Full-automatic ton bag supply system

Abstract

The invention discloses a full-automatic ton bag supply system in the field of ton bag packaging, and the full-automatic ton bag supply system comprises an automatic bag supply device which is located at a bag storage station and comprises a carrying seat, a vertical lifting mechanism and a pressing fork turnover mechanism, the carrying seat is used for carrying a plurality of ton bags stacked in the vertical direction, and the pressing fork turnover mechanism is used for executing the bag pressing or placing action; the bag hanging device is positioned at the filling station and is used for hooking or separating a lifting lug of the ton bag; the automatic bag feeding device comprises a six-degree-of-freedom robot, a bag grabbing device and a distance measuring sensor, the six-degree-of-freedom robot is used for driving the bag grabbing device to reciprocate between the bag storage station and the filling station, the bag grabbing device is used for executing grabbing or releasing actions, and the distance measuring sensor is used for measuring the heights of the ton bags in the vertical direction; the vertical lifting mechanism is used for driving the pressing fork turnover mechanism to vertically move up and down so that the hovering height of the pressing fork turnover mechanism can be consistent with the height of the ton bag. The layout of each device is more flexible, and the production cost and the labor cost can be reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of ton bag packaging, and in particular relates to a full-automatic bag supply system for ton bags. Background Art

[0002] Ton bag, also known as flexible container bag, container bag, space bag, etc., has four packaging bag straps on the upper part of the ton bag packaging bag, and a feed port on the top of the ton bag packaging bag. It is mainly used to transport bulk powdery materials. It has the characteristics of large volume, light weight, easy loading and unloading, can be folded and emptied to occupy a small space, and low price. It is a medium-sized bulk container, widely used in the packaging of various powdery items such as chemicals, building materials, and mineral products.

[0003] In the prior art, there is an automatic ton bag supply device and an automatic ton bag packaging system, with announcement number: CN107264879B; announcement date: 2022-07-08; the device includes a bag supply bracket and an optical axis arranged on the bag supply bracket for hanging ton bag slings, the bag supply bracket is provided with a bag storage area, a filling area and a bag outlet area for accommodating multiple ton bags from back to front, the optical axis is two and symmetrically arranged on the left and right sides of the bag supply bracket, each of the optical axes is connected to the bag supply bracket through a first supporting mechanism, a second supporting mechanism and a third supporting mechanism, the first, second and third supporting mechanisms are respectively arranged at the rear of the bag storage area, the filling area and the bag outlet area, the first, second and third supporting mechanisms all include upper and lower arc plates adapted to the optical axes, an upper supporting cylinder for driving the upper arc plate and a lower supporting cylinder for driving the lower arc plate, and the upper and lower supporting cylinders are arranged on the bag supply bracket. Its shortcomings are: the ton bags in the bag storage area are all hung on the optical axis, which takes up a large space. The packaging system formed needs to occupy a large amount of space, which has high requirements for the existing factory site and increases production costs; the ton bags need to be hung on the optical axis one by one manually, the bag hanging efficiency is low and the work intensity of the workers is high; before filling, they also need to be limited and supported, which affects the efficiency of automatic bag supply. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automatic bag supply system for ton bags, which adopts a bag supply method of folding ton bags, can reduce the occupied space, save production costs, and achieve the effect of doubling the space utilization rate. It does not require manual bag hanging, thus reducing the labor intensity and labor costs of personnel.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a fully automatic bag supply system for ton bags, comprising: an automatic bag supply device, located at the bag storage station, comprising a carrier, a vertical lifting mechanism and a pressure fork flipping mechanism, the carrier is used to carry multiple ton bags stacked in the vertical direction, and the multiple ton bags are in a flat state, and the pressure fork flipping mechanism is used to perform bag pressing or bag releasing actions; a bag lifting device, located at the filling station, used to hook or detach the lifting ears of the ton bags; an automatic bag loading device, comprising a six-degree-of-freedom robot, a bag grabbing device and a ranging sensor, the six-degree-of-freedom robot is used to drive the bag grabbing device to reciprocate between the bag storage station and the filling station, the bag grabbing device is used to perform grabbing or releasing actions, the ranging sensor is used to measure the height of multiple ton bags in the vertical direction, and the vertical lifting mechanism is used to drive the pressure fork flipping mechanism to move vertically up and down so that its hovering height is consistent with the height of the ton bags.

