An automated material dispensing system that automates bag placement and retrieval

Abstract

This invention relates to the field of automatic material dispensing technology, specifically to an automated material dispensing system that automates bag placement and removal. The system includes an empty bag placement station and a bag removal station. The empty bag placement station is equipped with a material hopper placement mechanism, and the bag removal station is equipped with a packaging bag removal robot. The material hopper is provided with a material hopper removal adapter structure adapted to the packaging bag removal robot. This adapter structure includes a plurality of notches located at circumferential intervals along the edge of the material hopper opening. The packaging bag removal robot includes a removal arm, a removal disc located at the front end of the removal arm, a plurality of finger cylinders vertically arranged at circumferential intervals on the removal disc, and removal fingers mounted on the finger cylinders. This invention automates bag placement and removal during automatic material dispensing.

Description

Technical Field

[0001] This invention relates to the field of automatic batching technology, specifically to an automatic material batching system that automates bag placement and removal. Background Technology

[0002] In many industries such as pharmaceuticals, chemicals, and military, it is often necessary to mix multiple different types of granular or powdered materials. These materials are metered and proportioned before being loaded into the same container for use in the production line. After undergoing several production processes, the mixed materials can be transformed into the required intermediate raw materials or finished products.

[0003] Conventional multi-material batching methods typically employ manual batching or a combination of manual and semi-automatic batching with machine assistance. The equipment used for batching is a metering feeder, with one feeder assigned to each material. During batching, a person or robot grabs a measuring cup and places it onto the metering feeder to measure and dispense the material. After dispensing, each material is poured into a bagged container, forming a mixture of multiple materials. This mixture is then sent to the production line to be processed into the required intermediate raw materials or finished products.

[0004] The aforementioned methods of manual or semi-automatic batching have drawbacks, including low production efficiency and inability to meet the requirements of large-scale batching operations. Furthermore, for some pharmaceutical or chemical materials, the batching process generates material dust, which can adversely affect the health of operators and the surrounding environment. Additionally, manual or manually assisted batching increases labor costs.

[0005] To address the aforementioned issues, existing technologies have developed systems capable of automatically dispensing materials. These systems can automatically dispense various materials into bins containing empty bags. However, the drawback is that the placement and removal of bags still require manual assistance: before dispensing, empty packaging bags need to be manually placed into the bins, and after dispensing, the bags containing various materials need to be manually removed from the bins.

[0006] Therefore, it is necessary to develop an automated material batching system that can automate bag placement and removal to address the aforementioned shortcomings. Summary of the Invention

[0007] To address the aforementioned problems, this invention proposes an automated material dispensing system that automates bag placement and retrieval during material dispensing, replacing traditional manual bag placement and retrieval methods. The specific technical solution is as follows:

[0008] An automatic material batching system for automatic bag placing and bag taking, comprising an empty bag placing station and a filled bag taking station respectively arranged in the automatic material batching system, where the empty bag placing station is used to place empty bags of packaging bags into a material barrel, and the filled bag taking station is used to take away the filled bags of packaging bags that have completed batching. A material barrel bag placing mechanism is arranged at the empty bag placing station, and a packaging bag filled bag taking manipulator is arranged at the filled bag taking station. A material barrel bag taking adaptation structure adapted to the packaging bag filled bag taking manipulator is arranged on the material barrel. The material barrel bag taking adaptation structure includes a plurality of gaps arranged at intervals along the circumferential direction at the edge of the mouth of the material barrel, and the gaps are arranged at intervals along the circumferential direction at the edge of the mouth of the material barrel. The packaging bag filled bag taking manipulator includes a bag taking robotic arm, a bag taking disc arranged at the front end of the bag taking robotic arm, a plurality of finger cylinders arranged vertically at intervals along the circumferential direction of the bag taking disc, and bag taking fingers arranged on the finger cylinders.

[0009] Preferably, the bag taking robotic arm is a multi-axis articulated bag taking robotic arm.

[0010] Preferably, a compressed air nozzle is arranged on the bag bottom tray.

[0011] In the present invention, the automatic material batching system includes a closed-loop conveying system formed by end-to-end docking of a material barrel automatic conveying line and a feeding and metering conveying line, a feeding system supporting the closed-loop conveying system, and a feeding station for providing materials for the feeding system. The feeding system includes a feeding platform arranged above the feeding and metering conveying line by means of a feeding rack, and a feeding device arranged on the feeding platform. The feeding device is connected to the feeding station through a material suction pipeline, and the negative pressure of the material suction pipeline comes from a negative pressure fan connected to the feeding device.

[0012] In the present invention, both the empty bag placing station and the filled bag taking station are arranged on the material barrel automatic conveying line. An empty bag placing gantry is arranged above the material barrel automatic conveying line at the empty bag placing station, and a filled bag taking gantry is arranged above the material barrel automatic conveying line at the filled bag taking station. The material barrel bag placing mechanism is installed on the empty bag placing gantry, and the packaging bag filled bag taking manipulator is installed on the filled bag taking gantry.

[0013] During operation, after the material bins on the automatic material bin conveyor line move to the empty bag placement station, the bag placement mechanism at this station fills the empty bags into the material bins. After bagging, the material bins are transferred from the automatic material bin conveyor line to the feeding and metering conveyor line. Multiple feeding devices on the feeding platform above the feeding and metering conveyor line sequentially add various materials to the material bins containing empty bags. After feeding, the material bins are returned to the bag retrieval station on the automatic material bin conveyor line via a closed-loop conveyor system. At this bag retrieval station, a bag retrieval robot removes the bags containing various materials from the material bins. To facilitate subsequent bag sealing, a bag sealing station is also set up next to the bag retrieval station, equipped with a sealing machine. This allows the bags removed by the bag retrieval robot to be directly transferred to the sealing machine for sealing.

[0014] In this invention, the material bucket is a plastic material bucket, and the material bucket bag-picking adapter structure further includes a ferromagnetic strip vertically adhered to the outer wall of the middle part of the plastic material bucket; the bag-picking disc of the packaging bag picking robot is a rotary bag-picking disc with controllable rotation angle, and the rotary bag-picking disc is provided with a notch circumferential position detector for detecting the circumferential position of the notch on the plastic material bucket. The notch circumferential position detector includes a detection cylinder provided on the rotary bag-picking disc, the piston rod of the detection cylinder is vertically arranged downwards, and the end of the piston rod of the detection cylinder is provided with a ferromagnetic detection probe facing the outer wall of the middle part of the plastic material bucket.

[0015] In this invention, the number of finger cylinders on the rotary bag-taking disc, the number of ferromagnetic strips on the outer wall of the middle part of the plastic barrel, the number of notches at the edge of the opening of the plastic barrel, and the number of notch circumferential position detectors on the rotary bag-taking disc are all the same. The circumferential positions of the ferromagnetic strips on the outer wall of the plastic barrel and the circumferential positions of the notches at the edge of the opening of the plastic barrel are staggered in the circumferential direction. The circumferential positions of the finger cylinders on the bag-taking disc and the circumferential position detectors of the notches on the bag-taking disc are also staggered in the circumferential direction.

[0016] Preferably, the number of notches on the edge of the opening of the plastic barrel is 2-4.

