A packaging bag transfer device

Abstract

This utility model discloses a packaging bag transfer device, comprising an X-axis transfer unit, a YZ-axis transfer unit, an XZ-axis transfer unit, and a clamping and shaping unit. The X-axis transfer unit includes a transfer guide frame, a mounting frame, and a drive assembly. The mounting frame is mounted on the transfer guide frame and can be moved on the transfer guide frame by the drive assembly. The YZ-axis transfer unit includes a first linkage mechanism and a YZ-axis drive component for driving the first linkage mechanism. The first linkage mechanism is located at the bottom of the mounting frame. The XZ-axis transfer unit includes an XZ mounting frame, a second linkage mechanism, and an XZ-axis drive component for driving the second linkage mechanism. The XZ mounting frame is located at the output end of the first linkage mechanism. The second linkage mechanism is mounted on the XZ mounting frame, and its output end is provided with a clamping mounting frame. The clamping and shaping unit is fixedly connected to the clamping mounting frame. This utility model can simultaneously sort and transfer packaging bags, offering high freedom of transfer and sorting, precise and continuous processing, shortening the production cycle, and improving production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of packaging equipment technology, specifically to a packaging bag transfer device. Background Technology

[0002] The material feeding packaging production line system mainly includes processes such as feeding, weighing, filling, heat sealing, sewing, and palletizing. Among these processes, heat sealing and sewing are very important. Currently, many material packaging production line systems lack the process of straightening the bag opening shape and correcting the position of the packaging bags before heat sealing and sewing. This leads to problems such as leakage and uneven packaging in the subsequent heat sealing and sewing processes, which are detrimental to the transportation and sales of materials.

[0003] In existing technologies, robotic arms or multi-stage separation processes are often used to sort and transfer packaging bags. However, because the packaging bags are made of soft materials, the use of robotic arms can easily cause the packaging bags to deform. Multi-stage separation processes also lead to a cumbersome overall production cycle, prolonged production process, and low efficiency.

[0004] Therefore, there is an urgent need for a transfer device that can complete the sorting and transfer of packaging bags separately, and can also transfer them simultaneously while clamping and sorting the bag openings. This would allow for a more streamlined process, greater freedom and direction in the transfer and sorting, more precise and continuous overall processing, shorter production cycles, and improved production efficiency. Utility Model Content

[0005] This utility model aims to provide a packaging bag transfer device that can simultaneously complete the sorting and transfer processes of packaging bags, as well as transfer while clamping and sorting the bag opening. The process is compact, with more freedom and direction in the transfer and sorting, making the overall processing more precise and continuous, shortening the production cycle and improving production efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an X-axis transfer unit, a YZ-axis transfer unit, an XZ-axis transfer unit, and a clamping and shaping unit; The X-axis transfer unit includes a transfer guide, a mounting frame, and a drive assembly. The mounting frame is mounted on the transfer guide and can be moved on the transfer guide by the drive assembly. The YZ-axis transfer unit includes a first linkage mechanism and a YZ-axis drive member for driving the first linkage mechanism. The first linkage mechanism is located at the bottom of the mounting frame. The XZ-axis transfer unit includes an XZ mounting bracket, a second linkage mechanism, and an XZ-axis drive member for driving the second linkage mechanism. The XZ mounting bracket is located at the output end of the first linkage mechanism. The second linkage mechanism is mounted on the XZ mounting bracket and has a clamping mounting bracket at its output end. The clamping and shaping unit is fixedly connected to the clamping mounting bracket.

[0007] The beneficial effects of this solution are as follows: through the coordinated work of the multi-directional transfer unit and the clamping and shaping unit, precise positioning and posture adjustment of the packaging bag in three-dimensional space are achieved. The X-axis transfer unit provides horizontal movement, the YZ-axis transfer unit achieves vertical lifting, the XZ-axis transfer unit completes compound motion, and the clamping and shaping unit ensures stable clamping and shape adjustment of the packaging bag. Each unit adopts a modular design, which facilitates adjustment of configuration and stroke parameters according to actual needs. Compared with traditional robotic arms or multi-process separation solutions, this device features a compact structure, smooth operation, and precise control, effectively improving the automation level and operational efficiency of the packaging production line.

[0008] Furthermore, the transfer guide frame includes two support seats, with a rectangular tube and three guide rods positioned between them. The rectangular tube and the three guide rods are parallel to each other. The rectangular tube and one of the guide rods are located at the top of the support seat, while the other two guide rods are located at the bottom of the support seat. The rectangular tube and the three guide rods are perpendicular to the two support seats. This composite guide layout of "a single rectangular tube and three guide rods" forms the main load-bearing track. The double guide rods at the bottom form an inverted triangular stable structure, and all guide elements (a single rectangular tube and three guide rods) are parallel to each other and perpendicular to the two support seats, forming a symmetrical multi-point support structure in space. This design significantly improves the overall rigidity and torsional and bending resistance of the X-axis transfer unit, effectively preventing jamming, tilting, or deformation caused by uneven force during transfer, ensuring smooth and reliable movement.

