A high speed bag-on-valve method and system

Abstract

The application discloses a high-speed bagging method and system, the method comprises a transfer robot, a bag standing platform, a bag standing mechanism and a bagging mechanism connected in sequence, the bagging method is that the transfer robot takes and places a bag on the first conveying mechanism to the bag standing platform, the bag standing mechanism stands the bag on the bag standing platform, and the bagging mechanism transfers the standing bag to the carrier of the second conveying mechanism to complete bagging; the system comprises the transfer robot, the bag standing platform, the bag standing mechanism and the bagging mechanism connected in sequence, the transfer robot is used for taking and placing the bag on the first conveying mechanism to the bag standing platform, the bag standing mechanism is used for standing the bag on the bag standing platform, and the bagging mechanism is used for transferring the standing bag to the carrier of the second conveying mechanism; the application has the advantages of relatively simple structure, higher equipment running stability, simple and reliable bagging process, easy implementation, fast feeding speed, greatly improved bag production capacity and qualified rate, reduced production cost, and convenient scale production.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bag packaging, in particular to a high-speed bagging method and system. BACKGROUND

[0002] The powder-liquid double-chamber bag large infusion product is an injection product containing infusion and sterile powder made of non-PVC infusion special film material; it is convenient and fast to use clinically, safe and reliable for drug use, and is currently recognized as the safest and most reliable large infusion product in the world.

[0003] The powder-liquid double-chamber bag powder filling machine usually fills and seals the sterile powder through the tail part, and the existing process equipment uses positioning hole clamps or mechanical hand clamps to convey the powder-liquid double-chamber bag body. The positioning hole clamp is positioned to solve the problem of soft bag positioning. However, with the progress of current technology, the soft bag does not need to be positioned during the filling process, so the structure of the entire equipment will be simpler. Therefore, the mechanical hand is gradually used to transfer the soft bag, and the soft bag is placed on the carrier without positioning pins for subsequent filling. Although this simplifies the structure of the carrier and the filling, it also has the following problems: the soft bag is standing during filling, but the upstream (sterilization) soft bag is delivered in a lying manner. The mechanical hand directly places the soft bag on the carrier, and during the transfer process, the mechanical hand needs to take the bag, change direction, move and stand the soft bag. Therefore, the mechanical hand is at least a multi-axis robot. Since the robot needs to complete multiple actions during the transfer process, the transfer (bagging) efficiency is low. SUMMARY

[0004] The purpose of the application is to provide a high-speed bagging method and system, which solves the problem of low work efficiency in the existing bagging process.

[0005] The present application is implemented in the following way: a high-speed bagging method for transferring a bag body from a first conveying mechanism to a carrier of a second conveying mechanism, comprising a transfer robot, a standing bag platform, a standing bag mechanism and a bagging mechanism connected in sequence. The bagging method is to transfer the bag body on the first conveying mechanism to the standing bag platform by the transfer robot, to stand the bag body on the standing bag platform by the standing bag mechanism, and to transfer the standing bag body to the carrier of the second conveying mechanism by the bagging mechanism, and to complete the bagging.

[0006] The application does not need to position the hole to hang the bag transfer bag body, and does not need to further position the bag body with a complex structure, so that the bag loading process is simple and reliable, easy to implement; wherein the transfer robot, the bag standing platform, the bag standing mechanism and the bag loading mechanism independently complete the corresponding actions, the structure is relatively simple, the equipment running stability is higher, and after the transfer robot completes the bag transfer to the bag standing platform, the bag standing platform processes the bag body, the transfer robot can grab the next batch of bags from the first conveying mechanism, each action can work at the same time, the feeding speed is fast, the production capacity and the qualified rate of the bag body are greatly improved, the production cost is reduced, and the large-scale production is facilitated.

[0007] A further technical solution of the application is that the bag loading method comprises a detection mechanism for identifying the bag body on the first conveying mechanism, and the transfer robot transfers the bag body according to the detection signal of the detection mechanism.

