Control method of bag-making, bag-opening and bag-sleeving mechanism

Abstract

The invention discloses a control method of a bag making, opening and sleeving mechanism. The method comprises the following steps that firstly, after the bag ironing temperature and time are set, automatic production is started; 2, bag making; 3, bag opening; a bag opening of a fungus bag is sucked by a suction cup, a lower suction box mounting plate is driven by a Y-axis bag moving servo motor and a bag moving synchronous belt to drive the whole suction cup mechanism to move to a bag receiving position along the Y axis, in the moving process, a bag opening air cylinder stretches out, and an upper suction box and a lower suction box are opened to complete opening of the fungus bag. The bag opening clamping jaw device moves from a bag receiving position to a bag opening position under the action of a clamping jaw rectangular movement device, and after the arc-shaped clamping jaw is inserted into a fungus bag inlet, the movable clamping jaw completes bag opening under the action of a clamping jaw opening and closing air cylinder; step 4, bagging; 5, the clamping jaw is separated from the fungus bag; sixthly, the bag feeding, the bag ironing, the bag cutting, the bag moving, the bag opening and the bag sleeving are conducted in a circulating mode. The automatic bagging machine has the advantages of braking bag making, intelligent fault point detection, good equipment stability, high bagging efficiency and simplicity and convenience in maintenance.

Description

Technical Field

[0001] The invention relates to a control method for a bag making, bag holding and bag covering mechanism. Background Art

[0002] In the production process of edible fungi, it is necessary to make sticks, that is, to use special plastic bags for edible fungi to package the mushroom materials into stick-shaped mushroom bags. In the traditional production process, there are generally two ways to complete this bagging process: one is to complete it manually, that is, the workers manually put the prepared mushroom material bags into the discharge barrel to complete the bagging work, and then start the bagging process; the other is to use mechanical equipment to complete the continuous actions of bag delivery, bag scalding, bag cutting, bag supporting, and bagging, which has high work efficiency.

[0003] The existing bag making, bagging and bagging machinery on the market have the following shortcomings:

[0004] (1) The degree of automation is low. Some use bags and need to add new bags frequently.

[0005] (2) The equipment has poor stability and is prone to various production accidents such as machine collisions;

[0006] (3) Low intelligence level, unable to intelligently detect whether bagging is successful or not;

[0007] (4) The bagging efficiency is low, the bagging success rate is low, and it is difficult to reach 800-900 bags / hour;

[0008] (5) The bag making stability is poor, and the bag length, sealing tightness and incision flatness are unstable;

[0009] (6) It is difficult to debug, has high production and maintenance costs, and the bagging mechanism requires precise debugging, which makes maintenance difficult during production.

[0010] Therefore, it is necessary to develop a control method for a bag-making, bag-supporting and bag-putting mechanism that can brake bag-making, intelligently detect fault points, have good equipment stability, high bag-putting efficiency and easy maintenance. Summary of the invention

[0011] The purpose of the present invention is to provide a control method for a bag making, bag holding and bagging mechanism, which can brake bag making, intelligently detect fault points, have good equipment stability, high bagging efficiency and simple maintenance.

[0012] In order to achieve the above object, the technical solution of the present invention is: a control method of a bag making, bag holding and bagging mechanism, characterized in that: the bag making, bag holding and bagging mechanism is controlled,

[0013] The specific control method includes the following steps:

[0014] Step 1: After setting the bag hot temperature and time, the bag hot module of the bag making, bag holding and bag covering mechanism reaches the preset temperature under the heating of the heating resistor, and the start knob is turned to manual. First, manually click the bag making button to make a bag, take the bag away and put it away, then turn it to automatic, press the green start button, and start automatic production (the bottom of the bag hot-sealed at this time is the bottom of the next bag);

[0015] Step 2: bag making, bag feeding, bag ironing and bag cutting;

