Full-automatic robot valve port vacuum, ultrasonic sealing integrated packaging machine and full-automatic packaging system

Abstract

The application belongs to the technical field of packaging machines, and relates to a full-automatic robot valve port vacuum and ultrasonic sealing integrated packaging machine, which comprises a main frame, a stock bin is installed on the top of the main frame, a gas permeable filter plate stock bin is sealingly connected to the discharge port of the stock bin, a fast and slow feeding assembly is further installed on the main frame to control the on-off and speed of discharging, a vacuum box assembly is installed at the discharging and packaging end of the main frame, a weighing support assembly is arranged in the vacuum box assembly, the weighing support assembly is installed with a bag pushing assembly, the acting end of the bag pushing assembly is connected with a bag clamping assembly, the bag pushing assembly can drive the bag clamping assembly to realize reciprocating movement in the horizontal direction, and the weighing support assembly comprises a weighing frame, a discharge nozzle is arranged on the weighing frame, the feeding end of the discharge nozzle is connected to the discharge port of the gas permeable filter plate stock bin, and a dust removal chamber of the discharge nozzle is sealingly connected to a dust removal hopper. The packaging machine can realize bagging operation of materials in the vacuum box, and ensures that the workshop working environment is suitable.

Description

Technical Field

[0001] This invention belongs to the field of packaging machine technology, and relates to a fully automatic robotic valve-sealed vacuum and ultrasonic sealing integrated packaging machine and a fully automatic packaging system. Background Technology

[0002] Due to technological advancements, ultrafine powder materials have a wide range of applications. Many situations require ultrafine powder materials. After production, these materials are extremely fine and have a low specific gravity, resulting in a high gas content (such as silica, lithium battery powder, aluminum hydroxide micro powder, activated carbon, titanium dioxide, silica, carbon black, etc.). The materials also have a certain temperature. During packaging operations, existing packaging machines cannot achieve one-time packaging and sealing. Users have been searching for packaging machines that can solve packaging, measurement accuracy, sealing, palletizing, and logistics transportation problems in one go.

[0003] When packaging machines are used for actual packaging and filling, the bags are directly exposed in the workshop, which causes dust to spill out. The dripping and spilling not only affect the workshop environment and greatly increase the workload of workers, but also have an adverse effect on the health of workers and pose safety hazards.

[0004] To address the aforementioned issues, packaging machines with vacuum boxes have recently appeared on the market, which can solve some of the dust spillage problems. However, in practice, it has been found that existing vacuum box components still have many problems. For example, during filling, the bags need to be manually inserted; after filling, the bags need to be manually removed, moved to a re-inspection scale for adjustments, and then sealed. After sealing, the bags are manually moved to a conveyor belt or pallet. Automatic sealing and automatic bag entry into the palletizing line are not possible.

[0005] The packaging machine's weighing system is designed to be too heavy (likely due to the vacuum chamber being weighed as well), necessitating the selection of a large-range load cell. Normally, a 200kg load cell would suffice to meet the measurement requirements of 25.00-50.00kg, but the machine's own tare weight exceeds 250kg; therefore, a 500kg range load cell must be chosen. As is well known, the smaller the load cell, the better its accuracy and the smaller its error.

[0006] Weighing in a vacuum chamber can also cause errors due to mechanical pipe connections and negative pressure; and the environment (such as wind) can also lead to instability of the scale. Summary of the Invention

[0007] To address the aforementioned problems, this invention provides a fully automatic robotic vacuum and ultrasonic sealing integrated packaging machine and a fully automatic packaging system. This packaging machine can automatically bag and bag materials inside a vacuum chamber, ensuring a suitable workshop working environment. It can also automatically quantitatively fill and ultrasonically seal bags inside the vacuum chamber, and shape the bags. After shaping, the vacuum chamber door is automatically opened, and the bags are automatically placed onto the palletizing line.

[0008] According to the technical solution of the present invention: a fully automatic robotic valve-sealed vacuum and ultrasonic sealing integrated packaging machine includes a main frame, a material bin is installed on the top of the main frame, and the outlet of the material bin is sealed and connected to a breathable filter plate material bin. The main frame is characterized by: a fast and slow feeding component is also installed on the main frame to control the material feeding on / off and the feeding speed; a vacuum box component is installed at the packaging outlet of the main frame, and a weighing support component is installed inside the vacuum box component. The top of the weighing support component is suspended from the main frame by a weighing sensor, and the upper two sides of the weighing support component are respectively connected to the main frame by an upper spring, and the lower two sides of the weighing support component are respectively connected to a spring support on the main frame by a lower spring. The weighing support assembly is equipped with a bag pushing component, the working end of which is connected to a bag clamping component. The bag pushing component can drive the bag clamping component to reciprocate horizontally. The weighing support assembly includes a weighing frame, on which a discharge nozzle is provided. The inlet end of the discharge nozzle is connected to the outlet of the air-permeable filter plate hopper. The dust removal chamber of the discharge nozzle is sealed and connected to the dust removal hopper. A bag pressing cylinder is also installed on the weighing frame, and the bag pressing cylinder is located above the discharge nozzle. An ultrasonic sealing assembly is installed on the upper part of the vacuum box assembly for sealing the bag after it has been filled. The vacuum chamber assembly has an opening door at the open end of the chamber, and the opening and closing of the door is adjusted by an opening and closing cylinder.

[0009] As a further improvement of the present invention, the pusher assembly includes a swing arm, the rod of which is rotatably mounted on a clamping plate fixing seat fixed on the weighing frame. The lower part of the weighing frame is provided with a push cylinder tail seat. The mounting part of the push cylinder is hinged to the push cylinder tail seat. The piston rod of the push cylinder is hinged to the first swing part of the swing arm. The second swing parts at both ends of the swing arm are respectively hinged to one end of the corresponding swing arm connecting rod. The other end of the swing arm connecting rod is hinged to the connecting part of the first connecting rod. The lower end of each of the first connecting rods is rotatably connected to the outer spherical bearings of the set screws respectively installed in the lower part of the weighing frame. The upper part of the first connecting rod is hinged to one end of the clamping cylinder plate of the bag clamping assembly. A connecting rod is also installed in the lower part of the weighing frame. The connecting rod is hinged to the lower end of the second connecting rod. The upper end of the second connecting rod is hinged to the other end of the clamping cylinder plate of the bag clamping assembly.

[0010] As a further improvement of the present invention, the bag clamping assembly includes a baffle seat, an electric cylinder is installed in the middle of the back of the baffle seat, the piston rod of the electric cylinder is connected to the electric cylinder connecting plate, the electric cylinder can drive the electric cylinder connecting plate to move up and down along the slide rail on the baffle seat, the electric cylinder connecting plate is fixedly connected to the pallet frame, the pallet frame is located in front of the baffle seat, and a pallet is rotatably set on the pallet frame, the pallet frame is hinged to the pallet cylinder, and the piston rod of the pallet cylinder is connected to the pallet; The two sides of the baffle seat are respectively fixed with bag clamping cylinder clamping plates. Each bag clamping cylinder clamping plate is fixedly connected to a bag clamping cylinder bracket. The bag clamping cylinder bracket is equipped with a bag clamping cylinder. The piston rod of the bag clamping cylinder is fixedly connected to the bag blocking body. The inner side of the bag blocking body is fixed with a bag blocking round tube. The inner side of the bag-blocking seat is provided with a protective plate, and the two ends of the protective plate are respectively fixed to the side wall of the bag-blocking seat. The inner wall of the bag-blocking seat is equipped with a top bag cylinder, and the piston rod end of the top bag cylinder is equipped with a bag mouth shaping bracket. A dust removal baffle shaft is rotatably mounted on the upper part of the baffle seat. A dust removal baffle is installed on the dust removal baffle shaft. A dust removal baffle cylinder is also installed on the baffle seat. The piston rod of the dust removal baffle cylinder is connected to the dust removal baffle shaft through a cylinder connecting rod.