[0017] A method for a bag-picking robot for packaging bags includes the following steps:

[0018] (1) Material bucket positioning: After the material is prepared, the material bucket is moved to the bag picking station of the automatic material bucket conveyor line;

[0019] (2) Bag picking: The bag picking robot moves, driving the bag picking disc equipped with a finger cylinder to move to the upper position of the material barrel and then move downwards a certain distance. Then, the detection cylinder on the bag picking disc moves, driving the ferromagnetic detection probe at the lower end of the detection cylinder to move down to the middle position near the outer wall of the material barrel. Then, the bag picking robot drives the bag picking disc to rotate. During the rotation of the bag picking disc, the ferromagnetic detection probe at the lower end of the piston rod of the detection cylinder on it detects the position of the ferromagnetic strip on the outer wall of the material barrel until the ferromagnetic detection probe is aligned with the ferromagnetic strip. Once positioned, the bag-picking disc stops rotating, aligning each finger cylinder on the disc with the notch on the material hopper. After positioning, the piston rod of the detection cylinder retracts to its original position, and the bag-picking robot drives the bag-picking disc to continue moving downwards until the finger cylinders move down to the positions where their pair of picking fingers are positioned on either side of the notch at the opening of the material hopper. The driving finger cylinders then actuate to grip the bag openings on either side of the notch. Once positioned, the bag-picking robot removes the gripped bag and transfers it to the adjacent sealing station.

[0020] Preferably, the bag-dispensing mechanism of the material hopper includes, in sequence, a bag unwinding device for placing rolled packaging bags, a bag pulling device for pulling out packaging bags from the rolled packaging bags, a bag opening widening device for opening the bag opening of the pulled-out packaging bags into a circle or near-circular shape, and a bag empty bag dispensing robot for grabbing the bag with its widened and rounded opening and placing it into the material hopper; wherein, a cutting assembly for cutting off the pulled-out packaging bags is provided between the bag unwinding device and the bag pulling device; the bag empty bag dispensing robot includes a bag dispensing robot arm, a bag receiving and dispensing tray provided at the front end of the bag dispensing robot arm, an annular inflatable expansion ring provided on the bag receiving and dispensing tray for supporting the opening of the packaging bags from the inside, and a bag bottom tray provided at the front end of the bag dispensing robot arm for extending into the packaging bags to expand the packaging bags and provide auxiliary support for the bottom of the packaging bags; wherein, the inner diameter of the annular inflatable expansion ring after being inflated and supporting the packaging bags is larger than the outer wall diameter of the material hopper opening.

[0021] In this invention, the material bucket bag-dispensing mechanism is mounted on the empty bag-dispensing gantry frame via a bracket.

[0022] Preferably, the bottom tray of the bag is provided with a compressed air nozzle.

[0023] Preferably, the bag receiving and placing tray is an elastic rubber bag receiving and placing tray.

[0024] In this invention, the packaging bag traction device includes a pair of linear moving modules arranged along the traction direction of the packaging bag and positioned on both sides of the already pulled packaging bag, and a pair of transverse cylinders arranged transversely on the pair of linear moving modules and movable along the linear moving direction of the linear moving modules. The piston rod of the transverse cylinder is provided with a connecting plate at its front end, and a comb-shaped toothed plate is provided on the connecting plate, which is parallel to the traction direction of the packaging bag and extends forward in the traction direction of the packaging bag for pressing the side of the packaging bag.

[0025] Preferably, a flexible rubber layer is provided on the side of the comb-shaped toothed plate used to press down the packaging bag.

[0026] Preferably, the transverse cylinder is a four-axis cylinder.

[0027] In this invention, the packaging bag opening widening device includes a pair of bag opening widening components placed on both sides of the pulled-out packaging bag. Each bag opening widening component includes a number of horizontally servo electric push rods arranged in parallel at intervals and laterally relative to the pulling direction of the packaging bag, and a bag body traction negative pressure adsorption head located at the front end of the telescopic rod of the horizontally servo electric push rod for pressing the side of the bag opening of the packaging bag. When the comb-shaped toothed plate presses down on the packaging bag and pulls it to a position corresponding to the bag body traction negative pressure adsorption head, the bag body traction negative pressure adsorption head can be inserted into the tooth groove of the comb-shaped toothed plate by the drive of the horizontally servo electric push rod and press down on the packaging bag. The part of the bag body traction negative pressure adsorption head used to press down on the packaging bag is provided with a vacuum suction port.

[0028] Preferably, the bag-body traction negative pressure adsorption head is a hollow disc-shaped bag-body traction negative pressure adsorption head, the vacuum suction port is connected to the internal cavity of the bag-body traction negative pressure adsorption head, and the internal cavity of the hollow disc-shaped bag-body traction negative pressure adsorption head is connected to a vacuum generator through a negative pressure pipeline.

[0029] Preferably, the bag traction negative pressure adsorption head is an elastic rubber disc-shaped bag traction negative pressure adsorption head.

[0030] In this invention, the packaging bag opening widening device further includes a pair of guide rails disposed on the support and placed on both sides of the pulled-out packaging bag, and a plurality of sliders movably disposed on the guide rails. Each of the transverse servo electric push rods is correspondingly fixed on the plurality of sliders. A pair of scissor-type telescopic components are also correspondingly disposed on both sides of the pulled-out packaging bag. Each of the sliders is correspondingly connected to the hinge node of the scissor-type telescopic component. The spacing between adjacent sliders among the plurality of sliders is synchronously adjusted as the scissor-type telescopic component extends and retracts.

[0031] In this invention, the hinge node of the scissor telescopic assembly is located at the hinge connection of the X-shaped intersection of the two connecting rods of the scissor telescopic assembly.

[0032] Preferably, the number of sliders on the scissor-type telescopic assembly is odd; and among the odd number of sliders, one slider located in the middle position is fixedly connected to the guide rail, while the remaining sliders are movably mounted on the guide rail; a longitudinal servo electric push rod is also provided on the bracket for adjusting the telescopic movement range of the scissor-type telescopic assembly, the telescopic direction of the longitudinal servo electric push rod is consistent with the telescopic direction of the scissor-type telescopic assembly, and the telescopic rod of the longitudinal servo electric push rod is connected to one of the sliders on the guide rail that can move.

[0033] Preferably, the bag-dispensing robotic arm has a shaft at its front end, and a flange at its front end. The bag bottom tray is telescopically connected to the flange at the front end of the shaft by a number of telescopic springs.

[0034] The aforementioned telescopic spring between the bag bottom tray and the flange can compensate for the relative movement between the annular inflation expansion ring and the bag bottom tray. This allows the annular inflation expansion ring to continue moving downwards a certain distance during the bag placement process, when the bag bottom tray is supported at the bottom of the packaging bag, thereby achieving the reverse buckling of the bag opening.

[0035] To more accurately determine the insertion depth of the bag bottom tray into the packaging bag and improve the reliability of bag placement and removal operations, the shaft at the front end of the bag placement robot arm can be replaced with a servo electric cylinder or servo pneumatic cylinder. This allows for separate actions of tightening the bag opening and inserting the bag bottom tray during bag removal. When the empty bag placement robot arm picks up a bag, it can first tighten the bag opening and then insert the bag bottom tray into the bottom of the packaging bag. Furthermore, the forward and backward movement of the bag bottom tray can further facilitate bag filling and buckling during bag placement.

[0036] Preferably, the packaging bag unwinding device is a constant tension packaging bag unwinding device; the rolled packaging bag is mounted on the unwinding shaft of the packaging bag unwinding device and led out through guide rollers.

