Automatic installation executor of flexible bag-like member and installation method thereof

Abstract

The application discloses a kind of flexible bag-like member automatic installation executor and its installation method, executor includes feeding mechanism, conveying mechanism, bag opening mechanism and sealing mechanism.Feeding mechanism is continuously compressed to the flexible bag-like member of laminated placement by leaf spring and pressing plate;Conveying mechanism uses one-stage conveying wheel group and two-stage conveying wheel group to drive in stages, first, jointly run and send out flexible bag-like member, after two-stage conveying wheel group clamping, subsequent conveying is completed by two-stage conveying wheel group alone;Bag opening mechanism uses negative pressure suction cup to adsorb bag mouth upper and lower two sides, and closes through guide wire drive opening rotating plate, after guide wire release, opening rotating plate resets under the action of tension spring and unfolds bag mouth;Sealing mechanism uses the movement of opening rotating plate, so that folding pressing plate rotates by folding connecting rod driven folding plate, realizes bag mouth folding closure.The application can continuously complete the compression of flexible bag-like member, single piece conveying, bag mouth unfolding and folding closure, compact structure, action connection stable.

Description

Technical Field

[0001] This invention relates to the field of automatic processing equipment for flexible components, and specifically to an automatic installation actuator for flexible bag-shaped components and its installation method. Background Technology

[0002] Flexible bag-shaped components can be used for covering, protecting, isolating, and packaging items. In related automated operations, these components are typically removed one by one, and then sequentially transported, have their openings unfolded, installed, and closed. Flexible bag-shaped components are generally characterized by their thinness, low rigidity, and susceptibility to deformation. When multiple flexible bag-shaped components are stacked, adjacent components can easily stick together, potentially leading to multiple components being pulled out simultaneously or bag displacement during removal. Furthermore, flexible bag-shaped components are prone to bending, wrinkling, or slipping during transport, and the sides of the bag opening can easily stick together, thus posing specific requirements for individual bag separation, stable transport, and bag opening unfolding.

[0003] Existing automatic bagging or filling equipment generally includes mechanisms for bag storage, bag retrieval, conveying, bag opening, bag supporting, and sealing, which sequentially process the flexible bag-shaped components. For example, in patent application number CN201310207322.9, entitled "Fully Automatic Bagging Machine," an automatic bag feeding device, a bag opening device, a bag gripping device, a bag supporting device, and a longitudinal and transverse moving device are respectively installed on the frame, and the bag retrieval, bag opening, and bag filling operations are completed under the control of an automatic control system. In patent application number CN202223100585.3, entitled "An Automatic Bag Filling and Sealing Device," a bag storage mechanism, a bag retrieval mechanism, a conveying mechanism, a bag opening mechanism, a bag filling mechanism, and a sealing mechanism are respectively set in different positions on the frame to complete the removal, conveying, opening, filling, and sealing of packaging bags.

[0004] While the aforementioned device can automate the processing of flexible bag-shaped components, the various functional mechanisms are mainly distributed across different workstations on a fixed frame, requiring the flexible bag-shaped components to be sequentially transferred between multiple mechanisms or workstations. For actuators that need to be installed at the end of a robotic arm or other mobile equipment, further consideration must be given to the compact arrangement and seamless operation of storage, single-piece separation, conveying, bag opening opening, and closing mechanisms.

[0005] Therefore, it is necessary to design an automatic installation actuator for flexible bag-shaped components with a high degree of structural integration to complete the individual separation, conveying, opening and closing of the flexible bag-shaped components. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention proposes an automatic installation actuator for flexible bag-shaped components, enabling the individual separation, conveying, unfolding, and closing of these components. This actuator features: a staged driving mechanism for the individual separation and conveying of flexible bag-shaped components; a bag-opening mechanism combining negative pressure adsorption and rotational unfolding to open the bag opening; and a sealing mechanism employing a follow-up folding mechanism to close the bag opening. This invention can continuously complete the pressing, single-piece conveying, bag opening unfolding, and folding closure of flexible bag-shaped components, with a compact structure and stable operational connections.

[0007] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0008] An automatic installation actuator for flexible bag-shaped components includes:

[0009] Actuator base plate;

[0010] The feeding mechanism is located above the rear of the actuator base plate and includes a storage bag bin and an elastic pressing mechanism disposed therein. The elastic pressing mechanism is used to continuously press the flexible bag-shaped components stacked in the storage bag bin.

[0011] A conveying mechanism is mounted on the actuator base plate, and the storage bag compartment is supported above the conveying mechanism. It includes a primary conveying assembly and a secondary conveying assembly arranged sequentially along the conveying direction. The primary conveying assembly includes a plurality of conveying wheels. The secondary conveying assembly includes an upper secondary conveying wheel group and a lower secondary conveying wheel group arranged opposite to each other. A conveying gap is formed between the upper secondary conveying wheel group and the lower secondary conveying wheel group for clamping and conveying the flexible bag-shaped component.

[0012] The bag opening mechanism includes:

[0013] An open base is fixedly connected to the front of the actuator base plate;

[0014] An open rotating seat is fixedly connected to the upper part of the secondary conveying assembly;

[0015] An opening rotating plate is rotatably connected to the opening rotating seat and is located above the opening base;

[0016] The open rotating plate and the open base are provided with two sets of adsorption components arranged in opposite directions.

[0017] The opening rotating plate can rotate toward the opening base under the action of the driving component so that the upper and lower adsorption components can adsorb the two sides of the bag opening respectively, and can rotate away from the opening base under the action of the resetting component so that the upper and lower adsorption components separate from each other, thereby opening the bag opening;

[0018] A sealing mechanism includes a folding plate and a folding pressure plate, wherein the folding pressure plate is movably mounted on the opening rotating plate and connected to the folding plate via a folding connecting rod;

[0019] When the opening rotating plate rotates toward the opening base under the drive of the driving member, the folding pressure plate can abut against and restrict the opening base, and then slide relative to the opening rotating plate as the opening rotating plate continues to move, and drive the folding plate to rotate through the folding linkage to fold and close the bag opening.