[0008] In view of the unordered incoming material on the first conveying mechanism, a detection mechanism is arranged above the first conveying mechanism, the bag body on the first conveying mechanism is identified by the detection mechanism, the transfer robot adjusts the position of the grabbed bag body according to the identified signal, and the bag body is transferred to the bag standing platform in an orderly manner.

[0009] A further technical solution of the application is that the transfer robot follows the detection mechanism identification signal to the corresponding position of the bag body to pick up the bag body, and transfers the bag body to the bag standing platform along a fixed bag placing mode.

[0010] When the detection mechanism identifies the bag body on the first conveying mechanism, the transfer robot follows the corresponding position of the bag body according to the identification signal to accurately pick up the position of the bag body, and the transfer robot that has picked up the bag body transfers the bag body to the bag standing platform along a fixed path, so as to ensure the orderliness of the bag body falling into the bag standing platform and facilitate the accuracy of the subsequent action.

[0011] A further technical solution of the application is that the transfer robot is a four-axis robot drive or a parallel robot.

[0012] The transfer robot is used to realize three-dimensional space grabbing, has high flexibility, can accurately grab the unordered bag body on the first conveying mechanism, and can ensure the accuracy of the subsequent action without the cooperation of the positioning hole and the positioning clamp; meanwhile, the transfer robot reverses after picking up the bag body, and transfers the bag body from the first conveying mechanism to the bag standing platform, compared with the multiple actions to be completed in the transfer process of the existing multi-axis robot, the efficiency of the application is higher, and the structural stability of the transfer robot is also higher.

[0013] A further technical solution of the application is that the bag standing mechanism comprises a diagonal piece and a reversing piece connected to the output end of the diagonal piece, the reversing piece is provided with a limiting hole matched with the bag body for limiting the bag body, and the reversing piece is connected with a reversing drive for the bag body to stand vertically.

[0014] The input end of the inclined piece is connected with the output end of the bag erecting platform.

[0015] The input end of the inclined piece is connected with the output end of the bag erecting platform.

[0016] The input end of the inclined piece is connected with the output end of the bag erecting platform.

[0017] The bag erecting mechanism comprises a grabbing clamp, a rotating drive and a lifting drive.

[0018] The grabbing clamp is used for grabbing the upright bag, and the rotating drive and the lifting drive are used for driving the grabbing clamp to lift and rotate.

[0019] The carrier is provided with a positioning groove, the opening of the positioning groove faces upward, and the positioning groove is matched with the shape of the bag.

[0020] The shape of the internal accommodation space of the positioning groove is matched with the shape of the bag, so that the positioning accuracy of the bag after falling into the positioning groove is ensured, and the subsequent operation accuracy is high.

[0021] The bag erecting method further comprises a first sensor for sensing whether the bag in the reversing piece is in place and a second sensor for sensing whether the bag in the carrier is in place.

[0022] When the first sensor detects that the bag has entered the accommodation space on the reversing piece, the reversing drive acts, and the inclined reversing piece drives the bag to be in an upright state, so that the bag erecting is completed.

[0023] When the second sensor detects that the bag is placed in place, the lifting drive in the bag erecting mechanism returns to the initial position upward, and the bag placing action is completed.

[0024] The application also provides a high-speed bagging system for transferring a bag from a first conveying mechanism to a carrier of a second conveying mechanism, comprising a transfer robot, a bag standing platform, a bag standing mechanism and a bagging mechanism connected in sequence, the transfer robot is used for taking and placing the bag on the first conveying mechanism to the bag standing platform, the bag standing mechanism is used for standing the bag on the bag standing platform, and the bagging mechanism is used for transferring the standing bag to the carrier of the second conveying mechanism.

[0025] The actions of the transfer robot, the bag standing platform, the bag standing mechanism and the bagging mechanism in the bagging system of the application are simple, and a complex structure is not required, so that the stability of the structure is higher, and the actions can be performed simultaneously, the bagging process is simple and reliable, the feeding speed is fast, the high-speed bagging is suitable, the production capacity and the qualified rate of the bag are greatly improved, the production cost is reduced, and the production is convenient for scaling.