[0037] In this invention, the cutting assembly includes a pair of cutting cylinders arranged laterally next to the pulled-out packaging bag and relative to the pulling direction of the packaging bag, a movable anvil plate arranged on the piston rod of one of the pair of cutting cylinders, and a movable cutter arranged on the piston rod of the other of the pair of cutting cylinders.

[0038] The aforementioned cutting assembly is mounted on the empty bag loading gantry via a bracket. When the cutting assembly is in operation, a pair of cutting cylinders synchronously move the movable anvil and the movable cutter laterally, starting to cut from the side of the section to be cut on the already pulled-out packaging bag. After cutting, the movable anvil and the movable cutter are positioned on both sides of the opening of the next packaging bag connected to the already pulled-out packaging bag; the movable anvil and the movable cutter cut the packaging bag during the lateral movement.

[0039] The aforementioned cutting assembly employs a movable anvil and movable cutter structure, which avoids interference between the movement of the packaging bag traction device and the cutting assembly. Specifically, when the comb-shaped toothed plate of the packaging bag traction device moves, the movable anvil and movable cutter on the cutting assembly are in a retracted state, thus not obstructing the movement path of the comb-shaped toothed plate.

[0040] As a further improvement of the present invention, the bag receiving and placing plate of the packaging bag empty bag placing robot is also provided with an auxiliary annular air blowing ring for separating the annular inflation expansion ring from the bag opening after the packaging bag is placed into the material barrel and turned upside down onto the outer wall of the material barrel opening. The auxiliary annular air blowing ring is connected between the bag receiving and placing plate and the annular inflation expansion ring, and the auxiliary annular air blowing ring is provided with oblique blowing holes at intervals along the circumference for blowing obliquely towards the outer wall of the material barrel.

[0041] Preferably, the bag-laying robotic arm is a multi-axis articulated bag-laying robotic arm.

[0042] In this invention, the compressed air nozzle is connected to a compressed air source, and the vacuum suction port is connected to a vacuum generator.

[0043] The present invention also includes a control system for realizing the linkage control of the packaging bag unwinding device, the packaging bag empty bag unwinding robot, the horizontal servo electric push rod, the vertical servo electric push rod, the linear motion module, the cutter cylinder, the horizontal cylinder, the compressed air circuit system, and the vacuum circuit system.

[0044] A method for dispensing bags from a material bin using a bag-dispensing mechanism includes the following steps performed sequentially:

[0045] (1) Preparation: The operator installs the roll of packaging bag onto the unwinding shaft of the packaging bag unwinding device, pulls out a section of the roll of packaging bag and places it between a pair of comb-shaped teeth of the packaging bag traction device, and then drives the transverse cylinder of the packaging bag traction device to press the mouth of the packaging bag between a pair of comb-shaped teeth.

[0046] (2) Packaging bag traction: A pair of linear moving modules of the packaging bag traction device are driven, and the corresponding pair of transverse cylinders on the pair of linear moving modules move forward in the traction direction until a pair of comb-shaped tooth plates on the pair of transverse cylinders pull the bag mouth of the packaging bag to move between a pair of bag mouth expansion components on the packaging bag mouth expansion device.

[0047] (3) Packaging bag fixing: Drive the horizontal servo electric push rods on a pair of bag opening expansion components. The bag body traction negative pressure adsorption head at the front end of the telescopic rod of each horizontal servo electric push rod moves synchronously toward the side of the bag opening, so that the bag body traction negative pressure adsorption head is inserted into the tooth groove of a pair of comb-shaped tooth plates and presses the packaging bag from both sides. Then, connect the vacuum suction port on the bag body traction negative pressure adsorption head to suck up both sides of the bag opening of the packaging bag respectively. After reaching the position, drive the pair of horizontal cylinders of the packaging bag traction device to retract synchronously, so that the comb-shaped tooth plates on the horizontal cylinders are disengaged from the sides of the bag opening of the packaging bag. Then drive the pair of linear movement modules to move, so that the pair of comb-shaped tooth plates retract synchronously to the original position in the opposite direction of the traction direction. Then drive the pair of horizontal cylinders to move forward synchronously, so that the pair of comb-shaped tooth plates press up the bag opening of the next packaging bag on the roll packaging bag.

[0048] (4) Packaging bag cutting: The movable cutter on the drive cutter assembly moves laterally to cut the packaging bag off the roll of packaging bag;

[0049] (5) The opening of the packaging bag is opened and expanded: The longitudinal servo electric push rod and the transverse servo electric push rod on the opening expansion device of the packaging bag work together: a pair of longitudinal servo electric push rods drive a pair of scissor telescopic components to retract synchronously, thereby reducing the distance between each adjacent transverse servo electric push rod on the scissor telescopic components. At the same time, the telescopic rod of each transverse servo electric push rod retracts and moves a corresponding distance according to the circular shape of the bag opening, so that the vacuum suction port of the bag body traction negative pressure adsorption pressure head at the front end of each transverse servo electric push rod is exactly located on the circumference of the packaging bag opening when it is expanded, thereby making the packaging bag opening open and expanded into an approximately circular shape.

[0050] (6) Bag picking: Drive the packaging bag empty bag placing robot arm to move, so that the bag bottom tray located at the front end of the placing robot arm extends into the bottom of the packaging bag, and the annular inflation expansion ring located at the front end of the placing robot arm enters the inner opening of the packaging bag; after it is in place, inflate the annular inflation expansion ring to expand the diameter of the annular inflation expansion ring and support the inner wall of the bag opening of the packaging bag; then close the vacuum suction port on the bag opening expansion device, and each horizontal servo electric push rod continues to retract, so that the bag body traction negative pressure adsorption head at the front end of the horizontal servo electric push rod disengages from the outer wall of the bag opening of the packaging bag, thus making the packaging bag completely transferred to the annular inflation expansion ring of the packaging bag empty bag placing robot arm;

[0051] (7) Bag placement and inversion in the material bin: The empty bag placement robot moves to place the gripped packaging bag downwards into the material bin; during the process of placing the packaging bag downwards into the material bin, the bottom of the packaging bag moves first to the bottom of the material bin, at which time the opening of the packaging bag is supported by the annular inflatable expansion ring and located on the outer periphery of the material bin; then the empty bag placement robot continues to drive the annular inflatable expansion ring on the bag receiving plate at the front end of the bag placement robot arm to move downwards until the annular inflatable expansion ring is located on the outer periphery of the opening of the material bin, so that the opening of the packaging bag forms a folded edge and is inverted onto the outer wall of the opening of the material bin. After it is in place, the annular inflatable expansion ring... Continue moving downwards a certain distance to detach from the snap-on part of the packaging bag. At this point, the annular inflation expansion ring, which has detached from the snap-on part, is still located outside the snap-on part. By inflating the annular inflation expansion ring a second time, its diameter is further increased, thus completely disengaging from the snap-on part of the packaging bag. Once in position, the packaging bag empty bag placement robot drives the bag receiving and placement tray to move upwards, causing the annular inflation expansion ring and the bag bottom tray on the bag receiving and placement tray to move upwards from the material bucket. The annular inflation expansion ring deflates to achieve shrinkage and reset, completing the operation of placing the bag in the material bucket and snapping it back on.

