Flexible material conveying and packaging device and control method thereof

Abstract

This invention discloses a flexible material conveying and packaging device and its control method, including an input conveyor belt, a clamping platform, a blocking mechanism, a guiding clamping mechanism, a sorting platform, a transfer platform, a transfer mechanism, and an output mechanism. The blocking mechanism guides the material to the clamping platform; a vision detection unit identifies the orientation of the material's long side; the guiding clamping mechanism, driven by a first multi-axis robot, rotates to be parallel to the long side of the material, receives a single row of material, and transfers it to the sorting platform, repeating this operation to accumulate and form an initial aligned array of materials; the sorting clamps push and straighten the material to form a regular array; the regular array is moved to the transfer platform and precisely positioned by positioning clamps; the transfer mechanism, driven by a second multi-axis robot, loads the regular array into a box. This invention achieves high precision, high flexibility, and a compact layout for material sorting and boxing through two-stage sorting and multi-axis robot handling.

Description

Technical Field

[0001] This invention relates to the field of automatic packaging machinery technology, and in particular to a flexible material conveying and packaging device and its control method. Background Technology

[0002] Currently, in industries such as food, pharmaceuticals, daily chemicals, and express logistics, there is a significant demand for arranging bagged, boxed, or bottled materials according to a pre-defined number of rows and columns (such as an M×N array) before packing them into outer packaging boxes.

[0003] Existing automated packing equipment typically uses fixed conveyor lines to arrange materials. While such equipment can meet the needs of large-scale, single-product production, it has the following shortcomings in practical applications: Firstly, the equipment lacks flexibility. When it is necessary to change materials of different specifications and sizes, or to change the arrangement of the packing array, it is often necessary to stop the machine and replace a large number of mechanical molds and adjust the position of the conveyor guardrails. The debugging time is long and affects production efficiency.

[0004] Secondly, the accuracy of the train assembly depends on the compression of the long-distance lane change guardrails, which can easily lead to wear or tipping of the material surface. Furthermore, at high speeds, it is difficult to precisely control the gap between materials, affecting the smoothness of subsequent packing.

[0005] Third, traditionally, the alignment and packing stations are usually connected by an independent pushing mechanism, which occupies a large area and the multi-level pushing can easily accumulate positional errors.

[0006] Therefore, there is an urgent need to develop a flexible conveyor packaging device that is compact, easy to change, and has high alignment accuracy to meet the needs of modern production, which involves multiple varieties, small batches, and fast pace. Summary of the Invention

[0007] Therefore, in view of the above problems, the present invention proposes a flexible material conveying and packaging device and its control method to solve the problems of insufficient equipment flexibility, poor alignment accuracy and large footprint in the prior art.

[0008] To achieve the above objectives, the present invention provides a flexible material conveying and packaging device, comprising: An input conveyor belt is used to transport materials along a first direction; The clamping platform is located at the output end of the input conveyor belt and is set close to the conveying surface of the input conveyor belt; The vision inspection unit, located above the front end of the clamping platform, is used to identify the position and long side orientation of each material input into the clamping platform. A material blocking mechanism is installed at the output end of the input conveyor belt and located at the front end of the clamping platform, and is used to guide the material to a predetermined position and then transport it to the clamping platform; A guiding clamping mechanism is connected to a first multi-axis robot. The guiding clamping mechanism is controlled by the first multi-axis robot to move above the clamping platform and guides the materials entering the clamping platform to form an array before clamping. The material handling platform, wherein the guiding clamping mechanism transfers and releases the clamped column of materials onto the material handling platform; At least one set of material handling clamps is disposed on the periphery of the material handling platform and is driven and connected to a cylinder for pushing and sorting the material on the material handling platform to form a compact array. The transfer platform is used to receive and temporarily store the sorted array materials; At least one set of positioning clamps is disposed on the periphery of the transfer platform and is connected to another cylinder for driving and positioning the array of materials temporarily stored on the transfer platform and providing lateral constraint. A transfer mechanism, connected to a second multi-axis robot, is used to grasp arrays of materials on the transfer platform; An output mechanism is used to transport the container, and the transfer mechanism loads the array of materials grabbed into the container on the output mechanism.

[0009] Furthermore, the guiding clamping mechanism includes a mounting base rotatably mounted on the end of the first multi-axis robot via bearings. A clamping plate and a receiving plate are disposed opposite each other on the mounting base. The clamping plate is driven by a cylinder to slide horizontally to cooperate with the receiving plate to achieve clamping action. When receiving materials, the clamping plate and the receiving plate are in an unfolded state to form a guiding channel, and during the accumulation of materials in a single row, they are switched to a pre-clamping state or a release state according to control commands.