[0026] The application has the advantages that: the application does not need to position the hole to hang the bag to transfer the bag, and does not need to further position the bag with a complex structure, the bagging process is simple and reliable, and easy to implement; the transfer robot, the bag standing platform, the bag standing mechanism and the bagging mechanism all independently complete corresponding actions, the structure is relatively simple, the equipment running stability is higher, and after the transfer robot completes the bag transfer to the bag standing platform, the bag standing platform processes the bag at the same time, the transfer robot can grab the next batch of bags from the first conveying mechanism, each action can work at the same time, the feeding speed is fast, the production capacity and the qualified rate of the bag are greatly improved, the production cost is reduced, and the production is convenient for scaling. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a flowchart of a high-speed bagging method provided by the application;

[0028] Figure 2 is a structural schematic diagram of a high-speed bagging system provided by the application;

[0029] Figure 3 is a schematic diagram of a soft bag production line provided by the application;

[0030] Figure 4 is a top view of a high-speed bagging system provided by the application;

[0031] Figure 5 is a structural schematic diagram of a bagging mechanism provided by the application.

[0032] Reference: 1. first conveying mechanism, 2. second conveying mechanism, 3. carrier, 4. detection mechanism, 5. transfer robot, 6. bag erecting mechanism, 7. bag loading mechanism, 8. bag erecting platform, 9. bag processing mechanism, 10. bag trimming mechanism, 11. front weighing mechanism, 12. bag opening and inflating mechanism, 13. powder filling mechanism, 14. sealing mechanism, 15. rear weighing mechanism, 16. bag unloading mechanism, 61. inclined part, 62. guide part, 71. gripper, 72. rotary drive, 73. lifting drive, 74. gripper drive, 75. limiting plate, 76. pressing plate. DETAILED DESCRIPTION

[0033] The advantages and effects of the present application can be easily understood by those skilled in the art from the description of the specific embodiments of the present application. The present application can also be implemented or applied by different specific embodiments, and the details in the description can be modified or changed based on different views and applications without departing from the spirit of the present application.

[0034] It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to the present description are only used to cooperate with the content disclosed in the present description for understanding and reading by those skilled in the art, and do not have technical significance to limit the conditions under which the present application can be implemented. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present description are only for the convenience of clear description, and are not used to limit the scope of the present application, and the change or adjustment of the relative relationship without substantially changing the technical content should also be considered as the scope of the present application.

[0035] Example 1:

[0036] Figures 1-5 A high-speed bag loading method is shown for transferring the bag body from the first conveying mechanism 1 to the carrier 3 of the second conveying mechanism 2, which includes a transfer robot 5, a bag erecting platform 8, a bag erecting mechanism 6 and a bag loading mechanism 7 connected in sequence. The bag loading method is that the transfer robot 5 takes and places the bag body on the first conveying mechanism 1 to the bag erecting platform 8, the bag erecting mechanism 6 erects the bag body on the bag erecting platform 8, and the bag loading mechanism 7 transfers the upright bag body to the carrier 3 of the second conveying mechanism 2 to complete the bag loading.

[0037] The present application does not need to position the hole to hang the bag transfer bag body, and does not need to further position the bag body with a complex structure. The bag loading process is simple and reliable, easy to implement. The transfer robot, the bag standing platform, the bag standing mechanism and the bag loading mechanism all independently complete the corresponding actions, the structure is relatively simple, the equipment running stability is higher, and after the transfer robot completes the bag transfer to the bag standing platform, the bag is processed on the bag standing platform at the same time, the transfer robot can grab the next batch of bags from the first conveying mechanism, each action can work at the same time, the feeding speed is fast, which greatly improves the production capacity and qualified rate of the bag, reduces the production cost, and is convenient for large-scale production.

[0038] In the present embodiment, the bag loading method comprises a detection mechanism 4 for identifying the bag on the first conveying mechanism 1, and the transfer robot 5 transfers the bag according to the detection signal of the detection mechanism 4.

[0039] In view of the unordered incoming material on the first conveying mechanism, a detection mechanism is arranged above the first conveying mechanism to identify the bag on the first conveying mechanism. The transfer robot adjusts the position of the grabbed bag according to the identified signal to ensure that the bag is transferred to the bag standing platform in an orderly manner.