[0020] Furthermore, the feeding mechanism also includes a bin cover, which is rotatably connected to the rear of the storage bag bin; the elastic pressing mechanism includes a pressure plate and a leaf spring, the rear end of the leaf spring is fixedly connected to the bin cover, and the front end is rotatably connected to the pressure plate. The pressure plate can adaptively adjust its position according to the change in the layer thickness of the flexible bag-shaped component under the elastic action of the leaf spring, so as to continuously press the flexible bag-shaped component.

[0021] Furthermore, the bottom of the storage bag compartment is provided with a clearance groove, and at least part of the wheel rim of a portion of the conveying wheel in the primary conveying assembly extends into the clearance groove and contacts the flexible bag-shaped component inside the storage bag compartment.

[0022] Furthermore, the conveying mechanism also includes a conveying base plate and a primary conveying motor. The conveying base plate is fixedly connected to the actuator base plate. The primary conveying assembly includes a primary conveying rear wheel assembly and a primary conveying front wheel assembly, which are rotatably mounted on the bottom of the conveying base plate and are respectively connected to the corresponding primary conveying motor.

[0023] Furthermore, the secondary conveying assembly also includes a secondary conveying motor, which is connected to the lower secondary conveying wheel assembly. The lower secondary conveying wheel assembly drives the upper secondary conveying wheel assembly to rotate synchronously in the opposite direction via a transmission gear.

[0024] Furthermore, the conveying mechanism also includes a bolt drive rod, a bolt connecting rod, a bolt swing rod, and a bolt tension spring. The bolt drive rod, bolt connecting rod, and bolt swing rod are rotatably connected in sequence, and the two ends of the bolt tension spring are respectively connected between the two bolt swing rods. The inner sides of the bolt drive rod and the bolt swing rod are provided with bolt pieces, and the bottom of the storage bag compartment is provided with a groove that cooperates with the bolt pieces.

[0025] Furthermore, the adsorption assembly includes suction cups respectively mounted on the opening rotating plate and the opening base. The suction cups mounted on the opening rotating plate are movably mounted on the opening rotating plate by suction cup springs. The suction cup springs are used to keep the suction cups extending towards the opening base and allow the suction cups to retract towards the opening rotating plate when subjected to external force. The bag opening mechanism also includes an air tube tee and air tubes. The air tube tee is provided with a negative pressure interface for connecting to an external negative pressure source. The air tubes include multiple tubes, and each suction cup is connected to the air tube tee through a corresponding air tube.

[0026] Furthermore, the driving component is an open-end servo motor, and a guide wire turntable is mounted on the output shaft of the open-end servo motor;

[0027] The bag opening mechanism also includes a guide wire and a guide wire sleeve. One end of the guide wire is wound and fixed on the guide wire turntable, and the other end passes through the guide wire sleeve and is connected to the opening turntable.

[0028] The reset component is a rotating plate tension spring, which is connected between the open rotating plate and the open rotating seat.

[0029] Furthermore, the sealing mechanism also includes a folding connector, a folding tension spring, and a pressure plate tension spring; the folding connector is fixedly connected to the front of the opening rotating plate, the folding plate is rotatably connected to the folding connector, and the folding pressure plate can slide along the guide groove formed between the folding connector and the opening rotating plate;

[0030] The folding tension spring is connected between the folding plate and the open rotating plate, and is used to apply an elastic restoring force to the folding plate;

[0031] The pressure plate tension spring is connected between the folding pressure plate and the open rotating plate, and is used to apply a preload to the folding pressure plate.

[0032] The present invention further proposes a method for automatically installing a flexible bag-shaped component using the aforementioned automatic installation actuator, comprising the following steps:

[0033] S1: Multiple flexible bag-shaped components are stacked in the storage compartment, the compartment cover is closed, and the elastic pressing mechanism continuously presses the flexible bag-shaped components.

[0034] S2: Start the conveying mechanism. The primary and secondary conveying components work together to deliver the flexible bag-shaped components from the storage bin.

[0035] S3: When the upper and lower wheels of the secondary conveyor in the secondary conveyor assembly clamp the flexible bag-shaped component, the primary conveyor assembly stops operating and the secondary conveyor assembly continues to convey the flexible bag-shaped component alone to the opening base and opening turntable of the bag opening mechanism.

[0036] S4: The driving component drives the opening rotating plate to rotate toward the opening base. The adsorption assembly set on the opening rotating plate is kept in an extended state under the action of the suction cup spring and contacts the upper side of the bag opening, so that the upper and lower adsorption assemblies adsorb the two sides of the bag opening respectively.

[0037] S5: The reset component drives the opening rotating plate to rotate away from the opening base, so that the upper and lower adsorption components separate from each other and the bag opening is opened;

[0038] S6: After the object to be installed enters the flexible bag-shaped component through the unfolded bag opening, the driving component drives the opening rotating plate to rotate toward the opening base again. The adsorption component set on the opening rotating plate retracts against the suction cup spring force under the pushing action of the opening base. Subsequently, the folding pressure plate abuts against and is restricted by the opening base. It slides relative to the opening rotating plate as the opening rotating plate continues to rotate, and drives the folding plate to rotate through the folding linkage to fold and close the bag opening.

[0039] S7: The reset component drives the opening rotating plate to rotate away from the opening base to reset.

[0040] Beneficial effects:

[0041] First, in this invention, the feeding mechanism uses an elastic pressing method to apply continuous pressure to the stacked bags, so that the bottom layer of bags maintains constant contact with the first-level conveying component, avoiding interruption of feeding due to the reduction of bags or changes in the attitude of the actuator, thereby achieving stable output of each piece and avoiding multiple pieces sticking together and being carried out.

