Four-corner lifting lug hooking device capable of automatically adjusting position of ton bag body

Abstract

A four-corner lifting lug hooking device capable of automatically adjusting the position of a ton bag body comprises a supporting frame body, a bag lifting mechanism is arranged on the upper portion of the supporting frame body, a vertically-arranged blanking bag clamping barrel is arranged in the center of the bag lifting mechanism, the bag lifting mechanism and the blanking bag clamping barrel are driven by a lifting mechanism to vertically ascend and descend, lifting lugs can be hooked by a lifting hook mechanism, and the bag lifting mechanism is provided with a lifting hook. Two sets of bag holding mechanisms are symmetrically arranged on the left side and the right side of the lower portion of the supporting frame body and can clamp the four corners of the lower portion of an inflated ton bag, two sets of belt clamping mechanisms capable of moving left and right are symmetrically arranged on the left side and the right side of the middle of the supporting frame body, and the belt clamping mechanisms are provided with conveying belt mechanisms which are vertically arranged; the conveying belt mechanisms can convey forwards and backwards in the front-back direction, a machine vision system is arranged above at least one set of belt clamping mechanisms, and the conveying belt mechanisms of the belt clamping mechanisms clamp bag bodies on the left side and the right side of the inflated ton bag. The ton bag deviation rectifying device can achieve accurate deviation rectifying on a ton bag, and the problem that a lifting lug fails to hook is solved.

Description

Technical Field

[0001] The utility model relates to a four-corner lifting lug hook hanging device which can automatically adjust the position of a ton bag body and belongs to the field of packaging machinery. Background Art

[0002] Patent document CN114789805A discloses an automatic packaging system for flexible container bags. The automatic hooking device in the system mainly opens the bag mouth of the container bag with four corner ears, inserts the inner bag mouth into the swing arm bagging mechanism and clamps both sides of the bag mouth, rotates the container bag to the discharge port, bags the bag and clamps the bag mouth and then lifts it upward, and then inflates the container bag. At this time, two movable plates rotate to clamp the lower part of the container bag, and finally the four hooks on the automatic hooking device are driven by the cylinder to swing and respectively hook the four corner ears of the container bag to complete the hooking action; the above-mentioned automatic hooking device is prone to cause the relative position of the container bag itself and the automatic hooking device to deflect after the container bag is inflated and the passive plate is clamped and fixed. When the four hooks start the hooking action at the same time, the hooking of the ears will fail; in addition, the relative position of the bag clamping mechanism and the automatic hooking device of the device remains unchanged. When the container bag is clamped and lifted, the four corner ears of the ton bag are in the shape of a circle. Figure 2 In the natural drooping state shown, when the four hook bodies swing and hook at the same time, the lifting lugs cannot smoothly enter the hook bodies to complete the lifting action of the lifting lugs and hooking. Summary of the Invention