[0010] Furthermore, the transfer mechanism includes a matrix of suction cups, the air path of which is independently controlled to adapt to adsorption and gripping of different array sizes.

[0011] Furthermore, the material handling platform and the transfer platform are located on the same carrier conveyor belt, and are physically separated by a limiting plate. The limiting plate is vertically and flexibly positioned in the middle of the carrier conveyor belt, and its lifting action is driven by a servo motor. When the limiting plate is in the lowered state, the material handling platform and the transfer platform form an independent workstation. When the limiting plate is in the raised state, the carrier conveyor belt runs continuously to realize the horizontal transfer of materials from the material handling platform to the transfer platform. The lifting stroke of the limiting plate is synchronously interlocked with the running rhythm of the carrier conveyor belt.

[0012] Another aspect of the present invention provides a control method based on the above-mentioned flexible material conveying and packaging device, comprising the following steps: S1. Single-row receiving and guiding control: Control the first multi-axis robot to position the guiding clamping mechanism at a predetermined arrangement position at the end of the input conveyor belt, and send a guiding status command to the guiding clamping mechanism to expand the clamping spacing inside the guiding clamping mechanism to a guiding spacing greater than the width of the material, forming a guiding channel; S2. Single-row clamping: When the material is about to enter the clamping platform, the visual detection unit controls the guide clamping mechanism to rotate so that it is parallel to the long side of the material, so that the material can enter the guide channel of the guide clamping mechanism until the number of materials in a single row reaches the standard. At this time, if the visual detection unit detects that the angle between the long side of the material and the current guide channel exceeds a preset threshold, the control system stops the subsequent material conveying and controls the waste rejection robot to reject the material into the recycling bin. S3, Multi-column Accumulation: After the guiding clamping mechanism has received a single column of materials, a clamping status command is sent to the guiding clamping mechanism to apply clamping force to the single column of materials. The first multi-axis robot is controlled to transfer the guiding clamping mechanism holding the single column of materials to the material handling platform and release the clamping force, placing the single column of materials on the material handling platform. Steps S1 and S2 are repeated to place subsequent single columns of materials side by side against the side of the previous column of materials until an initial M×N column of materials is accumulated on the material handling platform. During the accumulation process, the material handling clamp remains in a retracted state to provide space for the side-by-side accumulation of materials. S4. Material sorting and alignment: Control the cylinders on the periphery of the material sorting platform to drive the material sorting clamps to push and straighten the initial material array at least once to eliminate the transfer gaps between materials and form a regular array. S5. Transfer platform positioning: Control the carrying conveyor belt to move the regular array from the material handling platform to the transfer platform; control the cylinders on the periphery of the transfer platform to drive the positioning clamps to perform precise positioning and lateral constraint on the regular array; S6. Packing: Control the second multi-axis robot to drive the transfer mechanism to grab the regular array after positioning constraint on the transfer platform and put it into the box on the output mechanism.

[0013] Furthermore, in step S1, after the guide clamping mechanism receives the guide state command, the clamping plate inside it opens outward to a preset opening degree, which is greater than the material width and less than 1.2 times the material width, so as to ensure normal material input.

[0014] Furthermore, the pushing and straightening action of the material feeding clamp in step S5 includes: first controlling the material feeding clamp in the first direction to advance to the surface of the material at a first speed, and then controlling the material feeding clamp in the second direction to advance slowly at a second speed less than the first speed, so as to expel air between the materials and form a tight fit.