[0040] In the present embodiment, the transfer robot 5 follows the detection mechanism 4 to identify the signal and picks up the bag at the corresponding position, and transfers the bag to the bag standing platform 8 along the fixed bag placing mode.

[0041] When the detection mechanism identifies the bag on the first conveying mechanism, the transfer robot follows the corresponding position of the bag according to the identification signal to accurately pick up the position of the bag. The transfer robot that has picked up the bag transfers the bag to the bag standing platform along the fixed path to ensure the orderliness of the bag falling into the bag standing platform, which is beneficial to the accuracy of the subsequent action.

[0042] In the present embodiment, the transfer robot 5 is a four-axis robot drive or a parallel robot.

[0043] The transfer robot is used to realize three-dimensional space grabbing, which is high in flexibility and can accurately grab the unordered bags on the first conveying mechanism. Without the cooperation of positioning holes and positioning clamps, the accuracy of subsequent actions can be ensured. At the same time, the transfer robot changes direction after picking up the bag, and transfers the bag from the first conveying mechanism to the bag standing platform. Compared with the multiple actions to be completed in the transfer process of the existing multi-axis robot, the efficiency of the present application is higher and the stability of the structure of the transfer robot is also higher.

[0044] In the embodiment, the first conveying mechanism is arranged in parallel with the bag erecting platform and in the opposite direction, and the transfer robot is arranged between the first conveying mechanism and the bag erecting platform to transfer the bags on the first conveying mechanism to the bag erecting platform in three-dimensional space. The space is utilized reasonably, and the transfer efficiency of the transfer robot is high.

[0045] In the embodiment, the bag erecting mechanism 6 comprises a sloping piece 61 and a reversing piece 62 which is connected to the output end of the sloping piece 61, and the reversing piece 62 is provided with a limiting hole matched with the bag for limiting the bag, and the reversing piece 62 is connected with a reversing drive for erecting the bag.

[0046] The output end of the sloping piece is lower than the input end, and the bag slides into the reversing piece under the action of its own gravity, which reduces the use of driving equipment, saves space and reduces energy consumption; the bag falling into the reversing piece is limited under the action of the limiting hole, and the reversing piece with the bag is rotated to erect the bag by the reversing drive, which facilitates the smooth performance of subsequent actions.

[0047] In the embodiment, before reversing, the reversing piece and the sloping piece are in the same plane, which facilitates the bag on the sloping piece to fall into the reversing piece smoothly.

[0048] In the embodiment, the reversing piece is provided with a containing space for accommodating the bag, and the limiting hole is arranged at the bottom of the containing space for limiting the bag.

[0049] In the embodiment, the reversing drive comprises a rotating shaft and a motor, and the reversing piece is fixedly provided with the rotating shaft, and the rotating shaft is driven to rotate by the motor, so as to realize the rotation of the reversing piece fixedly connected with the rotating shaft and the bag erecting.

[0050] In the embodiment, the input end of the sloping piece 61 is connected with the output end of the bag erecting platform 8.

[0051] The input end of the sloping piece is connected with the output end of the bag erecting platform for receiving the bags coming out of the bag erecting platform for bag erecting.

[0052] In the embodiment, the bag erecting platform comprises a conveying belt. The bags transferred from the first conveying mechanism to the bag erecting platform can be stored and buffered on the bag erecting platform.

[0053] In the embodiment, the bag erecting mechanism 7 comprises a grabbing clamp 71, a rotating drive 72 and a lifting drive 73, the grabbing clamp 71 is openable and closable for grabbing the bag, and the rotating drive 72 and the lifting drive 73 are used to drive the grabbing clamp 71 to lift and rotate.

[0054] The grab is used for grabbing the upright bag, and the bag is transported to the carrier of the second conveying mechanism for positioning through the rotating drive and the lifting drive.

[0055] In the embodiment, the lifting drive top is provided with a rotating drive, the output end of the rotating drive is connected with symmetrically arranged grabs through an annular connecting piece, and the working efficiency is high.