[0009] Furthermore, the mounting frame is equipped with several guide wheels that fit against the guide rod, and the guide wheels are arranged in an inverted triangle on the guide rod located at the bottom of the support. The mounting frame uses the guide rod as a guide and completes a single X-axis movement along the guide rod under the drive of the drive assembly.

[0010] Furthermore, the first linkage mechanism is a double parallel four-bar linkage mechanism, including a top support frame, a bottom support frame, and parallel four-bar linkages I and II with identical structures arranged parallel to each other along the X-direction. Parallel four-bar linkages I and II are respectively provided with an active link and a driven link. The top support frame and the bottom support frame are respectively provided with support frame connecting shafts that allow the active and driven links to rotatably connect. The top of the active and driven links is connected to the top support frame, and the bottom is connected to the bottom support frame. The top support frame is located at the bottom of the mounting frame, and the bottom support frame extends outward from the side closest to the driven link to form the output end of the first linkage mechanism. The double parallel four-bar linkage structure achieves precise displacement control of the packaging bag in the YZ plane, preventing the packaging bag from deflecting during transport. The extended design of the support frame allows the output end to be directly connected to subsequent execution units, improving system response speed. Optimizing the link layout and connection method, while ensuring rigidity, also achieves miniaturization of the mechanism, making it more suitable for installation requirements in compact production line spaces.

[0011] Furthermore, the YZ-direction drive component is positioned behind the active connecting rod, and a first hinged mounting base is hinged to the YZ-direction drive component. A mounting plate connected to the top of the first hinged mounting base is provided on the mounting frame, and the first hinged mounting base is perpendicularly connected to the mounting plate. This perpendicular connection between the first hinged mounting base and the mounting plate ensures effective transmission of driving force while avoiding lateral torque interference during the operation of the YZ-direction drive component.

[0012] Furthermore, a first reinforcing connecting block and a second reinforcing connecting block are provided between the active connecting rods, with the second reinforcing connecting block positioned close to the bottom support frame. The vertical connection between the first hinged mounting base and the mounting plate ensures effective transmission of driving force while avoiding interference from lateral torque during cylinder operation. The first and second reinforcing connecting blocks enhance the overall structural strength of the double parallel four-bar linkage mechanism, preventing deformation of the active connecting rods under the action of the YZ-direction driving component.

[0013] Furthermore, the XZ mounting brackets are two in number and symmetrically mounted on the output end of the first linkage mechanism formed by the bottom support frame. Each XZ mounting bracket has a tuning fork-shaped slot, with the bottom of each of the two fork heads extending downwards to form two first lugs. An XZ mounting bracket connecting shaft passes between the two first lugs. A clamping mounting bracket is positioned below the XZ mounting bracket along the Z-axis and perpendicular to it. One end of the clamping mounting bracket has two second lugs along the X-axis near the first lugs, with a spacing wider than the width of the XZ mounting bracket. A third lug is located behind the XZ mounting bracket along the Y-axis. A clamping mounting bracket connecting shaft passes between the two second lugs. A clamping and shaping unit is mounted on the other end of the clamping mounting bracket. The tuning fork-shaped slot structure reduces weight while maintaining structural strength and providing installation space for the second linkage mechanism. The symmetrical arrangement of the XZ mounting brackets ensures balanced force distribution. The combination design of multiple lugs and connecting shafts forms a stable motion transmission chain, enabling the clamping and shaping unit to achieve precise composite motion within the XZ plane, thus improving the stability and positioning accuracy of the transfer process. The tuning fork-shaped slotted structure ensures that the installation space and motion trajectory of the XZ drive components do not interfere with each other, and the layout of the three types of lugs achieves a reasonable distribution of torque.

[0014] Furthermore, the second linkage mechanism includes a hinged link and two XZ links. The ends of the XZ links are rotatably connected to the XZ mounting bracket connecting shaft and the clamping mounting bracket connecting shaft, respectively. An XZ-direction drive member connecting shaft is provided between the two XZ links. One end of the hinged link is rotatably connected to the third lug, and the other end is rotatably connected to the fork head on the same side as the third lug. The top of the XZ mounting bracket is provided with a second hinged mounting seat. The XZ-direction drive member is hinged to the tuning fork-shaped slot through the second hinged mounting seat. The piston rod II on the XZ-direction drive member is hinged to the XZ-direction drive member connecting shaft. The composite linkage system composed of the double XZ links and the hinged link, in conjunction with the XZ drive member, achieves precise positioning of the clamping mounting bracket in the XZ plane. When the XZ-direction drive member is working, it drives the XZ-direction drive member connecting shaft, causing the two XZ links to move synchronously. At the same time, the hinged link constrains the rotation trajectory of the clamping mounting bracket, forming a stable parallelogram motion mechanism.