[0011] As a further improvement of the present invention, the ultrasonic sealing assembly includes an ultrasonic frame, which is mounted on the base plate of the vacuum chamber assembly. Two sets of ultrasonic lifting cylinders are mounted on the ultrasonic frame. The piston rod of each set of ultrasonic lifting cylinders is hinged to the middle of a drive shaft. One end of the drive shaft is hinged to the lower part of a connecting rod fixed on the ultrasonic frame, and the other end of the drive shaft is hinged to the side plate of the ultrasonic fixed weighing frame. The upper part of the connecting rod is hinged to one end of a balance rod, and the other end of the balance rod is hinged to the cylinder lug on the side of the ultrasonic fixed weighing frame. The top mounting plate of the ultrasonic fixed weighing frame is equipped with an ultrasonic generator via an ultrasonic shaft. The cylinder ear rings on both sides of the ultrasonic fixed weighing frame are respectively hinged to a bottom plate adjusting cylinder. The piston rods of the two bottom plate adjusting cylinders are respectively hinged to the first bottom plate connecting block on the surface of the lower mold bottom plate. The lower part of the side plate of the ultrasonic fixed weighing frame is hinged to the second bottom plate connecting block on the surface of the lower mold bottom plate. An ultrasonic dust removal tube is also installed on the back of the ultrasonic fixed weighing frame, and the lower part of the ultrasonic dust removal tube extends to the same horizontal position as the lower end of the ultrasonic generator.

[0012] As a further improvement of the present invention, the main frame is provided with a first track support and a second track support on one side of the vacuum chamber assembly. The top track of the first track support and the linear slide rail of the second track support are slidably connected with mutually cooperating opening and closing doors. The two opening and closing doors are also provided with safety door sensors and inner sealing strips. The inner sealing strip extends around the edge of the opening and closing door, and the safety door sealing body is provided on the outside of the inner sealing strip. Each of the opening and closing doors is connected to a slider via a slider fixing plate. The upper slider of the opening and closing door slides in cooperation with the track on the first track bracket, and the lower slider slides in cooperation with the linear slide rail. The vacuum chamber of the vacuum chamber assembly is provided with a first front enclosure and a second front enclosure. The outer sides of the first front enclosure and the second front enclosure are respectively fixed by sealing plates. The sealing plates are fixed to the first track bracket, and the vacuum chamber is fixed to the first track bracket by suspension rods.

[0013] As a further improvement of the present invention, the main frame is equipped with a first dust removal pipe and a second dust removal pipe. The first dust removal pipe is sealed and connected to the dust removal hopper, and the suction port of the second dust removal pipe is connected from the bottom to the vacuum box of the vacuum box assembly. The vacuum box is also connected to a vacuum pumping pipe.

[0014] As a further improvement of the present invention, an outwardly extending arc-shaped transition portion is formed at the junction of the first front section and the second front section, and the arc-shaped transition portions of the first front section and the second front section are tangent to each other. After the two opening and closing doors are closed, they are respectively limited by the corresponding arc-shaped transition portions, thereby achieving the sealing of the two opening and closing doors.

[0015] As a further improvement of the present invention, the upper part of the opening and closing door is slidably engaged with the track at the top of the first track support, and the lower part of the opening and closing door is slidably engaged with the linear slide rail on the outer surface of the second track support. A piston rod cylinder is installed on the outer surface of the second track support, and the two piston rods of the piston rod cylinder are respectively fixedly connected to the corresponding opening and closing door.

[0016] As a further improvement of the present invention, the discharge nozzle includes a first tube and a second tube. The first tube and the second tube are coaxially arranged and fixedly connected by a tube flange. The second tube extends axially along the inner cavity of the first tube for a certain distance, and an air blowing and feeding space is formed between the second tube and the first tube. The first tube is provided with an air blowing port that communicates with the air blowing and feeding space. The first pipe body has a through-hole return air pipe along the axial direction. One end of the return air pipe is connected to the air pipe provided on the first pipe body, and the other end of the return air pipe extends to the discharge end cap at the front end of the first pipe body in the axial direction. A rubber tube is fitted onto the first tube body, and an inflation tube is provided on the first tube body. The air outlet of the inflation tube is connected to the inner cavity of the rubber tube so that the rubber tube can be inflated to tighten the bag during operation.

[0017] As a further improvement of the present invention, a second sleeve, a first sleeve, a sleeve, and a spacer are sequentially arranged on the first tube body along the axial direction toward the discharge end cover. The inner axial end of the second sleeve is positioned by the shoulder of the first tube body, and a rubber tube is connected to the outer surface of the sleeve. One axial end of the rubber tube is pressed against the first sleeve, and the other axial end abuts against the spacer. The spacer is fixed by the discharge end cover. The sleeve has axially extending sleeve portions at both axial ends, and the rubber tube has inwardly buckled retractable connecting portions at both axial ends, which are connected to the sleeve portions. A first O-ring is provided between the inner wall of the first sleeve and the outer surface of the first tube body.

[0018] The present invention also provides a fully automatic packaging system, including the above-mentioned fully automatic robotic valve-vacuum and ultrasonic sealing integrated packaging machine. The fully automatic robotic valve-vacuum and ultrasonic sealing integrated packaging machine is equipped with a bag-loading device and a conveyor. The fully automatic robotic valve-vacuum and ultrasonic sealing integrated packaging machine and the bag-loading device are placed on both sides of the conveyor. The bag-loading device is used to put bags on the discharge nozzle of the fully automatic robotic valve-vacuum and ultrasonic sealing integrated packaging machine. The conveyor is used to stack and output the bags after filling and sealing.

[0019] Furthermore, the bag-feeding device includes a bag inserter, and a bag magazine is provided at the lower part of the bag inserter. The bag magazine supplies bags to the bag inserter. During operation, the bag inserter takes a bag from the bag magazine and conveys the bag to the fully automatic robot valve-mouth vacuum and ultrasonic sealing integrated packaging machine, and places it on the discharge nozzle. After the bag is filled and sealed in the vacuum box assembly of the fully automatic robot valve-mouth vacuum and ultrasonic sealing integrated packaging machine, it is placed down to the conveyor. After multiple bags are stacked on the conveyor, they are transported by the conveyor. The bag inserting machine includes a bag-picking suction cup that can move up and down, and a bag inserting component that can move horizontally. After the bag-picking suction cup picks up the bag at a low position, it moves up to cooperate with the bag inserting component. After the bag inserting component grabs the bag, it moves horizontally to the fully automatic robot valve-sealed vacuum and ultrasonic integrated packaging machine and puts the bag on the discharge nozzle.

[0020] Furthermore, multiple fully automatic robotic vacuum and ultrasonic sealing integrated packaging machines are arranged sequentially along the conveyor direction. Each fully automatic robotic vacuum and ultrasonic sealing integrated packaging machine is equipped with a bag inserting machine, and each bag inserting machine is equipped with a bag storage for supplying bags.

[0021] Furthermore, the bag feeding device employs a robot, with a bag storage and a bag opening machine set up next to the robot. The bag opening machine and the robot are respectively set on both sides of the bag storage. After the bag opening machine grabs the bag from the bag storage, it opens the bag opening. The robot then puts the bag with the opened bag opening onto the discharge nozzle. One robot supplies bags to one or two fully automatic robot valve vacuum and ultrasonic sealing integrated packaging machines.