[0042] Secondly, in this invention, the conveying mechanism adopts a phased driving configuration of primary and secondary conveying components. At the beginning of the conveying stage, the two components run together to ensure continuous power connection. After the secondary conveying component clamps the bag, the primary conveying component stops running to avoid the bag being subjected to additional stress due to the speed difference between the two stages, and to prevent the flexible bag from wrinkling or stretching deformation, so as to achieve a smooth transition conveying of the bag from the primary to the secondary stage.

[0043] Third, in this invention, the adsorption components of the bag opening mechanism are respectively mounted on the opening rotating plate and the opening base, and arranged facing each other. When the opening rotating plate rotates, it causes the upper adsorption component to move closer to or further away from the lower adsorption component, so that the two sides of the bag opening are actively opened in the adsorption state, realizing the full opening of the bag opening and providing an unobstructed passage for the object to be installed to enter the bag. The suction cups mounted on the opening rotating plate are movably mounted by suction cup springs, so that the suction cups are extended during adsorption to preferentially contact the bag opening, and retracted during sealing to avoid the movement of the folding pressure plate, ensuring that the bag opening and sealing actions do not interfere with each other.

[0044] Fourth, in this invention, the folding pressure plate of the sealing mechanism is movably mounted on the opening rotating plate. Utilizing the original stroke of the opening rotating plate as it rotates toward the opening base, the rotation of the folding plate is triggered by the contact limit between the folding pressure plate and the opening base. This eliminates the need for an independent drive source for the sealing action, simplifies the actuator structure, and improves the reliability of the connection between each action link and the overall structural compactness. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the overall device for the automatic installation actuator of the flexible bag-shaped component of the present invention;

[0046] Figure 2 This is a schematic diagram of the feeding mechanism of the present invention;

[0047] Figure 3 This is a schematic diagram of the conveying mechanism of the present invention;

[0048] Figure 4 This is a schematic diagram of the primary conveying mechanism of the present invention;

[0049] Figure 5 This is a bottom view of the primary conveying mechanism of the present invention;

[0050] Figure 6 This is a schematic diagram of the secondary conveying mechanism of the present invention;

[0051] Figure 7 This is a schematic diagram of the bag opening mechanism of the present invention;

[0052] Figure 8 This is a cross-sectional schematic diagram of the bag opening mechanism of the present invention;

[0053] Figure 9 This is a schematic diagram of the sealing mechanism of the present invention;

[0054] Figure 10 This is a schematic diagram of the folding process of the sealing mechanism of the present invention;

[0055] Among them, 1—feeding mechanism; 2—conveying mechanism; 3—bag opening mechanism; 4—sealing mechanism;

[0056] 101—Storage bag compartment; 102—Compartment cover; 103—Pressure plate; 104—Leaf spring;

[0057] 201—Actuator base plate; 202—Conveyor base plate; 203—Actuator mounting base; 204—First-stage conveyor rear wheel assembly; 205—First-stage conveyor front wheel assembly; 206—First-stage conveyor motor; 207—First-stage conveyor gear cover; 208—Second-stage conveyor wheel seat; 209—Second-stage conveyor upper wheel assembly; 210—Second-stage conveyor lower wheel assembly; 211—Second-stage conveyor motor; 212—Second-stage conveyor gear cover; 213—Clamping drive rod; 214—Clamping connecting rod; 215—Clamping swing arm; 216—Clamping tension spring;

[0058] 301—Opening base plate; 302—Opening base; 303—Opening rotating plate; 304—Opening rotating seat; 305—Upper suction cup connector; 306—Lower suction cup connector; 307—Suction cup; 308—Opening servo motor; 309—Guide wire turntable; 310—Guide wire turntable cover; 311—Guide wire sleeve; 312—Guide wire; 313—Guide wire fixing seat; 314—Rotating plate tension spring; 315—Air tube tee; 316—Air tube; 317—Suction cup spring;

[0059] 401—Folding connector; 402—Folding plate; 403—Folding plate spring seat; 404—Folding pressure plate; 405—Folding connecting rod; 406—Folding tension spring; 407—Pressure plate tension spring. Detailed Implementation

[0060] The present invention will now be described with reference to the accompanying drawings.

[0061] like Figure 1-9 As shown, an automatic installation actuator for flexible bag-shaped components includes an actuator base plate 201, a feeding mechanism 1, a conveying mechanism 2, a bag opening mechanism 3, and a sealing mechanism 4. The feeding mechanism 1 is located above the rear of the actuator base plate 201; the conveying mechanism 2 is located on the actuator base plate 201 and below the feeding mechanism 1; the bag opening mechanism 3 is located at the front of the actuator base plate 201 and in front of the conveying end of the conveying mechanism 2; and the sealing mechanism 4 is installed in front of the opening turntable 303 of the bag opening mechanism 3 and at the front end of the bag opening mechanism 3. The feeding mechanism 1, the conveying mechanism 2, and the bag opening mechanism 3 all use the actuator base plate 201 as a common mounting base, forming a compact structure arranged sequentially from back to front.

[0062] like Figure 2As shown, the feeding mechanism 1 includes a storage bin 101, a bin cover 102, a pressure plate 103, and a leaf spring 104. The storage bin 101 is used to accommodate stacked flexible bag-shaped components, and its bottom is provided with a clearance groove for the primary conveyor rear wheel assembly 204 and the primary conveyor front wheel assembly 205 to extend into. The rear part of the bin cover 102 is rotatably connected to the rear part of the storage bin 101, so that the bin cover 102 can be opened or closed to replenish the flexible bag-shaped components into the storage bin 101. The rear end of the leaf spring 104 is fixedly connected to the bin cover 102, and the front end is rotatably connected to the pressure plate 103 of the feeding mechanism; the pressure plate 103 can rotate around the pivot of the front end of the leaf spring 104. After the bin cover 102 is closed, the leaf spring 104 undergoes elastic deformation, causing the pressure plate 103 to tend to move towards the flexible bag-shaped components, thereby continuously pressing the stacked flexible bag-shaped components. The pressure plate 103 presses against the rear wheel assembly 204 and the front wheel assembly 205 of the primary conveyor. As the flexible bag-shaped components are output one by one, the pressure plate 103 can adjust its position according to the change in the thickness of the bag stack under the elastic action of the leaf spring 104 to maintain the pressing effect on the remaining flexible bag-shaped components. The pressure plate 103 is rotatably connected to the leaf spring 104, so that the pressure plate 103 can adjust its own angle according to the stacking state of the flexible bag-shaped components, thereby maintaining stable contact with the flexible bag-shaped components. The feeding mechanism 1 does not rely on the weight of the flexible bag-shaped components for pressing and feeding, thus reducing the impact of actuator posture changes on the feeding process.