[0006] When the present invention is in use, the six-degree-of-freedom robot drives the bag grabbing device and the distance measuring sensor to move to the bag storage station, the distance measuring sensor measures the height of the ton bag on the carrier and feeds back to the control system, the vertical lifting mechanism drives the pressure fork flipping mechanism to move vertically up and down according to the height of the ton bag to approach the ton bag, after the bag grabbing device performs the grabbing action to grab the lifting lug of the ton bag, the pressure fork flipping mechanism performs the bag placing action, the outer bag of the ton bag in a suspended state gradually changes from a folded state to a flattened state due to its own weight, the six-degree-of-freedom robot drives the bag grabbing device and the unfolded ton bag to move to the filling station, and the pressure fork flipping mechanism performs the bag pressing action, and when the bag grabbing device is located directly above the bag lifting device, it performs the releasing action to release the lifting lug of the ton bag, the bag lifting device can hook the lifting lug of the ton bag to complete automatic bag loading, and after the ton bag is filled, the bag lifting device detaches from the lifting lug of the ton bag to complete automatic bag dropping.

[0007] Compared with the prior art, the beneficial effects of the present invention are: the layout of each device of the system is more flexible and is not limited by the production line space; the bag supply method of folding ton bags can reduce the floor space of the bag storage station, further improve the space utilization rate of limited space, and achieve the effect of doubling the space utilization rate; the folded ton bags can be naturally unfolded during the transfer between the bag storage station and the filling station, saving the time for subsequent bag expansion, thereby improving the filling efficiency; the distance measuring sensor is set on the automatic bag feeding device to ensure that the automatic bag feeding device performs a limited bag feeding action before each grabbing action of the bag grabbing device, and the pressure fork flipping mechanism can ensure that the ton bags always remain straight and neat during the bag supply process, so as to achieve the purpose of precise bag supply.

[0008] As a further improvement of the technical solution of the present invention, the bag grabbing device includes a support beam, a cross-shaped bracket is arranged on the upper side of the support beam, one end of which is connected to the output end of the six-degree-of-freedom robot, and the other end is connected to the distance measuring sensor, and the four ends of the cross-shaped bracket are all provided with a horizontal moving mechanism, and the horizontal moving mechanism is provided with a vertical moving mechanism, and the vertical moving mechanism is provided with a rotating mechanism, a clamping mechanism and a needle suction cup, and the rotating mechanism is used to drive the clamping mechanism and the needle suction cup to reciprocate within a range of 90°, and the needle suction cup is used to adsorb the lifting lug of the ton bag. The four horizontal moving mechanisms distributed circumferentially at equal intervals are adapted to the four corners of the ton bag, which can reduce the error of the four clamping mechanisms moving in the horizontal direction, and keep the clamping mechanism always located directly above the two diagonals of the ton bag; the needle suction cup and the clamping mechanism act together on the lifting lug of the ton bag, which can avoid the damage to the ton bag caused by the clamping mechanism directly grabbing the lifting lug, and can ensure the accuracy of the lifting lug grabbing.

[0009] As a further improvement of the technical solution of the present invention, the horizontal moving mechanism includes a horizontal cylinder, the cylinder body of the horizontal cylinder is arranged on a cross-shaped bracket, and a connecting block is arranged at the piston end thereof; the vertical moving mechanism includes a downward extending cylinder, the cylinder body of the downward extending cylinder is arranged on a connecting block, and a fixed block is arranged at the piston end thereof; the rotating mechanism includes a rotating cylinder, the cylinder body of the rotating cylinder is arranged on a fixed block, and the clamping mechanism is connected to the rotating end of the rotating cylinder through a flange. Using a cylinder as a driving part can, on the one hand, ensure the compact structure of the bag grabbing device and reduce the load on the output end of the six-degree-of-freedom robot; on the other hand, it can realize the rapid displacement of the clamping mechanism in the horizontal and vertical directions and the rapid rotation of the clamping mechanism, thereby improving the grabbing efficiency of the ton bag.

