Automatic packaging machine for big bags with four-corner lugs

Abstract

An automatic packaging machine suitable for four-corner lug-type ton bags comprises an empty bag pallet on which multiple ton bags are placed. A bagging robot is positioned to the right of the empty bag pallet, the wrist of the bagging robot being connected to a U-shaped bag-picking assembly. A support frame is positioned above and in front of the bagging robot. Lifting shafts are positioned on either side of the upper end of the support frame, with sprocket chain mechanisms positioned at both ends of the lifting shafts. The inner chain of the lifting shafts is connected to the lifting frame, while the outer chain of the lifting shafts is connected to a counterweight. Lifting lug mechanisms are positioned at the lower ends of the four corners of the lifting frame, the upper portions of which are hinged to an outward-swinging cylinder. A blanking barrel is positioned at the center of the support frame, with a bag-inflation airbag positioned on the outer circumference of the barrel's outlet section. A conical guide grille is positioned at the barrel's outlet. Multiple weighing sensors are positioned at the lower end of the support frame, connected to an external frame. The present invention can automatically perform operations such as bag retrieval, bagging, lifting lug clamping, weighing, and full bag unloading for four-corner lug-type ton bags.

Description

Technical Field

[0001] The invention discloses an automatic packaging machine suitable for four-corner lifting-ear type ton bags, belonging to the field of packaging machinery. Background Art

[0002] Patent document CN112173263A discloses a variety of automatic ton bag packaging machines, all of which are suitable for ton bags with no or single lifting lugs. For ton bags with four-corner lifting lugs, the bag mouth is currently manually covered with the bag and the four-corner lifting lugs are attached before the bag is filled. Patent application document 202110965306.0 discloses a device that automatically clamps the four-corner lifting lugs of ton bags, providing feasible technical support for the automated packaging of ton bags with four-corner lifting lugs. Summary of the Invention

[0003] In order to realize the automatic packaging of four-corner lifting ear ton bags, the present invention proposes an automatic packaging machine suitable for four-corner lifting ear ton bags, which includes an empty bag pallet 1, on which a plurality of ton bags A with the bag openings facing upward are stacked, a bagging robot 2 is provided on the right side of the empty bag pallet 1, the front end of the wrist of the bagging robot 2 is connected to the U-shaped bag picking assembly 3, a support frame 4 is provided on the upper front of the bagging robot 2, a lifting shaft 5 is provided on the left and right sides of the upper end of the support frame 4, a sprocket chain mechanism is provided at both ends of the lifting shaft 5, the chain located on the inner side of the lifting shaft 5 is connected to the lifting frame 6, and the chain located on the outer side of the lifting shaft 5 is connected to the counterweight block 8, and the lifting frame 6 is provided with a chain. A clamping ear mechanism 10 is provided at the lower end of each of the four corners. The upper end of the clamping ear mechanism 10 is hinged to the lower end of the lifting frame 6. The inner side of the upper part of the clamping ear mechanism 10 is hinged to the cylinder rod of the outward swing cylinder 12. The cylinder body of the outward swing cylinder 12 is connected to the lower end of the lifting frame 6. A circular blanking barrel 7 is provided at the center position of the support frame 4. A bag-expanding airbag 9 is provided on the outer circumference of the lower end outlet section of the blanking barrel 7. A conical guide grid is provided at the lower end outlet of the blanking barrel 7. A plurality of weighing sensors 11 are provided at the lower end of the support frame 4. The weighing sensors 11 are connected to the external frame. The lower parts of the empty bag pallet 1 and the blanking barrel 7 are both within the working range of the bagging robot 2.

[0004] The ton bag A is a rectangular bag, and the feed straight tube E of the ton bag A is turned inward and placed inside below the end face of the bag opening. A circular bag opening mark B is provided on the outer periphery of the feed opening of the bag opening end face, and a square orientation mark C is provided on the outer periphery of the bag opening mark B. Suspended ears D are provided at the four corners of the bag opening end face.