[0063] like Figure 3-6 As shown, the conveying mechanism 2 includes a conveying base plate 202, a primary conveying assembly, a secondary conveying assembly, a primary conveying motor 206, a primary conveying gear cover 207, a secondary conveying motor 211, a secondary conveying gear cover 212, and two sets of symmetrically arranged latching drive mechanisms. The conveying base plate 202 is fixedly connected to the actuator base plate 201, and the storage bag hopper 101 is supported above the conveying mechanism 2.

[0064] The primary conveying assembly includes a primary conveying rear wheel set 204 and a primary conveying front wheel set 205, which are rotatably mounted on the bottom of the conveying base plate 202 and arranged sequentially along the conveying direction.

[0065] Both the primary conveying rear wheel assembly 204 and the primary conveying front wheel assembly 205 include multiple conveying wheels spaced apart along their corresponding axle axial directions. A portion of the rim of each conveying wheel is higher than the upper surface of the conveying base plate 202 and contacts the flexible bag-shaped component through a clearance groove at the bottom of the storage compartment 101. One end of the axle of both the primary conveying rear wheel assembly 204 and the primary conveying front wheel assembly 205 extends beyond the side wall of the conveying base plate 202 and is equipped with a transmission gear. In this embodiment, two primary conveying motors 206 are respectively installed at the bottom of the conveying base plate 202 and drive the primary conveying rear wheel assembly 204 and the primary conveying front wheel assembly 205 to rotate in the same direction via gear transmission. The primary conveying gear cover 207 is fixedly connected to the side of the conveying base plate 202 and covers the outside of the transmission gears of the primary conveying rear wheel assembly 204 and the primary conveying front wheel assembly 205. When the primary conveying motor 206 drives the wheel shaft to rotate along the conveying direction, it can drive the corresponding conveying wheel to rotate, so as to apply a conveying force to the flexible bag-shaped component.

[0066] The secondary conveying assembly includes a secondary conveying wheel seat 208, an upper secondary conveying wheel assembly 209, and a lower secondary conveying wheel assembly 210. The secondary conveying wheel seat 208 is fixedly connected to the front of the actuator base plate 201, and the upper secondary conveying wheel assembly 209 and the lower secondary conveying wheel assembly 210 are rotatably mounted within the secondary conveying wheel seat 208. Both the upper secondary conveying wheel assembly 209 and the lower secondary conveying wheel assembly 210 include multiple conveying wheels spaced axially along corresponding axles, and are arranged vertically opposite each other, forming a conveying gap between them for clamping and conveying flexible bag-shaped components. One end of the axle of both the upper secondary conveying wheel assembly 209 and the lower secondary conveying wheel assembly 210 extends out of the side wall of the secondary conveying wheel seat 208 and is equipped with a transmission gear. A secondary conveyor motor 211 is installed at the front of the secondary conveyor wheel seat 208. Its output end drives the secondary lower conveyor wheel set 210 to rotate via gear transmission. The secondary lower conveyor wheel set 210 drives the secondary upper conveyor wheel set 209 to rotate synchronously in the opposite direction via transmission gears, so that the secondary upper conveyor wheel set 209 and the secondary lower conveyor wheel set 210 together clamp the flexible bag-shaped component and convey it along the conveying direction. The secondary conveyor gear cover 212 is fixedly connected to the side of the secondary conveyor wheel seat 208 and covers the outside of the transmission gears of the secondary upper conveyor wheel set 209 and the secondary lower conveyor wheel set 210. When the flexible bag-shaped component begins to be output, the primary rear conveyor wheel set 204, the primary front conveyor wheel set 205, the secondary upper conveyor wheel set 209, and the secondary lower conveyor wheel set 210 operate simultaneously. The primary rear conveyor wheel set 204 and the primary front conveyor wheel set 205 gradually feed the flexible bag-shaped component located below the feeding mechanism 1 and feed its front end into the conveying gap between the secondary upper conveyor wheel set 209 and the secondary lower conveyor wheel set 210. After the upper wheel assembly 209 and the lower wheel assembly 210 of the secondary conveyor clamp the flexible bag-shaped component, the rear wheel assembly 204 and the front wheel assembly 205 of the primary conveyor stop operating actively, while the upper wheel assembly 209 and the lower wheel assembly 210 of the secondary conveyor continue to rotate to complete the subsequent conveying of the flexible bag-shaped component independently.

[0067] Two sets of latching drive mechanisms are symmetrically arranged on the lower rear side of the conveying base plate 202. Each set of latching drive mechanisms includes a latching drive rod 213, a latching connecting rod 214, and a latching swing rod 215 that are rotatably connected in sequence. A latching tension spring 216 is connected between the two latching swing rods 215 and keeps the latching drive rod 213 in its initial position through the latching swing rod 215 and the latching connecting rod 214. The inner sides of the latching drive rod 213 and the latching swing rod 215 are provided with latching pieces, and the bottom of the storage bag hopper 101 is provided with multiple slots that cooperate with the latching pieces. When the storage bag hopper 101 is installed on the conveying base plate 202, the latching pieces are inserted into the corresponding slots, keeping the feeding mechanism 1 in the installed position. When the latch drive rod 213 is driven by an external force, it drives the latch swing rod 215 to swing outward through the latch connecting rod 214, causing the latch piece to disengage from the corresponding slot, thereby releasing the connection between the feeding mechanism 1 and the conveying mechanism 2. After the external force is removed, the latch swing rod 215 returns to its initial position under the action of the latch tension spring 216.

