Method of packaging flexible irregular articles

Abstract

The present application belongs to the field of packaging technology, and specifically to a flexible irregular article packaging method, which comprises the following packaging steps in sequence: sucking a packaging bag in a bag bin; sending the packaging bag to a preparation station; preliminarily opening the packaging bag in the preparation station and sleeving it on a bag supporting structure; in the bag supporting structure, driving an active blade type discharge port to open and enter a material loading and discharging station; after the material loading and discharging station is filled with articles, entering a compacting station; working in the compacting station and entering a mouth twisting station; during the working process in the mouth twisting station, the mouth in the compacting station is transferred to a collecting station, the blade is closed through the action of a collecting cylinder, and is transferred to the preparation station; the clamping cylinder in the mouth twisting station twists the packaging bag mouth, and then sends it to a mouth sealing station. The present application completely replaces manual work with a reasonable design of mechanical structure, and improves work efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of packaging, in particular to the packaging method of flexible irregular articles. BACKGROUND

[0002] In the prior art, there are various packaging machines, all of which are used to improve the packaging efficiency. However, there are still some packaging fields that cannot be replaced by mechanical processing devices; for example, the packaging of suit chickens is still mainly manual packaging. In the packaging process, the main technical problem is that after the suit chickens are packed into the bag, they need to be compacted, and after being compacted, the bag opening needs to be tied. During the tying process, the opening needs to be manually grasped and then quickly tied to prevent the already bent chicken legs from being bounced open again. Therefore, the packaging efficiency is low. SUMMARY

[0003] The present application provides a packaging method for flexible irregular articles to improve the processing efficiency.

[0004] The packaging method for flexible irregular articles, characterized in that it comprises the following packaging steps:

[0005] 1.1 The packaging bag in the bag bin is sucked by the bag suction disc;

[0006] 1.2 The packaging bag is sent to the preparation station by the bag opening cylinder; the preparation station is followed by the material loading and discharging station and the compacting station; the compacting station is followed by the bag opening twisting station; the discharging port is transferred to the tray collecting station and then back to the preparation station;

[0007] 1.3 In the preparation station, the packaging bag is initially opened by the bag opening suction disc and is sleeved on the bag supporting structure;

[0008] 1.4 In the bag supporting structure, the movable blade type discharging port is opened by the bag supporting cylinder, and the packaging bag is expanded, and then enters the material loading and discharging station;

[0009] 1.5 After the material loading and discharging station is filled with articles, it enters the compacting station;

[0010] 1.6 In the compacting station, the servo motor two drives the compression disc to deeply enter the packaging bag to initially compress the object, and the lower side of the clamp tightly holds the packaging bag. The servo motor two secondarily compresses the object, and the mouth loosening cylinder drives the blade to realize the falling of the packaging bag, and the elastic belt on the clamp functions to exhaust the air in the packaging bag. Then the clamp carries the packaging bag to the bag opening twisting station; the blade type discharging port is completely opened by the mouth loosening cylinder, and then the servo motor two drives the compression disc to return to the original position;

[0011] 1.7 In the bag opening twisting station, the material opening in the compacting station is transferred to the tray collecting station, the blade is closed by the tray collecting cylinder, and then it is transferred to the preparation station;

[0012] 1.8 In the screwing station, a servo motor three is arranged above to drive the clamping cylinder to screw the bag opening, and then the bag is sent to the sealing station, and the packaging is completed after sealing.

[0013] Preferably, in the packaging step, the packaging equipment used includes the following structures: bag bin, bag feeding mechanism, bag opening mechanism, bag supporting mechanism, compacting device, sealing station;

[0014] The bag feeding mechanism includes a servo motor, a sliding table, a bag pushing plate, a bag taking suction cup, a turnover cylinder, and a bag mouth grabbing cylinder.