[0005] The U-shaped bag-picking assembly 3 includes a U-shaped frame 31. An industrial camera 34 inclined toward the U-shaped opening is provided on the crossbeam of the U-shaped frame 31. The industrial camera 34 is connected to an external image recognition system, and the image recognition system is connected to the control system of the bag-covering robot 2. Multiple groups of bag-picking suction cups 32 are provided on the left and right longitudinal beams of the U-shaped frame 31, and multiple pneumatic bag clamping plates 33 are also provided on the outer sides of the left and right longitudinal beams of the U-shaped frame 31.

[0006] The photo of the end face of the bag opening of the ton bag A taken by the industrial camera 34 is sent to the external image recognition system. The image recognition system identifies the center point coordinates of the bag opening mark B and the azimuth deflection angle of the orientation mark C, and sends the center point coordinates and azimuth deflection angle to the bagging robot 2. The bagging robot 2 adjusts the coordinates and orientation of the U-shaped bag picking component 3 accordingly.

[0007] The working principle of the present invention is:

[0008] A. The U-shaped bag-removing assembly 3 is located above the empty bag tray 1. After image recognition, the bagging robot 2 drives the U-shaped bag-removing assembly 3 downward and adjusts its coordinates and orientation. After the bag-removing suction cup 32 grasps the end face of the bag opening of the tote bag A, the U-shaped bag-removing assembly 3 moves upward a certain distance. The pneumatic bag clamping plate 33 then closes, clamping the edges of the bag opening to prevent the tote bag A from falling. At this time, the lifting ears D at the four corners of the tote bag A are suspended.

[0009] B. The bagging robot 2 drives the U-shaped bag-picking assembly 3 to continue to rise and move the ton bag A forward to the bottom of the blanking barrel 7 so that the center of the bag opening mark B is aligned with the center of the blanking barrel 7. Then, the U-shaped bag-picking assembly 3 drives the ton bag A to rise. Under the guidance of the conical guide grid, the blanking barrel 7 is smoothly inserted into the feeding cylinder E inside the ton bag A. When the end of the feeding cylinder E is located outside the bag-inflating airbag 9, the ton bag A stops rising.

[0010] C. Compressed air is introduced into the bag-inflating airbag 9 to tighten the end of the feed cylinder E. The U-shaped bag-taking assembly 3 drives the ton bag A down a certain distance and pulls the feed cylinder E outward, so that the discharge port of the blanking cylinder 7 is located near the end face of the bag opening. The outward swing cylinder 12 drives the four-corner clamping lug mechanism 10 to swing inward to a vertical position. The lug receiving cross bar of the clamping lug mechanism 10 extends inward. The lifting shaft 5 drives the lifting frame 6 to rise a certain distance, so that the four-corner lifting lug D enters between the lug receiving cross bar and the horizontal clamping plate. Then the lug receiving cross bar retracts and the horizontal clamping plate extends, clamping the four-corner lifting lug;

[0011] D. The bag-taking suction cup 32 and the pneumatic bag clamping plate 33 release the big bag A, and the U-shaped bag-taking assembly 3 moves backward and then returns to the top of the empty bag tray 1;

[0012] E. The feeding mechanism above the blanking barrel 7 puts the material into the ton bag A. The weighing sensor 11 detects the weight of the material in the ton bag A in real time. The four clamping lug mechanisms 10 bear all the weight of the ton bag A. When the set weight value is reached, the material is bagged;

[0013] F. The lifting frame 6 drives the clamping lug mechanism 10 to descend to the low position, and places the ton bag A filled with materials on the conveyor below. The clamping lug mechanism 10 releases the four corner lugs of the ton bag A.