[0022] The technical advantages of this invention are as follows: The product structure is reasonable and ingenious, addressing the problem of dust spillage during material packaging caused by exposed pockets in existing similar products. It employs a vacuum chamber with an opening and closing door. Material packaging within the vacuum chamber effectively prevents dust spillage. Furthermore, during packaging, the vacuum chamber is sealed, creating negative pressure. Combined with a specially designed microporous packaging bag, this allows material to be drawn into the bag, achieving automatic quantitative filling and sealing of the pockets. One robot can serve multiple packaging machines. Attached Figure Description

[0023] Figure 1 This is a perspective view of the present invention.

[0024] Figure 2 This is the front view of the present invention.

[0025] Figure 3 for Figure 2 The left view.

[0026] Figure 4 for Figure 2 Top view.

[0027] Figure 5 This is a schematic diagram of the vacuum door in its fully closed state.

[0028] Figure 6 for Figure 5 AA view.

[0029] Figure 7 for Figure 6 DD view.

[0030] Figure 8 for Figure 6 A magnified view of a section at point M.

[0031] Figure 9 for Figure 5 BB view.

[0032] Figure 10 for Figure 9 A magnified view of a portion of point N in the middle.

[0033] Figure 11 for Figure 9A magnified view of a portion of point P in the middle.

[0034] Figure 12 for Figure 5 The CC view.

[0035] Figure 13 for Figure 12 A magnified view of a portion of point Q.

[0036] Figure 14 This is a 3D view of the vacuum door in its fully closed state.

[0037] Figure 15 for Figure 14 A magnified view of the area at point W in the middle.

[0038] Figure 16 This is a schematic diagram of the installation of the bag clamping assembly.

[0039] Figure 17 for Figure 16 The main view.

[0040] Figure 18 for Figure 17 The left view.

[0041] Figure 19 This is a schematic diagram of the main structure of a fully automatic robotic vacuum and ultrasonic sealing integrated packaging machine.

[0042] Figure 20 for Figure 19 EE view.

[0043] Figure 21 for Figure 19 A three-dimensional image.

[0044] Figure 22 This is a 3D view of the ultrasonic sealing assembly.

[0045] Figure 23 This is the main view of the clipboard component.

[0046] Figure 24 for Figure 23 FF view.

[0047] Figure 25 for Figure 23 Rear view.

[0048] Figure 26 for Figure 23 A three-dimensional image.

[0049] Figure 27 This is the front view of the discharge nozzle.

[0050] Figure 28 This is a right view of the discharge nozzle.

[0051] Figure 29 for Figure 28 SS-direction sectional view.

[0052] Figure 30 for Figure 28 HH sectional view.

[0053] Figure 31 This is a schematic diagram of the structure of the discharge nozzle in the inflated state.

[0054] Figure 32 This is a 3D view of a fully automated packaging system.

[0055] Figure 33 for Figure 31 The main view.

[0056] Figure 34 for Figure 32 GG view.

[0057] Figure 35 for Figure 32 The right view.

[0058] Figure 36 This is a schematic diagram illustrating the structure of multiple packaging machines operating simultaneously.

[0059] Figure 37 This is a schematic diagram of a robot loading bags onto a packaging machine.

[0060] Figure 38 for Figure 37 A three-dimensional image. Detailed Implementation

[0061] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0062] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. The described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0063] Figure 1-38The system includes a main frame 10, a hopper 11, a breathable filter plate hopper 12, a first dust removal pipe 13, a second dust removal pipe 14, a vacuum pipe 15, a vacuum box assembly 20, a lifting rod 20-1, a safety door sealing strip 20-2, a sealing plate 20-3, a second track support 20-4, a first full-section wrapping body 21, a second front-section wrapping body 22, a first track support 23, a track support fixing plate 24, a linear slide rail 25, an opening and closing door 26, an inner sealing strip 27, a slider fixing plate 28, an opening and closing cylinder 29, an ultrasonic sealing assembly 30, an ultrasonic lower mold 30-1, an ultrasonic lifting cylinder 30-2, a connecting rod 30-3, a base plate adjusting cylinder 30-4, and an ultrasonic... 31. Ultrasonic frame; 32. Ultrasonic fixed weighing frame; 33. Drive shaft; 34. Balance bar; 35. Ultrasonic dust removal tube; 36. Cylinder ear ring; 37. Lower mold base plate; 38. First base plate connecting block; 39. Second base plate connecting block; 40. Bag clamping assembly; 40-1. Pallet; 40-2. Cylinder connecting rod; 40-3. Dust removal baffle shaft; 40-4. Dust removal baffle; 40-5. Bag opening shaping bracket; 40-6. Top bag cylinder; 40-7. Anti-jamming bag cover tube; 40-8. Pallet frame; 40-9. Pallet cylinder; 41. Baffle seat; 42. Bag clamping cylinder clamping plate; 43. Bag clamping cylinder bracket; 44. Bag clamping cylinder; 45. Electric cylinder connecting plate; 46. Electric cylinder; 47. Slide rail; 48. Bag retainer body. 8. Protective plate 49. Fast and slow feeding assembly 50. Weighing bracket assembly 60. Weighing sensor 60-1. Upper spring 60-2. Lower spring 60-3. Spring bracket 60-4. Weighing frame 61. Discharge nozzle 62. Pipe flange 62-1. First pipe body 62-2. Air pipe 62-3. Second pipe body 62-4. Discharge end cap 62-5. Spacer ring 62-6. Rubber hose 62-7. Retractable connection part 62-7-1. First sleeve 62-8. Second sleeve 62-9. Air blowing and feeding space 62-10. Air blowing port 62-11. Air return pipe 62-12. Air inlet pipe 62-13. First O-ring 62-14. Inch sleeve 62-15. 62-16 O-ring 2, 62-17 O-ring 3, 63 dust collector hopper, 64 nozzle fixing plate, 65 dust collector cover plate, 66 first top bag support, 67 second top bag support, 68 top bag rubber block, 69 bag pressing cylinder, 70 bag pushing assembly, 71 bag pushing cylinder, 72 bag pushing cylinder tailstock, 73 swing arm connecting rod, 74 first connecting rod, 74-1 radial joint bearing, 75 swing arm, 75-1 rod body, 75-2 first swinging part, 76 top screw outer spherical ball bearing, 77 clamp fixing seat, 78 second connecting rod, 79 connecting rod, 80 bag inserting machine, 81 bag picking suction cup, 82 bag inserting component, 90 conveyor, 110 bag opening machine and robot 100, etc.

[0064] like Figure 1-38As shown, this invention is a fully automatic robotic vacuum and ultrasonic sealing integrated packaging machine, including a main frame 10. A material hopper 11 is installed on the top of the main frame 10, and the outlet of the material hopper 11 is sealed to a breathable filter plate hopper 12. A fast and slow feeding assembly 50 is also installed on the main frame 10 to control the material feeding on / off and the feeding speed. A vacuum box assembly 20 is installed at the packaging outlet of the main frame 10, and a weighing support assembly 60 is installed inside the vacuum box assembly 20. The fast and slow feeding assembly 50 is used as a switch to control the material feeding and can adopt a clamp-like structure. The breathable filter plate hopper 12 can accelerate the degassing speed of the material when it is freely falling and accumulating, thereby providing the packaging machine with a material with a low gas content during packaging, enabling rapid packaging. When the material is stored for too long and all the gas inside the material is exhausted, the packaging machine cannot extract the material. At this time, the permeable filter plate hopper 12 plays the role of reverse air intake, so that the material and gas are mixed and the material flows. It can also quickly package materials with high gas content and high viscosity.