[0015] The servo motor one is installed on the upper side of the frame body, the servo motor one is connected to the bag pushing plate, and the bag pushing plate is matched with the sliding table on the servo motor one frame body;

[0016] The bag suction cylinder is installed on the frame body, and the bag suction cylinder is connected to the bag taking suction cup at the action end; the bag suction cylinder drives the bag taking suction cup to move up and down;

[0017] A turnover cylinder is installed on the upper side of the bag suction cylinder, the turnover cylinder is connected to a mounting bracket at the action end, and a bag mouth grabbing cylinder is connected to the end of the mounting bracket;

[0018] The bag opening mechanism includes a bag opening lifting cylinder and a bag opening cylinder; the bag opening lifting cylinder is installed on the frame body, two bag opening cylinders are installed on the upper side of the bag opening lifting cylinder; a bag opening suction cup is installed on each bag opening cylinder, and a sensor is arranged at the bag opening suction cup to sense whether there is a packaging bag;

[0019] The bag supporting mechanism includes a rotating disc, movable blades, and a bag supporting cylinder; the rotating disc is connected to a rotating power mechanism at the lower side; a plurality of discharge ports are formed in the rotating disc, and a plurality of movable blades are arranged on each discharge port; the movable blades are divided into an opening end and a sliding end; the opening end is fixed with a supporting column at the lower end; a sliding block and a sliding rail are installed between the sliding end and the rotating disc; a blade pushing pin is fixed on the upper side of one of the blades, and the bag supporting cylinder drives the blade pushing pin to transmit power between the blades when the bag supporting cylinder acts; the movable blades realize the closing and opening of the discharge port.

[0020] Preferably, the bag bin is a detachable bag bin, a frame is arranged outside the detachable bag bin, a movable bottom plate is arranged in the frame, and an opening is arranged on the movable bottom plate; the packaging bag is contained in the space in the frame.

[0021] Preferably, three sensors are further installed in the bag feeding mechanism; sensors are arranged at the upper and lower limit positions of the bag pushing plate; a third sensor is arranged on the bag taking suction cup, corresponding to the opening on the movable bottom plate, to sense whether there is a packaging bag.

[0022] Preferably, the opening bag mechanism is also provided with an extended stroke cylinder, which is divided into two parts and installed on the upper side of the opening bag cylinder. When in action, the opening bag cylinder drives the opening bag suction disc to suck the opening bag, and when returning, the extended stroke cylinder further expands the distance between the two opening bag suction discs to prevent the opening bag suction disc from falling off when returning.

[0023] Preferably, the opening bag mechanism is also provided with an extended stroke cylinder, which is divided into two parts and installed on the upper side of the opening bag cylinder. When in action, the opening bag cylinder drives the opening bag suction disc to suck the opening bag, and when returning, the extended stroke cylinder further expands the distance between the two opening bag suction discs to prevent the opening bag suction disc from falling off when returning.

[0024] Preferably, the movable blade is provided with a positioning device corresponding to the opening and closing positions respectively. The positioning device is an elastic positioning pin. One of the movable blades is provided with a receiving hole matched with the movable positioning pin.

[0025] Preferably, the opening bag mechanism is also provided with an extended stroke cylinder, which is divided into two parts and installed on the upper side of the opening bag cylinder. When in action, the opening bag cylinder drives the opening bag suction disc to suck the opening bag, and when returning, the extended stroke cylinder further expands the distance between the two opening bag suction discs to prevent the opening bag suction disc from falling off when returning.

[0026] Preferably, the opening bag mechanism is also provided with an extended stroke cylinder, which is divided into two parts and installed on the upper side of the opening bag cylinder. When in action, the opening bag cylinder drives the opening bag suction disc to suck the opening bag, and when returning, the extended stroke cylinder further expands the distance between the two opening bag suction discs to prevent the opening bag suction disc from falling off when returning.

[0027] Preferably, the compacting device comprises a second servo motor, a compression disc, a loosening cylinder, a clamping jaw, and a translation cylinder and a lifting cylinder connected to the lower side of the clamping jaw. The clamping jaw is divided into two side walls, each of which is connected to a clamping cylinder on the lower side. The two side walls are connected to each other to form a positioning cavity. A positioning seat is fixed to the bottom of the positioning cavity. An elastic band is fixed to the upper side of the side wall.