[0015] By adopting the aforementioned technical solution, the beneficial effects of the present invention are: 1. By cooperating with the first multi-axis robot and the guiding clamping mechanism, only the row and column parameters and clamping spacing in the control program need to be adjusted to quickly adapt to the switching of different specifications of materials and different packing arrays. There is no need to change the mechanical mold or manually adjust the conveyor guardrail, which significantly shortens the production changeover time and meets the needs of multi-variety production. 2. A two-stage alignment mechanism combining "initial alignment by guide clamping mechanism" and "secondary pushing by material handling platform" is adopted, and a positioning clamp is set on the transfer platform for final constraint, which effectively eliminates the positional error accumulated during multi-stage transfer, ensures that the material array is tight and orderly, and improves the smoothness and success rate of subsequent boxing. 3. The guiding and clamping mechanism has a controllable switching function between guiding and clamping states. When receiving materials in a single row, it forms a guiding channel to prevent material tipping. When transferring materials, it applies clamping force to fix the materials, ensuring the stability of the materials' posture during the handling process. At the same time, a visual inspection and rejection mechanism is introduced to promptly reject materials with abnormal postures, avoiding material jamming or row alignment failure, and improving the continuity and stability of equipment operation. 4. By integrating the material handling platform and the transfer platform onto the same conveyor belt, and utilizing the liftable limit plate to achieve flexible switching between workstation separation and through conveying, the traditional independent pushing and connecting mechanism is eliminated, simplifying the equipment structure and reducing the overall footprint of the equipment. 5. The visual detection unit identifies the position and orientation of materials in real time, and works with multi-axis robots and gripping mechanisms to achieve adaptive guidance and gripping. Combined with the independent air path control of the matrix suction cup group, it realizes the fully automated and intelligent operation of materials from single-row input to full-row packing. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the guiding and clamping mechanism according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the partitioned structure of the conveyor belt in an embodiment of the invention.

[0017] icon: 1. Input conveyor belt; 2. Material blocking mechanism; 3. Clamping platform; 4. Guide clamping mechanism; 41. Mounting base; 42. Clamping plate; 43. Receiving plate; 44. Cylinder; 401. First multi-axis robot; 5. Material handling platform; 51. Material handling clamping plate; 6. Transfer platform; 61. Positioning clamping plate; 7. Transfer mechanism; 701. Second multi-axis robot; 8. Housing; 9. Output mechanism; 10. Carrying conveyor belt; 11. Limiting plate. Detailed Implementation

[0018] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. Example 1

[0019] like Figure 1 As shown, this embodiment provides a flexible material conveying and packaging device, which mainly includes an input conveyor belt 1, a material blocking mechanism 2, a clamping platform 3, a vision inspection unit (not shown in the figure), a guiding clamping mechanism 4, a material sorting platform 5, a transfer platform 6, a transfer mechanism 7, an output mechanism 9, and an externally connectable waste removal robot (not shown in the figure).

[0020] The input conveyor belt 1 is used to transport the material output from the upstream equipment forward in a first direction. A baffle mechanism 2 is provided at the end of the input conveyor belt 1. The baffle mechanism 2 is preferably a fixed baffle that is inclined to the conveying direction.

[0021] The clamping platform 3 is positioned close to the conveying surface of the input conveyor belt 1 and behind the blocking mechanism 2. When material is conveyed to the end of the input conveyor belt 1, the blocking mechanism 2 guides the material to a predetermined position before it continues to be conveyed. Under the continuous conveying of the input conveyor belt 1, the material sequentially enters the front end area of ​​the clamping platform 3. A vision inspection unit is installed above the front end area of ​​the clamping platform 3. This vision inspection unit adopts an existing structure, such as an industrial camera combined with an image processing system, to identify the position and long side orientation of each material entering the clamping platform 3, providing data support for subsequent orientation correction.

[0022] The guide clamping mechanism 4 is mounted on the end flange of the first multi-axis robot 401. For example... Figure 2 As shown, the guiding and gripping mechanism 4 includes a mounting base 41, which is rotatably connected to the end effector of the first multi-axis robot via bearings, allowing the guiding and gripping mechanism 4 to adjust its posture angle according to visual detection results. A clamping plate 42 and a receiving plate 43 are disposed opposite each other on the mounting base 41. The clamping plate 42 is driven by a cylinder 44 and can slide horizontally relative to the receiving plate 43, moving closer to or further away, thereby achieving clamping and releasing actions. When receiving materials, the clamping plate 42 and the receiving plate 43 are in an unfolded state to form a guiding channel, and during the accumulation of materials in a single row, they switch to a pre-clamping state or a released state according to control commands.

[0023] At least one set of material handling clamps 51 are provided around the material handling platform 5, and the material handling clamps 51 are driven by cylinders. When the material array is released onto the material handling platform 5, the material handling clamps 51 are activated to push and straighten the material, so that the material forms a tight and regular array.

[0024] At least one set of positioning clamps 61 are also provided on the periphery of the transfer platform 6. When the regular array arrives at the transfer platform 6, the positioning clamps 61 are driven by cylinders to accurately position and laterally constrain the material, correcting any slight displacement that may occur during the conveying process, and providing a precise positional reference for subsequent gripping and packing.