[0015] Furthermore, the clamping and shaping unit includes grippers, gripper drivers, and a U-shaped mounting plate arranged opposite each other on both sides of the packaging bag. The U-shaped mounting plate is mounted on the clamping mounting frame. The grippers have a transmission part and a clamping part. The transmission part is installed inside the U-shaped mounting plate, and the clamping part extends out of the U-shaped mounting plate. The gripper drivers are located on the outer bottom of the U-shaped mounting plate and pass through the outer bottom of the U-shaped mounting plate to connect with the transmission part. By integrating the gripper drivers and the transmission mechanism through the U-shaped mounting plate, synchronous movement of the clamping part on both sides of the packaging bag is achieved. To ensure that the grippers, gripper drivers, and U-shaped mounting plate can be arranged opposite each other on both sides of the packaging bag for clamping, shaping, and transferring the packaging bag, the entire clamping and shaping unit must be perpendicular to the clamping mounting frame, and the clamping parts of the grippers must face each other directly.

[0016] Furthermore, the transmission unit includes a telescopic connecting block, a pair of transmission links, and clamping arms. The telescopic connecting block consists of two parallel T-shaped plates connected together, with the connection point at the long side end of the T-shaped plates. Piston rod III is connected to the connection point of the T-shaped plates. Both ends of the short side of the T-shaped plates are rotatably connected to transmission links and clamping arms. Each clamping arm has a clamping part on its inner side. Adjacent clamping parts can be driven to engage and disengage, and the clamping parts engage in a toothed meshing pattern. The telescopic connecting block uses a structure of two parallel T-shaped plates connected together, which ensures stability during transmission and avoids clamping deviations caused by uneven force. The toothed meshing design of the clamping parts effectively increases friction during clamping, preventing the packaging bag from slipping during transport. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main structure of this utility model; Figure 2 This is a front view of the present invention; Figure 3 This is a rear view of the present invention; Figure 4 This is a side view of the present invention; Figure 5 This is a top view of the second linkage mechanism of this utility model; Figure 6 This is a schematic diagram of the clamping and shaping unit structure of this utility model; Figure 7 for Figure 1 An enlarged schematic diagram of part A in the middle.

[0018] The following detailed description illustrates the specific implementation method: The reference numerals in the accompanying drawings include: mounting frame 1, support base 22, rectangular tube 3, guide rod 4, drive motor 5, rack 6, gear 7, top support frame 8, bottom support frame 9, driving link 10, driven link 11, support frame connecting shaft 12, output end of the first linkage mechanism 13, YZ direction drive component 14, first hinge mounting base 15, mounting plate 16, first reinforcing connecting block 17, second reinforcing connecting block 18, piston rod hinge base 19, piston rod I 20, XZ mounting bracket 21, sound... 22. Fork-shaped slot, 23. First lug, 24. XZ mounting bracket connecting shaft, 25. Second lug, 26. Third lug, 27. Clamping mounting bracket connecting shaft, 28. Hinge link, 29. XZ link, 30. XZ drive member connecting shaft, 31. Fork head, 32. Second hinge mounting seat, 33. XZ drive member, 34. Piston rod II, 35. Claw drive member, 36. U-shaped mounting plate, 37. Piston rod III, 38. Telescopic connecting block, 39. Transmission link, 40. Clamping arm, 41. Clamping part, 42. Guide wheel, 43. Clamping mounting bracket. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0021] The basic implementation examples are as follows: Figure 1-7 As shown, Figure 1 As shown: A packaging bag transfer device according to this embodiment includes an X-axis transfer unit, a YZ-axis transfer unit, an XZ-axis transfer unit, and a clamping and shaping unit; The X-axis transfer unit includes a transfer guide, a mounting frame 1, and a drive assembly. The mounting frame 1 is drivably mounted on the transfer guide. The YZ-axis transfer unit includes a first linkage mechanism and a YZ-axis drive member 14 for driving the first linkage mechanism. The first linkage mechanism is located at the bottom of the mounting frame 1. The XZ-axis transfer unit includes an XZ mounting bracket 21, a second linkage mechanism, and an XZ-axis drive member 33 for driving the second linkage mechanism. The XZ mounting bracket 21 is located at the output end 13 of the first linkage mechanism. The second linkage mechanism is mounted on the XZ mounting bracket 21 and its output end is provided with a clamping mounting bracket 43. The clamping and shaping unit is fixedly connected to the clamping mounting bracket 43.