[0065] like Figure 2 , 5 As shown in Figure 7, the top of the silo 11 is equipped with an inclined column exhaust pipe. The inclined column exhaust pipe is equipped with a filter bag and can only exhaust air, not powder.

[0066] The weighing support assembly 60 is suspended from the main frame 10 by a weighing sensor 60-1 at its top. The upper two sides of the weighing support assembly 60 are connected to the main frame 10 via upper spring plates 60-2, and the lower two sides of the weighing support assembly 60 are connected to spring brackets 60-4 on the main frame 10 via lower spring plates 60-3. The weighing sensor 60 is a high-precision sensor. The weighing sensor 60-1 suspends the weighing support assembly 60, and the upper and lower spring plates 60-2 and 60-3 limit the forward, backward, left, and right movement of the weighing support assembly 60.

[0067] The weighing support assembly 60 is equipped with the bag pushing assembly 70. The working end of the bag pushing assembly 70 is connected to the bag clamping assembly 40. When the bag clamping assembly 40 is working, it can perform a surface tapping operation on the filled bag to expel the gas in the bag and thus maximize the amount of material in the bag.

[0068] The bag pushing assembly 70 can drive the bag clamping assembly 40 to reciprocate horizontally. The weighing support assembly 60 includes a weighing frame 61, on which a discharge nozzle 62 is provided. The inlet end of the discharge nozzle 62 is connected to the outlet of the air-permeable filter plate hopper 12. The dust removal chamber of the discharge nozzle 62 is sealed and connected to the dust removal hopper 63. A bag pressing cylinder 69 is also installed on the weighing frame 61. The bag pressing cylinder 69 is located above the discharge nozzle 62. A top bag rubber block 68 is fixedly installed on the piston rod end of the bag pressing cylinder 69 to achieve the pressing and positioning of the bag on the discharge nozzle 62. In actual production, the bag-pressing cylinder 69 is installed on the weighing frame 61 through the first top bag bracket 66 and the second top bag bracket 67. One end of the first top bag bracket 66 is fixedly connected to the weighing frame 61, and the other end is connected to the second top bag bracket 67. The connecting part of the second top bag bracket 67 is fixedly connected to the bag-pressing cylinder 69. The piston rod of the bag-pressing cylinder 69 can drive the top bag rubber block 68 to move synchronously.

[0069] An ultrasonic sealing assembly 30 is installed on the upper part of the vacuum box assembly 20 for sealing the bag after it has been filled.

[0070] The vacuum chamber assembly 20 has an opening and closing door 26 at the open end of the chamber body. The opening and closing door 26 is adjusted by the opening and closing cylinder 9.

[0071] like Figure 15 As shown, the pusher assembly 70 includes a swing arm 75, the rod portion 75-1 of which is rotatably mounted on a clamp fixing seat 77 fixed to the weighing frame 61. The clamp fixing seat 77 uses a rubber damping sleeve, which has a long service life and is durable, while also serving a damping function. Understandably, during the actual installation process, the clamp fixing seat 77 is fixed to the weighing frame 61 by a clamp.

[0072] A push-bag cylinder tailstock 72 is provided at the lower part of the weighing frame 61. The mounting part of the push-bag cylinder 71 is hinged to the push-bag cylinder tailstock 72. The piston rod of the push-bag cylinder 71 is hinged to the first swing part 75-2 of the swing arm 75. The second swing parts 75-3 at both ends of the swing arm 75 are respectively hinged to one end of the corresponding swing arm connecting rod 73. The other end of the swing arm connecting rod 73 is hinged to the connecting part of the first connecting rod 74. The push-bag cylinder 71 is arranged vertically, which can effectively save space compared to the horizontal arrangement.

[0073] The lower end of each of the first connecting rods 74 is rotatably connected to the set screw outer spherical bearings 76 respectively installed on the lower part of the weighing frame 61. The upper part of the first connecting rod 74 is hinged to one end of the bag clamping cylinder clamping plate 42 of the bag clamping assembly 40. A connecting rod 79 is also installed on the lower part of the weighing frame 61. The connecting rod 79 is hinged to the lower end of the second connecting rod 78. The upper end of the second connecting rod 78 is hinged to the other end of the bag clamping cylinder clamping plate of the bag clamping assembly 40.

[0074] like Figure 8-11 As shown, the bag clamping assembly 40 includes a baffle seat 41. An electric cylinder 46 is mounted on the center of the back of the baffle seat 41. The piston rod of the electric cylinder 46 is connected to an electric cylinder connecting plate 45. The electric cylinder 46 can drive the electric cylinder connecting plate 45 to move up and down along the slide rail 47 on the baffle seat 41. The electric cylinder connecting plate 45 is fixedly connected to a pallet frame 40-8. The pallet frame 40-8 is located in front of the baffle seat 41, and a pallet 401 is rotatably mounted on the pallet frame 40-8. The pallet frame 40-8 is hinged to a pallet cylinder 40-9, and the piston rod of the pallet cylinder 40-9 is connected to the pallet 401. The lifting and lowering of the pallet 401 can meet the needs of different sized packaging bags.

[0075] The two sides of the baffle seat 41 are respectively fixed with bag clamping cylinder clamping plates 42. Each bag clamping cylinder clamping plate 42 is fixedly connected to a bag clamping cylinder bracket 43. The bag clamping cylinder bracket 43 is equipped with a bag clamping cylinder 44. The piston rod of the bag clamping cylinder 44 is fixedly connected to a bag blocking body 48. The bag blocking body 48 has a bag blocking round tube fixed to its inner side and outer end.

[0076] A protective plate 49 is provided on the inner side of the bag-blocking seat 41. The two ends of the protective plate 49 are fixed to the side wall of the bag-blocking seat 41. A top bag cylinder 40-6 is installed on the inner wall of the bag-blocking seat 41. A bag opening shaping bracket 40-5 is installed on the piston rod end of the top bag cylinder 40-6.

[0077] A dust removal baffle shaft 40-3 is rotatably mounted on the upper part of the baffle seat 41. A dust removal baffle 40-4 is installed on the dust removal baffle shaft 40-3. A dust removal baffle cylinder 40-1 is also installed on the baffle seat 41. The piston rod of the dust removal baffle cylinder 40-1 is connected to the dust removal baffle shaft 40-3 through a cylinder connecting rod 40-2.

[0078] like Figure 5-7 As shown, the ultrasonic sealing assembly 30 includes an ultrasonic frame 31, which is mounted on the base plate of the vacuum chamber assembly 20. Two sets of ultrasonic lifting cylinders 30-2 are mounted on the ultrasonic frame 31. The piston rod of each set of ultrasonic lifting cylinders 30-2 is hinged to the middle of a drive shaft 33. One end of the drive shaft 33 is hinged to the lower part of a connecting rod 30-3 fixed on the ultrasonic frame 31, and the other end of the drive shaft 33 is hinged to the side plate of the ultrasonic fixed weighing frame 32. The upper part of the connecting rod 30-3 is hinged to one end of a balance rod 34, and the other end of the balance rod 34 is hinged to a cylinder lug 36 on the side of the ultrasonic fixed weighing frame 32.

