging bag, the two clamp heads can move synchronously to achieve precise centering clamping. Conversely, when the piston rod retracts, the first clamp head moves outward, and the linkage rod pushes the second clamp head to expand outward synchronously, so that the clamping opening opens.

[0028] This solution offers significant technical advantages: First, the single-cylinder-driven synchronous movement of the dual clamps simplifies the control logic and avoids coordination issues with multiple actuators. Second, the rigid linkage mechanism eliminates the potential for asynchronous movements that can occur with traditional dual-cylinder drives, ensuring uniform force on both sides of the packaging bag during clamping. Taking the M-type stand-up pouch as an example, where the side reinforcing ribs have uneven thickness, the clamping assembly 500 can adaptively adjust the clamping force to prevent localized deformation or slippage. Furthermore, the modular clamp structure facilitates the replacement of worn parts; only the pins need to be removed for individual maintenance of the active or passive clamp 503, significantly reducing equipment maintenance costs.

[0029] Furthermore, the second driving component 600 is a second cylinder, the cylinder body of the second cylinder is hinged to the middle of the long rod 300, and the piston rod of the second cylinder is hinged to the first clamp head.

[0030] In this design, the second drive component 600 uses a second cylinder as its power source. The cylinder body is hinged to the middle of the long rod 300, creating a stable support relationship between the cylinder body and the long rod 300. Simultaneously, the end of the cylinder piston rod is directly hinged to the first clamping head of the active clamp 502, forming a simple and efficient transmission path. This arrangement fully utilizes the structural strength of the long rod 300, avoiding the bulky mechanism caused by adding additional support frames. The centrally located cylinder optimizes the force transmission path, allowing the force to be transmitted directly along the axis of the long rod 300, significantly reducing the risk of mechanism deformation. The hinged connection allows the cylinder to adaptively adjust its angle during operation, preventing the piston rod from bearing lateral loads. Furthermore, the external cylinder layout facilitates maintenance, eliminating the need to disassemble the entire clamping assembly 500 during replacement.

[0031] Furthermore, a first hinge seat 203 is provided below each long rod 300 corresponding to the rotating rod 200. The upper end of the long rod 300 is hinged to the first hinge seat 203. A first fastener 204 is also provided on the first hinge seat 203. The first fastener 204 passes around the rotating rod 200 and is connected to the first hinge seat 203 to fix the first hinge seat 203 on the rotating rod 200. The first driving component 400 is a first cylinder. A fixing plate 205 is provided below the rotating rod 200 for each first cylinder. The fixing plate 205 is bent at a right angle. The top surface of one side of the fixing plate 205 is connected to the lower surface of the rotating plate, and a second hinge seat 206 is provided on the bottom surface. The cylinder body of the first cylinder is hinged to the second hinge seat 206. The other side of the fixing plate 205 is connected to the side of the first hinge seat 203. A second fastener 207 is also provided on the fixing plate 205. The second fastener 207 passes around the rotating rod 200 and is connected to the fixing plate 205 to fix the fixing plate 205 to the rotating rod 200.

[0032] This design features a dedicated first hinge seat 203 below each long rod 300, with the upper end of the long rod 300 forming a swing joint with this hinge seat via a pin, ensuring that the long rod 300 can only swing freely in the left and right directions. A special first fastener 204 is mounted on top of the first hinge seat 203. This fastener, in a U-shape, covers the rotating rod 200 and is locked to the hinge seat bolts, achieving a stable connection between the hinge seat and the rotating rod 200. This installation method requires no welding or complex machining; for example, during on-site assembly, simply inserting the U-shaped fastener into the rotating rod 200 and tightening it with two M8 bolts completes the hinge seat positioning. The first drive component 400 uses a first cylinder as the actuating element, and its installation is achieved through a clever layout using a right-angle fixing plate 205. This fixing plate 205 is made into an L-shaped structure using a bending process: the top surface of its horizontal side is welded and fixed to the lower surface of the rotating rod 200, and the bottom surface is welded to a second hinge seat 206 for hinged connection at the cylinder tail; the vertical side is bolted to the side of the first hinge seat 203. A second fastener 207 is also configured on the top of the fixing plate 205; its U-shaped structure wraps around the rotating rod 200 and is then fastened to the fixing plate 205. This double fixing mechanism forms a stable triangular support, which can reduce the load and evenly transfer it to the rotating rod 200.