[0003] In order to solve the problem that after the swing arm bagging mechanism in the prior art completes the bagging of the ton bag, the four hooks are prone to failure in hooking when automatically hooking the four corner ears in a naturally drooping state, the utility model proposes a four-corner ear hooking device that automatically adjusts the position of the ton bag body, which comprises a supporting frame 1, a bag hanging mechanism 5 is provided on the upper part of the supporting frame 1, a vertically arranged blanking bag clamping cylinder 4 is provided at the center position of the bag hanging mechanism 5, an air inlet pipe 7 is provided on the upper part of the blanking bag clamping cylinder 4, the bag hanging mechanism 5 and the blanking bag clamping cylinder 4 are driven by a lifting mechanism 6 to realize vertical lifting, the bag hanging mechanism 5 comprises a bag hanging frame 51, the bag hanging frame 51 is connected to the lifting mechanism 6, a liftable hook lifting frame 52 is provided below the bag hanging frame 51, the four corner lower ends of the hook lifting frame 52 are provided with hook mechanisms 53, the hook mechanisms 53 are arranged along the diagonal direction of the hook lifting frame 52, and the two adjacent groups of hook mechanisms 5 are connected to the lifting mechanism 6. 3 is symmetrically arranged about the X-axis or the Y-axis, and the hook mechanism 53 can hook the lifting ear C. Two groups of bag holding mechanisms 2 are symmetrically provided on the left and right sides of the lower part of the support frame 1. The bag holding mechanism 2 can clamp the four corners of the lower part of the inflated ton bag A. Two groups of belt clamping mechanisms 3 that can move left and right are symmetrically provided on the left and right sides of the middle part of the support frame 1. The belt clamping mechanism 3 is provided with a side-mounted conveyor belt mechanism 31. The conveyor belt mechanism 31 can transport in the forward and reverse directions along the front and rear directions. A machine vision system 8 is provided above at least one group of belt clamping mechanisms 3. The conveyor belt mechanism 31 of the belt clamping mechanism 3 clamps the left and right sides of the inflated ton bag A. The machine vision system 8 identifies and locates the bag body positioning color block B provided on the bag body of the ton bag A, thereby determining the position deviation of the bag body of the ton bag A. The conveyor belt mechanism 31 is controlled by the control system to transport in the forward and reverse directions, and the bag body of the ton bag A with position deviation is adjusted to the target position.

[0004] The hook mechanism 53 includes a mounting plate 531, which is connected to the lower end of the hook lifting frame 52. The front lower end of the mounting plate 531 is hinged to the upper end of the vertically arranged swing hanger 533, and the rear lower end of the mounting plate 531 is hinged to the cylinder body of the swing cylinder 532. The cylinder rod of the swing cylinder 532 is hinged to the swing hanger 533. A rotary clamping cylinder 534 is provided inside the swing hanger 533. The lower swinging end of the rotary clamping cylinder 534 is connected to the hook tail of the hook 535. The hook head of the hook 535 faces the side of the blanking bag clamping tube 4. The rotary clamping cylinder 534 drives the hook 535 to rotate up and down.

[0005] A swing lock block 537 is provided above the middle part of the hook 535 in the left and right directions. The swing lock block 537 is connected to one end of the connecting rod 536. The other end of the connecting rod 536 is hinged to the cylinder rod of the swing locking cylinder 538. The cylinder body of the swing locking cylinder 538 is hinged to the middle part of the swing hanger 533. When the swing locking cylinder 538 drives the swing lock block 537 to swing to the lower position, the lower end of the swing lock block 537 is in contact with the upward-raised hook head of the hook 535. A lifting ear detection sensor 539 is provided on the hook tail side of the hook 535.

[0006] The belt clamping mechanism 3 includes a connecting frame 32, the front and rear ends of the connecting frame 32 are connected to the supporting frame body 1, the connecting frame 32 is hinged to the cylinder body of the pushing cylinder 33, the cylinder rod of the pushing cylinder 33 is hinged to the conveyor belt mechanism 31, and the pushing cylinder 33 drives the conveyor belt mechanism 31 to move horizontally in the left and right directions.

[0007] The bag holding mechanism 2 includes a box body 21, the front and rear ends of the box body 21 are connected to the support frame body 1, and two groups of clamping swing arms 22 are provided in the box body 21. The long arm end of the clamping swing arm 22 is connected to the vertically arranged concave clamping bracket 24, and the short arm end of the clamping swing arm 22 is connected to the cylinder rod of the clamping swing cylinder 23. The cylinder body of the clamping swing cylinder 23 is hinged to the box body 21. When the clamping bracket 24 is in the initial position, the outer end plane is parallel to the left and right planes of the support frame body 1. The clamping swing cylinder 23 drives the clamping swing arm 22 to swing toward the blanking bag clamping tube 4 to clamp the lower four corners of the inflated ton bag A.