[0010] As a further improvement of the technical solution of the present invention, the bag grabbing device also includes a fiber optic sensor, a 2D camera and a light source lamp. The 2D camera is used to obtain a top view image of the ton bag. The six-degree-of-freedom robot adjusts the position of the bag grabbing device according to the obtained image so that the four clamping mechanisms are respectively located directly above the four corners of the ton bag. The fiber optic sensor is used to detect whether the four clamping mechanisms clamp the lifting lugs of the ton bag. By using a 2D camera to obtain an image of the ton bag before each grabbing, the position of the bag grabbing device can be adjusted in real time to ensure the accuracy of grabbing each ton bag lifting lug, and to avoid bag supply errors caused by randomness and instability of the ton bag.

[0011] As a further improvement of the technical solution of the present invention, the gripper mechanism includes an air gripper and two claw hands arranged corresponding to each other, the needle suction cup is arranged on the air gripper cylinder and located between the two claw hands, and the air gripper is used to drive the two claw hands to abut against or move away from each other. The air gripper can drive the claw hands to quickly perform a grasping or releasing action, and the needle suction cup is arranged between the two claw hands to ensure that the lifting lug can accurately fall onto the claw hands.

[0012] As a further improvement of the technical solution of the present invention, the pressure fork flipping mechanism includes two clamping cylinders 1, and clamping arms are provided at both ends of the output shaft of the clamping cylinder 1, and a pressure fork is provided on the clamping arm. The two pressure forks are arranged opposite to each other, and the clamping cylinder 1 is used to drive the corresponding pressure fork to flip back and forth within a range of 90° and control the pressure fork to hover at two angles of 0° and 90° respectively. The clamping cylinder has a light weight and a small size, which optimizes the space utilization and reduces the load of the vertical lifting mechanism in the vertical direction, so that its equipment performance can be fully utilized and its service life can be extended; the relatively arranged pressure forks can improve the stability of the pressure package.

[0013] As a further improvement of the technical solution of the present invention, the vertical lifting mechanism includes two vertically arranged driving electric cylinders, which are used to drive the corresponding clamping cylinder to move vertically up and down, so that the corresponding pressing fork and the top ton bag are at the same level. The use of the driving electric cylinder can achieve precise control of the height of the pressing fork, ensure that the ton bag is in a flat state, and provide convenience for subsequent grabbing actions.

[0014] As a further improvement of the technical solution of the present invention, the carrier includes a base, a pallet is arranged on the upper side of the base, two driving electric cylinders are symmetrically distributed on both sides of the base, a slide is arranged at the output end of the driving electric cylinder, and two clamping cylinders are respectively arranged on the corresponding slides. Using a pallet to carry multiple ton bags can realize uninterrupted loading of multiple ton bags in batches, improve the transportation efficiency of ton bags and reduce labor and costs.

[0015] As a further improvement of the technical solution of the present invention, the bag hanging device includes a U-shaped bracket with an opening facing away from the six-degree-of-freedom robot, and the U-shaped bracket is provided with four hanging rods distributed in a rectangular shape, and the lower end of the hanging rod is provided with a hook flipping mechanism and a hook head, and the hook flipping mechanism is used to drive the hook head to rotate upward or downward to hook or detach from the lifting lug of the ton bag. The hook flipping mechanism and the hook head can avoid the phenomenon of the ton bag being unhooked during filling, and can also realize the rapid unloading of the ton bag, reducing the loading and unloading time and cost.

[0016] As a further improvement of the technical solution of the present invention, the hook flipping mechanism includes a clamping cylinder 2 and a mounting seat, the rotating end of the hook head is connected to the output shaft of the clamping cylinder 2, the cylinder body of the clamping cylinder 2 is arranged on the inner side of the mounting seat, and a photoelectric switch is arranged on the outer side of the mounting seat to detect whether the hook head hooks the lifting lug of the ton bag. The use of the photoelectric switch can ensure that the four hook heads are in a synchronous state, avoiding the phenomenon of the ton bag tipping over or breaking due to missing hooks. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of a preferred embodiment of the present invention.

[0018] Figure 2It is a schematic diagram of the three-dimensional structure of the ton bag in the hook-lifting state in the present invention.

[0019] Figure 3 It is a schematic diagram of the three-dimensional structure of the ton bag in the folded state in the present invention.