[0033] During the operation, the piston rod of the first cylinder is linked with the long rod 300. When the cylinder extends or retracts, the piston rod drives the long rod 300 to swing around the hinge pin. Taking the inward retraction of the long rod 300 as an example: the first cylinders on both sides retract synchronously by 30mm, causing the long rod 300 to rotate inward by 20 degrees around the hinge, so that the clamping assembly 500 is accurately positioned at the edge of the bag.

[0034] The aforementioned structure offers significant engineering advantages: First, the modular design enables rapid assembly and disassembly; during maintenance, only the fasteners need to be removed to detach the entire drive unit. Second, the L-shaped fixing plate 205 simultaneously addresses the cylinder installation and hinge reinforcement issues, reducing weight compared to traditional split brackets. Practical applications demonstrate that this compact layout improves the space utilization of the rotating rod 200 area, reserving ample space for subsequent wiring modifications.

[0035] Furthermore, the cross-section of the long rod 300 is groove-shaped, and the groove opening faces the central axis of the packaging assembly line; A short rod 301 is provided between the groove walls at the upper part of the long rod 300. The piston rod end of the first cylinder is provided with a round hole that is adapted to the short rod 301. The piston rod end of the first cylinder is sleeved on the short rod 301 to form a rotatable connection. A third hinge seat 302 is provided at the bottom of the groove in the middle of the long rod 300, and the cylinder body of the second cylinder is hinged to the third hinge seat 302. The clamp mounting slot 501 is located in the slot at the lower end of the long rod 300.

[0036] This design incorporates a groove-shaped cross-section for the long rod 300, with the groove opening facing the central axis of the packaging production line, creating a semi-open load-bearing space. In the upper region of the long rod 300, a short rod 301 is horizontally welded between the two groove walls as a key connection point. This short rod 301 typically has a diameter of φ10mm and forms a clearance fit with the round hole at the end of the first cylinder piston rod. When the first cylinder actuates, the round hole at the end of the piston rod engages with the short rod 301, allowing free rotation and achieving a dual function of power transmission and oscillation compensation. For example, when the piston rod extends or retracts by ±30mm, an adaptive deflection of ±5° can be generated on the short rod 301.

[0037] A third hinge seat 302 is welded to the bottom of the groove in the middle of the long rod 300 to serve as the mounting base for the second cylinder. This hinge seat is vertically fixed to the bottom plane of the groove using an ear plate structure, allowing the cylinder body of the second cylinder to be reliably hinged via a pin. This arrangement fully utilizes the load-bearing advantages of the groove cross-section. For example, when the second cylinder outputs a clamping force of 400N, the steel plate at the bottom of the groove evenly distributes the load to the two side uprights, significantly reducing stress concentration.

[0038] The lower end of the long rod 300 has a groove specifically designed to accommodate the clamp body mounting groove 501. The clamp body mounting groove 501 is bolted to the bottom and side walls of the groove. When the long rod 300 swings, the groove cross-section provides superior torsional stiffness. Simultaneously, the groove opening's orientation towards the production line's central axis fully exposes the working parts of the clamp to the operating area, allowing maintenance personnel to directly access the pin connection point from the side.

[0039] The integrated design described above yields multiple technical benefits: First, the short rod 301 connection method eliminates the wear problem of traditional ball joints; second, the centralized layout inside the groove allows hydraulic and air lines to be laid out in a standardized manner along the groove wall, avoiding motion interference.

[0040] Furthermore, the pouch support assembly 800 includes: A circular shaft 801 extends transversely through the lower end of the vertical rod 700 along the width direction of the packaging assembly line and is rotatably connected to the vertical rod 700. A pair of V-shaped arms 802 are respectively disposed at both ends of the round shaft 801. One end of the V-shaped arm 802 is connected to the round shaft 801, and the other end extends downstream along the packaging assembly line to the front and below the vertical rod 700. A pair of bag support plates 803 are respectively connected to the other end of a pair of V-shaped arms 802. The bag support plates 803 are fixed along the height of the V-shaped arms 802 in an adjustable manner. The bag support plates 803 include pointed corner plates that extend upstream of the packaging production line.

[0041] It should be noted that, since the bag clamping and filling mechanism connected to the bag opening robot has a certain width and clamps the bag opening at the upper and lower edges respectively, when designing the bag support assembly 800 in this invention, it is necessary to consider that the opening width of the bag opening cannot be less than the width of the bag clamping device. Therefore, the distance between the pointed plates of the pair of bag support plates 803 is not less than the width of the bag clamping device, so that the bag clamping device of the bag clamping and filling mechanism can move between the pair of bag support plates 803 to clamp the bag.