[0079] The top mounting plate of the ultrasonic fixed weighing frame 32 is equipped with an ultrasonic generator 39 via an ultrasonic shaft. The cylinder ear rings 36 on both sides of the ultrasonic fixed weighing frame 32 are respectively hinged to a base plate adjusting cylinder 30-4. The piston rods of the two base plate adjusting cylinders 30-4 are respectively hinged to the first base plate connecting block 38 on the surface of the lower mold base plate 37. The lower part of the side plate of the ultrasonic fixed weighing frame 32 is hinged to the second base plate connecting block 39 on the surface of the lower mold base plate 37.

[0080] An ultrasonic dust removal tube 35 is also installed on the back of the ultrasonic fixed weighing frame 32, and the lower part of the ultrasonic dust removal tube 35 extends to the same horizontal position as the lower end of the ultrasonic generator 39.

[0081] The main frame 10 is equipped with a first track support 23 and a second track support 20-4 on one side corresponding to the vacuum chamber assembly 20. The top track of the first track support 23 and the linear slide rail 25 of the second track support 20-4 are slidably connected to mutually cooperating opening and closing doors 26. The sealing surfaces of the two opening and closing doors 26 are provided with a safety door sealing strip 20-2 and an inner sealing strip 27. The inner sealing strip 27 extends around the edge of the opening and closing door 26, and the safety door sealing body 20-2 is located outside the inner sealing strip 27. The safety door sealing strip 20-2 is a complete annular sealing strip, achieving reliable sealing and enabling simultaneous sealing of multiple surfaces of the opening and closing doors 26. Figure 8-14 As shown, the arc design of the annular sealing strip enables the door to become tighter as it is closed.

[0082] Each of the opening and closing doors 26 is connected to a slider via a slider fixing plate 28. The upper slider of the opening and closing door 26 slides in cooperation with the track on the first track bracket 23, and the lower slider of the opening and closing door 26 slides in cooperation with the linear slide rail 25. The vacuum chamber of the vacuum chamber assembly 20 is provided with a first front wrapping body 21 and a second front wrapping body 22. The outer sides of the first front wrapping body 21 and the second front wrapping body 22 are fixed by sealing plates 20-3, and the sealing plates 20-3 are fixed to the first track bracket 23. The vacuum chamber is fixed to the first track bracket 23 by a hanging rod 20-1.

[0083] The main frame 10 is equipped with a first dust removal pipe 13 and a second dust removal pipe 14. The first dust removal pipe 13 is sealed and connected to the dust removal hopper 63. The suction port of the second dust removal pipe 14 is connected from the bottom to the vacuum chamber of the vacuum chamber assembly 20. The vacuum chamber is also connected to a vacuum extraction pipe 15. Figure 5 and 7 As shown, it can be understood that a dust collection hopper is provided at the bottom of the vacuum chamber, and the second dust collection pipe 14 is connected to the bottom of the dust collection hopper, so as to more effectively adsorb and remove dust.

[0084] The first front section 21 and the second front section 22 form an outwardly extending arc-shaped transition section at their junction, and the arc-shaped transition sections of the first front section 21 and the second front section 22 are tangent to each other. After the two opening and closing doors 26 are closed, they are respectively limited by the corresponding arc-shaped transition sections, thereby achieving the sealing of the two opening and closing doors 26.

[0085] The upper part of the opening / closing door 26 slides in engagement with the track at the top of the first track bracket 23, and the lower part of the opening / closing door 26 slides in engagement with the linear slide rail 25 on the outer surface of the second track bracket 20-4. A double-piston rod cylinder is installed on the outer surface of the second track bracket 20-4, and the two piston rods of the double-piston rod cylinder are fixedly connected to the corresponding opening / closing door 26. Figure 14 As shown, the linear slide rail 25 and the double piston cylinder are both located on the outside of the opening and closing door 26. The linear slide rail 25 is located above, and the double piston cylinder is located below. The linear slide rail 25 and the double piston cylinder are arranged in an overlapping manner on the outside of the opening and closing door, which can prevent dust from falling onto the linear slide rail 25 and effectively extend the service life of the linear slide rail 25. During operation, it is not easy to get stuck.

[0086] like Figure 27-31 As shown, the discharge nozzle 62 of the present invention includes a first tube 62-2 and a second tube 62-4. The first tube 62-2 and the second tube 62-4 are coaxially arranged and fixedly connected by a tube flange 62-1. The second tube 62-4 extends axially along the inner cavity of the first tube 62-2 for a certain distance, and a blowing and feeding space 62-10 is formed between the second tube 62-4 and the first tube 62-2. The first tube 62-2 is provided with an air blowing port 62-11 that communicates with the blowing and feeding space 62-10.

[0087] The first pipe body 62-2 has a through-hole return air pipe 62-12 along its axial direction. One end of the return air pipe 62-12 is connected to the air pipe 62-3 provided on the first pipe body 62-2, and the other end of the return air pipe 62-12 extends to the discharge end cap 62-5 at the axial front end of the first pipe body 62-2.

[0088] A rubber tube 62-7 is fitted onto the first tube body 62-2. An inflation tube 62-13 is provided on the first tube body 62-2. The air outlet of the inflation tube 62-13 is connected to the inner cavity of the rubber tube 62-7 so that the rubber tube 62-7 can be inflated and tightened to support the bag during operation.

[0089] A second sleeve 62-9, a first sleeve 62-8, a sleeve 62-15, and a spacer 62-6 are sequentially arranged on the first tube body 62-2 along the axial direction toward the discharge end cover 62-5. The inner axial end of the second sleeve 62-9 is positioned by the shoulder of the first tube body 62-2. The outer surface of the sleeve 62-15 is fitted with a rubber tube 62-7. One axial end of the rubber tube 62-7 is pressed against the first sleeve 62-8, and the other axial end abuts against the spacer 62-6. The spacer 62-6 is fixed by the discharge end cover 62-5.

[0090] The sleeve 62-15 has axially extending sleeve portions at both axial ends, and the rubber tube 62-7 has inwardly buckled retractable connecting portions 62-7-1 at both axial ends. The retractable connecting portions 62-7-1 are connected to the sleeve portions.

[0091] A first O-ring 62-14 is provided between the inner wall of the first sleeve 62-8 and the outer surface of the first tube body 62-2.

[0092] A second O-ring 62-16 is provided between the first tube body 62-2 and the second tube body 62-4.

[0093] A third O-ring 62-17 is provided between the spacer 62-6 and the rubber tube 62-7. The discharge end cap 62-5 is threadedly connected to the first tube body 62-2. The discharge end cap 62-5 is conical in shape. Connection holes are evenly distributed on the tube body flange 62-1.

[0094] like Figure 27-31 As shown, the working process of the discharge nozzle 62 is as follows: First, the opening of the packaging bag is fitted onto the outside of the rubber tube 62-7. Air is introduced through the inflation tube 62-13, and after being guided by the sleeve 62-15, the gas enters the inner cavity of the rubber tube 62-7, causing it to expand radially and fit tightly against the inner wall of the bag opening, achieving a flexible seal between the discharge port and the packaging bag. This can adapt to packaging bags of different sizes and materials. The material is conveyed to the discharge end through the inside of the second tube 62-4. At the same time, airflow is injected into the air blowing and feeding space 62-10 through the air blowing port 62-11 to assist the material in smoothly entering the packaging bag and reduce the adhesion and residue of the material during the discharge process. The return air tube 62-12 can guide the dust and excess gas generated during the discharge process to the air tube 62-3 for discharge or recycling, effectively suppressing dust overflow and improving the working environment. The placement of each O-ring (first O-ring 62-14, second O-ring 62-16, and third O-ring 62-17) further ensures the airtightness of the pipe joints and sealing interfaces, preventing material or gas leakage. The conical discharge end cap 62-5 facilitates smooth material discharge and makes it easy to align and fit the bag opening. This invention has a reasonable structure, is easy to assemble and disassemble, and provides a reliable seal, making it particularly suitable for clean, efficient, and quantitative packaging of powders and granular materials. The working process of the present invention is as follows: In the initial state, the two opening and closing doors 26 are in the open state, the ultrasonic sealing assembly 30 is in the upper position, the bag pushing assembly 70 is in the reset state, the air expansion of the discharge nozzle 62 is in the retracted state, the pallet 401 is in the unlifted state, and the bag blocking body 48 is in the open position.