[0025] like Figure 3 As shown, the material handling platform 5 and the transfer platform 6 are located on the same carrier conveyor belt 10, with a limiting plate 11 between them. During the material handling process, the limiting plate 11 is in a lowered state, physically separating the material handling platform 5 and the transfer platform 6 to form an independent material handling station, preventing materials from accidentally sliding into the transfer platform 6. After the material handling is completed, the limiting plate 11 rises, and the carrier conveyor belt 10 runs, smoothly transferring the regular array onto the transfer platform 6. The lifting and lowering of the limiting plate 11 is driven by a servo motor, and its lifting stroke is synchronously interlocked with the running rhythm of the carrier conveyor belt 10 to ensure precise timing of material transfer.

[0026] The transfer mechanism 7 is mounted on the second multi-axis robot 701. In this embodiment, the transfer mechanism 7 is a matrix of suction cups, with the air path of each suction cup independently controlled. When it is necessary to change to a different size of packing array, the control system only needs to switch the on / off state of the corresponding suction cup to achieve flexible adaptation.

[0027] Output mechanism 9 is used to transport empty boxes 8. The second multi-axis robot drives the transfer mechanism 7 to descend, and the matrix suction cup group adsorbs and grabs the regular array on the transfer platform 6 after positioning and constraint, and then moves it above the output mechanism 9 to accurately load the material into the box 8, completing a complete boxing cycle.

[0028] The waste removal robot is located on the side of the front end of the gripping platform 3.

[0029] It should be noted that this device is primarily suitable for handling and packing cylindrical and cubical materials, and secondarily for elliptical or cuboid materials. When the material is an elliptical or cuboid, it should be ensured that its long side is aligned with the conveying direction when it enters the input conveyor belt 1. This can greatly reduce the difficulty of correction by the subsequent guiding and clamping mechanism 4 and improve the stability of material handling.

[0030] The first multi-axis robot 401 and the second multi-axis robot 701 are preferably six-axis industrial robots with sufficient degrees of freedom and repeatability to ensure the precise positioning of the guiding gripping mechanism 4 and the transfer mechanism 7. In other embodiments, a four-axis SCARA robot can also be used to reduce costs while meeting functional requirements. Example 2

[0031] This embodiment provides a control method based on the above-mentioned flexible material conveying and packaging device. This control method is executed collaboratively by a PLC or industrial computer and a robot controller. The detailed steps and preferred control logic are as follows: S1. Single-row receiving and guiding control: The first multi-axis robot 401 positions the guiding clamping mechanism 4 at a predetermined arrangement position at the front end of the clamping platform 3. This predetermined arrangement position is aligned with the end output port of the input conveyor belt 1, ensuring that the material released by the blocking mechanism 2 can accurately enter the working area of ​​the guiding clamping mechanism 4.

[0032] Subsequently, the control system sends a guiding status command to the guide clamping mechanism 4, and the cylinder 44 drives the clamping plate 42 to open outward to a preset opening degree. This preset opening degree is greater than the width of the material and less than 1.2 times the width of the material, forming a guide channel that facilitates material entry and constrains the posture of the material.

[0033] S2. Single-row clamping: The vision detection unit acquires images of the area above the clamping platform 3 in real time. Image processing algorithms identify the position coordinates and long-side orientation of each incoming material. Just before the first material enters the clamping platform 3, the control system sends a rotation command to the first multi-axis robot 401 based on the long-side orientation data fed back by the vision detection unit. This drives the guide clamping mechanism 4 to rotate, ensuring that the guide channel formed by the clamping plate 42 and the receiving plate 43 is parallel to the long side of the material. The material enters the guide channel under the push of the input conveyor belt 1.

[0034] Repeat the above receiving process, with subsequent materials entering the guide channel sequentially and arranged closely together until the quantity of material in a single column within the guide channel reaches a preset value. During this process, the control system monitors the current quantity of material in each column in real time.

[0035] It should be noted that if the vision detection unit detects that the angle between the long side of the material and the current guide channel exceeds a preset threshold, such as ±15°, the control system will suspend the subsequent material conveying and control the waste rejection robot (not shown in the figure) to reject the material into the recycling bin (not shown in the figure).

[0036] S3, Multi-column Accumulation: When the quantity of material in a single column in the guide channel reaches a preset value, the control system sends a clamping status command to the guide clamping mechanism 4. The cylinder 44 drives the clamping plate 42 to move further towards the receiving plate 43, applying clamping force to hold the entire column of material tightly. The clamping force is designed to overcome the gravity and inertial forces generated by the material during the robot's handling process, ensuring that the material maintains its relative position during movement.