[0028] Preferably, the compacting device comprises a second servo motor, a compression disc, a loosening cylinder, a clamping jaw, and a translation cylinder and a lifting cylinder connected to the lower side of the clamping jaw. The clamping jaw is divided into two side walls, each of which is connected to a clamping cylinder on the lower side. The two side walls are connected to each other to form a positioning cavity. A positioning seat is fixed to the bottom of the positioning cavity. An elastic band is fixed to the upper side of the side wall.

[0029] The closing cylinder is installed on the upper side of the clamping jaw. The closing cylinder clamping jaw is in the shape of a long strip and is arranged along the movement direction of the packaging bag. The upper side of the closing cylinder is provided with a twisting cylinder and a third servo motor installed on the twisting cylinder. The lower side of the third servo motor is connected to a clamping cylinder which clamps the bag opening. The lower clamping cylinder is fixed on the lower side of the closing cylinder. At the end of the movement of the twisting cylinder, a closing machine is fixed on the rack.

[0030] The specific working process is as follows:

[0031] Put into the bag bin, make the push bag plate insert to the lower side of the movable bottom plate; the bag suction cylinder drives the bag suction sucker to descend, after the sucker sucks the packaging bag, the bag suction cylinder resets, the bag mouth cylinder grabs the bag mouth, the turnover cylinder acts, and the packaging bag is sent to the bag opening station; when the packaging bag amount decreases, the servo motor one drives the push bag plate to ascend to the working position of the bag suction cylinder, after the packaging bag is taken, the third sensor senses, stops working, and continues to work after replacing the bag bin;

[0032] When the bag mouth cylinder sends the packaging bag to the position, the bag opening cylinder drives the bag opening sucker to be in place, then the bag opening sucker is sucked open, after being sucked open, the bag opening lifting cylinder acts, and the packaging bag which has been opened is sleeved on the bag opening column; then the stroke increasing cylinder increases the distance between the bag opening cylinders, and the stroke increasing cylinder prevents the bag opening sucker from falling off the packaging bag when being reset;

[0033] The bag opening cylinder acts, pushes the blade pushing pin, and drives the power between the movable blades to open the discharge port; meanwhile, the bag opening cylinder opens the packaging bag; when the movable blades are in the opening and closing positions, the positioning device fixes the positions;

[0034] The rotating disc rotates, and the discharge port with the opened packaging bag is rotated to the material loading station;

[0035] After the material loading is completed, the rotating disc rotates, and drives the discharge port with the loaded material to the compacting station;

[0036] When the compression disc is pressed down, the holding clamp translates and then rises to the packaging bag; after the secondary compression is completed, the bag opening cylinder is loosened while the holding clamp is clamped; at this time, the compression disc is in the pressed-down state and cannot be loosened, so that the material is prevented from loosening, and the compression disc in the packaging bag coincides with the elastic belt outside the packaging bag; the holding clamp falls down, the bag opening cylinder resets, the movable blade returns to the large opening state, and then the compression disc resets; the rotating disc rotates, and the closing disc cylinder acts to close the movable blade to the closed state;

[0037] During the retreat of the holding clamp with the packaging bag, the closing cylinder clamps the bag mouth, the twist moving cylinder drives the servo motor three to move, a clamping cylinder is arranged at the moving end of the servo motor three, the clamping cylinder clamps the bag mouth, the servo motor three rotates to tighten the bag mouth; meanwhile, the lower clamping cylinder clamps the bag mouth, the holding clamp is opened, and the closing cylinder resets; the twist moving cylinder drives the packaging bag to the bag opening position, the clamping cylinder loosens after the bag opening, and then the lower clamping cylinder resets. The flexible irregular material loading and bag opening are completed.

[0038] All the suckers are provided with free strokes, which are realized by installing springs.