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the ton bag in the present invention in a folded flat state.

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure of the automatic bag supply device in the present invention.

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the automatic bagging device in the present invention.

[0023] Figure 7 It is a schematic diagram of the three-dimensional structure of the bag grabbing device in the present invention.

[0024] Figure 8 for Figure 7 Enlarged view of point A in the middle.

[0025] Fig. 9 It is a schematic diagram of the three-dimensional structure of the hanging bag device in the present invention.

[0026] Among them, 1 carrier, 101 base, 102 tray, 2 vertical lifting mechanism, 201 driving electric cylinder, 202 slide, 3 pressure fork flipping mechanism, 301 clamping cylinder 1, 302 clamping arm, 303 pressure fork, 4 ton bag, 401 outer bag, 402 inner bag, 403 lifting ear, 5 bag lifting device, 501 U-shaped bracket, 502 lifting rod, 503 hook head, 504 clamping cylinder 2, 505 mounting seat, 506 photoelectric switch, 6 six-degree-of-freedom robot, 7 gripper mechanism, 701 air gripper, 702 gripper, 702a connecting part, 702b outward arc part, 702c horizontal clamping part, 702d concave-convex structure, 8 optical ranging sensor, 9 dustproof plate, 10 support beam, 11 optical fiber sensor, 1101 optical fiber amplifier, 1102 optical fiber probe, 12 2D camera, 13 light source lamp, 14 cross-shaped bracket, 15 needle suction cup, 16 horizontal cylinder, 17 connecting block, 18 downward extension cylinder, 19 fixing block, 20 rotating cylinder, 21 flange. DETAILED DESCRIPTION

[0027] like Figure 1As shown, a fully automatic bag supply system for ton bags includes: an automatic bag supply device, located at the bag storage station, including a carrier 1, a vertical lifting mechanism 2 and a pressure fork flipping mechanism 3, the carrier 1 is used to carry multiple ton bags 4 stacked in the vertical direction, and the multiple ton bags 4 are all in a flat state, and the pressure fork flipping mechanism 3 is used to perform bag pressing or bag releasing actions; a bag lifting device 5, located at the filling station, is used to hook or detach the lifting ear 403 of the ton bag 4; an automatic bag loading device, including a six-degree-of-freedom robot 6, a bag grabbing device and a laser ranging sensor 8, the six-degree-of-freedom robot 6 is used to drive the bag grabbing device to reciprocate between the bag storage station and the filling station, the bag grabbing device is used to perform grabbing or releasing actions, the laser ranging sensor 8 is used to measure the height of multiple ton bags 4 in the vertical direction, and the vertical lifting mechanism 2 is used to drive the pressure fork flipping mechanism 3 to move vertically up and down so that its hovering height is consistent with the height of the ton bag 4.

[0028] Below through Figures 2~4 The structure of the ton bag 4 is described in detail. The ton bag 4 includes an outer bag 401, an inner bag 402 and four lifting ears 403. The outer bag 401 and the inner bag 402 are sewn together by burrs. The four lifting ears 403 are respectively located at the four corners of the outer bag 401. The outer bag 401 and the inner bag 402 are folded inward to a flat state.

[0029] like Figure 5 As shown, the pressing fork flipping mechanism 3 includes two clamping cylinders 301, and clamping arms 302 are arranged at both ends of the output shaft of the clamping cylinder 301. The clamping arms 302 are provided with Y-shaped pressing forks 303, and the two pressing forks 303 are arranged opposite to each other. The clamping cylinder 301 is used to drive the corresponding pressing fork 303 to flip back and forth within a range of 90° and control the pressing fork 303 to hover at two angles of 0° and 90° respectively; the vertical lifting mechanism 2 includes two vertically arranged driving electric cylinders 201, and the driving electric cylinders 201 are used to drive the corresponding clamping cylinders 301 to move vertically up and down so that the corresponding pressing fork 303 and the uppermost ton bag 4 are in the same horizontal plane; the carrier 1 includes a base 101, and a pallet 102 is arranged on the upper side of the base 101. The two driving electric cylinders 201 are symmetrically distributed on both sides of the base 101, and a slide 202 is arranged at the output end of the driving electric cylinder 201. The two clamping cylinders 301 are respectively arranged on the corresponding slide 202.