[0042] The circular shaft 801, which passes horizontally through the lower end of the vertical rod 700 in the bag-supporting assembly 800, has its axis aligned with the width of the packaging line and is rotatably connected to the vertical rod 700 via bearings. A pair of V-shaped arms 802 are symmetrically mounted at both ends of the circular shaft 801, with the mounting point located at one end of each arm, forming a forward-extending cantilever structure. The other end of the V-shaped arm 802 extends to the lower front of the vertical rod 700, and its end is bolted to a height-adjustable bag-supporting plate 803. The bag-supporting plate 803 includes a handle plate and a pointed corner plate. The pointed corner plate features a special pointed angle design, with the acute apex of its triangular body precisely pointing upstream on the packaging line.

[0043] When the third drive component 900 actuates, it drives the circular shaft 801 to rotate, thereby driving the V-shaped arm 802 to move. Taking the bag insertion action as an example: the circular shaft 801 rotates 25 degrees counterclockwise, and the V-shaped arm 802 swings synchronously around the circular shaft 801 as a fulcrum, pushing the front-end bag support plate 803 to move upstream. At this time, the tip of the pointed plate inserts into the already opened bag opening, and the two sides of the pointed corner abut against the upper and lower edges of the bag opening respectively, forming reliable support. At this time, the bag opening is expanded, creating an ideal channel for subsequent filling processes.

[0044] The aforementioned structure boasts multiple technological advantages: First, the cantilever structure of the V-arm 802 transforms small-angle rotation into a large-displacement arc motion of the corner plate, achieving high-precision positioning. Second, the height-adjustable design of the bag support plate 803 adapts to packaging bags of different sizes; it can be adjusted up and down by loosening the fixing bolts to meet the production needs of different bag opening sizes. The specially designed corner plate plays a crucial role: the sharp angle at the front ensures smooth insertion, the wide rear side provides a stable support surface, and the upstream-facing corner tip creates a self-locking effect, effectively preventing the bag opening from slipping during delivery.

[0045] Furthermore, the third driving component 900 is a third cylinder, the cylinder body of the third cylinder is hinged to the middle of the vertical rod 700, the round shaft 801 is provided with a second linkage rod 804, and the piston rod of the third cylinder is hinged to the second linkage rod 804.

[0046] This design uses a third cylinder as the power source. Its cylinder body is hinged to the middle of the vertical rod 700 via a pin, allowing the cylinder body to adaptively adjust its angle as the mechanism swings. A second linkage rod 804 is welded to the middle of the circular shaft 801, and a through hole is machined at the end of this linkage rod to form a hinge with the piston rod of the third cylinder. This arrangement forms a crank-slider mechanism, converting the linear motion of the third cylinder into precise rotation of the circular shaft 801.

[0047] When the bag opening action is performed, the piston rod of the third cylinder extends outward. Taking a 250mm wide packaging bag as an example: the piston rod extends 80mm, pushing the second linkage rod 804 to rotate around the center of the circular shaft 801. At this time, the second linkage rod 804 drives the circular shaft 801 to rotate 25 degrees counterclockwise, and the V-shaped arms 802 at both ends swing upward simultaneously, so that the tip of the bag support plate 803 is precisely inserted into the bag opening. The reset action is achieved by the piston rod retracting. The third cylinder retracts 80mm at a constant speed, and the linkage rod pulls the circular shaft 801 to rotate clockwise to reset. At this time, the V-shaped arms 802 drive the bag support plate 803 to smoothly exit the bag opening in the downstream direction, and its sharp corner is designed not to scratch the inner wall of the packaging bag during the disengagement process. A buffer limit is set at the end of the entire stroke, so that the bag support plate 803 finally stops at a safe position 50mm away from the bag opening.

[0048] The above design has significant technical advantages: First, the short lever arm linkage provides mechanical gain, enabling a standard cylinder to generate sufficient torque to open the thickened packaging bag; second, all hinge points adopt a detachable pin structure, requiring only the removal of a single pin when replacing a cylinder, reducing maintenance time to within 15 minutes. Practical application shows that the mechanism achieves a positioning accuracy of ±0.8 degrees and can adapt to a high-speed production cycle of 25 bags per minute.