[0008] The beneficial effects of the utility model are:

[0009] A. The bag-holding mechanism 2 clamps and secures the inflated ton bag A. The belt clamping mechanism 3 clamps the bag body of ton bag A. The machine vision system 8 identifies and locates the bag body to confirm the positional deviation of ton bag A. The control system controls the forward and reverse conveying of the conveyor belt mechanism 31 and accurately corrects the deviation through the friction between the conveyor belt and the bag body of ton bag A. This allows the four corner lifting ears C to be adjusted to positions that allow the four hook mechanisms 53 to hook the bag, thus avoiding the problem of hooking failure of the lifting ears C.

[0010] B. The hook mechanism 53 is configured as a liftable structure. The hook 535 first descends and swings to directly below the lifting lug C. Then, as the hook 535 rises, the lifting lug C falls into the hook 535. This allows the lifting lugs C at the four corners of the ton bag A to be hooked when they are naturally drooping after the ton bag A is lifted, thus meeting the hooking requirements of the lifting lugs C on the ton bag A in different states.

[0011] C. The bag holding mechanism 2 swings to clamp the four corners of the lower part of the inflated ton bag A, which can first fix the lower part of the ton bag A, thereby ensuring the accuracy of recognition and positioning by the machine vision system 8.

[0012] D. The inward and outward swinging motion of the swinging hanger 533 on the hook mechanism 53 can swing the hook 535 to the pre-hooking position of the lifting lug C. The downward rotation of the hook 535 can realize the unhooking action, and the swinging locking action of the swinging lock block 537 can prevent the lifting lug C from accidentally unhooking. The overall design of the hook mechanism 53 is compact and occupies little space, which improves the reliability of the hooking and unhooking actions of the lifting lug C. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional axonometric view of the present invention.

[0014] Figure 2 It is a structural diagram of ton bag A.

[0015] Figure 3 It is a three-dimensional axonometric view of the hanging bag mechanism 5.

[0016] Figure 4 It is a front view of the hanging bag mechanism 5.

[0017] Figure 5 yes Figure 4 Bottom view of .

[0018] Figure 6 It is a structural diagram of the hook mechanism 53.

[0019] Figure 7 It is a structural diagram of the hook mechanism 53 from another angle.

[0020] Figure 8 3 is a schematic structural diagram of the belt clamping mechanism 3.

[0021] Figure 9 It is a structural diagram of the bag holding mechanism 2.

[0022] Figure 10 This is a schematic diagram of the status of ton bag A during correction.

[0023] Figure 11 This is a schematic diagram of the state of preparing to hook the lifting eye C.

[0024] Figure 12 This is a schematic diagram of the state in which the hooking eye C is completed.

[0025] Figure 13 This is a schematic diagram of the state when the lifting eye C is unhooked. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and beneficial effects of the present invention clearer, embodiments of the present invention are described in detail below with reference to the accompanying drawings. The embodiments are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0027] See also Figures 1 to 9 , a four-corner lifting ear hook hanging device that automatically adjusts the position of the ton bag body, which includes a supporting frame 1, a bag hanging mechanism 5 is provided on the upper part of the supporting frame 1, a vertically arranged blanking bag clamping tube 4 is provided at the center position of the bag hanging mechanism 5, and an air inlet pipe 7 is provided on the upper part of the blanking bag clamping tube 4. The bag hanging mechanism 5 and the blanking bag clamping tube 4 are driven by a lifting mechanism 6 to realize vertical lifting. The bag hanging mechanism 5 includes a bag hanging frame 51, and the bag hanging frame 51 is connected to the lifting mechanism 6. A liftable hook lifting frame 52 is provided below the bag hanging frame 51, and hook mechanisms 53 are provided at the lower ends of the four corners of the hook lifting frame 52. The hook mechanisms 53 are arranged along the diagonal direction of the hook lifting frame 52, and the two adjacent groups of hook mechanisms 53 are symmetrically arranged about the X axis or the Y axis. The hook mechanisms 53 can hook the lifting ears C, and two groups of bag holding mechanisms 2 are symmetrically provided on the left and right sides of the lower part of the supporting frame 1. 2 can clamp the four corners of the lower part of the inflated ton bag A. Two groups of belt clamping mechanisms 3 that can move left and right are symmetrically provided on the left and right sides of the middle part of the support frame 1. The belt clamping mechanism 3 is provided with a side-mounted conveyor belt mechanism 31. The conveyor belt mechanism 31 can convey in the forward and reverse directions along the front and rear directions. A machine vision system 8 is provided above at least one group of belt clamping mechanisms 3. The conveyor belt mechanism 31 of the belt clamping mechanism 3 clamps the bag bodies on the left and right sides of the inflated ton bag A. The machine vision system 8 identifies and locates the bag body positioning color block B provided on the bag body of the ton bag A, thereby determining the position deviation of the bag body of the ton bag A. The conveyor belt mechanism 31 is controlled by the control system to transport in the forward and reverse directions, and the bag body of the ton bag A with position deviation is adjusted to the target position. In this embodiment, the machine vision system 8 is arranged on the upper left side of the belt clamping mechanism 3, and a bag body positioning color block C is provided on the upper left side of the bag body of the ton bag A.