[0022] In this application, the XYZ directions are determined by taking the length direction of the guide rod 4 as the X direction, the length direction of the clamping mounting bracket 43 as the Y direction, and the direction perpendicular to both the X and Y directions as the Z direction. The XZ direction driving component 33, the YZ direction driving component 14, and the gripper driving component are all pneumatic cylinders, but electric cylinders and hydraulic cylinders can also be used, which will not be elaborated here.

[0023] The transfer guide frame in the X-axis transfer unit can use a linear guide, ball screw, or synchronous belt drive structure to achieve the guiding function. The mounting frame 1 slides in cooperation with the guide frame via a slider or roller. The drive component can use a servo motor or stepper motor, transmitting power through a gear rack or synchronous belt. The mounting frame 1 can use an aluminum alloy profile or a welded steel plate structure, possessing sufficient rigidity and lightweight characteristics. The first linkage mechanism can use a parallel four-bar linkage, a scissor linkage, or a crank-slider mechanism to achieve the lifting function. The YZ-axis drive component 14 can use a single-acting or double-acting cylinder, achieving reciprocating motion by controlling air pressure through a solenoid valve. The connection between the first linkage mechanism and the mounting frame 1 can use bolt fixing or a quick-disassembly structure for easy maintenance. The XZ mounting frame 21 can use a bent steel plate or welded profile structure, with a tuning fork-shaped, U-shaped, or L-shaped cross-section. The second linkage mechanism can use parallel linkages and crank rocker arms to achieve compound motion. The XZ drive component 33 can be a single-acting or double-acting cylinder, and the reciprocating motion is achieved by controlling the air pressure through a solenoid valve. The clamping mounting bracket 43 can be made of aluminum alloy or engineering plastic and has multiple mounting holes to adapt to clamping and shaping units of different specifications.

[0024] The clamping and shaping unit can use pneumatic grippers, electric grippers, or vacuum suction cups to clamp the packaging bags. The grippers can have V-shaped, flat, or curved contact surfaces, and the surfaces can be coated with rubber or silicone to increase friction. The drive method can be a cylinder, motor, or electromagnet, transmitting power through linkages or gears.

[0025] In this embodiment, the transfer guide frame includes two support seats 2, and a rectangular tube 3 and three guide rods 4 are provided between the two support seats 2. The rectangular tube 3 and the three guide rods 4 are parallel to each other. The rectangular tube 3 and one of the guide rods 4 are located at the top of the support seat 2, and the other two guide rods 4 are located at the bottom of the support seat 2. The rectangular tube 3 and the three guide rods 4 are perpendicular to the two support seats 2 respectively. like Figure 1 As shown, the support base 2 can be made of cast iron or welded steel to form a right-angled triangular prism structure. The right-angled sides of the two support bases 2 are arranged opposite each other. The right-angled side at the bottom can be provided with mounting holes for fixing to the workbench. The rectangular tube 3 is preferably hollow square steel. The top guide rod 4 is arranged parallel to the rectangular tube 3 at the top of the support base 2 (i.e. the top of the opposite right-angled side). The two bottom guide rods 4 are fixed to the lower side of the support base 2. Through the layout of the three-point supported guide rods 4, the main load-bearing track is formed at the top. The two bottom guide rods 4 form an inverted triangular stable structure, which effectively suppresses the swaying of the mounting frame 1 when it moves at high speed.

[0026] In this embodiment, the mounting frame 1 is provided with several guide wheels 42 that fit against the guide rods 4. The guide wheels 42 are arranged in an inverted triangle on the guide rods 4 located at the bottom of the support 2. The driving assembly includes a drive motor 5, a rack 6 mounted on a rectangular tube 3, and a gear 7 mounted on the top of the mounting frame 1 that meshes with the rack 6. The output end of the drive motor 5 is connected to the gear 7 and drives the gear 7 to rotate along the rack 6. The mounting frame 1 moves along the guide rods 4 in the X direction under the drive of the gear 7. The guide wheels 42 can be made of wear-resistant materials, such as polyurethane or nylon composite materials, and their inner rings can be equipped with rolling bearings to reduce frictional resistance. The inverted triangle distributed guide wheels 42 can be set in two groups, each group containing two symmetrically arranged guide wheels 42, which respectively form three-point contact with the two bottom guide rods 4; Figure 2 As shown, in a preferred embodiment, an additional guide wheel 42 can be provided on the mounting frame 1 and fits against the guide rod 3 located on the top of the support 2; the rack 6 is fixed to the upper surface of the rectangular tube 3 by bolts, and the gear 7 can adopt a helical tooth design to reduce transmission noise. The drive motor 5 is preferably a servo motor, which is directly connected to the gear shaft through a coupling, and precise displacement control is achieved by controlling the start and stop of the servo motor.

