A control method and device for four-sided clamping and disc stacking and wrapping

Abstract

The present invention relates to the technical field of logistics transfer, and particularly to a control method and device for four-sided clamping and pallet-changing and bag stacking. The control method includes: S1, inputting a pallet; S2, determining whether bag stacking is required; S3, if bag stacking is required, the bag stacking machine grabs a ton bag; S4, repeatedly clamping the ton bags that need to be stacked; S5, the mother pallet carries the ton bags into the pallet-changing machine, changes the pallet and adjusts the position; S6, the sub-pallet carrying the ton bags enters the bag stacking machine, lowers the ton bags clamped in step S4 and adjusts the position, and finally outputs. Through this method, the present invention can quickly distinguish whether the goods loaded in the ton bags need to be stacked. The goods that do not need to be stacked can be directly stored out of the warehouse after simple pallet changing, while for the goods that need to be stacked and stored out of the warehouse, the process of quickly clamping and placing the ton bags is realized through four-sided clamping, and the position after stacking is adjusted. After stacking, multiple layers of goods are on the same central axis, and the stacking is firm and easy for secondary handling and transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics transfer, and in particular to a control method and device for four-sided clamping, tray changing and bag stacking. Background Art

[0002] With the international situation of gradually rising labor costs, the unmanned, automated and intelligent operation of the stacking operation of ton bag goods has become an inevitable trend. However, in the domestic market, the stacking operation of goods loaded in ton bags mainly relies on the operation mode of manual cooperation with forklifts or manual cooperation with overhead cranes. These two modes have slow manual efficiency, high personnel requirements, cumbersome operation actions, and unevenly stacked goods. Therefore, a device and control method for ton bag stacking and tray changing that combines equipment stability and practicality have become an inevitable requirement.

[0003] In the automated warehouse, there are goods loaded in various models of ton bags. When leaving the warehouse, all need to be unified for tray changing. However, some goods loaded in ton bags can be directly taken out of the warehouse without stacking, while some goods loaded in ton bags need to be stacked before leaving the warehouse. Manual operation for changing trays and stacking bags consumes a huge amount of labor, the actions are relatively cumbersome, and the centers of the two layers of goods are prone to not being on the same axis after stacking, with a large deviation, and are prone to tilting and collapsing during transportation. Summary of the Invention

[0004] Other features and advantages of the present invention will be described in the following specification, and will become partially obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in the specification and other accompanying drawings of the specification.

[0005] The objective of the present invention is to overcome the above deficiencies, and provide a control method and device for four-sided clamping, tray changing and bag stacking. Through this method, it is possible to quickly distinguish whether the goods loaded in ton bags need to be stacked. The goods that do not need to be stacked can be directly taken out of the warehouse after simple tray changing, while the goods that need to be stacked and taken out of the warehouse can realize the process of quickly clamping and placing ton bags through four-sided clamping and adjust their stacked positions. After stacking, multiple layers of goods are on the same central axis, and the stacking is firm and easy for secondary handling and transportation.

[0006] The present invention provides a control method for four-sided clamping, tray changing and bag stacking, including

[0007] S1. Input mother trays carrying single ton bags into the tray changer and the bag stacker respectively;

[0008] S2. The mother trays carrying ton bags enter the tray changer and the bag stacker respectively along the production line, and the photoelectric induction devices on the tray changer and the bag stacker determine whether the ton bags thereon need to be stacked;

[0009] S3. If the bag stacking machine detects that bag stacking is required, the ton bags entering the bag stacking machine along with the mother pallet are clamped. There are four-sided clamps on the bag stacking machine, and the four-sided clamps identify and clamp the ton bags on the mother pallet. The mother pallet is discharged along the production line.

[0010] S4. Repeat step S3, repeatedly clamp the ton bags that need to be stacked and keep them neatly stacked until the specified stacking quantity of the ton bags is reached, and the bag stacking machine sends a bag stacking signal.

[0011] S5. After receiving the bag stacking signal, the pallet changer clamps the ton bags entering the pallet changer along with the mother pallet and performs a pallet changing operation. There are four-sided clamps on the pallet changer. The pallet changer marks the positions of the pallet and the ton bags. The four-sided clamps identify and clamp the ton bags on the mother pallet, replace the mother pallet with a sub-pallet and adjust the position. After the position is correct, the ton bags are lowered and the placement position of the ton bags is adjusted.