[0037] The control system then sends a handling command to the first multi-axis robot 401, which moves the guide clamping mechanism 4 holding the single row of materials from above the clamping platform 3 to the predetermined placement position above the material handling platform 5. After reaching the target position, the control system sends a release command, the clamping plate 42 returns to the guiding state, and the row of materials is released and placed on the material handling platform 5.

[0038] The first multi-axis robot 401 then returns unloaded to the gripping platform 3 and repeats steps S1 and S2 above to receive and transport the next column of materials. When placing the next column of materials, the control system controls the first multi-axis robot 401 to place the column of materials side by side against the side of the previous column of materials.

[0039] Repeat the above operation until an initial M×N material array is formed on the material handling platform 5. Throughout the accumulation process, the material handling clamps 51 on the periphery of the material handling platform 5 remain in a retracted state under the drive of the cylinder, that is, the material handling clamps 51 retract to the edge of the material handling platform 5, without occupying the effective area of ​​the material handling platform 5, thus providing sufficient space for the side-by-side accumulation of materials.

[0040] S4. Material Arrangement: After all M columns of material have been placed, an initial material array has been formed on the material arrangement platform 5. At this time, there may be some accumulated gaps between the materials in each column, and the overall regularity of the material array has not yet met the packing requirements. The control system sends a pushing command to the cylinders on the periphery of the material arrangement platform 5, driving the material arrangement clamps 51 to perform a pushing and straightening action.

[0041] S5. Transfer Platform Positioning: After the material sorting and alignment are completed, the control limit plate 11 rises to release the physical separation between the material sorting platform 5 and the transfer platform 6. Then the control system starts, and the carrier conveyor belt 10 moves the regular array from the material sorting platform 5 to the transfer platform 6. When the front end of the regular array touches the positioning bar in front of the transfer platform 6, the carrier conveyor belt 10 stops running.

[0042] Subsequently, the control system controls the positioning clamps 61 on the sides of the transfer platform 6 to perform final precise positioning and lateral constraint on the material array, ensuring the accuracy of the gripping coordinates.

[0043] S6. Packing: After the regular array on the transfer platform 6 is positioned and constrained, the control system sends a gripping command to the second multi-axis robot 701. The second multi-axis robot 701 drives the transfer mechanism 7 to move above the transfer platform 6 and descends to the position where the suction cup assembly contacts the material surface.

[0044] The control system calculates the number and location of suction cups to be activated based on the current packing array specifications, and sends on / off commands to each independent air path of the matrix suction cup group. For example, if the current packing array is 6×8, all 48 suction cups will be activated; if the array is 5×7, the air path of the corresponding suction cup will be automatically closed.

[0045] After the suction cup assembly picks up the material, the second multi-axis robot 701 lifts the material array and moves it to a position directly above the box 8 above the output mechanism 9. The control system then controls the second multi-axis robot 701 to descend, accurately placing the material array into the box 8, and then closes the suction cup air path to release the material.

[0046] The second multi-axis robot 701 then returns empty, ready to perform the next gripping operation. The output mechanism 9 transports the box 8 filled with materials to the next process, while simultaneously transporting a new empty box to the packing station, and the entire device enters the next work cycle.

[0047] By combining the above-mentioned device structure and control method, the present invention realizes flexible and automated operation of the entire process from single-row input to full-row packing of materials, with significant advantages such as convenient changeover, high packing accuracy, and stable and reliable operation.

[0048] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A flexible material conveying and packaging device, characterized in that: include: An input conveyor belt is used to transport materials along a first direction; The clamping platform is located at the output end of the input conveyor belt and is set close to the conveying surface of the input conveyor belt; The vision inspection unit, located above the front end of the clamping platform, is used to identify the position and long side orientation of each material input into the clamping platform. A material blocking mechanism is installed at the output end of the input conveyor belt and located at the front end of the clamping platform, and is used to guide the material to a predetermined position and then transport it to the clamping platform; A guiding clamping mechanism is connected to a first multi-axis robot. The guiding clamping mechanism is controlled by the first multi-axis robot to move above the clamping platform and guides the materials entering the clamping platform to form an array before clamping. The material handling platform, wherein the guiding clamping mechanism transfers and releases the clamped column of materials onto the material handling platform; At least one set of material handling clamps is disposed on the periphery of the material handling platform and is driven and connected to a cylinder for pushing and sorting the material on the material handling platform to form a compact array. The transfer platform is used to receive and temporarily store the sorted array materials; At least one set of positioning clamps is disposed on the periphery of the transfer platform and is connected to another cylinder for driving and positioning the array of materials temporarily stored on the transfer platform and providing lateral constraint. A transfer mechanism, connected to a second multi-axis robot, is used to grasp arrays of materials on the transfer platform; An output mechanism is used to transport the container, and the transfer mechanism loads the array of materials grabbed into the container on the output mechanism.