[0027] In this embodiment, the first linkage mechanism is a double parallel four-bar linkage mechanism, including a top support frame 8, a bottom support frame 9, and parallel four-bar linkages I and II with the same structure and arranged parallel to each other along the X direction. Parallel four-bar linkages I and II are respectively provided with an active link 10 and a driven link 11. The top support frame 8 and the bottom support frame 9 are respectively provided with a support frame connecting shaft 12 that allows the active link 10 and the driven link 11 to be rotatably connected. The top of the active link 10 and the driven link 11 are connected to the top support frame 8, and the bottom is connected to the bottom support frame 9. The top support frame 8 is located at the bottom of the mounting frame 1, and the bottom support frame 9 extends outward on the side near the driven link 11 to form the output end 13 of the first linkage mechanism.

[0028] like Figure 4 As shown, the double parallel four-bar linkage achieves stable transmission through the synchronous motion of two sets of parallel four-bar linkages. The symmetrical arrangement of the driving link 10 and the driven link 11 effectively distributes the load. The driving link 10 and the driven link 11 are parallel and inclined backward along the Y-axis to form the double parallel four-bar linkage. The double parallel four-bar linkage structure enables precise displacement control of the packaging bag in the YZ plane. Compared with a single-bar linkage, the double parallel structure significantly improves motion stability and effectively prevents the packaging bag from deflecting during transport. The extended design of the support frame allows the output end to be directly connected to subsequent execution units, reducing intermediate transmission links and thus improving system response speed. By optimizing the linkage layout and connection method, the mechanism is miniaturized while maintaining rigidity, making it more suitable for installation in compact production line spaces.

[0029] In this embodiment, the YZ-direction drive member 14 is located behind the active connecting rod 10. A first hinge mounting seat 15 is hinged to the cylinder body of the YZ-direction drive member 14. The mounting frame 1 is provided with a mounting plate 16 connected to the top of the first hinge mounting seat 15. The first hinge mounting seat 15 is vertically connected to the mounting plate 16. The first hinge mounting seat 15 can be an L-shaped metal plate, with its horizontal part fixed to the mounting plate 16 of the mounting frame 1 by bolts, and its vertical part hinged to the cylinder body of the YZ-direction drive member 14 by a pin. Alternatively, the first hinge mounting seat 15 can also be designed as a U-shaped bracket, with its two side walls connected to the YZ-direction drive member 14 by pivots, and its bottom fixed to the mounting plate 16 by bolts through a flange. The vertical connection between the first hinge mounting seat 15 and the mounting plate 16 ensures effective transmission of driving force and avoids interference from lateral torque when the YZ-direction drive member 14 is working.

[0030] In this embodiment, a first reinforcing connecting block 17 and a second reinforcing connecting block 18 are provided between the active connecting rods 10. The second reinforcing connecting block 18 is located near the bottom support frame 9 and has a piston rod hinge seat 19 for hinged connection of the piston rod I20 on the YZ-direction drive member 14. The first reinforcing connecting block 17 and the second reinforcing connecting block 18 can be made of high-strength aluminum alloy and are fixedly connected between the active connecting rods 10 by bolts, or can be directly integrally formed with the active connecting rods 10, which effectively improves the overall structural strength of the double parallel four-bar linkage and prevents the active connecting rods 10 from deforming under the action of the YZ-direction drive member 14. The second reinforcing connecting block 18 is located near the bottom support frame 9, and the piston rod hinge seat 19 on the second reinforcing connecting block 18 has a U-shaped groove structure. The rod head of the piston rod I20 is installed in the U-shaped groove by a pin to achieve swinging. The driving force of the piston rod I20 can be evenly transmitted to the active connecting rod 10, avoiding local stress concentration.