[0056] In the embodiment, the grab is driven to open and close by the grab drive 74, so that the bag is grabbed and placed, the bottom of the grab is provided with an inwardly extending limiting plate 75, and the middle of the grab is provided with an inwardly extending pressing plate 76, the pressing plate 76 is made of elastic material, and the stability of the grab when grabbing the bag is ensured.

[0057] In the embodiment, the carrier 3 is provided with a positioning groove, the positioning groove is upwardly open and matched with the shape of the bag, and is used for positioning the bag.

[0058] The shape of the internal accommodating space of the positioning groove is matched with the shape of the bag, the limiting accuracy of the bag after falling into the positioning groove is ensured, and the subsequent operation accuracy is high.

[0059] In the embodiment, the positioning groove is matched with the shape of the lower half of the bag, and the upper half of the bag extends out of the positioning groove, so that the subsequent operation of grabbing is facilitated and the limiting of the bag is not affected.

[0060] In the embodiment, the bag loading method further includes a first sensor for sensing whether the bag is in place on the reversing element and a second sensor for sensing whether the bag is in place in the carrier.

[0061] When the first sensor detects that the bag has entered the accommodating space on the reversing element, the reversing drive acts, the inclined reversing element drives the bag to be in the upright state, and the bag is completed.

[0062] After the second sensor detects that the bag is placed in place, the lifting drive in the bag loading mechanism returns to the initial position upwardly, and the bag placing operation is completed.

[0063] In the embodiment, the detection mechanism 4 is a visual detection device.

[0064] In the embodiment, the bag is a powder-liquid double-chamber bag.

[0065] As other embodiments, the transfer robot adopts a mode of sucking the bag for transfer.

[0066] The working principle of the application is as follows: the bag body is transferred to the first conveying mechanism in a sterile manner after the sterilization process is completed, the position and posture of the bag body are automatically recognized by the detection mechanism, the grabbing position is automatically calculated by the system, the transfer robot accurately grabs the bag body part, the transfer robot automatically adjusts the placement position of the bag body in combination with the signal of the detection mechanism, and the bag body is placed in an orderly manner on the bag standing platform, after the arrangement is completed, the bag standing platform is actuated to convey the bag body to the bag standing mechanism, the bag body slides into the appropriate position under the action of its own gravity, the first sensor senses the bag body to be in place and performs a turning action, so that the bag body stands vertically, the bag loading mechanism is lowered by the lifting drive, a grabbing action is performed to grab the bag body, the tail of the bag body is clamped and fixed by the pressing plate, the bag body is fixed and limited by the county committee office, the lifting drive moves upward to grab the bag body from the bag standing mechanism, the bag body is rotated to the upper side of the second conveying mechanism by the rotating drive, the lifting drive moves downward, a grabbing action is performed, the bag body is placed in the carrier, and the second sensor detects that the bag body is placed in place, the lifting drive moves upward to the initial position, and the bag loading is completed.

[0067] Embodiment two:

[0068] Figures 1-5 A high-speed bag loading system is shown, which is used for transferring the bag body from the first conveying mechanism 1 to the carrier 3 of the second conveying mechanism 2, which includes a transfer robot 5, a bag standing platform 8, a bag standing mechanism 6 and a bag loading mechanism 7 connected in sequence, the transfer robot 5 is used to take and place the bag body on the first conveying mechanism 1 to the bag standing platform 8, the bag standing mechanism 6 is used to stand the bag body on the bag standing platform 8, and the bag loading mechanism 7 is used to transfer the vertical bag body to the carrier 3 of the second conveying mechanism 2.

[0069] The actions of the transfer robot, the bag standing platform, the bag standing mechanism and the bag loading mechanism in the bag loading system of the application are simple, and do not require complex structures, so the stability of the structure is higher, and the actions can be performed simultaneously, without the need for complex positioning, the bag loading process is simple and reliable, the feeding speed is fast, and the application is suitable for high-speed bag loading, which greatly improves the production capacity and the qualified rate of the bag body, reduces the production cost, and facilitates large-scale production.