[0012] S6. The sub-pallet carrying the ton bags enters the bag stacking machine. The bag stacking machine lowers the multiple ton bags clamped in step S4 and adjusts their placement positions. After the placement is correct, the sub-pallet and the ton bags are output.

[0013] In some embodiments, in step S3, if bag stacking is not required, both the pallet changer and the bag stacking machine can perform the pallet changing operation. The mother pallet carrying the ton bags directly undergoes pallet changing in the pallet changer or the bag stacking machine, and the sub-pallet carrying the ton bags is directly output.

[0014] In some embodiments, both the pallet changer and the bag stacking machine are provided with photoelectric induction devices. The photoelectric induction device includes shape induction parts, and several shape induction parts are vertically arranged from bottom to top. The height of the pallet and the ton bags is detected by emitting light beams, and their shapes are determined.

[0015] In some embodiments, the shape induction part includes a pallet induction part. In step S5, the specific method for determining pallet changing is as follows:

[0016] The pallet induction part detects the presence of the mother pallet and records the distance from it, denoted as X2.

[0017] After pallet changing, the pallet induction part detects the distance from the sub-pallet, denoted as X 2-1 ;

[0018] Calculate the position offset between the two pallets after pallet changing:

[0019] ΔX2 = |X2 - X 2-1 |

[0020] When it is less than or equal to the specified offset, the sub-pallet is in place for pallet changing, and subsequent operations are started; when it is greater than the specified offset, the sub-pallet is not in place for pallet changing, and the pallet placing operation is repeated until the position is correct.

[0021] In some embodiments, the shape sensor further includes a bottom-layer ton bag sensor. In step S5, the specific determination method for clamping the ton bag is as follows:

[0022] The bottom-layer ton bag sensor detects the presence of the ton bag and records the distance between the sensor and the ton bag, denoted as X1;

[0023] The four-sided clamp grabs the ton bag, and a pallet-changing operation is performed below. After the pallet changer has changed the pallet in place, the four-sided clamp lowers the ton bag. At this time, the bottom-layer ton bag sensor records the distance between the sensor and the ton bag again, denoted as X 1-1 ;

[0024] Calculate the position offset of the ton bag before and after pallet changing:

[0025] ΔX1 = |X1 - X 1-1 |

[0026] When it is less than or equal to the specified offset, the ton bag is placed in place, and subsequent operations are started; when it is greater than the specified offset, the ton bag is not placed in place, the four-sided clamp grabs the ton bag again and adjusts its position, and the lowering operation is repeated.

[0027] In some embodiments, in step S6, the bag stacking machine needs to stack ton bags on top of the ton bags on the sub-pallet. To ensure neat stacking, the specific operation steps are as follows:

[0028] The pallet sensor records the distance between the sensor and the mother pallet when grabbing the previous ton bag, denoted as X4;

[0029] The sub-pallet carrying the goods runs to the bag stacking machine, and the pallet sensor detects the distance between the sensor and the sub-pallet, denoted as X 4-1 ;

[0030] Calculate the position offset between the two pallets:

[0031] ΔX4 = |X4 - X 4-1 |

[0032] When it is less than or equal to the specified offset, the sub-pallet is in place, and subsequent operations are started; when it is greater than the specified offset, the sub-pallet is not in place, and its position is adjusted.

[0033] In some embodiments, the shape sensor further includes a second-layer ton bag sensor. In step S6, the specific determination method for clamping the ton bag is as follows:

[0034] The bottom-layer ton bag sensor detects the presence of the ton bag and records the distance between the sensor and the ton bag, denoted as X3;

[0035] The four-sided clamp lowers the stacked ton bags, and the second-layer ton bag sensor detects the presence of the ton bag and records the distance between the sensor and the ton bag, denoted as X 3-1 ;

[0036] Calculate the position offset between the bottom layer of bulk bags and the second layer of bulk bags in the vertical direction:

[0037] ΔX3 = |X3 - X 3-1 |

[0038] When it is less than or equal to the specified offset, the bulk bag is placed in place, and subsequent actions are started; when it is greater than the specified offset, the bulk bag is not placed in place, and the four-sided clamp clamps the bulk bag again and adjusts the position, and the placing action is repeated.