[0095] During operation, the bag inserter of the bag inserter, which works in conjunction with this application, horizontally inserts the bag into the discharge nozzle 62. After insertion, the bag-pressing cylinder 69 presses the bag. At this time, the bag inserter opens and retracts, and the packaging machine enters the weighing process: the air inflator is activated, tightening the bag onto the discharge nozzle 62. After the bag inserter retracts to the safe area, the packaging machine closes the opening and closing door 26, and simultaneously opens the vacuum valve of the vacuum pipe 15, starting the vacuum circulation pump on the main frame 10. When the opening and closing door 26 closes, a vacuum negative pressure is formed in the vacuum chamber, drawing material into the bag through a specially designed bag with micropores. When the weight of the material in the bag gradually increases to the set fast feed value, the fast feed valve of the fast and slow feed assembly 50 is closed, leaving a reserved slow feed opening to continue adding material into the bag to the set target value. At this time, the slow feed valve closes, and the ultrasonic sealing assembly 30 seals the bag.

[0096] It should be noted that after the inflation and peeling are completed, the discharge nozzle 62 of this application has been equipped with an air blowing function. The purpose of the air blowing function is to fill the bag with air, so as to achieve positioning on the packaging machine, which helps with subsequent bag pressing and ensures good sealing consistency.

[0097] During the feeding process, the two bag-clamping cylinders 44 drive the corresponding bag-blocking bodies 48 to clamp and release alternately. Through the alternating clamping and releasing of the clamps on both sides of the bag, the bag can be centered and the gas inside the bag can be discharged, allowing the bag to be filled with more material, reducing the size of the packaging bag, thereby improving environmental protection, achieving energy conservation and emission reduction, and reducing the user's packaging costs.

[0098] Simultaneously, during the bagging process, after weighing, the discharge nozzle 62 is cleaned to ensure that the material inside the nozzle 62 completely enters the current bag. Cleaning the discharge nozzle 62 reduces accumulated material deviation, ensuring it's cleaned into the bag and prevents it from flowing into the next bag. After packaging, once the bag and discharge nozzle 62 separate, the material will not fall onto the pallet 401. After packaging, the vacuum valve is closed, and vacuuming is stopped. Then, the first dust removal pipe 13 and the second dust removal pipe 14 are opened to perform dust removal on the vacuum chamber and discharge nozzle 62.

[0099] The bag-pushing assembly 70 can push the filled and sealed bag onto the conveyor line. Specifically, during operation, the bag-pushing cylinder 71 pushes the swing arm 75 to rotate via the first swing part 75-2. The swing arm 75 drives the swing arm connecting rod 73 to rotate via the second swing part 75-3. The swing arm connecting rod 73 drives the first connecting rod 74. The upper end of the first connecting rod 74 drives the bag-clamping assembly 40 to push forward or retract as needed via the bag-clamping cylinder clamping plate 42. During operation, when the bag-clamping assembly 40 is in the retracted state, the bag is filled. After filling, the bag is sealed. After sealing, the bag-clamping assembly 40 pushes forward to send the bag forward.

[0100] like Figure 32-38 As shown, the present invention also provides a fully automatic packaging system, including the above-mentioned fully automatic robotic valve-vacuum and ultrasonic sealing integrated packaging machine. The fully automatic robotic valve-vacuum and ultrasonic sealing integrated packaging machine is equipped with a bag-loading device and a conveyor 90. The fully automatic robotic valve-vacuum and ultrasonic sealing integrated packaging machine and the bag-loading device are respectively placed on both sides of the conveyor 90. The bag-loading device is used to put bags into the discharge nozzle 62 of the fully automatic robotic valve-vacuum and ultrasonic sealing integrated packaging machine. The conveyor 90 is used to stack and output the bags after filling and sealing.

[0101] like Figure 32-35 As shown, the bag-feeding device includes a bag inserter 80. A bag magazine is installed at the lower part of the bag inserter 80. The bag magazine supplies bags to the bag inserter 80. During operation, the bag inserter 80 takes a bag from the bag magazine and conveys the bag to the fully automatic robot valve-sealed vacuum and ultrasonic sealing integrated packaging machine. The bag is then fitted onto the discharge nozzle 62. After the bag is filled and sealed in the vacuum box assembly 20 of the fully automatic robot valve-sealed vacuum and ultrasonic sealing integrated packaging machine, it is lowered to the conveyor 90. After multiple bags are stacked on the conveyor 90, they are transported by the conveyor 90.

[0102] The bag inserting machine 80 includes a bag-picking suction cup 81 that can move up and down, and a bag inserting component 82 that can move horizontally. After the bag-picking suction cup 81 picks up the bag at a low position, it moves up to cooperate with the bag inserting component 82. After the bag inserting component 82 grabs the bag, it moves horizontally to the fully automatic robot valve vacuum and ultrasonic sealing integrated packaging machine and puts the bag on the discharge nozzle 62.

[0103] like Figure 32 , 33As shown in Figures 34 and 35, in order to achieve reliable cooperation between the bag inserting machine and the packaging machine, the vacuum box assembly 20 has an irregularly shaped structure. Specifically, the box is narrow at the top and wide at the bottom. The upper bag inserting component 82 of the bag inserting machine 80 extends from the top of the wide part of the box towards the packaging machine and fits into the narrow part of the upper part of the box. This structure of the box, which is narrow at the top and wide at the bottom, can effectively avoid the bag inserting component 82, so as to realize the bag inserting function, and can ensure that the vacuum box assembly 20 does not interfere with the automatic bag inserting machine when it is closed. At the same time, the wider structure at the bottom of the vacuum box assembly 20 can accommodate the ultrasonic sealing component 30 and the bag pushing component, and can realize the forward and backward extension movement of the bag pushing component in the vacuum box assembly 20.

[0104] like Figure 36 As shown, in specific production practice, multiple fully automatic robotic vacuum and ultrasonic sealing integrated packaging machines can be arranged sequentially along the conveying direction of the conveyor 90. Each of these fully automatic robotic vacuum and ultrasonic sealing integrated packaging machines is equipped with a bag inserter 80, and each bag inserter 80 is equipped with a bag storage for supplying bags. This allows multiple packaging machines to work simultaneously, with multiple packaging machines feeding and stacking materials onto the same conveyor 90, and finally the conveyor 90 transports the bags filled with materials out.

[0105] Figure 37 , 38 As shown, one robot can supply bags to one packaging machine or one robot can supply bags to two packaging machines. Understandably, in this working mode, a conveyor 90, a bag storage unit, and a bag opener 110 are provided in conjunction with the packaging machine. The conveyor 90 is used to transport the bags packaged by the packaging machine, and the bag storage unit, together with the bag opener 110 and the robot 100, supplies bags to the packaging machine. Specifically, multiple sets of packaging bags are stacked at intervals on the conveyor belt of the bag storage unit. When the corresponding packaging bag in the bag storage unit is in the bag supply position, the bag opener 110 sequentially grabs the bag, opens the bag opening, and the robot 100 delivers the bag to the packaging machine. Understandably, this application also includes a control system to ensure the orderly operation of this application. Specifically, the fully automatic robotic valve vacuum and ultrasonic sealing integrated packaging machine adopts a PLC control system.