[0031] In this embodiment, the XZ mounting brackets 21 are two in number and symmetrically mounted on the output end 13 of the first linkage mechanism formed by the bottom support frame 9. The XZ mounting brackets 21 have a tuning fork-shaped slot 22. The bottom of the two fork heads 31 formed by the tuning fork-shaped slot 22 extends downward to form two first ears 23. The XZ mounting bracket connecting shaft 24 passes through the two first ears 23. The clamping mounting bracket 43 is arranged below the XZ mounting bracket 21 along the Z direction and is perpendicular to the XZ mounting bracket 21. One end of the clamping mounting bracket 43 has two second ears 25 with a spacing width greater than the width of the XZ mounting bracket 21 on the side near the first ears 23 along the X direction. A third ear 26 is provided behind the XZ mounting bracket 21 along the Y direction. The clamping mounting bracket connecting shaft 27 passes through the two second ears 25. The other end of the clamping mounting bracket 43 is equipped with a clamping and shaping unit. The XZ mounting bracket 21 adopts a symmetrical double mounting structure and achieves the dual functions of space avoidance and rigid support through the tuning fork-shaped slot 22 design. The first lug 23, extending from the bottom of the fork head 31 of the tuning fork-shaped slot 22, forms a revolute joint with the XZ mounting bracket connecting shaft 24, allowing the clamping mounting bracket 43 to achieve multi-degree-of-freedom movement in the XZ plane. The vertical arrangement of the clamping mounting bracket 43 and the XZ mounting bracket 21 forms a spatial orthogonal coordinate system, and the spacing width design of the second lug 25 ensures that the clamping mounting bracket 43 does not interfere with movement. The third lug 26 serves as the hinge point of the second linkage mechanism, forming a motion transmission chain with the hinged connecting rod 28 on the fork head 31.

[0032] The modular mounting bracket design enables precise spatial positioning of the clamping and shaping unit. The tuning fork-shaped slot 22 structure reduces weight while maintaining structural strength and providing installation space for the second linkage mechanism. The symmetrically arranged XZ mounting brackets 21 ensure balanced force distribution. The combination of multiple lugs and connecting shafts forms a stable motion transmission chain, enabling the clamping and shaping unit to achieve precise composite motion within the XZ plane, improving the stability and positioning accuracy of the transfer process. The tuning fork-shaped slot 22 structure ensures that the installation space and motion trajectory of the XZ-direction drive component do not interfere with each other, and the layout of the three types of lugs achieves a reasonable distribution of torque.

[0033] In this embodiment, the second linkage mechanism includes a hinged link 28 and two XZ links 29. The ends of the XZ links 29 are rotatably connected to the XZ mounting bracket connecting shaft 24 and the clamping mounting bracket connecting shaft 27, respectively. An XZ-direction drive member connecting shaft 30 is provided between the two XZ links 29. One end of the hinged link 28 is rotatably connected to the third lug 26, and the other end is rotatably connected to the fork head 31 on the same side as the third lug 26. The top of the XZ mounting bracket 21 is provided with a second hinged mounting seat 32. The XZ-direction drive member 33 is hinged to the tuning fork-shaped slot 22 through the second hinged mounting seat 32. The piston rod II 34 on the XZ-direction drive member 33 is hinged to the XZ-direction drive member connecting shaft 30.

[0034] The XZ link 29 can be a rigid metal rod, with its ends connected to the clamping mounting bracket connecting shaft 27 and the XZ mounting bracket connecting shaft 24 via bearings or pins. The XZ drive member connecting shaft 30 is preferably a solid shaft passing through both XZ links 29. The hinge link 28 can be an adjustable threaded rod structure for fine-tuning the initial angle of the clamping mounting bracket 43. The second hinge mounting base 32 includes a U-shaped bracket with a self-lubricating bearing, allowing the XZ drive member 33 to swing. The hinge point of the piston rod II 34 is located in the middle of the XZ drive member connecting shaft 30, ensuring uniform distribution of driving force.

[0035] The composite linkage system, consisting of the dual XZ linkages 29 and the hinged linkage 28, works in conjunction with the XZ-direction drive component 33 to achieve precise positioning of the clamping mounting bracket 43 within the XZ plane. When the XZ-direction drive component 33 operates, the piston rod II 34 pushes the XZ-direction drive component connecting shaft 30, causing the two XZ linkages 29 to move synchronously. Simultaneously, the hinged linkage 28 constrains the rotational trajectory of the clamping mounting bracket 43, forming a stable parallelogram motion mechanism. This design allows the clamping and shaping unit to synchronously adjust its spatial posture during transfer. Compared to segmented processes, this integrated structure combines shaping and transfer actions into a single station, resulting in a continuous and smooth motion trajectory.

[0036] In this embodiment, the cross-sectional shape of the XZ mounting bracket 21 can be L-shaped or straight plate-shaped. The tuning fork-shaped slot 22 can be a straight section or it can be made obliquely downward (e.g., Figure 3and Figure 7 (As shown) or an upward sloping section, the cross-sectional shape of the XZ mounting bracket 21 is not limited here. The specific selection can be made according to the actual movement range of the second linkage mechanism, the extension and retraction stroke of the XZ drive member 33, the hinge rotation angle range of the cylinder of the XZ drive member 33, and the requirements for the sorting and transfer range of the packaging bag in the XZ direction. It will not be elaborated here.