[0039] The present invention also provides a device for changing trays and stacking bulk bags with a four-sided clamp, including a control system, a main assembly line, a side assembly line, and a tray changer and a stacking machine arranged in sequence in the direction of the main assembly line. The main assembly line is used to carry trays, the tray changer is used to replace the trays carrying bulk bags, the stacking machine is used to stack bulk bags on the trays, the side assembly line is used to input to the tray changer and the stacking machine respectively, and the control system is used to receive data from the tray changer and the stacking machine and process them.

[0040] In some embodiments, support rods and photoelectric induction devices are arranged on both the tray changer and the stacking machine. The photoelectric induction devices are arranged on the support rods and are located on both sides of the main assembly line. The photoelectric induction device includes a shape induction member, and the shape induction member includes a tray induction member, a bottom layer bulk bag induction member, and a second layer bulk bag induction member. The support rods are sequentially provided with the tray induction member, the bottom layer bulk bag induction member, and the second layer bulk bag induction member from bottom to top, and the height of the tray and the bulk bag is detected by emitting a light beam, and its shape is determined.

[0041] In some embodiments, both the tray changer and the stacking machine can control the four-sided clamp to move horizontally or vertically to realize the position adjustment of the four-sided clamp. The four-sided clamp includes left and right clamping openings and front and back clamping openings, and both the left and right clamping openings and the front and back clamping openings are clamped and loosened through screws.

[0042] By adopting the above technical solutions, the beneficial effects of the present invention are:

[0043] Through the control method of the present invention, it can quickly distinguish whether the goods loaded in the bulk bag need to be stacked. The goods that do not need to be stacked can be directly stored out of the warehouse after simple tray replacement, while the goods that need to be stacked and stored out of the warehouse can realize the process of quickly clamping and placing the bulk bag by the four-sided clamp and adjust the position after stacking. The multi-layer goods after stacking are on the same central axis, and the stacking is firm and easy for secondary handling and transportation.

[0044] The present invention uses multiple groups of optoelectronic sensors for detection to determine whether goods need to be stacked and taken out of the warehouse. During the pallet changing process in the pallet changer, it determines whether the sub-pallet is in place after pallet changing and whether the ton bag is placed in the correct position, thus making the entire pallet changing process more accurate and rapid. In the stacking machine, the optoelectronic sensors detect the height and position of the goods being lowered, determine whether the placement position is correct, and whether position adjustment is required. The entire process is achieved through the cooperation of machinery and electronics, saving manpower while improving the precision and systematization level. The present invention also adopts a four-sided clamping mechanism. While the pallet changer and the stacking machine can control its horizontal or vertical movement, it can also achieve clamping and loosening itself, which is beneficial for the clamping and placement of the ton bag and position adjustment.

[0045] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and cannot limit the present disclosure.

[0046] Undoubtedly, such purposes of the present invention and other purposes will become more apparent after the details of the preferred embodiments described in multiple accompanying drawings and illustrations below.

[0047] To make the above and other purposes, features, and advantages of the present invention more obvious and understandable, one or several preferred embodiments are specifically exemplified below, and in conjunction with the accompanying drawings shown, the detailed description is as follows. Description of the Drawings

[0048] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0049] In the accompanying drawings, the same components are denoted by the same reference numerals, and the drawings are schematic and not necessarily drawn to actual scale.

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only one or several embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on such drawings.

[0051] Figure 1 It is a schematic diagram of the overall process of goods pallet changing and stacking in some embodiments of the present invention;

[0052] Figure 2 It is a schematic diagram of the shape sensing part and the position of the ton bag of the pallet changer in some embodiments of the present invention;

[0053] Figure 3 It is a schematic diagram of the shape sensing part and the position of the ton bag of the stacking machine in some embodiments of the present invention;

[0054] Figure 4 Schematic diagram of the overall structure of the main pipeline in some embodiments of the present invention;

[0055] Figure 5 Schematic diagram of the arrangement of the appearance sensing elements in some embodiments of the present invention;

[0056] Figure 6 Schematic diagram of the overall structure of the bag stacking machine in some embodiments of the present invention;

[0057] Figure 7 Schematic diagram of the overall structure of the four-sided clamp in some embodiments of the present invention.