[0028] Furthermore, the hook mechanism 53 includes a mounting plate 531, which is connected to the lower end of the hook lifting frame 52, and the front of the lower end of the mounting plate 531 is hinged to the upper end of the vertically arranged swinging hanger 533, and the rear of the lower end of the mounting plate 531 is hinged to the cylinder body of the swinging cylinder 532, and the cylinder rod of the swinging cylinder 532 is hinged to the swinging hanger 533, and a rotary clamping cylinder 534 is provided inside the swinging hanger 533, and the lower swinging end of the rotary clamping cylinder 534 is connected to the hook tail of the hook 535, and the hook head of the hook 535 faces the side of the blanking bag clamping tube 4, and the rotary clamping cylinder 534 drives the hook 535 to rotate up and down.

[0029] Furthermore, a swing lock block 537 is provided above the middle part of the hook 535 in the left and right directions. The swing lock block 537 is connected to one end of the connecting rod 536, and the other end of the connecting rod 536 is hinged to the cylinder rod of the swing locking cylinder 538. The cylinder body of the swing locking cylinder 538 is hinged to the middle part of the swing hanger 533. When the swing locking cylinder 538 drives the swing lock block 537 to swing to the lower position, the lower end of the swing lock block 537 is in contact with the upward-raised hook head of the hook 535, and a lifting ear detection sensor 539 is provided on the hook tail side of the hook 535.

[0030] Furthermore, the hook lifting frame 52 is connected to the cylinder rod of the hook lifting cylinder 54, the cylinder body of the hook lifting cylinder 54 is connected to the hanging bag frame 51, and the hook lifting cylinder 54 drives the hook lifting frame 52 and the hook mechanism 53 to vertically lift.

[0031] Furthermore, the belt clamping mechanism 3 includes a connecting frame 32, the front and rear ends of the connecting frame 32 are connected to the support frame body 1, the connecting frame 32 is hinged to the cylinder body of the push-belt cylinder 33, the cylinder rod of the push-belt cylinder 33 is hinged to the conveyor belt mechanism 31, and the push-belt cylinder 33 drives the conveyor belt mechanism 31 to move horizontally in the left and right directions.

[0032] Furthermore, the bag holding mechanism 2 includes a box body 21, the front and rear ends of the box body 21 are connected to the support frame body 1, and two groups of clamping swing arms 22 are provided in the box body 21. The long arm end of the clamping swing arm 22 is connected to the vertically arranged concave clamping bracket 24, and the short arm end of the clamping swing arm 22 is connected to the cylinder rod of the clamping swing cylinder 23. The cylinder body of the clamping swing cylinder 23 is hinged to the box body 21. When the clamping bracket 24 is in the initial position, the outer end plane is parallel to the left and right planes of the support frame body 1. The clamping swing cylinder 23 drives the clamping swing arm 22 to swing toward the blanking bag clamping tube 4 to clamp the lower four corners of the inflated ton bag A.