[0052] Preferably, when taking the bag in step (6), the compressed air nozzle on the bottom tray of the bag is also opened, so that the inside of the packaging bag is fully expanded, which helps to prevent the inner wall of the packaging bag from sticking together and to form a good shape that is conducive to the placement of the bag in the material bucket.

[0053] Preferably, in step (7), when the bag is placed in the hopper and turned inside out, the oblique blowing hole on the auxiliary annular blowing ring is opened to prevent the bag opening from sticking to the annular inflation expansion ring when it moves upward, thereby improving the reliability of the bag opening turning operation.

[0054] The beneficial effects of this invention are:

[0055] First, the present invention provides an automated material batching system for automatically dispensing and retrieving bags. By setting up a bag retrieval station on the automatic conveyor line of the material batching system, and installing a bag retrieval robot at the bag retrieval station, and setting up a bag retrieval adapter structure on the material bin that works in conjunction with the bag retrieval robot, the finger cylinder of the bag retrieval robot can grasp the bag at the notch at the opening of the material bin without interfering with the material bin. This achieves automated bag retrieval after automatic material batching, overcoming the drawback of traditional batching systems that require manual bag retrieval.

[0056] Secondly, the automatic material dispensing system for bag placement and retrieval of the present invention is equipped with a ferromagnetic detection probe that can move up and down on a rotary bag-retrieval disc. The ferromagnetic detection probe detects the circumferential position of the ferromagnetic strip on the material barrel and adjusts the circumferential position of the bag-retrieval disc accordingly. This allows the bag-retrieval fingers of the finger cylinder to accurately align with the notch at the opening of the material barrel, thereby improving the reliability of the bag-retrieval operation of the packaging bag robot.

[0057] Third, the automatic material batching system of the present invention, which automates bag placement and removal, achieves automatic bag placement from the material bin through the coordinated operation of the packaging bag unwinding device, packaging bag traction device, packaging bag opening rounding device, packaging bag empty bag placement robot and cutting assembly, thus overcoming the drawback of traditional batching systems that require manual bag placement.

[0058] Fourth, the automatic material batching system of the present invention, which automates bag placement and removal, involves a bag traction device in the bag placement mechanism pulling out the bag. Then, the bag body traction negative pressure adsorption head on the bag opening widening device is inserted into the tooth groove of the comb-shaped toothed plate to fix the front end of the bag to be cut. The bag traction device then returns to the rear to fix the rear end of the bag to be cut, and the cutting assembly cuts the bag off. The system has good reliability in bag cutting.

[0059] Fifth, the automatic material batching system for automating bag placement and retrieval of the present invention includes a scissor-type telescopic component driven by a longitudinal servo electric push rod in the bag opening expansion device of the bag placement mechanism of the material hopper. This allows the bag traction negative pressure adsorption head on the transverse servo electric push rod to achieve two-dimensional movement, thereby opening and expanding the bag opening of the packaging bags adsorbed on each bag traction negative pressure adsorption head into a circle or approximately a circle, which facilitates the subsequent bag retrieval operation of the empty bag placement robot.

[0060] Sixth, the present invention provides an automated material dispensing system for bag placement and retrieval. The specially designed bag placement robot can not only put the packaging bags into the material bin, but also flip the bag opening onto the outer wall of the material bin opening, thereby ensuring the quality of bag placement from the material bin. Attached Figure Description

[0061] Figure 1 This is a schematic diagram (top view) of the layout of an automated material dispensing system for automating bag placement and removal according to the present invention.

[0062] Figure 2 Is Figure 1 A schematic diagram of a material bucket bag dispensing adapter structure installed on the material bucket;

[0063] Figure 3 yes Figure 2 A diagram showing the material hopper after the ingredients have been mixed.

[0064] Figure 4 yes Figure 1 A schematic diagram of the structure of the packaging bag material bag picking robot in the middle;

[0065] Figure 5 yes Figure 1 A schematic diagram of the bag-dispensing mechanism in the material bin;

[0066] Figure 6 yes Figure 5 A magnified view (left view) of the bag opening expansion component;

[0067] Figure 7 yes Figure 5 The diagram illustrates the principle of the bag opening expansion component in the packaging bag to open and expand the bag opening.

[0068] Figure 8 yes Figure 6 A schematic diagram of the comb-shaped toothed plate in the diagram (top view);

[0069] Figure 9 This is a schematic diagram of the action flow of the bag receiving and bag placing tray on the packaging bag empty bag placing robot during the bag placing operation;

[0070] Figure 10 This is a magnified view of a portion of the bag opening expansion assembly.

[0071] In the diagram: A. Automatic conveyor line for material buckets, B. Feeding and metering conveyor line, C. Closed-loop conveyor system, D. Feeding system.

[0072] In the diagram: 501, feeding frame; 502, feeding platform; 503, feeding device; 505, feeding station; 510, negative pressure fan; 514, material bucket; 515, suction pipe.

[0073] In the diagram: 601, roll packaging bag; 601-1, packaging bag; 602, packaging bag unwinding device; 603, packaging bag traction device; 604, packaging bag opening widening device; 605, packaging bag empty bag unloading robot; 606, cutting assembly; 607, bag unloading robot arm; 608, annular inflatable expansion ring; 609, bag bottom tray; 610, compressed air nozzle. 611. Bag receiving and unloading tray; 612. Linear movement module; 613. Horizontal cylinder; 614. Connecting plate; 615. Comb-shaped toothed plate; 616. Bag opening widening assembly; 617. Horizontal servo electric push rod; 618. Bag body traction negative pressure adsorption head; 619. Toothed groove; 620. Vacuum suction port; 621. Guide rail; 622. Slider; 623. Scissor-type telescopic assembly; 624. Hinge node; 625. Connecting rod; 626. Longitudinal servo electric push rod; 627. Shaft; 628. Flange; 629. Telescopic spring; 630. Movable anvil; 631. Movable cutter; 632. Auxiliary annular air blowing ring; 633. Angled air blowing hole; 634. Guide roller; 635. Unwinding shaft; 636. Bag opening of packaging bag; 637. Bag opening buckle part; 638. Support.

[0074] In the diagram: X represents the traction direction of the packaging bag, and Y represents the movement direction of the bag receiving and unloading tray during the bag unloading operation.

[0075] In the diagram: 701, Empty bag placement station; 702, Material bag retrieval station; 703, Material bucket bag placement mechanism; 704, Packaging bag material bag retrieval robot; 705, Material bucket bag retrieval adapter structure; 706, Notch; 707, Bag retrieval robot arm; 708, Bag retrieval tray; 709, Finger cylinder; 710, Bag retrieval finger; 711, Empty bag placement gantry; 712, Material bag retrieval gantry; 713, Ferromagnetic strip; 714, Notch circumferential position detector; 715, Detection cylinder; 716, Ferromagnetic detection probe. Detailed Implementation

[0076] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0077] like Figures 1 to 10The following is an embodiment of an automatic material batching system for automatic bag placement and retrieval according to the present invention, including an empty bag placement station 701 and a filled bag retrieval station 702 respectively provided in the automatic material batching system. The empty bag placement station 701 is used to place empty bags of packaging bags into the material bucket 514, and the filled bag retrieval station 702 is used to retrieve the filled bags of packaging bags that have completed batching. A material bucket bag placement mechanism 703 is provided on the empty bag placement station 701, and a packaging bag filled bag retrieval manipulator 704 is provided on the filled bag retrieval station 702. A material bucket bag retrieval adapter structure 705 adapted to the packaging bag filled bag retrieval manipulator 704 is provided on the material bucket 514. The material bucket bag retrieval adapter structure 705 includes a plurality of gaps 706 provided at the edge of the mouth of the material bucket 514, and the gaps 706 are arranged at intervals along the circumferential direction at the edge of the mouth of the material bucket 514. The packaging bag filled bag retrieval manipulator 704 includes a bag retrieval robotic arm 707, a bag retrieval disc 708 provided at the front end of the bag retrieval robotic arm 707, a plurality of finger cylinders 709 erected at intervals along the circumferential direction of the bag retrieval disc 708 and provided on the bag retrieval disc 708, and bag retrieval fingers 710 provided on the finger cylinders 709.