[0058] Description of the main reference numerals:

[0059] 1. Control system; 2. Main pipeline; 3. Turntable changer; 4. Bag stacking machine; 5. Support rod; 6. Appearance sensing element; 7. Four-sided clamp. Detailed implementation manners

[0060] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with specific implementation manners. It should be understood that the specific implementation manners described herein are only used to explain the present invention, but not to limit the present invention.

[0061] In addition, in the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a direct connection, or an indirect connection through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements. However, indicating a direct connection means that there is no connection relationship constructed through a transition structure between the two connected main bodies, and only a connection structure is used to connect and form a whole. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0064] Referring to Figure 1-3 , Figure 1 is a schematic diagram of the overall process of goods pallet changing and bag stacking in some embodiments of the present invention; Figure 2 is a schematic diagram of the position of the shape sensor of the pallet changer and the ton bag in some embodiments of the present invention; Figure 3 is a schematic diagram of the position of the shape sensor of the bag stacker and the ton bag in some embodiments of the present invention.

[0065] According to some embodiments of the present invention, the present invention provides a control method for four-sided clamping pallet changing and bag stacking, including:

[0066] S1. Input mother pallets carrying single ton bags into the pallet changer and the bag stacker respectively;

[0067] S2. The mother pallets carrying ton bags enter the pallet changer and the bag stacker along the production line respectively, and the photoelectric induction devices on the pallet changer and the bag stacker determine whether the ton bags thereon need to be stacked;

[0068] Photoelectric induction devices are provided on both the pallet changer and the bag stacker. The photoelectric induction device includes shape sensors, and several shape sensors are arranged vertically from bottom to top, detecting the height of the pallet and the ton bag by emitting light beams and determining their shapes.

[0069] S3. If the bag stacker detects that stacking is required, the ton bag entering the bag stacker along with the mother pallet is clamped. A four-sided clamp is provided on the bag stacker, and the four-sided clamp identifies and clamps the ton bag on the mother pallet, and the mother pallet is discharged along the production line;

[0070] If stacking is not required, the mother pallets carrying ton bags are pallet-changed in the respective pallet changers or bag stackers they enter. If pallet-changing is performed in the pallet changer, when the pallet-changing is completed and the bag stacker detects that the sub-pallet has been replaced when passing through the bag stacker, the bag stacker will not perform pallet-changing again, and the sub-pallet carrying the ton bag is directly output; if pallet-changing is performed in the bag stacker, it can be directly output after the pallet-changing is completed.

[0071] If the pallet does not load the ton bags, only the photoelectric induction device at the lowest layer is triggered, and neither the pallet changer nor the bag stacking machine operates, realizing the empty pallet out of the warehouse.

[0072] S4. Repeat step S3, repeatedly pick up the ton bags to be stacked and keep them neatly stacked until the specified stacking quantity of the ton bags is reached, and the bag stacking machine sends a bag stacking signal.

[0073] Taking the specific steps of repeated picking up as an example, the four-sided gripper picks up the first ton bag, the mother pallet is discharged, the second ton bag runs to the bag stacking machine, the four-sided gripper lowers the first ton bag, adjusts the placement position and keeps the central axis between the two ton bags unified, the four-sided gripper picks up the two ton bags again and lifts them, the mother pallet is discharged, and waits for the next pallet to enter.

[0074] S5. After receiving the bag stacking signal, the ton bags that enter the pallet changer with the mother pallet are picked up by the pallet changer and the pallet changing operation is carried out. There is a four-sided gripper on the pallet changer. The pallet changer marks the positions of the pallet and the ton bags. The four-sided gripper identifies and picks up the ton bags on the mother pallet, replaces the mother pallet with a sub-pallet and adjusts the position. After the position is correct, the ton bags are lowered and the placement position of the ton bags is adjusted.