[0033] See also Figures 10 to 13 , illustrating the working principle of this embodiment is:

[0034] The external swing arm bagging mechanism clamps the bag opening of the ton bag A and swings it to the bottom of the blanking bag clamping cylinder 4. The lifting mechanism 6 drives the bag hanging mechanism 5 and the blanking bag clamping cylinder 4 vertically downward. The blanking bag clamping cylinder 4 bags and clamps the bag opening of the ton bag A and then returns to the initial position;

[0035] Air is inflated into the ton bag A from the air inlet pipe 7. The clamp swing cylinder 23 drives the clamp swing arm 22 to swing 45 degrees to clamp the four corners of the lower part of the ton bag A. The push belt cylinder 33 drives the conveyor belt mechanism 31 to move horizontally inward to clamp the bag body on the left and right sides of the ton bag A.

[0036] The machine vision system 8 identifies the bag body positioning color block B on the bag body of the ton bag A, confirms the position coordinates of the bag body positioning color block B, calculates the deviation based on the position coordinate data and the set target range, and the control system controls the conveyor belt mechanism 31 to transport the ton bag A with position deviation in the forward and reverse directions, adjusts the bag body A with position deviation to the target range, corrects the position of the four corner lifting ears C relative to the four hook mechanisms 53, and then the push cylinder 33 drives the conveyor belt mechanism 31 back to the initial position;

[0037] The hook lifting cylinder 54 drives the hook lifting frame 52 vertically downward to the bottom of the four corner lifting ears. The swing cylinder 532 drives the swing hanger 533 to swing inward until the hook head of the hook 535 is close to the four corners of the ton bag A. The hook lifting cylinder 54 drives the hook lifting frame 52 vertically upward to return to the initial position, so that the hanging four corner lifting ears are lifted by the hook 535. The lifting ear detection sensor 539 sends a "lifting ear" signal in the hook 535. The swing locking cylinder 538 drives the swing lock block 537 to swing downward to fit the hook head, completing the hooking action of the lifting ear C.

[0038] The blanking bag clamping tube 4 starts to unload the material. When the unloading is completed, the lifting mechanism 6 drives the bag hanging mechanism 5 and the blanking bag clamping tube 4 vertically downward, so that the ton bag A drops onto the external pallet. The swing locking cylinder 538 drives the swing locking block 537 to swing upward to the initial position. The rotary clamping cylinder 534 drives the hook 535 to rotate downward to disengage the lifting ear C from the hook 535. The swing cylinder 532 drives the swing hanger 533 to swing outward to the initial position, completing the lifting ear removal action.

Claims

1. A four-corner hanging hook device for automatically adjusting the position of a ton bag body, comprising a support frame (1), a bag hanging mechanism (5) provided on the upper portion of the support frame (1), a vertically arranged blanking bag clamping cylinder (4) provided at the center of the bag hanging mechanism (5), an air inlet pipe (7) provided on the upper portion of the blanking bag clamping cylinder (4), the bag hanging mechanism (5) and the blanking bag clamping cylinder (4) being driven by a lifting mechanism (6) to realize vertical lifting, characterized in that: The bag hanging mechanism (5) includes a bag hanging frame (51), the bag hanging frame (51) is connected to the lifting mechanism (6), a lifting hook lifting frame (52) is provided below the bag hanging frame (51), the lower ends of the four corners of the hook lifting frame (52) are provided with hook mechanisms (53), the hook mechanisms (53) are arranged along the diagonal direction of the hook lifting frame (52), and two adjacent groups of hook mechanisms (53) are symmetrically arranged about the X axis or the Y axis. The hook mechanisms (53) can hook the lifting ears (C), and two groups of bag holding mechanisms (2) are symmetrically provided on the left and right sides of the lower part of the support frame (1). The bag holding mechanisms (2) can clamp the four corners of the lower part of the inflated ton bag (A), and the left and right sides of the middle part of the support frame (1) are provided with a plurality of bag holding mechanisms (2). Two groups of belt clamping mechanisms (3) that can move left and right are symmetrically provided on the side. The belt clamping mechanisms (3) are provided with a conveyor belt mechanism (31) arranged sideways. The conveyor belt mechanism (31) can convey in the forward and reverse directions along the front-back direction. A machine vision system (8) is provided above at least one group of belt clamping mechanisms (3). The conveyor belt mechanism (31) of the belt clamping mechanism (3) clamps the bag bodies on the left and right sides of the inflated ton bag (A). The machine vision system (8) identifies and locates the bag body positioning color block (B) provided on the bag body of the ton bag (A) to determine the position deviation of the bag body of the ton bag (A). The conveyor belt mechanism (31) is controlled by a control system to convey in the forward and reverse directions, and the bag body of the ton bag (A) with position deviation is adjusted to the target position.