[0037] In this embodiment, the clamping and shaping unit includes grippers, gripper drive 35, and U-shaped mounting plate 36 arranged opposite to each other on both sides of the packaging bag. The U-shaped mounting plate 36 is mounted on the clamping mounting frame 43. The grippers have a transmission part and a clamping part 41. The transmission part is installed inside the U-shaped mounting plate 36, and the clamping part 41 extends out of the U-shaped mounting plate 36. The gripper drive 35 is located at the outer bottom of the U-shaped mounting plate 36, and the piston rod Ⅲ37 on the gripper drive 35 passes through the outer bottom of the U-shaped mounting plate 36 and connects with the transmission part. Since there are two XZ mounting frames 21 symmetrically mounted on the bottom support frame 9, each XZ mounting frame 21 has a clamping mounting frame 43 vertically mounted on it. Figure 1 and Figure 3 As shown, two clamping mounting frames 43 are arranged in parallel, and the clamping and shaping unit is set on the clamping mounting frame 43. In order to ensure that the grippers, gripper drive 35 and U-shaped mounting plate 36 can be arranged opposite each other on both sides of the packaging bag to clamp, organize and transfer both sides of the packaging bag, the clamping and shaping unit as a whole must be perpendicular to the clamping mounting frame 43 and the gripping parts 41 of the grippers must be directly opposite each other. The gripper drive 35 can be a double-acting component to achieve bidirectional drive.

[0038] In this embodiment, the transmission unit includes a telescopic connecting block 38, a pair of transmission connecting rods 39, and a clamping arm 40. The telescopic connecting block 38 is composed of two parallel T-shaped plates, with the connection point at the long side end of the T-shaped plates. The piston rod III 37 is connected to the connection point of the T-shaped plates. The transmission connecting rods 39 and the clamping arm 40 are rotatably connected to both ends of the short side of the T-shaped plates. Each clamping arm 40 has a clamping part 41 on its inner side. Adjacent clamping parts 41 can be driven to engage and disengage. The clamping parts 41 engage in a toothed manner at the engagement point. When the piston rod III 37 extends and pushes, the clamping part 41 disengages. When the piston rod III 37 retracts, the clamping part 41 engages. The telescopic connecting block 38 adopts a structure of two parallel T-shaped plates, which can ensure the stability during the transmission process and avoid clamping action deviation caused by uneven force. The short ends of the T-shaped plate are connected to the transmission link 39 and the clamping arm 40, respectively, forming a symmetrical transmission structure. This allows the clamping parts 41 on both sides to move synchronously. The symmetrical design of the telescopic connecting block 38 ensures a uniform distribution of clamping force, preventing uneven force on the packaging bag during clamping. The clamping part 41 adopts a toothed interlocking design, which can effectively increase the friction during clamping and prevent the packaging bag from slipping during transfer. As a preferred embodiment, the clamping arm 40 and the transmission link 39 can be connected by a hinge, which facilitates adjustment of the opening and closing angle of the clamping part 41. In addition, the design of the U-shaped mounting plate 36 allows the gripper drive component 35 to be installed externally, facilitating maintenance and replacement.

[0039] By integrating the gripper drive component 35 and the transmission mechanism through the U-shaped mounting plate 36, the clamping part 41 achieves synchronous movement on both sides of the packaging bag. The T-shaped structure design of the telescopic connecting block 38 allows the linear motion of the piston rod Ⅲ 37 to be converted into the rotational motion of the gripper arm 40, thereby driving the clamping part 41 to complete the biting action. The toothed biting structure effectively prevents the packaging bag from slipping during transfer. Compared with existing technologies, this solution integrates clamping and shaping functions into a single unit, reducing the use of robotic arms and avoiding packaging bag deformation. Simultaneously, this unit can work collaboratively with other parts of the transfer device to achieve synchronous sorting and transfer, improving production efficiency and processing accuracy.

[0040] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A packaging bag transfer device, characterized in that, include: X-axis transfer unit, YZ-axis transfer unit, XZ-axis transfer unit and clamping and shaping unit; The X-axis transfer unit includes a transfer guide, a mounting frame, and a drive assembly. The mounting frame is mounted on the transfer guide and can be moved on the transfer guide by the drive assembly. The YZ-axis transfer unit includes a first linkage mechanism and a YZ-axis drive member for driving the first linkage mechanism. The first linkage mechanism is located at the bottom of the mounting frame. The XZ-axis transfer unit includes an XZ mounting bracket, a second linkage mechanism, and an XZ-axis drive member for driving the second linkage mechanism. The XZ mounting bracket is located at the output end of the first linkage mechanism. The second linkage mechanism is mounted on the XZ mounting bracket and has a clamping mounting bracket at its output end. The clamping and shaping unit is fixedly connected to the clamping mounting bracket.