[0068] like Figure 7-8 As shown, the bag opening mechanism 3 includes an opening base plate 301, an opening base 302, an opening rotating plate 303, an opening rotating seat 304, an upper suction cup connector 305, a lower suction cup connector 306, a suction cup 307, an opening servo motor 308, a guide wire turntable 309, a guide wire turntable cover 310, a guide wire sleeve 311, a guide wire 312, a guide wire fixing seat 313, a rotating plate tension spring 314, an air pipe tee 315, an air pipe 316, and a suction cup spring 317. The opening base plate 301 is fixedly connected to the lower front side of the actuator base plate 201, the opening base 302 is fixedly connected to the upper front side of the opening base plate 301, and the opening rotating seat 304 is fixedly connected to the top of the secondary conveyor wheel seat 208. The opening rotating plate 303 is rotatably connected to the opening rotating seat 304 and can rotate relative to the opening base 302 around the rotating shaft on the opening rotating seat 304.

[0069] The upper suction cup connector 305 is fixedly connected to the inner side of the opening rotating plate 303. A suction cup spring 317 is provided between the upper suction cup connector 305 and the opening rotating plate 303. The suction cup spring 317 is used to keep the upper suction cup connector 305 extending towards the opening base 302 and to allow the upper suction cup connector 305 to retract towards the inside of the opening rotating plate 303 when subjected to external force. The lower suction cup connector 306 is fixedly connected to the inner side of the opening base 302. A plurality of suction cups 307 are respectively installed on the upper suction cup connector 305 and the lower suction cup connector 306. The upper and lower suction cups 307 are arranged opposite each other with their adsorption surfaces facing each other, and are used to adsorb the upper and lower sides of the opening of the flexible bag-shaped component, respectively. In the initial state, the upper suction cup connector 305 is in the extended position under the action of the suction cup spring 317, so that the suction cup 307 installed on the upper suction cup connector 305 is lower than the bottom of the folding pressure plate 404. The air tube tee 315 has a negative pressure interface for connecting to an external negative pressure source. Multiple air tubes 316 are respectively connected to the air tube tee 315, the upper suction cup connector 305, and the lower suction cup connector 306, thereby forming a negative pressure air path. When the external air pump is started, the suction cups 307 on the upper suction cup connector 305 and the lower suction cup connector 306 generate an adsorption effect.

[0070] The guide wire fixing seat 313 is fixedly connected to the lower rear part of the opening base plate 301, and a plurality of guide wire sleeves 311 are respectively disposed on both sides of the opening base plate 301. One end of each guide wire sleeve 311 is fixedly disposed on the opening base plate 301, and the other end is fixedly disposed on the guide wire fixing seat 313. A plurality of guide wires 312 are respectively inserted into the corresponding guide wire sleeves 311, and the guide wire sleeves 311 are used to guide the movement path of the guide wires 312. The opening servo motor 308 is fixedly connected to the lower rear side of the opening base plate 301, and the guide wire turntable 309 is mounted on the output shaft of the opening servo motor 308. The guide wire turntable cover 310 is fixedly connected to the housing of the opening servo motor 308 and covers the outside of the guide wire turntable 309. One end of each of the multiple guide wires 312 is wound and fixed to the guide wire turntable 309, and the other end passes through the corresponding guide wire sleeve 311 and is fixedly connected to both sides of the opening rotating plate 303. One end of each of the multiple rotating plate tension springs 314 is fixedly connected to the top of the opening rotating plate 303, and the other end is fixedly connected to the top of the opening rotating seat 304.

[0071] When not pulled by the guide wire 312, the opening rotating plate 303 is in its initial open position away from the opening base 302 under the action of the rotating plate tension spring 314. When the opening servo motor 308 drives the guide wire turntable 309 to rotate and wind up the guide wire 312, the guide wire 312 overcomes the elastic force of the rotating plate tension spring 314, pulling the opening rotating plate 303 to rotate towards the opening base 302, causing the suction cups 307 on the upper and lower sides to move closer to each other. After the flexible bag-shaped component is conveyed to the opening position by the secondary conveying upper wheel group 209 and the secondary conveying lower wheel group 210, the external air pump is started, causing the suction cups 307 on the upper and lower sides to generate a negative pressure adsorption effect. Subsequently, the opening servo motor 308 winds up the guide wire 312 through the guide wire turntable 309, causing the opening rotating plate 303 to rotate towards the opening base 302. Because the upper suction cup connector 305 is in the extended position under the action of the suction cup spring 317, the suction cup 307 mounted on the upper suction cup connector 305 is lower than the bottom of the folding pressure plate 404. Therefore, the suction cups 307 on the upper and lower sides can respectively contact the upper and lower sides of the opening of the flexible bag-shaped component and complete the adsorption. During this process, the folding pressure plate 404 remains in the initial position relative to the opening rotating plate 303 and does not fold. When the suction cups 307 on both the upper and lower sides are adsorbed to the opening of the flexible bag-shaped component, the opening servo motor 308 rotates in the opposite direction, causing the guide wire rotating plate 309 to release the guide wire 312. Under the elastic action of the rotating plate tension spring 314, the opening rotating plate 303 rotates away from the opening base 302 and returns to the initial open position. The upper suction cup connector 305 moves upward with the opening rotating plate 303, while the lower suction cup connector 306 remains fixed, so that the upper and lower suction cups 307 on the upper and lower sides respectively drive the upper and lower sides of the opening of the flexible bag-shaped component to separate from each other, thereby realizing the opening of the flexible bag-shaped component.