[0014] The beneficial effects of the present invention are:

[0015] A. Image recognition is used to determine the center and placement of the ton bag opening, and the robot automatically adjusts the coordinates and deflection angle of the bag-taking component, thus ensuring the accuracy and reliability of the bagging and lug clamping actions;

[0016] The BU-type bag-taking assembly cooperates with the blanking barrel located in the center to complete the bag-insertion and bag-putting action from bottom to top; the U-shaped bag-taking assembly keeps the end surface of the bag opening horizontal, so that the four corner lifting ears remain in a suspended state, which is conducive to the reliable completion of the lifting ear clamping action by the lifting ear clamping mechanism;

[0017] C. The guiding function of the conical guide grid and the expansion function of the bag opening airbag are used to ensure that the blanking barrel is reliably inserted into the bag opening and the bag opening is fixed;

[0018] D. The clamping lug mechanism reliably clamps the four lifting lugs at the four corners of the ton bag, thus replacing the manual operation of hanging the four lifting lugs and achieving fully automated operation;

[0019] E. Through the coordination and cooperation of various mechanisms, the production processes such as automatic bag taking, automatic positioning of the bag opening, automatic bagging, automatic clamping of the four-corner lifting ears, automatic weighing, and automatic unloading of full bags are realized, completing the fully automatic packaging process of four-corner lifting ear ton bags. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional isometric view of the present invention.

[0021] Figure 2 It is a top view of the present invention.

[0022] Figure 3 It is a side view of the present invention.

[0023] Figure 4 It is a three-dimensional axonometric view of the U-shaped bag taking component 3.

[0024] Figure 5 It is a schematic diagram of the working status when taking bags.

[0025] Figure 6 It is a schematic diagram of the working status during bagging.

[0026] Figure 7 It is a schematic diagram of the working status when clamping the four-corner lifting ears. DETAILED DESCRIPTION

[0027] The specific embodiment of the present invention is shown in Figures 1 to 7 An automatic packaging machine suitable for four-corner lifting ear-type ton bags, which includes an empty bag pallet 1, on which a plurality of ton bags A with the bag openings facing upward are stacked, a bagging robot 2 is provided on the right side of the empty bag pallet 1, and the front end of the wrist of the bagging robot 2 is connected to the U-shaped bag-taking component 3, a support frame 4 is provided on the front upper part of the bagging robot 2, and a lifting shaft 5 is provided on the left and right sides of the upper end of the support frame 4, and a sprocket chain mechanism is provided at both ends of the lifting shaft 5, the chain located on the inner side of the lifting shaft 5 is connected to the lifting frame 6, and the chain located on the outer side of the lifting shaft 5 is connected to the counterweight block 8, and the lower ends of the four corners of the lifting frame 6 are provided with clamping earphones. Structure 10, the upper end of the clamping ear mechanism 10 is hinged to the lower end of the lifting frame 6, the upper inner side of the clamping ear mechanism 10 is hinged to the cylinder rod of the outward swing cylinder 12, the cylinder body of the outward swing cylinder 12 is connected to the lower end of the lifting frame 6, and a circular blanking barrel 7 is provided at the center position of the support frame 4, and a bag-expanding air bag 9 is provided on the outer circumference of the lower end outlet section of the blanking barrel 7, and a conical guide grid is provided at the lower end outlet of the blanking barrel 7. A plurality of weighing sensors 11 are provided at the lower end of the support frame 4, and the weighing sensors 11 are connected to the external frame. The lower parts of the empty bag pallet 1 and the blanking barrel 7 are both within the working range of the bagging robot 2.

[0028] The above-mentioned ton bag A is a rectangular bag. The feed straight tube E of the ton bag A is turned inside out and placed inside below the end face of the bag opening. A circular bag opening mark B is provided on the outer periphery of the feed opening of the bag opening end face, and a square orientation mark C is provided on the outer periphery of the bag opening mark B. There are hanging ears D at the four corners of the bag opening end face.