[0039] The beneficial effects of the application are as follows:

[0040] The present application replaces artificial work by mechanical mechanism through reasonable design of mechanical structure, improves work efficiency, and wins more profits for enterprises. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of the present application;

[0042] Figure 2 It is another angle structural schematic diagram of the present application;

[0043] Figure 3 It is another angle structural schematic diagram of the present application;

[0044] Figure 4 It is another angle structural schematic diagram of the present application;

[0045] Figure 5 It is a structural schematic diagram of the bag feeding mechanism and the bag opening mechanism in the present application;

[0046] Figure 6 It is a structural schematic diagram of the bag feeding mechanism and the bag opening mechanism in the present application;

[0047] Figure 7 It is a structural schematic diagram of the movable blade in the present application;

[0048] Figure 8 It is a structural schematic diagram of the port binding device in the present application;

[0049] Figure 9 It is a structural schematic diagram of the port binding device in the present application;

[0050] In the figure: bag taking suction cup 1, bag bin 2, movable bottom plate 2.1, bag grabbing port cylinder 3, preparation station 4, material loading and discharging station 5, compacting station 6, port twisting station 7, plate collecting station 8, bag opening port suction cup 9, bag supporting cylinder 10, movable blade 11, port supporting column 11.1, blade pushing pin 11.2, servo motor 2 12, compression plate 13, clamping 14, elastic belt 14.1, positioning seat 14.2, port loosening cylinder 15, plate collecting cylinder 16, servo motor 3 17, clamping cylinder 18, servo motor 1 19, sliding table 19.1, bag pushing plate 19.2, overturning cylinder 19.3, bag suction cylinder 20, bag opening lifting cylinder 21, bag opening cylinder 22, stroke increasing cylinder 23, rotating disc 24, air blowing pipeline 25, bag supporting bottom plate 26, translation cylinder 27, lifting cylinder 28, clamping cylinder 29, port collecting cylinder 30, twisting and moving cylinder 31, lower clamping cylinder 32, port binding machine 33. DETAILED DESCRIPTION

[0051] The technical solutions of the present application will be further explained and described below through specific embodiments. Example 1

[0052] Referring to the drawings, the present application provides a packaging method for flexible irregular objects, characterized by comprising the following packaging steps:

[0053] 1.1 By taking the bag suction disc 1, the packaging bag in the bag bin 2 is sucked;

[0054] 1.2 By the bag mouth grabbing cylinder 3, the packaging bag is sent to the standby station 4; the standby station 4 is followed by the object loading and discharging station 5 and the compacting station 6; after the compacting station 6, the packaging bag enters the mouth twisting station 7; the discharging port turns to the tray collecting station 8, and then returns to the standby station 4;

[0055] 1.3 In the standby station 4, the packaging bag is preliminarily opened by the bag opening suction disc 9 and is sleeved on the bag supporting structure;

[0056] 1.4 In the bag supporting structure, the bag supporting cylinder 10 drives the movable blade 11 type discharging port to open, and at the same time, the packaging bag is supported, and then enters the object loading and discharging station 5;

[0057] 1.5 After the object is loaded and discharged in the discharging station, it enters the compacting station 6;

[0058] 1.6 In the compacting station 6, the servo motor 2 12 drives the compression disc 13 to be deeply inserted into the packaging bag to preliminarily compress the object, and at the same time, the lower side of the clamping 14 tightly holds the packaging bag; the servo motor 2 12 drives the compression disc 13 to secondarily compress the object, and the leaf blade driven by the mouth loosening cylinder 15 realizes the packaging bag to fall off; the elastic belt 14.1 on the clamping 14 functions to exhaust the air in the packaging bag; then the clamping 14 carries the packaging bag to enter the mouth twisting station 7; the leaf blade type discharging port driven by the mouth loosening cylinder 15 is completely opened, and then the servo motor 2 12 drives the compression disc 13 to return to the original position;

[0059] 1.7 In the working process of the mouth twisting station 7, the mouth of the compacting station 6 turns to the tray collecting station 8, the leaf blade is closed by the action of the tray collecting cylinder 16; and then it turns to the standby station 4;

[0060] 1.8 In the mouth twisting station 7, the servo motor 3 17 is arranged above to drive the clamping cylinder 18 to twist the packaging bag mouth, and then it is sent to the mouth sealing station 7, and after the mouth is sealed, the packaging is completed. Embodiment 2

[0061] The packaging method for flexible irregular objects provided by the present application uses the packaging equipment comprising the following structures: the bag bin 2, the bag feeding mechanism, the bag opening mechanism, the bag supporting mechanism, the compacting device, and the mouth sealing station 7;