[0016] The upper and lower bag feeding rubber wheels which are compressed by the bag feeding and clamping springs of the bag making, supporting and bagging mechanism rotate under the drive of the bag feeding stepping motor, and the fungus material bag is pulled out of the film rolling disk for a certain length. At this time, the bag feeding stepping motor stops rotating, and the bag pressing plate, the bag heating module mounting plate, the bag heating module and the bag cutting and clamping block simultaneously complete the downward pressing action under the action of the bag heating and clamping cylinder, and the bag heating and clamping spring plays the role of buffering and elastic clamping; at the same time, the upper suction cup and the lower suction cup complete the closing under the action of the bag supporting cylinder, and the air breaking valve completes the connection between the suction box and the vacuum fan under the action of the air breaking valve cylinder; the fungus bag is now compressed by the upper bag heating silicone plate and the lower bag heating silicone plate, and at the same time, the bag heating module performs the bag heating and sealing, and the bag cutting blade completes the bag cutting work under the action of the bag cutting cylinder;

[0017] Step 3: Move the bag and support the bag;

[0018] After the bag is scalding, the bag scalding and pressing cylinder of the bag making, bag holding and bag covering mechanism is retracted, and the pressing mechanism of the entire integrated feeding, scalding and cutting device is fully returned to its original position. At this time, the bag mouth of the fungus bag is sucked by the suction cup, and the lower suction box mounting plate is driven by the Y-axis bag moving servo motor and the bag moving synchronous belt to move the entire suction cup mechanism along the Y-axis to the bag receiving position. During the movement, the bag holding cylinder is extended, and the upper and lower suction boxes are opened to complete the opening of the fungus bag. This time, the bag holding jaw device moves from the bag receiving position to the bag holding position under the action of the jaw rectangular movement device. After the arc-shaped jaw is inserted into the bag mouth, the movable jaw completes the bag holding under the action of the jaw opening and closing cylinder; the air pressure of the jaw opening and closing cylinder is controlled by the pressure regulating valve to prevent the jaw from opening too much and causing the bag mouth to rupture; after the bag is held, the air breaking valve cylinder is reset, the air breaking valve connects the vacuum fan and the atmosphere, the suction cup no longer generates suction, and the fungus bag is smoothly separated from the suction cup under the action of the jaw, and the bag suction, bag moving and bag holding device is reset at the same time, and returns to the bag output position to wait for the next fungus bag;

[0019] Step 4: Bagging;

[0020] At the same time, the clamping jaws of the bag-making, bag-holding and bag-covering mechanism move along the Y-axis to the discharge barrel position under the drive of the Y-axis motion servo motor on the clamping jaw rectangular motion device. The servo parameter setting here satisfies the precise control of the gaps between the two sides of the clamping jaws and the upper and lower sides of the bag mouth and the entire discharge barrel, which is uniform and free of interference, ensuring the stable and precise control of the servo motor; after the clamping jaws move into place, the entire bag-holding clamping jaws device and the clamping jaw rectangular motion device mainboard and its accessories move along the X-axis under the drive of the X-axis motion servo motor synchronous belt group to complete the bagging action. After moving to the bagging completion point, the clamping jaws will automatically detach from the bag because the bagging area of ​​the discharge barrel is longer than the bag; if the clamping jaws detach from the bag in advance, the clamping jaw proximity sensor will lose the signal in advance, which is a bagging failure signal. The device will perform the above steps again after the clamping jaws detach from the discharge barrel until the bagging is successful. If the bagging fails for consecutive times, the equipment will stop production and issue a warning.

[0021] Step 5: After the clamp is separated from the bag, the clamp of the bag-making, bag-supporting and bag-covering mechanism continues to move to the disengagement position of the discharge barrel. The bag-supporting clamp device is driven by the Y-axis motion servo motor to disengage from the discharge barrel along the Y-axis. At the same time, the clamp opening and closing cylinder retracts. The movable clamp rotates and resets around the movable clamp shaft along the arc ring on the discharge barrel under the simultaneous action of the clamp reset guide wheel and the clamp reset spring. At this time, the clamp closes and starts to move along the X-axis to the bag receiving position to wait for the next bag.

[0022] Step 6: The above-mentioned bag feeding, bag scalding, bag cutting, bag moving, bag supporting and bagging are carried out in a cycle. Each time the discharge barrel completes bagging, bagging begins. All bagging preparation actions are completed during the bagging process of the discharge barrel, that is, the bagging action of the next bag is started immediately after bagging is completed. There is no time interval between the two production cycles, and they are cycled in sequence.