[0049] Furthermore, the vertical rod 700 includes: A pair of strips 701 are connected by a connecting plate 702. The upper ends of the pair of strips 701 are fixed to the rotating rod 200. The lower ends of the pair of strips 701 are provided with through holes adapted to the round shaft 801. The round shaft 801 passes through the through holes. The second linkage rod 804 is connected to the part of the round shaft 801 located between the pair of strips 701.

[0050] This design employs a double-plate 701 structure to construct the main body of the vertical rod 700. Two 8mm thick steel plates are arranged in parallel, with a 60mm gap between them to form a stable load-bearing space. Several rectangular connecting plates 702 are welded between the two plates 701 to form a rigid truss structure, significantly improving bending stiffness. The upper end of the plates 701 is bolted to the rotating rod 200 via fasteners to ensure effective force transmission; the lower end is machined with φ30mm through holes, with the coaxiality error of the two holes controlled within 0.05mm, providing a precise installation reference for the round shaft 801. The round shaft 801 is installed through the through holes of the two plates 701, with an H7 / g6 clearance fit. A second linkage rod 804 is installed at the keyway position in the middle of the round shaft 801. This linkage rod is located within the gap between the two plates and transmits torque via a flat key.

[0051] The aforementioned structure has significant engineering value: First, the truss structure reduces the weight of the vertical rod 700 by 3% while increasing its torsional stiffness compared to traditional square tubing; second, the symmetrical layout eliminates unbalanced moments and reduces inertial impact when the rotating rod 200 swings. Actual production line applications have proven that this structure enables the bag support assembly 800 to achieve a positioning repeatability of ±0.5mm, perfectly matching the 0.1-second bag insertion time window of high-speed packaging lines.

[0052] Furthermore, the drive mechanism 1000 includes a drive motor 1001, a reducer 1002, and a rocker arm mechanism connected in sequence, and the rocker arm mechanism is connected to the rotating rod 200.

[0053] Specifically, the rod support 100 includes: a seat plate 101 and a collar 102 disposed on the seat plate 101, wherein a bearing for connecting the rotating rod 200 is coaxially disposed inside the collar 102; The rotating rod 200 includes: a square rod 201, with cylindrical rotating parts 202 coaxially connected to both ends of the rod. The rotating parts 202 are connected to the bearing, and one rotating part 202 extends to the outside of the rod support 100. The rocker arm mechanism includes a first connecting rod 1003, a second connecting rod 1004, and a third connecting rod 1005. One end of the first connecting rod 1003 is connected to the output shaft of the reducer 1002, and the other end is hinged to one end of the second connecting rod 1004. One end of the third connecting rod 1005 is provided with an elongated hole along its length direction. The other end of the second connecting rod 1004 is slidably connected in the elongated hole. The other end of the third connecting rod 1005 is connected to a rotating part 202 extending outside the rod support 100.

[0054] The drive mechanism 1000 adopts a motor-driven mode and consists of a three-stage transmission system: a drive motor 1001, a reducer 1002, and a rocker arm mechanism. The drive motor 1001 is typically a 1.5kW servo motor, connected to the input of the reducer 1002 via a flange. The reduction ratio is designed to be 20:1 to provide sufficient torque. The output shaft of the reducer 1002 is rigidly connected to the rocker arm mechanism, transmitting rotational motion to the rotating rod 200. This centralized drive method ensures synchronous operation of the left and right mechanisms; for example, when the motor rotates 180 degrees, the rotating rod 200 precisely completes a 40-degree forward and backward swing stroke.

[0055] The rod support 100 consists of a welded base plate 101 and a precision collar 102. The collar 102 houses a double-row angular contact bearing with an inner diameter tolerance controlled at H7 grade. The rotating rod 200 employs a combined design: a 40×40mm square steel section provides torsional rigidity, while both ends are machined φ30h6 precision cylinders as rotating parts 202. During installation, the rotating part 202 forms a transition fit with the bearing, extending 60mm on one side for connecting to the rocker arm mechanism. This design ensures structural strength while reducing frictional loss; the measured rotational torque is only 12 N·m.