[0062] The bag feeding mechanism comprises the servo motor 1 19, the sliding table 19.1, the bag pushing plate 19.2, the bag taking suction disc 1, the overturning cylinder 19.3, and the bag mouth grabbing cylinder 3;

[0063] Servo motor 19 is installed on the upper side of the frame, and the servo motor 19 is connected to the push bag plate 19.2. The push bag plate 19.2 is matched with the slide 19.1 on the upper side of the frame of the servo motor 19;

[0064] The suction bag cylinder 20 is installed on the frame, and the suction bag cylinder 20 is connected to the bag suction disc 1. The suction bag cylinder 20 drives the bag suction disc 1 to move up and down;

[0065] On the upper side of the suction bag cylinder 20, the overturning cylinder 19.3 is installed, and the overturning cylinder 19.3 is connected to the mounting frame. The bag grabbing cylinder 3 is connected to the end of the mounting frame;

[0066] The bag opening mechanism includes a bag opening lifting cylinder 21 and a bag opening cylinder 22. The bag opening lifting cylinder 21 is installed on the frame. Two bag opening cylinders 22 are installed on the upper side of the bag opening lifting cylinder 21. The bag opening cylinder 22 is provided with a bag opening suction disc 9, and a sensor is arranged at the bag opening suction disc 9 to sense whether there is a packaging bag;

[0067] The bag supporting mechanism includes a rotating disc 24, movable blades 11 and a bag supporting cylinder 10. The rotating disc 24 is connected to a rotating power mechanism. A plurality of discharge ports are formed in the rotating disc 24, and a plurality of movable blades 11 are arranged on each discharge port. The movable blades 11 are divided into an opening end and a sliding end. The opening end is fixed with a supporting column 11.1. A sliding block and a sliding rail are installed between the sliding end and the rotating disc 24. A blade pushing pin 11.2 is fixed on the upper side of one of the blades. When the bag supporting cylinder 10 operates, the blade pushing pin 11.2 is pushed, and the transmission power between the blades is transmitted. The movable blades 11 realize the closing and opening of the discharge port.

[0068] The compact device includes a servo motor 12, a compression disc 13, a loose port cylinder 15 and a clamping 14. The servo motor 12 is connected to the compression disc 12. The loose port cylinder 15 contacts the blade pushing pin 11.2 when it operates. The lower side of the clamping 14 is connected to a translation cylinder 27 and a lifting cylinder 28. The clamping 14 is divided into two side walls. The lower side of each side wall is connected to a clamping cylinder 29. The space between the two side walls is a positioning cavity. A positioning seat 14.2 is fixed at the bottom of the positioning cavity. An elastic band 14.1 is fixed on the upper side of the side wall.

[0069] The knot device includes a closing cylinder 30, a twisting cylinder 31, a servo motor 17, a lower clamping cylinder 32 and a knot machine 33. The knot machine is a mature product in the prior art, and will not be described here.

[0070] The closing cylinder 30 is installed on the frame body on the upper side of the clamp 14. The closing cylinder 30 has a long strip-shaped clamping jaw arranged along the movement direction of the packaging bag. On the upper side of the closing cylinder 14, a screwing and moving cylinder 31 is arranged. The screwing and moving cylinder 31 is provided with a servo motor 17. The servo motor 17 is connected with a clamping cylinder 18 on the lower side. The clamping cylinder 18 clamps the bag opening. A lower clamping cylinder 32 is fixed on the lower side of the closing cylinder 30. A bag opening machine 33 is fixed on the rack at the movement end of the screwing and moving cylinder 31. Embodiment 3

[0071] On the basis of the structure of embodiment 2, the bag bin 2 is a detachable bag bin. A frame is arranged outside the bag bin. An active bottom plate 2.1 is arranged in the frame. The active bottom plate 2.1 is provided with an opening. The packaging bag is contained in the space in the frame.

[0072] Three sensors are further arranged in the bag feeding mechanism. Sensors are arranged at the upper and lower limit positions of the bag pushing plate 19.2. A third sensor is arranged on the bag taking suction cup 1 and corresponds to the opening on the active bottom plate 2.1 to sense whether there is a packaging bag.