[0106] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A fully automatic robotic valve-sealing vacuum and ultrasonic sealing integrated packaging machine, comprising a main frame (10), wherein a material hopper (11) is installed on the top of the main frame (10), and the outlet of the material hopper (11) is sealed and connected to a breathable filter plate material hopper (12), characterized in that: The main frame (10) is also equipped with a fast and slow feeding assembly (50) to control the feeding on / off and feeding speed; a vacuum box assembly (20) is installed at the discharge packaging end of the main frame (10), and a weighing bracket assembly (60) is set inside the vacuum box assembly (20). The top of the weighing bracket assembly (60) is suspended from the main frame (10) by a weighing sensor (60-1). The upper two sides of the weighing bracket assembly (60) are connected to the main frame (10) by an upper spring (60-2) respectively, and the lower two sides of the weighing bracket assembly (60) are connected to the spring bracket (60-4) on the main frame (10) by a lower spring (60-3) respectively. The weighing support assembly (60) is equipped with a pusher assembly (70), and the working end of the pusher assembly (70) is connected to the clamping assembly (40). The pusher assembly (70) can drive the clamping assembly (40) to reciprocate in the horizontal direction. The weighing support assembly (60) includes a weighing frame (61), and a discharge nozzle (62) is provided on the weighing frame (61). The feed end of the discharge nozzle (62) is connected to the discharge port of the air-permeable filter plate hopper (12). The dust removal chamber of the discharge nozzle (62) is sealed and connected to the dust removal hopper (63). A bag-pressing cylinder (69) is also installed on the weighing frame (61). The bag-pressing cylinder (69) is located above the discharge nozzle (62). An ultrasonic sealing assembly (30) is installed on the upper part of the vacuum box assembly (20) for sealing the bag after it is filled. The vacuum chamber assembly (20) has an opening door (26) at the open end of the chamber body. The opening door (26) is adjusted by an opening cylinder (9).

2. The fully automatic robotic valve-sealing vacuum and ultrasonic sealing integrated packaging machine as described in claim 1, characterized in that: The pusher assembly (70) includes a swing arm (75), and the rod part (75-1) of the swing arm (75) is rotatably mounted on a clamping plate fixing seat (77) fixed on the weighing frame (61). The lower part of the weighing frame (61) is provided with a push cylinder tail seat (72). The mounting part of the push cylinder (71) is hinged to the push cylinder tail seat (72). The piston rod of the push cylinder (71) is hinged to the first swing part (75-2) of the swing arm (75). The second swing parts (75-3) at both ends of the swing arm (75) are respectively hinged to one end of the corresponding swing arm connecting rod (73). The other end of the swing arm connecting rod (73) is hinged to the connecting part of the first connecting rod (74). The lower end of each of the first connecting rods (74) is rotatably connected to the outer spherical bearings (76) of the set screw installed on the lower part of the weighing frame (61). The upper part of the first connecting rod (74) is hinged to one end of the clamping cylinder plate of the bag clamping assembly (40). A connecting rod (79) is also installed on the lower part of the weighing frame (61). The connecting rod (79) is hinged to the lower end of the second connecting rod (78). The upper end of the second connecting rod (78) is hinged to the other end of the clamping cylinder plate of the bag clamping assembly (40).

3. The fully automatic robotic valve-sealing vacuum and ultrasonic sealing integrated packaging machine as described in claim 1, characterized in that: The clamping assembly (40) includes a baffle seat (41), an electric cylinder (46) is installed in the middle of the back of the baffle seat (41), the piston rod of the electric cylinder (46) is connected to the electric cylinder connecting plate (45), the electric cylinder (46) can drive the electric cylinder connecting plate (45) to move up and down along the slide (47) on the baffle seat (41), the electric cylinder connecting plate (45) is fixedly connected to the pallet frame (40-8), the pallet frame (40-8) is located in front of the baffle seat (41), and the pallet (401) is rotatably set on the pallet frame (40-8), the pallet frame (40-8) is hinged to the pallet cylinder (40-9), and the piston rod of the pallet cylinder (40-9) is connected to the pallet (401); The baffle seat (41) has two sides fixed with bag clamping cylinder clamping plates (42), each of the bag clamping cylinder clamping plates (42) is fixedly connected to a bag clamping cylinder bracket (43), the bag clamping cylinder bracket (43) is equipped with a bag clamping cylinder (44), the piston rod of the bag clamping cylinder (44) is fixedly connected to a bag blocking body (48), and the bag blocking body (48) has a bag blocking round tube fixed to its inner side and outer end. The inner side of the bag-blocking seat (41) is provided with a protective plate (49), and the two ends of the protective plate (49) are respectively fixed to the side wall of the baffle seat (41). The inner wall of the bag-blocking seat (41) is equipped with a top bag cylinder (40-6), and the piston rod end of the top bag cylinder (40-6) is equipped with a bag mouth shaping bracket (40-5). A dust removal baffle shaft (40-3) is rotatably mounted on the upper part of the baffle seat (41). A dust removal baffle (40-4) is installed on the dust removal baffle shaft (40-3). A dust removal baffle cylinder (40-1) is also installed on the baffle seat (41). The piston rod of the dust removal baffle cylinder (40-1) is connected to the dust removal baffle shaft (40-3) through a cylinder connecting rod (40-2).

4. The fully automatic robotic valve-sealing vacuum and ultrasonic sealing integrated packaging machine as described in claim 1, characterized in that: The ultrasonic sealing assembly (30) includes an ultrasonic frame (31), which is mounted on the base plate of the vacuum box assembly (20). Two sets of ultrasonic lifting cylinders (30-2) are mounted on the ultrasonic frame (31). The piston rod of each set of ultrasonic lifting cylinders (30-2) is hinged to the middle of a drive shaft (33). One end of the drive shaft (33) is hinged to the lower part of a connecting rod (30-3) fixed on the ultrasonic frame (31), and the other end of the drive shaft (33) is hinged to the side plate of the ultrasonic fixed weighing frame (32). The upper part of the connecting rod (30-3) is hinged to one end of a balance rod (34), and the other end of the balance rod (34) is hinged to the cylinder ear ring (36) on the side of the ultrasonic fixed weighing frame (32). The top mounting plate of the ultrasonic fixed weighing frame (32) is equipped with an ultrasonic generator (39) via an ultrasonic shaft. The cylinder ear rings (36) on both sides of the ultrasonic fixed weighing frame (32) are respectively hinged to a bottom plate adjusting cylinder (30-4). The piston rods of the two bottom plate adjusting cylinders (30-4) are respectively hinged to the first bottom plate connecting block (38) on the surface of the lower mold bottom plate (37). The lower part of the side plate of the ultrasonic fixed weighing frame (32) is hinged to the second bottom plate connecting block (39) on the surface of the lower mold bottom plate (37). An ultrasonic dust removal tube (35) is also installed on the back of the ultrasonic fixed weighing frame (32), and the lower part of the ultrasonic dust removal tube (35) extends to the same horizontal position as the lower end of the ultrasonic generator (39).