[0056] The rocker arm mechanism comprises three sets of special connecting rods: the first connecting rod 1003 is keyed to the output shaft of the reducer 1002; the second connecting rod 1004 is hinged to the first connecting rod 1003 via a spherical bearing; and the third connecting rod 1005 has a 30mm elongated hole at one end, within which a sliding rod at the end of the second connecting rod 1004 slides. When the drive motor 1001 starts, the first connecting rod 1003 drives the second connecting rod 1004 to perform planar motion, and the third connecting rod 1005 converts this combined motion into the precise oscillation of the rotating rod 200. Taking the bag-handling action as an example: the motor rotates 150 degrees clockwise, pushing the rotating rod 200 forward by 25 degrees through the connecting rod mechanism. At this time, the end of the long rod 300 produces a 300mm linear displacement, perfectly matching the spacing between the filling stations.

[0057] This solution offers significant technical advantages: First, the elongated hole design effectively compensates for manufacturing and assembly errors, allowing the second connecting rod 1004 to self-adjust within a range of ±5mm; second, the three-stage transmission mechanism reduces the motor speed to a safe range, lowering the impact load by 65% ​​at 20 cycles per minute; furthermore, the modular structure enables rapid maintenance, requiring only the removal of four bolts to replace the reducer 1002. Actual testing shows that the mechanism achieves a repeatability accuracy of ±0.15 degrees, meeting the high-speed production requirement of 30 bags per minute. In continuous operation testing, the bearing life exceeded 30,000 hours, significantly reducing equipment maintenance costs.

[0058] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A bag-opening robot for a packaging production line of M bags, characterized in that, include: A pair of rod supports are respectively installed on the left and right sides of the packaging production line and are located at the same height; The rotating rod has its two ends rotatably connected to a pair of rod supports, so that the rotating rod can rotate in the front-to-back direction; A pair of long rods are arranged below the rotating rod and on both sides of the central axis of the packaging production line. The upper ends of the pair of long rods are hinged to the rotating rod so that the long rods can swing in the left and right directions. The rotating rod is provided with a first driving member corresponding to each long rod. The output end of the first driving member is connected to the long rod corresponding to it to drive the long rod to swing. Two sets of clamping components are respectively disposed at the lower end of a pair of long rods. The clamping ports of both sets of clamping components face the central axis of the packaging line to clamp the two sides of the packaging bag on the packaging line. Each long rod is provided with a second driving component. The output end of the second driving component is connected to the clamping component at the lower end of the long rod to drive the clamping port of the clamping component to open and close for clamping. A vertical rod is located between a pair of long rods. The upper end of the vertical rod is fixedly connected to the rotating rod, and the lower end of the vertical rod is rotatably connected to a bag-supporting assembly. A third driving component is also provided on the vertical rod. The output end of the third driving component is connected to the bag-supporting assembly to drive the bag-supporting assembly to rotate and then insert it into the bag opening of the packaging bag on the packaging production line. A drive mechanism, which is connected to one end of the rotating rod, is used to drive the rotating rod to rotate in the front-back direction, thereby driving a pair of long rods to swing forward to deliver a packaged bag with the opening of the bag or to return to its original position. Wherein, the first driving component is a first cylinder, the second driving component is a second cylinder, and the third driving component is a third cylinder.

2. The bag-opening robot for a packaging line of M bags as described in claim 1, characterized in that, The clamping assembly includes: A clamp mounting slot is provided on the long rod, the opening of the clamp mounting slot faces the central axis of the packaging production line, and two pairs of ear holes are provided on the groove wall of the clamp mounting slot. An active clamp body includes a first connecting part with a thickness less than the distance between the walls of the clamp body mounting groove, a first clamp head connected to the first connecting part and extending toward the central axis of the packaging assembly line, and a first linkage part connected to the first connecting part. The first connecting part is accommodated in the clamp body mounting groove and has a first pin hole aligned with a pair of ear holes. A first pin passes through the pair of ear holes and the first pin hole to make the active clamp body rotatably connected to the clamp body mounting groove. The passive clamp body includes a second connecting part with a thickness smaller than the distance between the walls of the clamp body mounting groove, a second clamp head connected to the second connecting part and extending toward the central axis of the packaging assembly line, and a second linkage part connected to the second connecting part. The second connecting part is accommodated in the clamp body mounting groove and has a second pin hole aligned with another pair of ear holes. A second pin passes through the other pair of ear holes and the second pin hole to make the passive clamp body rotatably connected to the clamp body mounting groove. The first clamping head and the second clamping head form a clamping opening. A first linkage rod is provided between the first linkage part and the second linkage part. One end of the first linkage rod is hinged to the first linkage part, and the other end is hinged to the second linkage part. When the first clamping head of the active clamping body moves away from the second clamping head, the passive clamping body is linked, so that the second clamping head of the passive clamping body also moves away from the first clamping head. When the first clamping head of the active clamping body approaches the second clamping head, the passive clamping body is linked, so that the second clamping head of the passive clamping body also approaches the first clamping head.