2. The flexible material conveying and packaging device according to claim 1, characterized in that: The guiding clamping mechanism includes a mounting base rotatably mounted on the end of the first multi-axis robot via bearings. A clamping plate and a receiving plate are arranged opposite each other on the mounting base. The clamping plate is driven by a cylinder to slide horizontally to cooperate with the receiving plate to achieve clamping action. When receiving materials, the clamping plate and the receiving plate are in an unfolded state to form a guiding channel, and during the accumulation of materials in a single row, they are switched to a pre-clamping state or a release state according to control commands.

3. The flexible material conveying and packaging device according to claim 1, characterized in that: The transfer mechanism includes a matrix of suction cups, the air path of which is independently controlled to adapt to adsorption and gripping of different array sizes.

4. The flexible material conveying and packaging device according to claim 1, characterized in that: The material handling platform and the transfer platform are located on the same carrier conveyor belt. The material handling platform and the transfer platform are physically separated by a limiting plate. The limiting plate is vertically and vertically located in the middle of the carrier conveyor belt. Its lifting action is driven by a servo motor. When the limiting plate is in the lowered state, the material handling platform and the transfer platform form an independent workstation. When it is in the raised state, the carrier conveyor belt runs through to realize the horizontal transfer of materials from the material handling platform to the transfer platform. The lifting stroke of the limiting plate is synchronously interlocked with the running rhythm of the conveyor belt.

5. A control method for a flexible material conveying and packaging device according to any one of claims 1 to 4, characterized in that, Includes the following steps: S1. Single-row receiving and guiding control: Control the first multi-axis robot to position the guiding clamping mechanism at a predetermined arrangement position at the end of the input conveyor belt, and send a guiding status command to the guiding clamping mechanism to expand the clamping spacing inside the guiding clamping mechanism to a guiding spacing greater than the width of the material, forming a guiding channel; S2. Single-row clamping: When the material is about to enter the clamping platform, the visual detection unit controls the guide clamping mechanism to rotate so that it is parallel to the long side of the material, so that the material can enter the guide channel of the guide clamping mechanism until the number of materials in a single row reaches the standard. At this time, if the visual detection unit detects that the angle between the long side of the material and the current guide channel exceeds a preset threshold, the control system stops the subsequent material conveying and controls the waste rejection robot to reject the material into the recycling bin. S3, Multi-column Accumulation: After the guiding clamping mechanism has received a single column of materials, a clamping status command is sent to the guiding clamping mechanism to apply clamping force to the single column of materials. The first multi-axis robot is controlled to transfer the guiding clamping mechanism holding the single column of materials to the material handling platform and release the clamping force, placing the single column of materials on the material handling platform. Steps S1 and S2 are repeated to place subsequent single columns of materials side by side against the side of the previous column of materials until an initial M×N column of materials is accumulated on the material handling platform. During the accumulation process, the material handling clamp remains in a retracted state to provide space for the side-by-side accumulation of materials. S4. Material sorting and alignment: Control the cylinders on the periphery of the material sorting platform to drive the material sorting clamps to push and straighten the initial material array at least once to eliminate the transfer gaps between materials and form a regular array. S5. Transfer platform positioning: Control the carrying conveyor belt to move the regular array from the material handling platform to the transfer platform; control the cylinders on the periphery of the transfer platform to drive the positioning clamps to perform precise positioning and lateral constraint on the regular array; S6. Packing: Control the second multi-axis robot to drive the transfer mechanism to grab the regular array after positioning constraint on the transfer platform and put it into the box on the output mechanism.

6. The control method for the flexible material conveying and packaging device according to claim 5, characterized in that: In step S1, after receiving the guiding state command, the clamping mechanism opens its internal clamping plate to a preset opening degree, which is greater than the material width and less than 1.2 times the material width, to ensure normal material input.

7. The control method for the flexible material conveying and packaging device according to claim 5, characterized in that: The pushing and straightening action of the material feeding clamp in step S5 includes: first, controlling the material feeding clamp in the first direction to advance to the surface of the material at a first speed, and then controlling the material feeding clamp in the second direction to advance slowly at a second speed less than the first speed, so as to expel air between the materials and form a tight fit.

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