[0075] If the stacking quantity of this type of ton bag is set to three layers, the next incoming pallet needs to be pallet-changed in the pallet changer in step S5. The sub-pallet carries the third ton bag into the bag stacking machine. The four-sided gripper lowers the first ton bag and the second ton bag. The specific method for judging the adjustment of the placement position and keeping the central axis unified can refer to the steps in S6 and will not be elaborated here. Correspondingly, different types and sizes of ton bags can also be judged for their specific stacking layers through the data pre-entered in the control system.

[0076] Since the pallet changer and the bag stacking machine can input goods simultaneously, and there is also a need for mutual cooperation between the bag stacking machine and the pallet changer, there are conflict situations. If the pallet changer has pallet-changed a ton bag to be stacked and the bag stacking machine has not grabbed the specified stacking quantity, the pallet changer waits; if during the process of the bag stacking machine grabbing and stacking ton bags of the same specification, ton bags to be stacked of different specifications or ton bags that do not need to be stacked are input, and there is no free space for the four-sided gripper at this time, an error is reported for it.

[0077] As Figure 2 shown, the shape sensor includes a pallet sensor and a bottom layer ton bag sensor. In step S5, the specific judgment method for pallet changing and clamping and placing ton bags is as follows:

[0078] The bottom layer ton bag sensor detects the presence of the ton bag and records the distance from the ton bag, denoted as X1.

[0079] The pallet sensor detects the presence of the mother pallet and records the distance from the mother pallet, denoted as X2.

[0080] The four-sided clamp grabs the ton bag, and the tray-changing operation is performed below. The tray sensor detects the distance between the sub-tray, denoted as X. 2-1 ; Calculate the position offset between the two trays after the tray change:

[0081] ΔX2 = |X2 - X 2-1 |

[0082] When it is less than or equal to the specified offset, the sub-tray has been changed to the correct position, and the subsequent actions are started; when it is greater than the specified offset, the sub-tray has not been changed to the correct position, and the tray placement action is repeated until the position is correct. Preferably, the offset is 1 cm.

[0083] Among them, the tray-changing operation can be realized mechanically or manually. If the tray-changing operation is performed mechanically, the specific structure can refer to the prior art, and the replacement method and structure are not limited herein. Correspondingly, the structure for adjusting the tray position can also refer to the prior art.

[0084] After the tray changer has changed the tray to the correct position, the four-sided clamp lowers the ton bag. At this time, the bottom ton bag sensor records the distance from the ton bag again, denoted as X 1-1 ;

[0085] Calculate the position offset of the ton bag before and after the tray change:

[0086] ΔX1 = |X1 - X 1-1 |

[0087] When it is less than or equal to the specified offset, the ton bag is placed in place, and the subsequent actions are started; when it is greater than the specified offset, the ton bag is not placed in place, the four-sided clamp grabs the ton bag again and adjusts the position, and the lowering action is repeated. Preferably, the offset is 1 cm.

[0088] S6. The sub-tray carrying the ton bag enters the bag stacking machine. The bag stacking machine lowers the multiple ton bags clamped in step S4 and adjusts the placement position. After the placement is correct, the sub-tray and the ton bag are output.

[0089] As Figure 3 shown, the shape sensor further includes a two-layer ton bag sensor. To ensure neat stacking, the specific operation steps are as follows:

[0090] The tray sensor records the distance from the mother tray when clamping the previous ton bag, denoted as X4;

[0091] The sub-tray carrying the goods runs to the bag stacking machine. The tray sensor detects the distance from the sub-tray, denoted as X 4-1 ;

[0092] Calculate the position offset between the two trays:

[0093] ΔX4 = |X4 - X 4-1 |

[0094] When it is less than or equal to the specified offset, the sub-tray is in place, and subsequent actions are started; when it is greater than the specified offset, the sub-tray is not in place, and its position is adjusted. Preferably, the offset is 1 cm.

[0095] The bottom-ton-bag sensor detects the presence of the ton bag and records the distance from the ton bag, denoted as X3.