[0030] In this embodiment, the bag grabbing device includes a dustproof plate 9, a support beam 10, an optical fiber sensor 11, a 2D camera 12 and a light source lamp 13. The 2D camera 12 is arranged on the side of the support beam 10 to obtain a top view image of the ton bag 4. The light source lamp 13 is arranged on the lower side of the support beam 10. A cross-shaped bracket 14 is arranged on the upper side of the support beam 10, one end of which is connected to the output end of the six-degree-of-freedom robot 6, and the other end is connected to the laser ranging sensor 8. The dustproof plate 9 is arranged above the cross-shaped bracket 14, and the four ends of the cross-shaped bracket 14 are all provided with a horizontal moving mechanism, the horizontal moving mechanism is provided with a vertical moving mechanism, and the vertical moving mechanism is provided with a rotating The six-degree-of-freedom robot 6 adjusts the position of the bag grabbing device according to the acquired image so that the four clamping mechanisms 7 are respectively located above the four corners of the ton bag 4. The optical fiber sensor 11 is used to detect whether the four clamping mechanisms 7 clamp the lugs 403 of the ton bag 4. Preferably, the optical fiber sensor 11 includes an optical fiber amplifier 1101 and four optical fiber probes 1102. The four optical fiber probes 1102 are respectively arranged on the four clamping mechanisms 7 in a one-to-one correspondence. For details, see Figure 6 and 7 .

[0031] Further, the horizontal moving mechanism includes a horizontal cylinder 16, the cylinder body of the horizontal cylinder 16 is arranged on the cross-shaped bracket 14, and a connecting block 17 is arranged at the piston end thereof; the vertical moving mechanism includes a downward extending cylinder 18, the cylinder body of the downward extending cylinder 18 is arranged on the connecting block 17, and a fixed block 19 is arranged at the piston end thereof; the rotating mechanism includes a rotating cylinder 20, and the cylinder body of the rotating cylinder 20 is arranged on the fixed block 19; the clamping mechanism 7 is connected to the rotating end of the rotating cylinder 20 through a flange 21; the clamping mechanism 7 includes an air claw 701 and two claw hands 702 arranged corresponding to each other, the needle suction cup 15 is arranged on the cylinder body of the air claw 701 and is located between the two claw hands 702, the air claw 701 is used to drive the two claw hands 702 to abut against or move away from each other, preferably, as Figure 8 As shown, the claw hand 702 includes a connecting portion 702a, an outwardly expanded arc portion 702b and a horizontal clamping portion 702c which are arranged in sequence from top to bottom. The end face of the horizontal clamping portion 702c is an irregular concave-convex structure 702d, which can prevent the ear 403 from being crushed during the clamping process on the one hand, and prevent the ear 403 from slipping from the gap between the two clamping portions on the other hand.

[0032] like Fig. 9As shown, the bag hanging device 5 includes a U-shaped bracket 501 with its opening facing away from the six-degree-of-freedom robot 6, and four hanging rods 502 distributed in a rectangular shape are arranged on the U-shaped bracket 501. The lower end of the hanging rod 502 is provided with a hook flipping mechanism and a hook head 503, and the hook flipping mechanism is used to drive the hook head 503 to rotate upward or downward so as to hook or detach from the ear 403 of the ton bag 4; specifically, the hook flipping mechanism includes a clamping cylinder 504 and a mounting seat 505, and the rotating end of the hook head 503 is connected to the output shaft of the clamping cylinder 504, and the cylinder body of the clamping cylinder 504 is arranged on the inner side of the mounting seat 505, and a photoelectric switch 506 is arranged on the outer side of the mounting seat 505 for detecting whether the hook head 503 is hooking the ear 403 of the ton bag 4.

[0033] In this embodiment, clamping cylinder 1 301 and clamping cylinder 2 504 both include a driving cylinder, a crank transmission assembly and a rotating shaft. The piston rod of the driving cylinder is connected to the input end of the crank transmission assembly, and the output end of the crank transmission assembly is coaxially arranged with the rotating shaft. During operation, the piston rod retracts and contracts back and forth and drives the rotating shaft to rotate reciprocatingly through the crank transmission assembly.