[0072] like Figure 9As shown, the sealing mechanism 4 includes a folding connector 401, a folding plate 402, a folding plate spring seat 403, a folding pressure plate 404, a folding connecting rod 405, a folding tension spring 406, and a pressure plate tension spring 407. Multiple folding connectors 401 are symmetrically fixedly connected to the lower front side of the opening rotating plate 303. The folding plate 402 is rotatably connected to the folding connectors 401 and can rotate around a corresponding axis. Multiple folding plate spring seats 403 are fixedly connected to the front of the folding plate 402. One end of each of the multiple folding tension springs 406 is connected to the folding plate spring seat 403, and the other end is connected to the upper front side of the opening rotating plate 303, for applying an elastic restoring force to the folding plate 402. Multiple folding connecting rods 405 are respectively disposed between the folding plate 402 and the folding pressure plate 404, and both ends of the folding connecting rods 405 are rotatably connected to the folding plate 402 and the folding pressure plate 404, respectively. The folding pressure plate 404 is disposed between the folding connector 401 and the opening rotating plate 303, and can reciprocate along the guide groove formed by the folding connector 401 and the opening rotating plate 303. One end of the pressure plate tension spring 407 is connected to the upper middle part of the folding pressure plate 404, and the other end is connected to the upper front part of the opening rotating plate 303. The pressure plate tension spring 407 applies a preload to the folding pressure plate 404, so that the folding pressure plate 404 maintains a stable fit with the guide groove. The folding tension spring 406 is used to drive the folding plate 402 to return to the initial position, and the pressure plate tension spring 407 is used to maintain the stability of the folding pressure plate 404 during movement.

[0073] like Figure 10As shown, the sealing mechanism 4 is in an initial state, an intermediate folded state, and a fully folded state sequentially during the bag closure process. The relative positions of the folding pressure plate 404, the folding connecting rod 405, and the folding plate 402 change with the rotation of the opening rotating plate 303. When the flexible bag-shaped component is installed and the bag opening needs to be closed, the opening servo motor 308 drives the guide wire turntable 309 to wind up the guide wire 312, causing the opening rotating plate 303 to rotate toward the opening base 302. Since the sealing mechanism 4 is installed at the front of the opening rotating plate 303, the folding connector 401, the folding plate 402, the folding pressure plate 404, and the folding connecting rod 405 move together with the opening rotating plate 303. In the initial stage of the rotation of the opening rotating plate 303, the folding pressure plate 404 has not yet contacted the opening base 302, and the folding pressure plate 404 and the folding plate 402 remain in their initial positions relative to the opening rotating plate 303. As the opening rotating plate 303 continues to rotate toward the opening base 302, the upper suction cup connector 305 is subjected to external force and overcomes the elastic force of the suction cup spring 317, retracting toward the interior of the opening rotating plate 303, causing the upper suction cup connector 305 and its suction cup 307 to avoid the movement of the folding pressure plate 404. When the bottom of the folding pressure plate 404 contacts the opening base 302, the folding pressure plate 404 is limited by the opening base 302. As the opening rotating plate 303 continues to rotate toward the opening base 302, the folding pressure plate 404 slides relative to the opening rotating plate 303 along the guide groove. During sliding, the folding pressure plate 404 pushes the folding connecting rod 405 to move. The folding connecting rod 405 further drives the folding plate 402 to rotate around the axis between itself and the folding connector 401, causing the folding plate 402 to fold the bag opening of the flexible bag-shaped component, thereby closing the bag opening. After the bag opening is folded, the opening servo motor 308 rotates in the opposite direction and releases the guide wire 312. The opening rotating plate 303 rotates away from the opening base 302 under the action of the rotating plate tension spring 314. As the opening rotating plate 303 rotates in the opposite direction, the folding pressure plate 404 gradually releases the limiting position of the opening base 302. The folding plate 402 returns to its initial position under the action of the folding tension spring 406, and the folding pressure plate 404 returns to its corresponding position via the folding connecting rod 405. During this process, the pressure plate tension spring 407 continuously applies a preload to the folding pressure plate 404, so that the folding pressure plate 404 remains stable within the guide groove.

[0074] The following is combined with Figures 1 to 9 The specific working process of automatically installing flexible bag-shaped components using the actuator described in this embodiment is described below:

[0075] Step S1: Insert flexible bag-shaped components: Open the cover 102, stack multiple flexible bag-shaped components in the storage bag compartment 101, and then close the cover 102.

[0076] Step S2, Start Conveying: The primary conveyor rear wheel assembly 204, the primary conveyor front wheel assembly 205, the secondary conveyor upper wheel assembly 209, and the secondary conveyor lower wheel assembly 210 operate simultaneously. The primary conveyor rear wheel assembly 204 and the primary conveyor front wheel assembly 205 deliver the flexible bag-shaped component located at the lower part of the feeding mechanism 1 forward, and cause its front end to enter the conveying gap between the secondary conveyor upper wheel assembly 209 and the secondary conveyor lower wheel assembly 210.

[0077] Step S3: Complete the continuous conveying: After the upper wheel group 209 and the lower wheel group 210 of the secondary conveyor clamp the flexible bag-shaped component, the rear wheel group 204 and the front wheel group 205 of the primary conveyor stop their active operation, and the upper wheel group 209 and the lower wheel group 210 of the secondary conveyor continue to convey the flexible bag-shaped component forward.

[0078] Step S4: Convey the flexible bag-shaped component to the opening position: The secondary conveyor upper wheel group 209 and the secondary conveyor lower wheel group 210 continue to convey the flexible bag-shaped component forward, so that the bag opening is located between the upper suction cup connector 305 and the lower suction cup connector 306.