[0096] The four-sided clamp lowers and stacks the ton bags. The second-layer ton-bag sensor detects the presence of the ton bag and records the distance from the ton bag, denoted as X 3-1 ;

[0097] Calculate the position offset between the bottom ton bag and the second-layer ton bag in the vertical direction:

[0098] ΔX3 = |X3 - X 3-1 |

[0099] When it is less than or equal to the specified offset, the ton bag is lowered in place, and subsequent actions are started; when it is greater than the specified offset, the ton bag is not lowered in place, and the four-sided clamp clamps the ton bag again and adjusts its position, repeating the lowering action. Preferably, the offset is 1 cm.

[0100] Refer to Figure 4 , Figure 4 which is a schematic diagram of the overall structure of the main pipeline in some embodiments of the present invention.

[0101] According to some embodiments of the present invention, optionally, the present invention further provides a device for replacing trays and stacking bags with a four-sided clamp, including a control system 1, a main pipeline 2, a side pipeline, and a tray changer 3 and a bag stacker 4 arranged in sequence in the direction of the main pipeline 2. The main pipeline 2 is used to carry trays. The tray changer 3 is used to replace the trays carrying ton bags. The bag stacker 4 is used to stack ton bags on the trays. The side pipeline is used to input to the tray changer 3 and the bag stacker 4 respectively. The control system 1 is used to receive data from the tray changer 3 and the bag stacker 4 and process them.

[0102] Since a single bag stacker 4 only clamps and stacks ton bags of the same size, if there are multiple sizes of ton bags transported on the main pipeline 2, multiple bag stackers 4 can be arranged on the main pipeline 2. By increasing the number of bag stackers 4, the application of transporting ton bags in a larger range can be realized.

[0103] A side pipeline is arranged on the main pipeline 2. The side pipeline is arranged in a T shape with the main pipeline 2 and corresponds to the positions of the tray changer 3 and the bag stacker 4, so that the goods can enter the main pipeline in sequence.

[0104] Refer to Figure 5-6 , Figure 5 which is a schematic diagram of the arrangement of appearance sensors in some embodiments of the present invention;Figure 6 Schematic diagram of the overall structure of the stacking machine in some embodiments of the present invention.

[0105] According to some embodiments of the present invention, optionally, support rods 5 and photoelectric induction devices are provided on both the turntable changer 3 and the stacking machine 4. The photoelectric induction device is provided on the support rod 5 and is located on both sides of the main production line 2. The photoelectric induction device includes a shape induction member 6, and the shape induction member 6 includes a pallet induction member, a bottom layer ton bag induction member, and a second layer ton bag induction member. The pallet induction member, the bottom layer ton bag induction member, and the second layer ton bag induction member are sequentially arranged on the support rod 5 from bottom to top. The height of the pallet and the ton bag is detected by emitting a light beam, and their shapes are determined.

[0106] Refer to Figure 7 , Figure 7 Schematic diagram of the overall structure of the four-sided clamp in some embodiments of the present invention.

[0107] According to some embodiments of the present invention, optionally, both the turntable changer 3 and the stacking machine 4 can control the four-sided clamp 7 to move horizontally or vertically to adjust the position of the four-sided clamp 7. The four-sided clamp 7 includes left and right clamping openings and front and back clamping openings, and both the left and right clamping openings and the front and back clamping openings are tightened and loosened through screws.

[0108] By clamping the ton bag with the four-sided clamp 7, the ton bag is less likely to deform. Preferably, an induction element can also be provided on the four-sided clamp 7, including detection of the presence of goods, detection of left and right in-place, and detection of front and back in-place, to ensure appropriate clamping force.

[0109] Working principle of the present invention: Ton bags containing different goods enter the turntable changer 3 and the stacking machine 4 respectively with the mother pallets. The photoelectric induction device detects the type of the ton bag. If it is an empty pallet, neither the turntable changer 3 nor the stacking machine 4 operates, and it is directly output to the main production line 2. If the ton bag type does not require stacking, the turntable changer 3 and the stacking machine 4 directly perform the turntable operation. The four-sided clamp 7 picks up the ton bag, replaces the mother pallet below with a sub-pallet, lowers the ton bag and adjusts its position, and directly outputs it after the position is correct. If the ton bag type requires stacking, the stacking machine 4 picks up the first ton bag, discharges the mother pallet below, continues to input ton bags, and the stacking machine 4 repeats picking up ton bags until the specified stacking quantity. The last ton bag needs to be normally changed in the turntable changer 3, and then enters the stacking machine 4 along the production line. The four-sided clamp lowers the stacked ton bags and adjusts their placement positions to ensure that multiple layers of ton bags are on the same central axis, and outputs them to the production line after the position is correct.