[0073] An extended stroke cylinder 23 is further arranged in the bag opening mechanism. The extended stroke cylinder 23 is divided into two parts and is installed on the upper side of the bag opening cylinder 22. When the bag opening cylinder 22 drives the bag opening suction cup 9 to open the bag opening, the extended stroke cylinder further expands the distance between the two bag opening suction cups 9 when returning to the original position to prevent the bag opening suction cup 9 from falling off the packaging bag when returning to the original position. Embodiment 4

[0074] On the basis of the structure of embodiment 3, an anti-slip sleeve is arranged on the opening supporting column 11.1. The end of the opening supporting column is spherical to prevent the packaging bag from falling off.

[0075] The active blade 11 is provided with a positioning device corresponding to the opening and closing positions. The positioning device is an elastic positioning pin. A receiving hole is arranged in one of the active blades to cooperate with the active positioning pin.

[0076] The lower discharge port on the upper side of the bag opening mechanism is a preparation station 4. A blowing pipeline 25 is arranged on the upper side of the preparation station 4. When the bag opening suction cup 9 drives the packaging bag opening to be pulled open, the electromagnetic valve in the blowing pipeline 25 is opened to blow downward to assist in opening the packaging bag. Then, the bag opening lifting cylinder 21 is actuated to send the opened packaging bag upward. When the bag supporting cylinder 10 is actuated, the blowing pipeline 25 stops blowing.

[0077] In the object loading and discharging station 5, a bag supporting bottom plate 26 is arranged on the lower side of the object loading and discharging port to prevent the packaging bag from falling off due to impact when the object is loaded into the bag. A guide plate is further arranged on the bag supporting bottom plate 26 to facilitate the packaging bag to be transferred to the next station.

Claims

1. A packaging method for flexible, irregularly shaped items, characterized in that, The packaging equipment used in the packaging process includes the following structures: bag hopper, bag feeding mechanism, bag opening mechanism, bag supporting mechanism, sealing device, and sealing device; The bag-supporting mechanism includes a turntable, movable blades, and a bag-supporting cylinder. A rotational power mechanism is connected to the lower side of the turntable. Multiple feeding ports are opened on the turntable, and multiple movable blades are provided on each feeding port. The movable blades are divided into an open end and a sliding end. A support column is fixed to the lower end of the open end. A slider and a slide rail are installed between the sliding end and the turntable. A blade push pin is fixed to the upper side of one of the movable blades. When the bag-supporting cylinder is activated, it pushes the blade to push the pin, and power is transmitted between the movable blades. The movable blades realize the closing and opening of the feeding ports. The tightening device includes a second servo motor, a compression plate, a release cylinder, and a clamp; the actuating end of the second servo motor is connected to the compression plate, and the release cylinder contacts the blade push pin when it is activated; a translation cylinder and a lifting cylinder are connected to the lower side of the clamp, and the clamp is divided into two side walls, with clamp cylinders connected to the lower side of each side wall, and a positioning cavity between the two side walls; a positioning seat is fixed at the bottom of the positioning cavity; and an elastic band is fixed on the upper side of the side wall. The packaging process includes the following steps: (1.1) The packaging bag in the bag compartment is picked up by the bag suction cup; (1.2) The packaging bag is sent to the preparation station by the bag-gripping cylinder; after the preparation station, the filling and unloading station and the tightening station are in sequence; after the tightening station, the packaging bag enters the twisting station; the unloading port is turned to the collection station, and then turned back to the preparation station. (1.3) In the preparatory station, the packaging bag is initially opened by the bag opening suction cup and then put into the bag supporting mechanism; (1.4) In the bag-supporting mechanism, the bag-supporting cylinder drives the movable blade-type feeding port to open, and at the same time expands the packaging bag, and then enters the loading and unloading station; (1.5) After loading the items at the unloading station, they then proceed to the compaction station; (1.6) In the compaction station, when the compression plate is pressed down, the clamp moves horizontally and then rises to the bottom of the packaging bag; after the second compression is completed, the release cylinder releases while the clamp clamps, at which time the compression plate is in the pressing state and cannot be released to prevent the object from loosening. The compression plate inside the packaging bag coincides with the elastic band outside the packaging bag; then the clamp carries the packaging bag into the screwing station; the release cylinder drives the movable blade type feeding port to open completely, and then the servo motor II drives the compression plate to return to its position. (1.7) During the operation of the screwing station, the material outlet in the tightening station is transferred to the receiving station, and the movable blade is closed by the action of the receiving cylinder; and then transferred to the preparation station; (1.8) In the screwing station, a servo motor is installed above to drive the clamping cylinder to tighten the opening of the packaging bag, and then it is sent to the sealing position. After sealing, the packaging is completed.