[0079] Step S5, Adsorption Bag Opening: The external air pump is activated, creating negative pressure on the upper and lower suction cups 307 via the air hose tee 315 and air hose 316. The opening servo motor 308 drives the guide wire turntable 309 to wind up the guide wire 312, causing the opening turntable 303 to rotate towards the opening base 302 until the upper and lower suction cups 307 contact the upper and lower sides of the flexible bag-shaped component's bag opening and complete the adsorption. During this process, the upper suction cup connector 305 remains extended under the action of the suction cup spring 317, ensuring that the suction cups 307 mounted on the upper suction cup connector 305 are below the bottom of the folding pressure plate 404 and in contact with the flexible bag-shaped component; the folding pressure plate 404 remains in its initial position relative to the opening turntable 303, without triggering the folding action.

[0080] Step S6, Opening the Bag Opening: After the suction cups 307 on both the upper and lower sides are adsorbed onto the flexible bag-shaped component, the opening servo motor 308 rotates in the opposite direction and releases the guide wire 312. Under the action of the rotating plate tension spring 314, the opening rotating plate 303 rotates away from the opening base 302, and the suction cups 307 on both the upper and lower sides move away from each other, thereby causing the upper and lower sides of the bag opening to separate, thus opening the bag opening of the flexible bag-shaped component.

[0081] Step S7: Install the flexible bag-shaped component: After the bag opening is unfolded, the relative movement between the actuator and the object to be installed causes the object to enter the flexible bag-shaped component through the unfolded bag opening until the flexible bag-shaped component reaches the predetermined installation position. This relative movement can be provided by a robotic arm, a mobile platform, or other external motion mechanisms.

[0082] Step S8, Closing the Bag Opening: When it is necessary to close the bag opening, the opening rotating plate rotates again toward the opening base under the drive of the drive component. Its rotation stroke is greater than the downward pressure stroke of the suction stage, so that the bottom of the folding pressure plate contacts and is restricted with the opening base, thereby triggering the folding action. Specifically: After the flexible bag-shaped component is installed in place, the opening servo motor 308 drives the guide wire turntable 309 to wind up the guide wire 312 again, so that the opening rotating plate 303 rotates toward the opening base 302, and the sealing mechanism 4 moves together with the opening rotating plate 303. As the opening rotating plate 303 continues to rotate, the upper suction cup connector 305 overcomes the elastic force of the suction cup spring 317 and retracts toward the inside of the opening rotating plate 303, so that the upper suction cup connector 305 and the suction cup 307 on it avoid the movement of the folding pressure plate 404. When the bottom of the folding pressure plate 404 contacts the opening base 302, the folding pressure plate 404 is limited and slides along the guide groove relative to the opening rotating plate 303 during the continued rotation of the opening rotating plate 303. The folding pressure plate 404 drives the folding plate 402 to rotate around the pivot through the folding connecting rod 405, thereby folding the bag opening of the flexible bag-shaped component and closing the bag opening.

[0083] Step S9, Release Adsorption and Reset: After the bag opening is folded, the external air pump stops pumping air or releases the negative pressure, causing the suction cup 307 to separate from the flexible bag-shaped component. The opening servo motor 308 rotates in the opposite direction and releases the guide wire 312. The opening rotating plate 303 returns to its initial open position under the action of the rotating plate tension spring 314. The folding pressure plate 404 releases the limit of the opening base 302, and the folding plate 402 returns to its initial position under the action of the folding tension spring 406. The actuator enters the next working cycle.

Claims

1. An automatic installation actuator for flexible bag-shaped components, characterized in that, include: Actuator base plate (201); The feeding mechanism (1) is located above the rear of the actuator base plate (201), and includes a storage bag bin (101) and an elastic pressing mechanism disposed therein. The elastic pressing mechanism is used to continuously press the flexible bag-shaped components stacked in the storage bag bin (101). The conveying mechanism (2) is mounted on the actuator base plate (201). The storage bag compartment (101) is supported above the conveying mechanism (2). The conveying mechanism (2) includes a primary conveying assembly and a secondary conveying assembly arranged sequentially along the conveying direction. The primary conveying assembly includes several conveying wheels. The secondary conveying assembly includes an upper secondary conveying wheel group (209) and a lower secondary conveying wheel group (210) arranged opposite to each other. A conveying gap is formed between the upper secondary conveying wheel group (209) and the lower secondary conveying wheel group (210) for clamping and conveying flexible bag-shaped components. The bag opening mechanism (3) includes: An open base (302) is fixedly connected to the front of the actuator base plate (201); An open rotating seat (304) is fixedly connected to the upper part of the secondary conveying assembly; An opening rotating plate (303) is rotatably connected to the opening rotating seat (304) and is located above the opening base (302); The open rotating plate (303) and the open base (302) are provided with two sets of adsorption components arranged facing each other; The opening rotating plate (303) can rotate toward the opening base (302) under the action of the driving member so that the upper and lower adsorption components can adsorb the two sides of the bag opening respectively, and can rotate away from the opening base (302) under the action of the resetting member so that the upper and lower adsorption components can separate from each other, thereby opening the bag opening; The sealing mechanism (4) includes a folding plate (402) and a folding pressure plate (404). The folding pressure plate (404) is movably mounted on the opening rotating plate (303) and connected to the folding plate (402) via a folding connecting rod (405). When the opening rotating plate (303) rotates toward the opening base (302) under the drive of the driving member, the folding pressure plate (404) can abut against and restrict the opening base (302), and then slide relative to the opening rotating plate (303) as the opening rotating plate (303) continues to move, and drive the folding plate (402) to rotate through the folding linkage (405) to fold and close the bag opening.

2. The automatic installation actuator for flexible bag-shaped components according to claim 1, characterized in that, The feeding mechanism (1) also includes a bin cover (102), which is rotatably connected to the rear of the storage bag bin (101); the elastic pressing mechanism includes a pressure plate (103) and a leaf spring (104), the rear end of the leaf spring (104) is fixedly connected to the bin cover (102), and the front end is rotatably connected to the pressure plate (103). The pressure plate (103) can adaptively adjust its position according to the change in the layer thickness of the flexible bag-shaped component under the elastic action of the leaf spring (104) so ​​as to continuously press the flexible bag-shaped component.