[0078] Preferably, the bag retrieval robotic arm 707 is a multi-axis articulated bag retrieval robotic arm.

[0079] In this embodiment, the automatic material batching system includes a closed-loop conveying system C formed by end-to-end docking of a material bucket automatic conveying line A and a feeding and metering conveying line B, a feeding system D配套 with the closed-loop conveying system C, and a feeding station 505 for providing materials for the feeding system D. The feeding system D includes a feeding platform 502 erected above the feeding and metering conveying line B through a feeding rack 501, and a feeding device 503 provided on the feeding platform 502. The feeding device 503 is connected to the feeding station 505 through a suction pipeline 515. Among them, the negative pressure of the suction pipeline 515 comes from a negative pressure fan 510 connected to the feeding device 503.

[0080] In this embodiment, both the empty bag placement station 701 and the filled bag retrieval station 702 are provided above the material bucket automatic conveying line A. An empty bag placement gantry 711 spanning above the material bucket automatic conveying line A is provided on the empty bag placement station 701, and a filled bag retrieval gantry 712 spanning above the material bucket automatic conveying line A is provided on the filled bag retrieval station 702. The material bucket bag placement mechanism 703 is installed on the empty bag placement gantry 711, and the packaging bag filled bag retrieval manipulator 704 is installed on the filled bag retrieval gantry 712.

[0081] During operation, after the material barrel 514 on the automatic material barrel conveyor line A moves to the empty bag placement station 701, the material barrel placement mechanism 703 on the empty bag placement station 701 loads the empty bags of the packaging bags into the material barrel 514. After the bags are filled, the material barrel 514 is transferred from the automatic material barrel conveyor line A to the feeding and metering conveyor line A. Through multiple feeding devices 503 on the feeding platform 502 above the feeding and metering conveyor line A, various materials are added to the material barrel 514 containing the empty bags in sequence. After the materials are filled, the material barrel 514 is returned to the bag retrieval station 702 on the automatic material barrel conveyor line A through the closed-loop conveyor system C. The packaging bag retrieval robot 704 located at the bag retrieval station 702 takes away the packaging bags 601-1 containing various materials from the material barrel 514. To facilitate subsequent bag sealing, a bag sealing station (not shown in the figure) is also set up next to the bag picking station 702, and a sealing machine is installed at the bag sealing station; in this way, the bags picked up by the bag picking robot 704 can be directly transferred to the sealing machine for sealing.

[0082] In this embodiment, the material bucket 514 is a plastic material bucket, and the material bucket bag picking adapter structure 705 further includes a ferromagnetic strip 713 vertically attached to the outer wall of the middle part of the plastic material bucket 514; the bag picking disc 708 on the packaging bag picking robot 704 is a rotary bag picking disc 708 with controllable rotation angle, and the rotary bag picking disc 708 is provided with a notch circumferential position detector 714 for detecting the circumferential position of the notch 706 on the plastic material bucket 514. The notch circumferential position detector 714 includes a detection cylinder 715 provided on the rotary bag picking disc 708, the piston rod of the detection cylinder 715 is vertically arranged downward, and the end of the piston rod of the detection cylinder 715 is provided with a ferromagnetic detection probe 716 facing the outer wall of the middle part of the plastic material bucket 514.

[0083] In this embodiment, the number of finger cylinders 710 on the rotary bag-taking tray 708, the number of ferromagnetic strips 713 on the outer wall of the middle part of the plastic barrel 514, the number of notches 706 at the edge of the opening of the plastic barrel 514, and the number of circumferential position detectors 714 for notches 706 on the rotary bag-taking tray 708 are all the same. The circumferential positions of the ferromagnetic strips 713 on the outer wall of the plastic barrel 514 and the circumferential positions of the notches 706 at the edge of the opening of the plastic barrel 514 are staggered in the circumferential direction. The circumferential positions of the finger cylinders 709 on the bag-taking tray 708 and the circumferential position detectors 714 for notches are staggered in the circumferential direction.

[0084] Preferably, the plastic bucket 514 has 2-4 notches at its opening edge.

[0085] A method for a bag-picking robot for packaging bags includes the following steps:

[0086] (1) Material bucket positioning: After the material is prepared, the material bucket 514 is moved to the bag picking station 702 of the automatic material bucket conveyor line A;

[0087] (2) Bag picking: The bag picking robot 704 moves, driving the bag picking disc equipped with finger cylinder 709 to move to the upper position of the material barrel and then move down a certain distance. Then the detection cylinder 715 on the bag picking disc moves, driving the ferromagnetic detection probe 716 at the lower end of the detection cylinder 715 to move down to the middle position near the outer wall of the material barrel 514. Then the bag picking robot 704 drives the bag picking disc 708 to rotate. During the rotation of the bag picking disc 708, the ferromagnetic detection probe 716 at the lower end of the piston rod of the detection cylinder 715 on it detects the position of the ferromagnetic strip 713 on the outer wall of the material barrel 514 until the ferromagnetic detection probe 716 is aligned with the position of the ferromagnetic strip 713. Then the bag-picking disc 708 stops rotating, so that each finger cylinder 709 on the bag-picking disc 708 is aligned with the position of each notch 706 on the material barrel 514. After reaching the position, the piston rod of the detection cylinder 715 retracts to its original position, and the packaging bag picking robot 704 drives the bag-picking disc 708 to continue moving downward until the finger cylinder 709 moves down to the position of its pair of bag-picking fingers 709 on both sides of the notch 706 at the mouth of the material barrel 514. The driving finger cylinder 709 actuates so that the bag-picking fingers 710 on it clamp the two sides of the packaging bag opening 636 located at the notch 706. After reaching the position, the packaging bag picking robot 704 takes away the grabbed bag and transfers it to the adjacent sealing station.

[0088] Preferably, the material bin bag placement mechanism 703 includes, in sequence, a bag unwinding device 602 for placing roll-shaped packaging bags 601, a bag pulling device 603 for pulling out packaging bags from the roll-shaped packaging bags 601, a bag opening widening device 604 for opening the bag opening 636 of the pulled-out packaging bags into a circle or near-circular shape, and a bag empty bag placement robot 605 for grabbing the opened and widened packaging bags and placing them into the material bin 514; wherein, a device for pulling out the pulled-out packaging bags is provided between the bag unwinding device 602 and the bag pulling device 603. The packaging bag cutting assembly 606; the packaging bag empty bag placement robot 605 includes a bag placement robot arm 607, a bag receiving and placement tray 611 disposed at the front end of the bag placement robot arm 607, an annular inflatable expansion ring 608 disposed on the bag receiving and placement tray 611 for supporting the opening of the packaging bag from the inside, and a bag bottom tray 609 disposed at the front end of the bag placement robot arm 607 for extending into the packaging bag to expand the packaging bag and provide auxiliary support for the bottom of the packaging bag; wherein, the inner diameter of the annular inflatable expansion ring 608 after being inflated and supporting the packaging bag is larger than the outer wall diameter of the material barrel opening.