[0070] The working process of the whole soft bag production line is as follows: the bag body of the first conveying mechanism is transferred to the bag standing platform by the transfer robot, the bag standing mechanism is used to stand the bag body on the bag standing platform, the upper bag mechanism is used to grab the standing bag body to the carrier of the second conveying mechanism, the second conveying mechanism is used to circulate and convey to each process, specifically, the bag body on the carrier 3 first passes through the bag processing mechanism 9 to complete the cleaning work of the bag body and the carrier 3, then is conveyed to the bag edge cutting mechanism 10, the closed powder chamber of the bag body is cut open, the front weighing mechanism 11 weighs the bag body, then enters the bag opening and aseptic protection gas filling mechanism 12 to open the bag and fill the aseptic protection gas, then is conveyed to the powder filling mechanism 13 to fill the aseptic powder, then is transferred to the sealing mechanism 14 to weld and seal the opening of the bag body, then the filled product is weighed by the rear weighing mechanism 15, the system automatically judges whether the filling amount meets the requirements, is output through the discharging mechanism 16, and the qualified product is put into the conveying line to the subsequent process equipment.

[0071] The above merely describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A high speed bag on a pallet method for transferring a flat lying bag from a first conveying means (1) to a carrier (3) of a second conveying means (2), the bag tail on the carrier (3) facing upwards; characterized in that: The bagging method comprises the following steps: the transfer robot (5) takes and places the bag on the first conveying mechanism (1) to the bagging platform (8), the bagging mechanism (6) stands the bag on the bagging platform (8), and the bagging mechanism (7) transfers the standing bag to the carrier (3) of the second conveying mechanism (2). The bagging mechanism (6) comprises a beveling piece (61) and a reversing piece (62) connected with the output end of the beveling piece (61), and the reversing piece (62) is provided with a limiting hole matched with the bag for limiting the bag.

2. A high speed bag on a bottle method as claimed in claim 1, wherein, The bagging method comprises the following steps: the transfer robot (5) takes and places the bag on the first conveying mechanism (1) to the bagging platform (8), the bagging mechanism (6) stands the bag on the bagging platform (8), and the bagging mechanism (7) transfers the standing bag to the carrier (3) of the second conveying mechanism (2).

3. A high speed bag on a bottle method according to claim 2, wherein, The transfer robot (5) is a four-axis robot or a parallel robot.

4. A high speed bag on a bottle method as claimed in claim 1, wherein, The reversing piece (62) is connected with a reversing drive for the bag to stand.

5. A high speed bag on a bottle method as claimed in claim 1, wherein, The input end of the beveling piece (61) is connected with the output end of the bagging platform (8).

6. A high speed bag on a bottle method according to claim 5, wherein, The bagging mechanism (7) comprises a gripper (71), a rotating drive (72) and a lifting drive (73), the gripper (71) can be opened and closed to grab the bag, and the rotating drive (72) and the lifting drive (73) are used to drive the gripper (71) to lift and rotate.

7. A high speed bag on a bottle method as claimed in claim 1, wherein, The carrier (3) is provided with a positioning groove, the opening of the positioning groove faces upward and is matched with the shape of the bag, and is used for positioning the bag.

8. A high speed bag on a bottle method as defined in claim 1, wherein, The bagging method further comprises a first sensor for sensing whether the bag is in place on the reversing piece and a second sensor for sensing whether the bag is in place in the carrier.

9. A high speed bag on a bottle method as defined in claim 1, wherein, The bagging method comprises the following steps: the transfer robot (5) takes and places the bag on the first conveying mechanism (1) to the bagging platform (8), the bagging mechanism (6) stands the bag on the bagging platform (8), and the bagging mechanism (7) transfers the standing bag to the carrier (3) of the second conveying mechanism (2).

10. A high speed bag on pallet system for transferring a flat lying bag from a first conveying means (1) to a carrier (3) of a second conveying means (2), the bag on the carrier (3) having its tail end facing upwards; characterised in that, The bagging mechanism (6) comprises a beveling piece (61) and a reversing piece (62) connected with the output end of the beveling piece (61), and the reversing piece (62) is provided with a limiting hole matched with the bag for limiting the bag. ​

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