[0110] It should be understood that the embodiments disclosed in the present invention are not limited to the specific processing steps or materials disclosed herein, but should extend to equivalent alternatives of such features understood by those of ordinary skill in the relevant art. It should also be understood that the terms used herein are only for the purpose of describing specific embodiments and do not mean to limit.

[0111] As used in the specification, "embodiment" means that a particular feature or characteristic described in connection with an embodiment is included in at least one embodiment of the present invention. Thus, the phrase "an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment.

[0112] In addition, the described features or characteristics may be combined in any other suitable manner in one or more embodiments. In the foregoing description, some specific details, such as thickness, quantity, etc., are provided to provide a thorough understanding of the embodiments of the present invention. However, those skilled in the relevant art will appreciate that the present invention may be practiced without one or more of the above specific details or may be implemented using other methods, components, materials, etc.

Claims

1. A control method for a four-sided clamping and disk stacking and wrapping, characterized in that, Including S1. Input the mother pallets carrying single-ton bags into the pallet changer and the bag stacking machine respectively; S2. The mother pallets carrying ton bags enter the pallet changer and the bag stacking machine along the production line respectively. The photoelectric induction devices on the pallet changer and the bag stacking machine determine whether the ton bags thereon need to be stacked; S3. If the bag stacking machine detects that stacking is required, the ton bag entering the bag stacking machine along with the mother pallet is clamped. There are four-sided clamps on the bag stacking machine. The four-sided clamps identify and clamp the ton bag on the mother pallet, and the mother pallet is discharged along the production line; S4. Repeat step S3, repeatedly clamp the ton bags that need to be stacked and keep them neatly stacked until the specified stacking quantity of the ton bag is reached, and the bag stacking machine sends a stacking signal; S5. After receiving the stacking signal, the ton bag entering the pallet changer along with the mother pallet is clamped and the pallet changing operation is performed on the pallet changer. There are four-sided clamps on the pallet changer. The pallet changer marks the positions of the pallet and the ton bag. The four-sided clamps identify and clamp the ton bag on the mother pallet, replace the mother pallet with a sub-pallet and adjust the position. After the position is correct, the ton bag is lowered, and the placement position of the ton bag is adjusted; S6. The sub-pallet carrying the ton bag enters the bag stacking machine. The bag stacking machine lowers the multiple ton bags clamped in step S4 and adjusts the placement position. After the placement is correct, the sub-pallet and the ton bag are output.

2. The control method of the four-sided clamping and replacing disc stack packaging according to claim 1, wherein In step S3, if stacking is not required, both the pallet changer and the bag stacking machine can perform the pallet changing operation. The mother pallet carrying the ton bag directly performs pallet changing in the pallet changer or the bag stacking machine, and the sub-pallet carrying the ton bag is directly output.

3. The control method for the four-sided clamping and replacing disk stack packaging according to claim 2, wherein Both the pallet changer and the bag stacking machine are provided with photoelectric induction devices. The photoelectric induction device includes shape induction parts. Several shape induction parts are arranged vertically from bottom to top. The height of the pallet and the ton bag is detected by emitting light beams, and their shapes are determined.

4. The control method for the four-sided clamping and replacing disc stack packaging according to claim 3, wherein, The shape induction part includes a pallet induction part. In step S5, the specific method for determining pallet changing is as follows: The pallet induction part detects the presence of the mother pallet and records the distance from it, denoted as X2; After the disc is changed, the tray sensor detects the distance between the sub-tray, denoted as X 2-1 ; Calculate the position offset between the two pallets after pallet changing: ΔX2 = |X2 - X 2-1 | When it is less than or equal to the specified offset, the sub-pallet is in place for pallet changing, and then the subsequent actions are started; when it is greater than the specified offset, the sub-pallet is not in place for pallet changing, and the pallet placing action is repeated until the position is correct.