2. The four-corner hanging hook device for automatically adjusting the position of a ton bag according to claim 1 is characterized in that: The hook mechanism (53) includes a mounting plate (531), which is connected to the lower end of the hook lifting frame (52), the front portion of the lower end of the mounting plate (531) is hinged to the upper end of a vertically arranged swing hanger (533), the rear portion of the lower end of the mounting plate (531) is hinged to the cylinder body of a swing cylinder (532), the cylinder rod of the swing cylinder (532) is hinged to the swing hanger (533), a rotary clamping cylinder (534) is provided inside the swing hanger (533), the lower swing end of the rotary clamping cylinder (534) is connected to the hook tail of the hook (535), the hook head of the hook (535) faces one side of the blanking bag clamping tube (4), and the rotary clamping cylinder (534) drives the hook (535) to realize an up and down rotation action.

3. The four-corner hanging hook device for automatically adjusting the position of a ton bag according to claim 2 is characterized in that: A swing lock block (537) is provided above the middle portion of the hook (535) in the left and right directions. The swing lock block (537) is connected to one end of a connecting rod (536). The other end of the connecting rod (536) is hinged to the cylinder rod of a swing locking cylinder (538). The cylinder body of the swing locking cylinder (538) is hinged to the middle portion of the swing hanger (533). When the swing locking cylinder (538) drives the swing lock block (537) to swing to the lower position, the lower end of the swing lock block (537) fits with the upwardly tilted hook head of the hook (535). A lifting ear detection sensor (539) is provided on one side of the hook tail of the hook (535).

4. The four-corner hanging hook device for automatically adjusting the position of a ton bag according to claim 1 is characterized in that: The belt clamping mechanism (3) includes a connecting frame (32), the front and rear ends of the connecting frame (32) are connected to the supporting frame body (1), the connecting frame (32) is hinged to the cylinder body of the pushing cylinder (33), the cylinder rod of the pushing cylinder (33) is hinged to the conveyor belt mechanism (31), and the pushing cylinder (33) drives the conveyor belt mechanism (31) to move horizontally in the left and right directions.

5. The four-corner hanging hook device for automatically adjusting the position of a ton bag according to claim 1 is characterized in that: The bag holding mechanism (2) includes a box body (21), the front and rear ends of the box body (21) are connected to the support frame (1), and two groups of clamping swing arms (22) are provided in the box body (21), the long arm end of the clamping swing arm (22) is connected to the vertically arranged concave clamping bracket (24), and the short arm end of the clamping swing arm (22) is connected to the cylinder rod of the clamping swing cylinder (23), and the cylinder body of the clamping swing cylinder (23) is hinged on the box body (21). When the clamping bracket (24) is in the initial position, the outer end plane is parallel to the left and right planes of the support frame (1), and the clamping swing cylinder (23) drives the clamping swing arm (22) to swing toward the blanking bag clamping tube (4) to clamp the four corners of the lower part of the inflated ton bag (A).

Images