[0089] In this embodiment, the material bucket bag placement mechanism 703 is mounted on the empty bag placement gantry frame 701 via a bracket 638.

[0090] Preferably, the bag bottom tray 609 is provided with a compressed air nozzle 610.

[0091] Preferably, the bag receiving and placing tray 611 is an elastic rubber bag receiving and placing tray.

[0092] In this embodiment, the packaging bag traction device 603 includes a pair of linear movement modules 612 arranged along the traction direction X of the packaging bag and positioned on both sides of the pulled-out packaging bag, and a pair of transverse cylinders 613 arranged laterally on the pair of linear movement modules 612 and movable along the linear movement direction of the linear movement modules 612. A connecting plate 614 is provided at the front end of the piston rod of the transverse cylinder 613, and a comb-shaped toothed plate 615 for pressing the side of the packaging bag is provided on the connecting plate 614, which is parallel to the traction direction X of the packaging bag and extends forward of the traction direction X of the packaging bag.

[0093] Preferably, a flexible rubber layer is provided on the side of the comb-shaped toothed plate 615 used to press down the packaging bag.

[0094] Preferably, the transverse cylinder 613 is a four-axis cylinder.

[0095] In this embodiment, the packaging bag opening widening device 604 includes a pair of bag opening widening components 616 disposed on both sides of the pulled-out packaging bag. Each bag opening widening component 616 includes a plurality of parallel horizontal servo electric push rods 617 arranged at intervals and laterally relative to the traction direction X of the packaging bag, and a bag body traction negative pressure adsorption head 618 disposed at the front end of the telescopic rod of the horizontal servo electric push rod 617 for pressing the side of the bag opening of the packaging bag. When the comb-shaped toothed plate 615 presses down on the packaging bag and pulls it to a position corresponding to the bag body traction negative pressure adsorption head 618, the bag body traction negative pressure adsorption head 618 can be inserted into the tooth groove 619 of the comb-shaped toothed plate 615 by the drive of the horizontal servo electric push rod 617 and press down on the packaging bag. The part of the bag body traction negative pressure adsorption head 618 used to press down on the packaging bag is provided with a vacuum suction port 620.

[0096] Preferably, the bag-body traction negative pressure adsorption head 618 is a hollow disc-shaped bag-body traction negative pressure adsorption head 618, the vacuum suction port 620 is connected to the internal cavity of the bag-body traction negative pressure adsorption head 618, and the internal cavity of the hollow disc-shaped bag-body traction negative pressure adsorption head 618 is connected to a vacuum generator through a negative pressure pipeline.

[0097] Preferably, the bag traction negative pressure adsorption head 618 is an elastic rubber disc-shaped bag traction negative pressure adsorption head.

[0098] In this embodiment, the packaging bag opening widening device 604 further includes a bracket 638 (not fully shown in the figure), a pair of guide rails 621 disposed on the bracket 638 and placed on both sides of the pulled-out packaging bag, and a plurality of sliders 622 movably disposed on the guide rails 621. Each of the transverse servo electric push rods 617 is correspondingly fixed on the plurality of sliders 622. A pair of scissor-type telescopic components 623 are also correspondingly disposed on both sides of the pulled-out packaging bag. Each slider 622 is correspondingly connected to the hinge node 624 of the scissor-type telescopic component 623. The spacing between adjacent sliders 622 among the plurality of sliders 622 is synchronously adjusted as the scissor-type telescopic component 623 extends and retracts.

[0099] In this embodiment, the hinge node 624 of the scissor telescopic assembly 623 is located at the hinge connection of the X-shaped intersection of the two connecting rods 625 of the scissor telescopic assembly 623.

[0100] Preferably, the number of sliders 622 on the scissor-type telescopic assembly 623 is odd; and among the odd number of sliders 622, one slider 622 located in the middle position is fixedly connected to the guide rail 621, while the remaining sliders 622 are movably disposed on the guide rail 621; a longitudinal servo electric push rod 626 for adjusting the telescopic movement range of the scissor-type telescopic assembly 623 is also provided on the bracket 638, the telescopic direction of the longitudinal servo electric push rod 626 is consistent with the telescopic direction of the scissor-type telescopic assembly 623, and the telescopic rod of the longitudinal servo electric push rod 626 is connected to one of the sliders on the guide rail 621 that can move.

[0101] Preferably, the front end of the bag-laying robotic arm 607 is provided with a shaft 627, the front end of the shaft 627 is provided with a flange 628, and the bag bottom tray 609 is telescopically connected to the flange 628 at the front end of the shaft 627 by a number of telescopic springs 629.

[0102] The extension spring 629 between the bag bottom tray 609 and the flange 628 can compensate for the relative movement between the annular inflatable expansion ring 608 and the bag bottom tray 609. This allows the annular inflatable expansion ring 608 to continue moving downwards a certain distance when the bag bottom tray 609 is supported at the bottom of the packaging bag during the bag placement process of the material hopper 514, thereby achieving the reverse buckling of the bag opening.

[0103] To more accurately determine the insertion depth of the bag bottom tray 609 into the packaging bag and improve the reliability of bag picking and placing operations, the shaft 627 at the front end of the bag placing robot arm 607 can be replaced with a servo electric cylinder or servo pneumatic cylinder. This allows for separate actions of tightening the bag opening and inserting the bag bottom tray 609 during bag picking. When the empty bag placing robot arm 605 picks up a bag, it can first tighten the bag opening and then insert the bag bottom tray 609 into the bottom of the packaging bag. In addition, the forward and backward movement of the bag bottom tray 609 can further facilitate bag filling and buckling during bag placement.

[0104] Preferably, the packaging bag unwinding device 602 is a constant tension packaging bag unwinding device; the rolled packaging bag 601 is mounted on the unwinding shaft 635 of the packaging bag unwinding device 602 and led out through the guide roller 634.

[0105] In this embodiment, the cutting assembly 606 includes a pair of cutting cylinders disposed next to the pulled-out packaging bag and laterally disposed relative to the pulling direction X of the packaging bag, a movable anvil 630 disposed on the piston rod of one of the pair of cutting cylinders, and a movable cutter 631 disposed on the piston rod of the other of the pair of cutting cylinders.

[0106] The aforementioned cutter assembly 606 is mounted on the empty bag loading gantry 711 via a bracket 638. When the cutter assembly 606 is in operation, a pair of cutter cylinders synchronously move the movable anvil 630 and the movable cutter 631 laterally, starting to cut from the side of the section to be cut of the already pulled-out packaging bag. After cutting, the movable anvil 630 and the movable cutter 631 are positioned on both sides of the opening of the next packaging bag connected to the already pulled-out packaging bag; the movable anvil 630 and the movable cutter 631 cut the packaging bag off during the lateral movement.