2. The packaging method for flexible irregular articles according to claim 1, characterized in that, The bag feeding mechanism includes a servo motor, a slide table, a bag pushing plate, a bag picking suction cup, a flipping cylinder, a bag gripping cylinder, and a bag suction cylinder. A servo motor is installed on the upper side of the frame. The actuating end of the servo motor is connected to the bag pushing plate. The bag pushing plate and the servo motor are fitted with a slide table on the frame. The suction cylinder is mounted on the frame, and the actuating end of the suction cylinder is connected to the bag-picking suction cup; the suction cylinder drives the bag-picking suction cup to move up and down. A flipping cylinder is installed on the upper side of the suction cylinder. The actuating end of the flipping cylinder is connected to a mounting frame, and the end of the mounting frame is connected to a bag-gripping cylinder. The bag opening mechanism includes a bag opening lifting cylinder and a bag opening cylinder; the bag opening lifting cylinder is installed on the frame, and two bag opening cylinders are installed on the upper side of the bag opening lifting cylinder; a bag opening suction cup is installed on the bag opening cylinder, and a sensor is set at the bag opening suction cup to sense whether there is a packaged bag.

3. The packaging method for flexible irregular articles according to claim 2, characterized in that, The bag compartment is a detachable bag compartment. The detachable bag compartment is equipped with an external frame. Inside the frame, there is a movable base plate with openings. The packaging bag is contained within the frame space.

4. The packaging method for flexible irregular articles according to claim 2, characterized in that, The bag feeding mechanism is also equipped with three sensors: sensors are set at the upper and lower limits of the bag pushing plate; and a third sensor is set on the bag picking suction cup, which corresponds to the opening on the movable base plate to sense whether there is a packaging bag.

5. The packaging method for flexible irregular articles according to claim 2, characterized in that, The bag opening mechanism is also equipped with an extended stroke cylinder, which is divided into two parts and installed on the upper side of the bag opening cylinder.

6. The packaging method for flexible irregular articles according to claim 2, characterized in that, The support column is fitted with an anti-slip sleeve, and the end of the support column is spherical; the movable blade is equipped with a positioning device, which corresponds to the open and closed positions respectively.

7. The packaging method for flexible irregular articles according to claim 5, characterized in that, The upper feeding port of the bag opening mechanism is a preparatory station. An air blowing pipe is set on the upper side of the preparatory station. When the bag opening suction cup pulls the packaging bag opening open, the solenoid valve in the air blowing pipe opens and blows air downward to help the packaging bag open. Then the bag opening lifting cylinder is activated to send the opening packaging bag upward. When the bag supporting cylinder is activated, the air blowing pipe stops blowing air.

8. The packaging method for flexible irregular articles according to claim 2, characterized in that, In the loading and unloading station, a bag support plate is provided below the loading and unloading port to prevent the packaging bag from falling off due to impact when the object is being loaded; a guide plate is also provided on the bag support plate to facilitate the transfer of the packaging bag to the next station.

9. The packaging method for flexible irregular articles according to claim 2, characterized in that, The sealing device includes a sealing cylinder, a twisting cylinder, a servo motor, a lower clamping cylinder, and a sealing machine; The sealing cylinder is mounted on the frame above the clamp. The sealing cylinder's grippers are long and narrow, positioned along the direction of the bag's movement. On the frame above the sealing cylinder, there is a twisting cylinder with a servo motor mounted on it. A clamping cylinder is connected to the lower side of the servo motor, gripping the top of the bag. The lower clamping cylinder is fixed to the frame below the sealing cylinder. At the end point of the twisting cylinder's movement, a sealing machine is fixed to the frame.

Images