3. The automatic installation actuator for flexible bag-shaped components according to claim 2, characterized in that, The bottom of the storage bag compartment (101) is provided with a clearance groove, and at least part of the wheel rim of a portion of the conveying wheel in the primary conveying assembly extends into the clearance groove and contacts the flexible bag-shaped component inside the storage bag compartment (101).

4. The automatic installation actuator for flexible bag-shaped components according to claim 1, characterized in that, The conveying mechanism (2) further includes a conveying base plate (202) and a primary conveying motor (206). The conveying base plate (202) is fixedly connected to the actuator base plate (201). The primary conveying assembly includes a primary conveying rear wheel assembly (204) and a primary conveying front wheel assembly (205), which are rotatably mounted on the bottom of the conveying base plate (202) and are respectively connected to the corresponding primary conveying motor (206) for transmission.

5. The automatic installation actuator for flexible bag-shaped components according to claim 1, characterized in that, The secondary conveying assembly also includes a secondary conveying motor (211), which is connected to the secondary conveying lower wheel assembly (210) via a transmission gear. The secondary conveying lower wheel assembly (210) drives the secondary conveying upper wheel assembly (209) to rotate synchronously in the opposite direction.

6. The automatic installation actuator for flexible bag-shaped components according to claim 1, characterized in that, The conveying mechanism (2) further includes a bolt drive rod (213), a bolt connecting rod (214), a bolt swing rod (215), and a bolt tension spring (216). The bolt drive rod (213), the bolt connecting rod (214), and the bolt swing rod (215) are rotatably connected in sequence. The two ends of the bolt tension spring (216) are respectively connected between the two bolt swing rods (215). The inner sides of the bolt drive rod (213) and the bolt swing rod (215) are provided with bolt pieces. The bottom of the storage bag compartment (101) is provided with a groove that cooperates with the bolt pieces.

7. The automatic installation actuator for flexible bag-shaped components according to claim 1, characterized in that, The adsorption assembly includes suction cups (307) respectively mounted on the opening rotating plate (303) and the opening base (302). The suction cups (307) mounted on the opening rotating plate (303) are movably mounted on the opening rotating plate (303) by suction cup springs (317). The suction cup springs (317) are used to keep the suction cups (307) extending towards the opening base (302) and allow the suction cups (307) to retract towards the opening rotating plate (303) when subjected to external force. The bag opening mechanism (3) also includes an air tube tee (315) and an air tube (316). The air tube tee (315) is provided with a negative pressure interface for connecting to an external negative pressure source. The air tubes (316) include multiple tubes. Each suction cup (307) is connected to the air tube tee (315) through the corresponding air tube (316).

8. The automatic installation actuator for flexible bag-shaped components according to claim 1, characterized in that, The driving component is an open-end servo motor (308), and a guide wire turntable (309) is mounted on the output shaft of the open-end servo motor (308). The bag opening mechanism (3) also includes a guide wire (312) and a guide wire sleeve (311). One end of the guide wire (312) is wound and fixed on the guide wire turntable (309), and the other end passes through the guide wire sleeve (311) and is connected to the opening turntable (303). The reset component is a rotating plate tension spring (314), which is connected between the open rotating plate (303) and the open rotating seat (304).

9. The automatic installation actuator for flexible bag-shaped components according to claim 1, characterized in that, The sealing mechanism (4) further includes a folding connector (401), a folding tension spring (406), and a pressure plate tension spring (407); the folding connector (401) is fixedly connected to the front of the opening rotating plate (303), the folding plate (402) is rotatably connected to the folding connector (401), and the folding pressure plate (404) can slide along the guide groove formed between the folding connector (401) and the opening rotating plate (303); The folding tension spring (406) is connected between the folding plate (402) and the opening rotating plate (303) and is used to apply an elastic restoring force to the folding plate (402); The pressure plate tension spring (407) is connected between the folding pressure plate (404) and the opening rotating plate (303) and is used to apply a preload to the folding pressure plate (404).

10. A method for automatically installing a flexible bag-shaped component using an automatic installation actuator as described in any one of claims 7 to 9, characterized in that, Includes the following steps: S1: Place multiple flexible bag-shaped components in the storage bag compartment (101), close the compartment cover (102), and the elastic pressing mechanism continuously presses the flexible bag-shaped components; S2: Start the conveying mechanism (2), and the primary and secondary conveying components work together to send the flexible bag-shaped components out of the storage bag bin (101); S3: When the upper secondary conveyor wheel group (209) and the lower secondary conveyor wheel group (210) of the secondary conveyor assembly clamp the flexible bag-shaped component, the primary conveyor assembly stops running and the secondary conveyor assembly continues to convey the flexible bag-shaped component alone to the opening base (302) and the opening rotating plate (303) of the bag opening mechanism (3); S4: The driving component drives the opening rotating plate (303) to rotate toward the opening base (302). The adsorption assembly set on the opening rotating plate (303) is kept in an extended state under the action of the suction cup spring (317) and contacts the upper side of the bag opening, so that the upper and lower adsorption assemblies adsorb the two sides of the bag opening respectively. S5: The reset component drives the opening rotating plate (303) to rotate away from the opening base (302), so that the upper and lower adsorption components are separated from each other and the bag opening is opened; S6: After the object to be installed enters the flexible bag-shaped component through the unfolded bag opening, the driving component drives the opening rotating plate (303) to rotate toward the opening base (302) again. The adsorption component set on the opening rotating plate (303) retracts against the elastic force of the suction cup spring (317) under the pushing action of the opening base (302). Subsequently, the folding pressure plate (404) abuts against and is restricted by the opening base (302), slides relative to the opening rotating plate (303) as the opening rotating plate (303) continues to rotate, and drives the folding plate (402) to rotate through the folding linkage (405) to fold and close the bag opening; S7: The reset component drives the opening rotating plate (303) to rotate away from the opening base (302) to reset.

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