[0023] In the above technical solution, the bag making, bag holding and bag covering mechanism comprises a main frame, a bag suction, bag moving and bag holding device, an integrated feeding, hot cutting device, a bag holding claw device and a claw rectangular movement device;

[0024] The bag suction, bag transfer and bag holding device, the integrated device for conveying, scalding and cutting, the bag holding and clamping claw device and the rectangular movement device of the clamping claw are all arranged on the main frame;

[0025] The integrated feeding, hot-cutting device is movably connected to the main frame;

[0026] The bag holding clamping claw device is movably mounted on the clamping claw rectangular moving device;

[0027] The rectangular movement device of the clamping claw is movably connected to the main frame.

[0028] In the above technical solution, the main frame includes a frame, a solenoid valve group, a pressure regulating valve, a mounting pad, a fungus bag guide groove, an X-axis motion servo motor synchronous belt group, a piercing valve and a piercing valve cylinder;

[0029] The solenoid valve group and the pressure regulating valve are installed on the side end of the frame;

[0030] The mounting pad is located at the four corners of the upper end of the frame; the mounting pad is assembled on the frame, and the upper surface of the mounting pad is a processed surface. The assembly gap between the mounting pad and the frame can be adjusted to adjust the height of the four corners of the guide rod to achieve the consistency of the height and parallelism of the two guide rods;

[0031] The fungus bag guide groove is located at the upper end of the frame;

[0032] The X-axis motion servo motor synchronous belt group is located at the upper end of the frame and below the fungus bag guide groove side;

[0033] The air-breaking valve is installed on the lower end surface of the frame;

[0034] The air cylinder of the air breaker valve is connected to the air duct plug in the air breaker valve to adjust the connection state of the air duct.

[0035] In the above technical solution, the bag suction, bag transfer and bag support device includes a Y-axis bag transfer servo motor, an inductive proximity sensor, a bag suction, bag transfer and bag support mounting plate, a bag support cylinder, a lower suction box air pipe, a mushroom bag support plate, a guide shaft, an upper suction box air pipe, a linear bearing, a bag transfer synchronous belt, a lower suction box mounting plate, a lower suction box, an upper suction box, and an upper suction box mounting plate;

[0036] The upper suction box is installed on the upper suction box mounting plate; the upper suction box air pipe is connected to the upper suction box;

[0037] The lower suction box is installed on the lower suction box installation plate; the lower suction box air pipe is connected to the lower suction box;

[0038] The mushroom bag support plate is arranged on the lower suction box;

[0039] The upper suction box mounting plate is located above the lower suction box mounting plate;

[0040] The linear bearing is installed on the lower end surface of the upper suction box mounting plate; the guide shaft passes through the upper suction box mounting plate, the linear bearing and the lower suction box mounting plate in sequence;

[0041] The bag-supporting cylinder is installed on the lower end surface of the lower suction box mounting plate;

[0042] The Y-axis bag transfer servo motor is installed on the bag suction, bag transfer and bag support mounting plate; the bag transfer timing belt is installed on the driving end of the Y-axis bag transfer servo motor; the lower suction box mounting plate is installed on the bag transfer timing belt, and is slidably connected with the bag suction, bag transfer and bag support mounting plate through a slider rail;

[0043] The inductive proximity sensor is installed on the bag suction, bag transfer and bag support mounting plate.

[0044] In the above technical scheme, the integrated feeding, hot-cutting device includes a bag feeding stepping motor, a bag guide plate, a bag feeding rubber wheel, a heating resistor, a bag hot module, a cloth rolling shaft, a bag feeding clamping spring, a quick clamp, a bag hot clamping cylinder mounting plate, a bag hot clamping cylinder, an upper mounting plate of a bag hot mechanism, a lower pressure plate of a bag hot mechanism, a bag hot module mounting plate, a bag hot clamping spring, a high temperature resistant cloth rolling, a bag cutting clamping block, an upper bag hot silicone plate, a lower bag hot silicone plate, a lower mounting plate of a bag hot mechanism, a bag cutting blade, a blade mounting block, and a bag cutting cylinder;