2. The packaging bag transfer device according to claim 1, characterized in that: The transfer guide frame includes two support seats, and a rectangular tube and three guide rods are provided between the two support seats. The rectangular tube and the three guide rods are parallel to each other. The rectangular tube and one of the guide rods are located at the top of the support seat, and the other two guide rods are located at the bottom of the support seat. The rectangular tube and the three guide rods are perpendicular to the two support seats.

3. The packaging bag transfer device according to claim 2, characterized in that: The mounting frame is provided with several guide wheels that fit against the guide rod, and the guide wheels are distributed in an inverted triangle on the guide rod located at the bottom of the support.

4. A packaging bag transfer device according to claim 3, characterized in that: The first linkage mechanism is a double parallel four-bar linkage mechanism, including a top support frame, a bottom support frame, and parallel four-bar linkages I and II with identical structures and arranged parallel to each other along the X direction. Parallel four-bar linkages I and II are respectively provided with an active link and a driven link. The top support frame and the bottom support frame are respectively provided with support frame connecting shafts that allow the active link and the driven link to be rotatably connected. The top of the active link and the driven link are connected to the top support frame, and the bottom is connected to the bottom support frame. The top support frame is located at the bottom of the mounting frame, and the bottom support frame extends outward from the side near the driven link to form the output end of the first linkage mechanism.

5. A packaging bag transfer device according to claim 4, characterized in that: The YZ-direction drive component is located behind the active connecting rod. A first hinge mounting seat is hinged to the YZ-direction drive component. The mounting frame is provided with a mounting plate connected to the top of the first hinge mounting seat. The first hinge mounting seat is perpendicularly connected to the mounting plate.

6. A packaging bag transfer device according to claim 5, characterized in that: The active connecting rods are provided with a first reinforcing connecting block and a second reinforcing connecting block, with the second reinforcing connecting block located near the bottom support frame.

7. The packaging bag transfer device according to claim 1, characterized in that: The XZ mounting brackets are two in number and symmetrically mounted on the output end of the first linkage mechanism formed by the bottom support frame. The XZ mounting brackets are provided with tuning fork-shaped slots. The bottom of the two forks formed by the tuning fork-shaped slots extends downward to form two first ears. The XZ mounting bracket connecting shaft passes through the two first ears. The clamping mounting bracket is set below the XZ mounting bracket along the Z direction and is perpendicular to the XZ mounting bracket. One end of the clamping mounting bracket is provided with two second ears along the X direction on the side near the first ears. The second ear is provided along the Y direction behind the XZ mounting bracket. The clamping mounting bracket connecting shaft passes through the two second ears. The other end of the clamping mounting bracket is equipped with a clamping and shaping unit.

8. A packaging bag transfer device according to claim 7, characterized in that: The second linkage mechanism includes a hinged link and two XZ links. The ends of the XZ links are rotatably connected to the XZ mounting bracket connecting shaft and the clamping mounting bracket connecting shaft, respectively. An XZ-direction drive member connecting shaft is provided between the two XZ links. One end of the hinged link is rotatably connected to the third lug, and the other end is rotatably connected to the fork head on the same side as the third lug. The top of the XZ mounting bracket is provided with a second hinged mounting seat. The XZ-direction drive member is hinged to the tuning fork-shaped slot through the second hinged mounting seat. The piston rod II on the XZ-direction drive member is hinged to the XZ-direction drive member connecting shaft.

9. A packaging bag transfer device according to claim 1, characterized in that: The clamping and shaping unit includes grippers, gripper drivers, and a U-shaped mounting plate arranged opposite to each other on both sides of the packaging bag. The U-shaped mounting plate is mounted on the clamping mounting frame. The grippers have a transmission part and a clamping part. The transmission part is installed inside the U-shaped mounting plate, and the clamping part extends out of the U-shaped mounting plate. The gripper drivers are located at the outer bottom of the U-shaped mounting plate and pass through the outer bottom of the U-shaped mounting plate to connect with the transmission part.

10. A packaging bag transfer device according to claim 9, characterized in that: The transmission unit includes a telescopic connecting block, a pair of transmission links and a clamping arm. The telescopic connecting block consists of two parallel T-shaped plates connected together, with the connection point at the long side end of the T-shaped plate. The piston rod III is connected to the connection point of the T-shaped plate. The short sides of the T-shaped plate are rotatably connected to the transmission links and clamping arms. Each clamping arm has a clamping part on its inner side. Adjacent clamping parts can be driven to engage and disengage. The clamping parts engage in a toothed manner at the engagement point.

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