[0034] When the present invention is in use, the six-degree-of-freedom robot 6 drives the bag grabbing device to move to the bag storage station, and the laser ranging sensor 8, 2D camera 12 and light source lamp 13 work to feed back the height data of the ton bag 4 on the pallet 102 and the top view image data of the ton bag 4 on the top layer to the control system; after the six-degree-of-freedom robot 6 adjusts the position of the bag grabbing device so that the four clamping mechanisms 7 are respectively located above the four corners of the ton bag 4, the piston rods of the four downward extending cylinders 18 extend to drive the clamping mechanisms 7 and the needle suction cups 15 downward, and the air claws 701 open to drive the two claw hands 702 away from each other; when the four needle suction cups 15 descend to the set height, they respectively adsorb the four lifting ears 403; the air claws 701 close and drive the two claw hands 702 to abut against each other, and the optical fiber sensor detects whether the lifting ears 403 are grasped by the clamping mechanism 7. If any of the lifting ears 403 is not grasped, the clamping mechanism 7 abandons the bag and grasps it again, otherwise the piston rods of the downward extending cylinders 18 retract, and the clamping mechanism 7 and the ton bag 4 At the same time, the two clamping cylinders 301 work to drive the two simultaneous bag pressing forks 303 to flip upward 90°; after the grabbed ton bag 4 is away from the automatic bag supply device, the flipping cylinder 1 drives the two simultaneous bag pressing forks 303 to rotate downward 90° to perform the bag pressing action; the six-degree-of-freedom robot 6 drives the ton bag 4 to move to the filling station, the piston rod of the horizontal cylinder 16 extends to drive the four clamping claw mechanisms 7 to be located directly above the four hook heads 503, and at the same time, the rotating cylinder 20 works to drive the clamping claw mechanism 7 to rotate 90°, and the air claw 701 opens to make the claw hands 702 move away from each other. At this time, the four lifting ears 403 can naturally fall onto the hook head 503 to complete the fully automatic hanging belt, and the photoelectric switch 506 sends a detection signal to ensure that the hook head 503 has hooked the lifting ears 403 of the ton bag 4; after the ton bag 4 is filled, the clamping cylinder 2 504 drives the hook head 503 to flip downward by a certain angle until the lifting ears 403 are separated from the hook head 503, thereby completing the unloading action.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows: the Y-shaped pressing fork 303 can keep the ton bag 4 in a flat state to the greatest extent without affecting the gripping ear 403 of the clamping claw mechanism 7, and also ensures the consistency of the bag mouth position; the U-shaped bracket 501 leaves operating space for the filling action of the filling mechanism, avoids spatial interference of the relative motion mechanism, and ensures the overall stability of the system; the pressing fork 303 and the clamping claw mechanism 7 act on the ton bag 4 at the same time, which can ensure that the ear 403 of the top ton bag 4 will not affect the position of the ton bag 4 below when being grabbed, thereby ensuring the accuracy of subsequent grabbing of the ton bag 4; this system is suitable for ton bags 4 of different sizes, and has high economic value and promotion benefits.

[0036] The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solution disclosed in the present invention, technicians in this field can make some substitutions and deformations to some technical features therein according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. A fully automatic bag supply system for ton bags, characterized in that: include: The automatic bag supply device is located at the bag storage station and includes a carrier, a vertical lifting mechanism and a pressure fork flipping mechanism. The carrier is used to carry a plurality of ton bags stacked in a vertical direction, and the plurality of ton bags are in a flattened state. The pressure fork flipping mechanism is used to perform bag pressing or bag placing actions; The bag lifting device is located at the filling station and is used to hook or detach the lifting ears of the ton bag; The automatic bag loading device includes a six-degree-of-freedom robot, a bag grabbing device and a distance measuring sensor. The six-degree-of-freedom robot is used to drive the bag grabbing device to reciprocate between the bag storage station and the filling station, the bag grabbing device is used to perform a grabbing or releasing action, the distance measuring sensor is used to measure the height of multiple ton bags in the vertical direction, and the vertical lifting mechanism is used to drive the pressure fork flipping mechanism to move vertically up and down so that its hovering height is consistent with the height of the ton bags.