[0029] The above-mentioned U-shaped bag-picking assembly 3 includes a U-shaped frame 31. An industrial camera 34 inclined toward the U-shaped opening is provided on the crossbeam of the U-shaped frame 31. The industrial camera 34 is connected to an external image recognition system, and the image recognition system is connected to the control system of the bag-covering robot 2. Multiple groups of bag-picking suction cups 32 are provided on the left and right longitudinal beams of the U-shaped frame 31, and multiple pneumatic bag clamping plates 33 are also provided on the outer sides of the left and right longitudinal beams of the U-shaped frame 31.

[0030] The photo of the end face of the bag opening of the ton bag A taken by the above-mentioned industrial camera 34 is sent to the external image recognition system. The image recognition system identifies the center point coordinates of the bag opening mark B and the azimuth deflection angle of the orientation mark C, and sends the center point coordinates and azimuth deflection angle to the bagging robot 2. The bagging robot 2 adjusts the coordinates and orientation of the U-shaped bag picking component 3 accordingly.

Claims

1. An automatic packaging machine for four-corner hanging ear ton bags, comprising an empty bag tray (1), on which a plurality of ton bags (A) with their bag ends facing upward are stacked, characterized in that: A bagging robot (2) is provided on the right side of the empty bag tray (1), the front end of the wrist of the bagging robot (2) is connected to the U-shaped bag taking component (3), a support frame (4) is provided on the front upper part of the bagging robot (2), a lifting shaft (5) is provided on the left and right sides of the upper end of the support frame (4), a sprocket chain mechanism is provided at both ends of the lifting shaft (5), the chain located on the inner side of the lifting shaft (5) is connected to the lifting frame (6), and the chain located on the outer side of the lifting shaft (5) is connected to the counterweight (8), and the lower ends of the four corners of the lifting frame (6) are provided with a clamping ear mechanism (10), and the upper end of the clamping ear mechanism (10) is connected to the lifting frame. The lower end of the lifting frame (6) is hinged, the upper inner side of the clamping ear mechanism (10) is hinged to the cylinder rod of the outward swing cylinder (12), the cylinder body of the outward swing cylinder (12) is connected to the lower end of the lifting frame (6), a circular blanking barrel (7) is provided at the center of the support frame (4), a bag-expanding air bag (9) is provided on the outer circumference of the lower end outlet section of the blanking barrel (7), a conical guide grid is provided at the lower end outlet of the blanking barrel (7), a plurality of weighing sensors (11) are provided at the lower end of the support frame (4), and the weighing sensors (11) are connected to the external frame. The lower parts of the empty bag tray (1) and the blanking barrel (7) are both located at the bagging position. The robot (2) is within the working range, the ton bag (A) is a rectangular bag, the feeding straight tube (E) of the ton bag (A) is turned inside out and placed inside below the end face of the bag opening, a circular bag opening mark (B) is provided on the outer periphery of the feeding opening of the bag opening end face, a square orientation mark (C) is provided on the outer periphery of the bag opening mark (B), and hanging ears (D) are provided at the four corners of the bag opening end face, the U-shaped bag taking component (3) includes a U-shaped frame (31), an industrial camera (34) inclined toward the U-shaped opening is provided on the crossbeam of the U-shaped frame (31), the industrial camera (34) is connected to an external image recognition system, and the image recognition system is connected to the set The control system of the bag robot (2) is connected, and a plurality of groups of bag-taking suction cups (32) are provided on the left and right longitudinal beams of the U-shaped frame (31), and a plurality of pneumatic bag clamping plates (33) are also provided on the outer sides of the left and right longitudinal beams of the U-shaped frame (31); the photo of the end face of the bag opening of the ton bag (A) taken by the industrial camera (34) is sent to an external image recognition system, and the image recognition system recognizes the center point coordinates of the bag opening mark (B) and the azimuth deflection angle of the azimuth mark (C), and sends the center point coordinates and the azimuth deflection angle to the bagging robot (2), and the bagging robot (2) adjusts the coordinates and orientation of the U-shaped bag-taking component (3) accordingly.

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