[0107] The aforementioned cutter assembly 606 employs a movable anvil 630 and a movable cutter 631 structure, which avoids mutual interference between the movement of the packaging bag traction device 603 and the cutter assembly 606. Specifically, when the comb-shaped toothed plate 615 of the packaging bag traction device 603 moves, the movable anvil 630 and the movable cutter 631 on the cutter assembly 606 are in a retracted state, and will not obstruct the movement path of the comb-shaped toothed plate 615.

[0108] As a further improvement of this embodiment, the bag receiving and placing plate 611 of the packaging bag empty bag placing robot 605 is also provided with an auxiliary annular air blowing ring 632 for separating the annular inflation expansion ring 608 from the bag opening after the packaging bag is placed into the material barrel 514 and turned upside down onto the outer wall of the material barrel opening. The auxiliary annular air blowing ring 632 is connected between the bag receiving and placing plate 611 and the annular inflation expansion ring 608. The auxiliary annular air blowing ring 632 is provided with oblique blowing holes at intervals along the circumference for obliquely blowing towards the outer wall of the material barrel 514.

[0109] Preferably, the bag-laying robotic arm 607 is a multi-axis articulated bag-laying robotic arm.

[0110] In this embodiment, the compressed air nozzle 610 is connected to a compressed air source, and the vacuum suction port 620 is connected to a vacuum generator.

[0111] In this embodiment, a control system is also provided to realize the linkage control of the packaging bag unwinding device 602, the packaging bag empty bag unwinding robot 605, the horizontal servo electric push rod 617, the vertical servo electric push rod 626, the linear motion module 616, the cutter cylinder, the horizontal cylinder 613, the compressed air circuit system and the vacuum circuit system, etc.

[0112] A method for dispensing bags from a material bin using a bag-dispensing mechanism includes the following steps performed sequentially:

[0113] (1) Preparation: The operator installs the roll packaging bag 601 onto the unwinding shaft 635 of the packaging bag unwinding device 602, pulls out a section of the roll packaging bag 601 and places it between a pair of comb-shaped toothed plates 615 of the packaging bag traction device 603, and then drives the transverse cylinder 613 of the packaging bag traction device 603 to press the mouth of the packaging bag between a pair of comb-shaped toothed plates 615.

[0114] (2) Packaging bag traction: A pair of linear movement modules 612 of the packaging bag traction device 603 are driven, and a pair of transverse cylinders 613 corresponding to the pair of linear movement modules 612 move forward in the traction direction until a pair of comb-shaped tooth plates 615 on the pair of transverse cylinders 613 pull the bag mouth of the packaging bag to move between a pair of bag mouth expansion components 616 on the packaging bag mouth expansion device 604.

[0115] (3) Packaging bag fixing: Drive the horizontal servo electric push rods 617 on the pair of bag opening widening components 616. The bag body traction negative pressure adsorption heads 618 at the front end of the telescopic rods of each horizontal servo electric push rod 617 move synchronously toward the side of the bag opening, so that the bag body traction negative pressure adsorption heads 618 are inserted into the tooth grooves 619 of the pair of comb-shaped tooth plates 615 and press the packaging bag from both sides. Then, turn on the vacuum suction port 620 on the bag body traction negative pressure adsorption head 618 to suck the bag opening from both sides respectively. Once in position, the pair of transverse cylinders 613 of the packaging bag traction device 603 are driven to retract synchronously, causing the comb-shaped toothed plates 615 on the transverse cylinders 613 to disengage from the sides of the bag opening 636 of the packaging bag. Then, the pair of linear motion modules 612 are driven to move, causing the pair of comb-shaped toothed plates 615 to retract synchronously to the original position in the opposite direction of the traction direction. Then, the pair of transverse cylinders 613 are driven to move forward synchronously, causing the pair of comb-shaped toothed plates 615 to press down the bag opening of the next packaging bag on the roll packaging bag 601.

[0116] (4) Packaging bag cutting: Drive the movable cutter 631 on the cutter assembly 606 to move laterally and cut the packaging bag off the roll packaging bag 602;

[0117] (5) The opening of the packaging bag is opened and expanded: The longitudinal servo electric push rod 626 and the transverse servo electric push rod 617 on the packaging bag opening expansion device 604 work together: one pair of longitudinal servo electric push rods 626 drive a pair of scissor telescopic components 623 to contract synchronously, thereby reducing the distance between each adjacent transverse servo electric push rod 617 on the scissor telescopic component 623. At the same time, the telescopic rods of each transverse servo electric push rod 617 contract and move a corresponding distance according to the circular shape of the bag opening, so that the vacuum suction port 620 on the bag body traction negative pressure adsorption head 618 at the front end of each transverse servo electric push rod 617 is located on the circumference line when the packaging bag opening is expanded, thereby making the packaging bag opening open and expanded into an approximately circular shape.

[0118] (6) Bag picking: Drive the packaging bag empty bag placing robot 605 to move, so that the bag bottom tray 609 located at the front end of the bag placing robot arm 607 extends into the bottom of the packaging bag, and the annular inflation expansion ring 608 located at the front end of the bag placing robot arm 607 enters the inner opening of the packaging bag; after it is in place, the annular inflation expansion ring 608 is inflated and expanded, so that the diameter of the annular inflation expansion ring 608 expands and supports the inner wall of the bag opening 636 of the packaging bag; then close the vacuum suction port 620 on the bag opening expansion device 604, and each horizontal servo electric push rod 617 continues to retract, so that the bag body traction negative pressure adsorption head 618 at the front end of the horizontal servo electric push rod 617 disengages from the outer wall of the bag opening of the packaging bag, so that the packaging bag is completely transferred to the annular inflation expansion ring 608 of the packaging bag empty bag placing robot 605;

[0119] (7) Bag placement and inversion: The empty bag placement robot 605 moves to place the gripped packaging bag 601-1 downwards into the material bin 514; during the process of placing the packaging bag 601-1 downwards into the material bin 514, the bottom of the packaging bag 601-1 moves first to the bottom of the material bin 514. At this time, the bag opening 636 is supported by the annular inflation expansion ring 608 and is located on the outer periphery above the material bin 514; then the empty bag placement robot 605 continues to drive the annular inflation expansion ring 608 on the bag receiving plate 611 at the front end of the bag placement robot arm 607 to move downwards until the annular inflation expansion ring 608 is located on the outer periphery of the opening of the material bin, so that the bag opening 636 of the packaging bag forms a folded edge and is inverted onto the outer wall of the opening of the material bin 514. After it is in place, the annular inflation expansion ring... The ring 608 continues to move downwards a certain distance, thus disengaging from the bag opening snap-on portion 637 of the packaging bag 601-1. At this time, the annular inflatable expansion ring 608, which has disengaged from the bag opening snap-on portion 637, is still located on the outer periphery of the bag opening snap-on portion 637. By inflating the annular inflatable expansion ring 608 a second time, the diameter of the annular inflatable expansion ring 608 is further expanded, thus completely disengaging from the bag opening snap-on portion 637 of the packaging bag 601-1. After reaching the desired position, the packaging bag empty bag placement robot 605 drives the bag receiving and placement tray 611 to move upwards, causing the annular inflatable expansion ring 608 and the bag bottom tray 609 on the bag receiving and placement tray 611 to move upwards from the material barrel 514. The annular inflatable expansion ring 608 deflates to achieve shrinkage and reset, and the operation of placing the bag in the material barrel and snapping it back is completed.