2. The fully automatic bag supply system for ton bags according to claim 1 is characterized in that: The bag grabbing device includes a support beam, a cross-shaped bracket is arranged on the upper side of the support beam, one end of which is connected to the output end of the six-degree-of-freedom robot, and the other end is connected to the ranging sensor, and horizontal moving mechanisms are arranged on the four ends of the cross-shaped bracket, and a vertical moving mechanism is arranged on the horizontal moving mechanism, and a rotating mechanism, a clamping mechanism and a needle suction cup are arranged on the vertical moving mechanism. The rotating mechanism is used to drive the clamping mechanism and the needle suction cup to reciprocate within a range of 90°, and the needle suction cup is used to adsorb the lifting ears of the ton bag.

3. The fully automatic bag supply system for ton bags according to claim 2 is characterized in that: The horizontal moving mechanism includes a horizontal cylinder, the cylinder body of the horizontal cylinder is set on a cross-shaped bracket, and a connecting block is set at the piston end of the horizontal cylinder. The vertical moving mechanism includes a downward extending cylinder, the cylinder body of the downward extending cylinder is set on the connecting block, and a fixed block is set at the piston end of the horizontal cylinder. The rotating mechanism includes a rotating cylinder, the cylinder body of the rotating cylinder is set on the fixed block, and the clamping mechanism is connected to the rotating end of the rotating cylinder through a flange.

4. The fully automatic bag supply system for ton bags according to claim 2 is characterized in that: The bag grabbing device also includes a fiber optic sensor, a 2D camera and a light source. The 2D camera is used to obtain a top-view image of the ton bag. The six-degree-of-freedom robot adjusts the position of the bag grabbing device according to the obtained image so that the four clamping mechanisms are respectively located directly above the four corners of the ton bag. The fiber optic sensor is used to detect whether the four clamping mechanisms clamp the lifting ears of the ton bag.

5. The fully automatic bag supply system for ton bags according to claim 2 is characterized in that: The clamping mechanism comprises an air gripper and two grippers arranged corresponding to each other. The needle suction cup is arranged on the air gripper cylinder body and located between the two grippers. The air gripper is used to drive the two grippers to abut against or move away from each other.

6. The fully automatic bag supply system for ton bags according to claim 1 is characterized in that: The pressing fork flipping mechanism includes two clamping cylinders 1, and clamping arms are provided at both ends of the output shaft of the clamping cylinder 1. The clamping arms are provided with pressing forks, and the two pressing forks are arranged opposite to each other. The clamping cylinder 1 is used to drive the corresponding pressing fork to flip back and forth within a range of 90° and control the pressing fork to hover at two angles of 0° and 90° respectively.

7. The fully automatic bag supply system for ton bags according to claim 6 is characterized in that: The vertical lifting mechanism includes two vertically arranged driving electric cylinders, which are used to drive the corresponding clamping cylinder to move vertically up and down so that the corresponding pressing fork and the uppermost ton bag are in the same horizontal plane.

8. The fully automatic bag supply system for ton bags according to claim 7 is characterized in that: The carrier comprises a base, a tray is arranged on the upper side of the base, the two driving electric cylinders are symmetrically distributed on both sides of the base, a slide is arranged at the output end of the driving electric cylinder, and the two clamping cylinders are respectively arranged on the corresponding slides.

9. The fully automatic bag supply system for ton bags according to claim 1 is characterized in that: The bag lifting device includes a U-shaped bracket with its opening facing away from the six-degree-of-freedom robot, and four hanging rods distributed in a rectangular shape are arranged on the U-shaped bracket. A hook flipping mechanism and a hook head are arranged at the lower end of the hanging rod. The hook flipping mechanism is used to drive the hook head to rotate upward or downward to hook or detach from the lifting ear of the ton bag.

10. The fully automatic bag supply system for ton bags according to claim 9, characterized in that: The hook flipping mechanism includes a clamping cylinder 2 and a mounting seat. The rotating end of the hook head is connected to the output shaft of the clamping cylinder 2. The cylinder body of the clamping cylinder 2 is arranged on the inner side of the mounting seat. A photoelectric switch is arranged on the outer side of the mounting seat to detect whether the hook head hooks the lifting ear of the ton bag.

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