5. The fully automatic robotic valve-sealing vacuum and ultrasonic sealing integrated packaging machine as described in claim 1, characterized in that: The main frame (10) is provided with a first track support (23) and a second track support (20-4) on one side of the vacuum box assembly (20). The top track of the first track support (23) and the linear slide rail (25) of the second track support (20-4) are slidably connected with mutually cooperating opening and closing doors (26). The sealing surfaces of the two opening and closing doors (26) are provided with a safety door sealing strip (20-2) and an inner sealing strip (27). The inner sealing strip (27) extends around the door edge of the opening and closing door (26), and the safety door sealing body (20-2) is located on the outside of the inner sealing strip (27). Each of the opening and closing doors (26) is connected to a slider by a slider fixing plate (28). The slider at the top of the opening and closing door (26) slides in cooperation with the track on the first track support (23). The slider at the bottom of the opening and closing door (26) slides in cooperation with the linear slide rail (25). The vacuum chamber of the vacuum chamber assembly (20) is provided with a first front section wrapping body (21) and a second front section wrapping body (22). The outer sides of the first front section wrapping body (21) and the second front section wrapping body (22) are fixed by sealing plates (20-3). The sealing plates (20-3) are fixed to the first track support (23). The vacuum chamber is fixed to the first track support (23) by a hanging rod (20-1).

6. The fully automatic robotic valve-sealing vacuum and ultrasonic sealing integrated packaging machine as described in claim 1, characterized in that: The main frame (10) is equipped with a first dust removal pipe (13) and a second dust removal pipe (14). The first dust removal pipe (13) is sealed and connected to the dust removal hopper (63). The suction port of the second dust removal pipe (14) is connected from the bottom to the vacuum box of the vacuum box assembly (20). The vacuum box is also connected to the vacuum pumping pipe (15).

7. The fully automatic robotic valve-sealing vacuum and ultrasonic sealing integrated packaging machine as described in claim 5, characterized in that: The first front section wrapping body (21) and the second front section wrapping body (22) form an outwardly extending arc-shaped transition section at their junction, and the arc-shaped transition sections of the first front section wrapping body (21) and the second front section wrapping body (22) are tangent to each other. After the two opening and closing doors (26) are closed, they are respectively limited by the corresponding arc-shaped transition sections, and the two opening and closing doors (26) are sealed.

8. The fully automatic robotic valve-sealing vacuum and ultrasonic sealing integrated packaging machine as described in claim 5, characterized in that: The upper part of the opening and closing door (26) is slidably engaged with the track at the top of the first track bracket (23), and the lower part of the opening and closing door (26) is slidably engaged with the linear slide rail (25) on the outer surface of the second track bracket (20-4). A double piston rod cylinder is installed on the outer surface of the second track bracket (20-4), and the two piston rods of the double piston rod cylinder are fixedly connected to the corresponding opening and closing door (26).

9. The fully automatic robotic valve-sealing vacuum and ultrasonic sealing integrated packaging machine as described in claim 1, characterized in that: The discharge nozzle (62) includes a first tube (62-2) and a second tube (62-4). The first tube (62-2) and the second tube (62-4) are coaxially arranged and fixedly connected by a tube flange (62-1). The second tube (62-4) extends axially along the inner cavity of the first tube (62-2) for a certain distance, and a blowing and feeding space (62-10) is formed between the second tube (62-4) and the first tube (62-2). The first tube (62-2) is provided with an air outlet (62-11) that communicates with the blowing and feeding space (62-10). The first pipe body (62-2) has a through air return pipe (62-12) along its axial direction. One end of the air return pipe (62-12) is connected to the air pipe (62-3) provided on the first pipe body (62-2), and the other end of the air return pipe (62-12) extends to the discharge end cap (62-5) at the front end of the first pipe body (62-2) along its axial direction. A rubber tube (62-7) is fitted onto the first tube body (62-2), and an inflation tube (62-13) is provided on the first tube body (62-2). The air outlet of the inflation tube (62-13) is connected to the inner cavity of the rubber tube (62-7) so that the rubber tube (62-7) can be inflated and tightened to support the bag during operation.

10. The fully automatic robotic valve-sealing vacuum and ultrasonic sealing integrated packaging machine as described in claim 9, characterized in that: The first tube body (62-2) is provided with a second sleeve (62-9), a first sleeve (62-8), a sleeve (62-15), and a spacer (62-6) in sequence along the axial direction towards the discharge end cap (62-5). The inner axial end of the second sleeve (62-9) is positioned by the shoulder of the first tube body (62-2). The outer surface of the sleeve (62-15) is fitted with a rubber tube (62-7). One axial end of the rubber tube (62-7) is pressed against the first sleeve (62-8), and the other axial end abuts against the spacer (62-6). The spacer (62-6) is fixed by the discharge end cap (62-5). The sleeve (62-15) has axially extending sleeve portions at both axial ends, and the rubber tube (62-7) has inwardly buckled retractable connecting portions (62-7-1) at both axial ends. The retractable connecting portions (62-7-1) are connected to the sleeve portions. A first O-ring (62-14) is provided between the inner wall of the first sleeve (62-8) and the outer surface of the first tube body (62-2).

11. A fully automated packaging system, characterized in that: The invention includes a fully automatic robot valve-sealed vacuum and ultrasonic sealing integrated packaging machine as described in any one of claims 1-10. The fully automatic robot valve-sealed vacuum and ultrasonic sealing integrated packaging machine is equipped with a bag-loading device and a conveyor (90). The fully automatic robot valve-sealed vacuum and ultrasonic sealing integrated packaging machine and the bag-loading device are placed on both sides of the conveyor (90). The bag-loading device is used to put bags on the discharge nozzle (62) of the fully automatic robot valve-sealed vacuum and ultrasonic sealing integrated packaging machine. The conveyor (90) is used to stack and output the bags after they are filled and sealed.

12. The fully automated packaging system as described in claim 11, characterized in that: The bag-feeding device includes a bag inserter (80). The bag inserter (80) is equipped with a bag magazine at its lower part. The bag magazine supplies bags to the bag inserter (80). During operation, the bag inserter (80) takes a bag from the bag magazine and transports the bag to the fully automatic robot valve vacuum and ultrasonic sealing integrated packaging machine. The bag is then fitted onto the discharge nozzle (62). After the bag is filled and sealed in the vacuum box assembly (20) of the fully automatic robot valve vacuum and ultrasonic sealing integrated packaging machine, it is lowered to the conveyor (90). After multiple bags are stacked on the conveyor (90), they are transported by the conveyor (90). The bag inserting machine (80) includes a bag-picking suction cup (81) capable of vertical movement and a bag inserting component (82) capable of horizontal movement. After the bag-picking suction cup (81) picks up the bag at a low position, it moves up to cooperate with the bag inserting component (82). After the bag inserting component (82) grabs the bag, it moves horizontally to the fully automatic robot valve port vacuum and ultrasonic sealing integrated packaging machine and puts the bag on the discharge nozzle (62).

13. The fully automated packaging system as described in claim 12, characterized in that: Multiple fully automatic robotic vacuum and ultrasonic sealing integrated packaging machines are arranged sequentially along the conveying direction of the conveyor (90). Each fully automatic robotic vacuum and ultrasonic sealing integrated packaging machine is equipped with a bag inserter (80), and each bag inserter (80) is equipped with a bag storage for supplying bags.

14. The fully automated packaging system as described in claim 11, characterized in that: The bag feeding device uses a robot (100). A bag storage and a bag opening machine (110) are set up next to the robot (100). The bag opening machine (110) and the robot (100) are respectively set on both sides of the bag storage. The bag opening machine (110) grabs the bag from the bag storage and opens the bag opening. The robot (100) puts the bag with the opened bag opening into the discharge nozzle (62). One robot (100) supplies bags to one or two fully automatic robot valve vacuum and ultrasonic sealing integrated packaging machines.

Images