[0120] Preferably, when taking the bag in step (6), the compressed air nozzle 610 on the bottom tray 609 of the bag is also opened, so that the interior of the packaging bag 601-1 is fully expanded, which helps to prevent the inner wall of the packaging bag 601-1 from sticking and to form a good shape that is conducive to the placement of the bag in the material bucket.

[0121] Preferably, in step (7), when the bag is placed in the hopper and turned inside out, the oblique air hole 633 on the auxiliary annular air blowing ring 632 is opened to prevent the bag opening part 637 from sticking to the annular air inflation ring 608 when it moves upward, thereby improving the reliability of the bag opening turning operation.

[0122] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automated material dispensing system with automated bag placement and removal, characterized in that, The system includes an empty bag placement station for placing empty bags into a material hopper and a material bag removal station for removing bags from the dispensed packaging system. The empty bag placement station is equipped with a material hopper placement mechanism, and the material bag removal station is equipped with a packaging bag removal robot. The material hopper is equipped with a material hopper removal adaptation structure adapted to the packaging bag removal robot. The material hopper removal adaptation structure includes a number of notches located at the edge of the hopper opening, spaced circumferentially along the edge of the hopper opening. The packaging bag removal robot includes a removal arm, a removal disc located at the front end of the removal arm, a number of finger cylinders vertically arranged at circumferential intervals on the removal disc, and removal fingers mounted on the finger cylinders. The material bucket is a plastic material bucket, and the bag picking adapter structure of the material bucket also includes a ferromagnetic strip vertically attached to the outer wall of the middle part of the plastic material bucket; the bag picking disc of the packaging bag picking robot is a rotary bag picking disc with controllable rotation angle, and the rotary bag picking disc is provided with a notch circumferential position detector for detecting the circumferential position of the notch on the plastic material bucket. The notch circumferential position detector includes a detection cylinder provided on the rotary bag picking disc, the piston rod of the detection cylinder is set vertically downward, and the end of the piston rod of the detection cylinder is provided with a ferromagnetic detection probe facing the outer wall of the middle part of the plastic material bucket; The number of finger cylinders on the rotary bag-picking disc, the number of ferromagnetic strips on the outer wall of the middle part of the plastic barrel, the number of notches at the edge of the opening of the plastic barrel, and the number of notch circumferential position detectors on the rotary bag-picking disc are all the same. The circumferential positions of the ferromagnetic strips on the outer wall of the plastic barrel and the circumferential positions of the notches at the edge of the opening of the plastic barrel are staggered in the circumferential direction. The circumferential positions of the finger cylinders on the bag-picking disc and the circumferential position detectors on the notch circumferential position detectors are staggered in the circumferential direction.

2. The automated material dispensing system for bag placement and removal according to claim 1, characterized in that, Both the empty bag placement station and the material bag retrieval station are located on the automatic material barrel conveyor line. An empty bag placement gantry is installed across the automatic material barrel conveyor line at the empty bag placement station, and a material bag retrieval gantry is installed across the automatic material barrel conveyor line at the material bag retrieval station. The material barrel placement mechanism is installed on the empty bag placement gantry, and the packaging bag material bag retrieval robot is installed on the material bag retrieval gantry.

3. The automated material dispensing system for bag placement and removal according to claim 1, characterized in that, The bag-dispensing mechanism of the material hopper includes, in sequence, a bag unwinding device for placing rolled packaging bags, a bag pulling device for pulling out packaging bags from the rolled packaging bags, a bag opening widening device for opening the bag opening of the pulled-out packaging bags into a circle or near-circular shape, and a bag empty bag dispensing robot for grabbing the bag with its widened and rounded opening and placing it into the material hopper; wherein, a cutting assembly for cutting off the pulled-out packaging bags is provided between the bag unwinding device and the bag pulling device; the bag empty bag dispensing robot includes a bag dispensing robot arm, a bag receiving and dispensing tray provided at the front end of the bag dispensing robot arm, an annular inflatable expansion ring provided on the bag receiving and dispensing tray for supporting the opening of the packaging bags from the inside, and a bag bottom tray provided at the front end of the bag dispensing robot arm for extending into the packaging bags to expand the packaging bags internally and provide auxiliary support for the bottom of the packaging bags; wherein, the inner diameter of the annular inflatable expansion ring after being inflated and supporting the packaging bags is larger than the outer wall diameter of the material hopper opening.

4. The automated material dispensing system for bag placement and removal according to claim 3, characterized in that, The packaging bag traction device includes a pair of linear moving modules arranged along the traction direction of the packaging bag and positioned on both sides of the already pulled packaging bag, and a pair of transverse cylinders arranged laterally on the pair of linear moving modules and movable along the linear moving direction of the linear moving modules. A connecting plate is provided at the front end of the piston rod of the transverse cylinder, and a comb-shaped toothed plate is provided on the connecting plate, which is parallel to the traction direction of the packaging bag and extends forward in the traction direction of the packaging bag to press down the side of the packaging bag.

5. The automated material dispensing system for bag placement and removal according to claim 4, characterized in that, The packaging bag opening widening device includes a pair of opening widening components placed on both sides of the pulled-out packaging bag. Each opening widening component includes a number of parallel, spaced-apart, transversely arranged servo electric push rods and a bag body traction negative pressure adsorption head located at the front end of the telescopic rod of the servo electric push rod to press down on the side of the packaging bag opening. When the comb-shaped toothed plate presses down on the packaging bag and pulls it to a position corresponding to the bag body traction negative pressure adsorption head, the bag body traction negative pressure adsorption head can be inserted into the tooth groove of the comb-shaped toothed plate by the drive of the servo electric push rod and press down on the packaging bag. The part of the bag body traction negative pressure adsorption head used to press down on the packaging bag is provided with a vacuum suction port.

6. The automated material dispensing system for bag placement and removal according to claim 5, characterized in that, The packaging bag opening widening device also includes a pair of guide rails mounted on the support and positioned on both sides of the pulled-out packaging bag, and a number of sliders movably mounted on the guide rails. Each of the transverse servo electric push rods is correspondingly fixed on the number of sliders. A pair of scissor-type telescopic components are also correspondingly mounted on both sides of the pulled-out packaging bag. Each of the sliders is correspondingly connected to the hinge node of the scissor-type telescopic component. The spacing between adjacent sliders among the number of sliders is synchronously adjusted as the scissor-type telescopic component extends and retracts.

7. The automated material dispensing system for bag placement and removal according to claim 6, characterized in that, The scissor-type telescopic assembly has an odd number of sliders; and among the odd number of sliders, one slider located in the middle position is fixedly connected to the guide rail, while the remaining sliders are movably mounted on the guide rail; a longitudinal servo electric push rod is also provided on the bracket for adjusting the telescopic movement range of the scissor-type telescopic assembly, the telescopic direction of the longitudinal servo electric push rod is consistent with the telescopic direction of the scissor-type telescopic assembly, and the telescopic rod of the longitudinal servo electric push rod is connected to one of the sliders on the guide rail that can move.

8. The automated material dispensing system for bag placement and removal according to claim 3, characterized in that, The cutting assembly includes a pair of cutting cylinders arranged laterally next to the pulled-out packaging bag and relative to the pulling direction of the packaging bag, a movable anvil on the piston rod of one of the cutting cylinders, and a movable cutter on the piston rod of the other of the cutting cylinders.

Images