3. The bag-opening robot for a packaging line of M bags as described in claim 2, characterized in that, The cylinder body of the second cylinder is hinged to the middle of the long rod, and the piston rod of the second cylinder is hinged to the head of the first clamp.

4. The bag-opening robot for a packaging line of M bags as described in claim 3, characterized in that, Below each long rod, a first hinge seat is provided. The upper end of the long rod is hinged to the first hinge seat. A first fastener is also provided on the first hinge seat. The first fastener passes around the rotating rod and is connected to the first hinge seat to fix the first hinge seat on the rotating rod. Below the rotating rod, a fixing plate is provided for each first cylinder. The fixing plate is bent at a right angle. The top surface of one side of the fixing plate is connected to the lower surface of the rotating plate, and a second hinge seat is provided on the bottom surface. The cylinder body of the first cylinder is hinged to the second hinge seat. The other side of the fixing plate is connected to the side of the first hinge seat. A second fastener is also provided on the fixing plate. The second fastener passes around the rotating rod and is connected to the fixing plate to fix the fixing plate to the rotating rod.

5. The bag-opening robot for a packaging line of M bags as described in claim 4, characterized in that, The cross-section of the long rod is groove-shaped, and the groove opening faces the central axis of the packaging production line; A short rod is provided between the groove walls at the upper part of the long rod, and a round hole adapted to the short rod is provided at the end of the piston rod of the first cylinder. The end of the piston rod of the first cylinder is sleeved on the short rod to form a rotatable connection. A third hinge seat is provided at the bottom of the groove in the middle of the long rod, and the cylinder body of the second cylinder is hinged to the third hinge seat; The clamp mounting slot is located in the slot at the lower end of the long rod.

6. The bag-opening robot for a packaging production line of M bags as described in claim 1, characterized in that, The bag support assembly includes: A circular shaft, which passes horizontally through the lower end of the vertical rod along the width direction of the packaging assembly line and is rotatably connected to the vertical rod; A pair of V-shaped arms are respectively disposed at both ends of the circular shaft. One end of the V-shaped arm is connected to the circular shaft, and the other end extends downstream along the packaging production line to the front and lower part of the vertical bar. A pair of bag support plates are respectively connected to the other end of a pair of V-shaped arms. The bag support plates are fixed along the height of the V-shaped arms in an adjustable manner. The bag support plates include pointed corner plates that extend upstream of the packaging production line.

7. The bag-opening robot for a packaging line of M bags as described in claim 6, characterized in that, The cylinder body of the third cylinder is hinged to the middle of the vertical rod, and a second linkage rod is provided on the circular shaft. The piston rod of the third cylinder is hinged to the second linkage rod.

8. The bag-opening robot for a packaging line of M bags as described in claim 7, characterized in that, The vertical rod includes: A pair of strips are connected by a connecting plate. The upper ends of the pair of strips are fixed to a rotating rod, and the lower ends of the pair of strips are provided with through holes adapted to the round shaft. The round shaft passes through the through holes, and the second linkage rod is connected to the part of the round shaft located between the pair of strips.

9. The bag-opening robot for a packaging production line of M bags as described in claim 1, characterized in that, The drive mechanism includes a drive motor, a reducer, and a rocker arm mechanism connected in sequence, and the rocker arm mechanism is connected to the rotating rod.

10. The bag-opening robot for a packaging line of M bags as described in claim 9, characterized in that, The rod support includes: a base plate and a collar disposed on the base plate, wherein a bearing for connecting the rotating rod is coaxially disposed inside the collar; The rotating rod includes: a square rod with cylindrical rotating parts coaxially connected to both ends, the rotating parts being connected to the bearing, and one rotating part extending to the outside of the rod support; The rocker arm mechanism includes a first link, a second link, and a third link. One end of the first link is connected to the output shaft of the reducer, and the other end is hinged to one end of the second link. One end of the third link has an elongated hole along its length. The other end of the second link is slidably connected to the elongated hole. The other end of the third link is connected to a rotating part extending outside the rod support.

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