5. The control method of the four-sided clamping and replacing disc stacking package according to claim 4, characterized in that, The shape induction part also includes a bottom-layer ton bag induction part. In step S5, the specific method for determining clamping and placing the ton bag is as follows: The bottom-layer ton bag induction part detects the presence of the ton bag and records the distance from it, denoted as X1; The four-sided clamp picks up the ton bag, and the pallet-changing operation is carried out below. After the pallet changer of the pallet machine is in place for pallet changing, the four-sided clamp lowers the ton bag. At this time, the bottom ton bag sensor records the distance from the ton bag again, denoted as X 1-1 ; Calculate the position offset of the ton bag before and after pallet changing: ΔX1 = |X1 - X 1-1 | When it is less than or equal to the specified offset, the ton bag is placed in place, and then the subsequent actions are started; when it is greater than the specified offset, the ton bag is not placed in place, the four-sided clamps clamp the ton bag again and adjust the position, and the lowering action is repeated.

6. The control method for the four-sided clamping and replacing disk stack packaging according to claim 5, characterized in that In step S6, the bag stacking machine needs to continue stacking ton bags on the ton bags of the sub-pallet. To ensure neat stacking, the specific operation steps are as follows: The pallet induction part records the distance from the mother pallet when clamping the previous ton bag, denoted as X4; The sub-tray carrying goods runs to the bag stacking machine, and the tray sensor detects the distance between the sub-tray, denoted as X 4-1 ; Calculate the position offset between the two pallets: ΔX4 = |X4 - X 4-1 | When it is less than or equal to the specified offset, the sub-pallet is in place, and then the subsequent actions are started; when it is greater than the specified offset, the sub-pallet is not in place, and its position is adjusted.

7. The control method of the four-sided clamping and replacing disc stacking and wrapping according to claim 6, wherein, The shape induction part also includes a second-layer ton bag induction part. In step S6, the specific method for determining clamping and placing the ton bag is as follows: The bottom-ton-bag sensor detects the presence of the ton bag and records the distance to the ton bag, denoted as X3; Stack the ton bags under the four-sided clamping. The two-layer ton bag sensor detects the presence of the ton bag and records the distance between the sensor and the ton bag, denoted as X 3-1 ; Calculate the position offset between the bottom ton bag and the second-layer ton bag in the vertical direction: ΔX3 = |X3 - X 3-1 | When it is less than or equal to the specified offset, the ton bag is placed in place, and subsequent actions are started; when it is greater than the specified offset, the ton bag is not placed in place, and the four-sided clamp clamps the ton bag again and adjusts the position, repeating the placing action.

8. An apparatus for four-sided clamping and disk stacking and wrapping, applying the control method for four-sided clamping and disk stacking and wrapping according to any one of the above claims 1-7, characterized in that, It includes a control system, a main production line, a side production line, a pallet changer and a bag stacking machine arranged in sequence in the direction of the main production line. The main production line is used to carry pallets. The pallet changer is used to replace the pallet carrying the ton bag. The bag stacking machine is used to stack ton bags on the pallet. The side production line is used to input to the pallet changer and the bag stacking machine respectively. The control system is used to receive and process data from the pallet changer and the bag stacking machine.

9. The apparatus for four-sided clamping and disk stacking and wrapping according to claim 8, characterized in that, Support rods and photoelectric induction devices are arranged on both the pallet changer and the bag stacking machine. The photoelectric induction device is arranged on the support rod and is located on both sides of the main production line. The photoelectric induction device includes a contour sensor, and the contour sensor includes a pallet sensor, a bottom-ton-bag sensor and a second-layer-ton-bag sensor. The pallet sensor, the bottom-ton-bag sensor and the second-layer-ton-bag sensor are arranged on the support rod in sequence from bottom to top, and the height of the pallet and the ton bag is detected by emitting a light beam and its contour is determined.

10. The device for four-sided clamping and replacing disc stack packaging according to claim 9, characterized in that, Both the pallet changer and the bag stacking machine can control the four-sided clamp to move horizontally or vertically to adjust the position of the four-sided clamp. The four-sided clamp includes left and right clamping openings and front and back clamping openings, and both the left and right clamping openings and the front and back clamping openings are tightened and loosened through screws.

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