[0045] The upper mounting plate of the bag hotting mechanism is mounted above the lower mounting plate of the bag hotting mechanism;

[0046] The installation plate of the hot bag pressing cylinder is located on the upper installation plate of the hot bag mechanism; the fixed end of the hot bag pressing cylinder is located in the installation plate of the hot bag pressing cylinder, and the telescopic end is connected to the lower pressing plate of the hot bag;

[0047] The bag cutting and pressing block is located below the bag hot pressing plate; the supporting guide shaft is installed between the bag cutting and pressing block and the bag hot pressing plate; the bag hot pressing spring is sleeved on the supporting guide shaft;

[0048] The bag cutting and pressing block is located above the lower mounting plate of the bag hotting mechanism; the upper bag hotting silicone plate is located at the lower end surface of the bag cutting and pressing block; the lower bag hotting silicone plate is located at the upper end surface of the lower mounting plate of the bag hotting mechanism; the upper bag hotting silicone plate is located directly above the lower bag hotting silicone plate;

[0049] The bag cutting blade is located on the lower mounting plate of the bag hotting mechanism; the blade mounting block is respectively connected with the bag cutting blade and the bag cutting cylinder, and is slidably connected with the lower mounting plate of the bag hotting mechanism through a slider rail;

[0050] The bag-scalding module mounting plate is located between the bag-scalding lower pressing plate and the bag-cutting pressing block;

[0051] The high temperature resistant cloth roll is located on the mounting plate of the hot bag module;

[0052] The bag hot module is installed under the bag hot lower pressure plate; the heating resistor is installed in the through hole of the bag hot module to heat the entire bag hot module;

[0053] The cloth rolling shaft is installed on the side of the lower pressing plate of the hot bag;

[0054] The bag-feeding rubber wheels are located on the upper and lower sides of the bag guide plate; a bag-feeding pressing guide shaft is arranged between the mounting plate on the bag-scalding mechanism and the bag-feeding rubber wheel support; and a bag-feeding pressing spring is sleeved on the bag-feeding pressing guide shaft;

[0055] The quick clamp is located on the upper mounting plate of the bag-scalding mechanism; the fungus bag guide plate is located on the lower mounting plate of the bag-scalding mechanism and is located between the upper and lower bag-feeding rubber wheels;

[0056] The bag-feeding stepping motor is arranged on the lower mounting plate of the bag-scalding mechanism; the bag-feeding stepping motor is connected with the bag-feeding rubber wheel located below through a coupling.

[0057] In the above technical solution, the gripper rectangular motion device includes an optical axis mounting seat, an optical axis, a Y-axis motion servo motor, an X-axis synchronous belt connecting block, an origin position control proximity switch, a slide rail, a slider, a gripper Y-axis synchronous belt connecting block, a synchronous belt and a gripper rectangular motion device mainboard;

[0058] The optical axis is mounted on the upper end of the main frame through an optical axis mounting seat;

[0059] The main board of the rectangular motion device of the clamping claw is sleeved on the optical axis;

[0060] A slide rail is arranged on the upper end of the main board of the clamping claw rectangular motion device; the slider is located on the slide rail and is slidably connected with the slide rail;

[0061] The Y-axis motion servo motor is installed at the lower end of the main board of the gripper rectangular motion device and is connected to the synchronous shaft;

[0062] Two synchronous rotating shafts are installed at intervals on the upper end of the main board of the rectangular motion device of the gripper;

[0063] The synchronous belt is sleeved on the synchronous rotating shaft;

[0064] The upper end surface of the main board of the gripper rectangular motion device is provided with a gripper Y-axis synchronous belt connection block, and the lower end surface is provided with an X-axis synchronous belt connection block; the gripper Y-axis synchronous belt connection block is located in the area surrounded by the synchronous belt;

[0065] The origin position control proximity switch is located on the lower end surface of the main board of the gripper rectangular motion device and is located on the side of the optical axis.

[0066] In the above technical solution, the bag holding jaw device includes a bag holding jaw device mainboard, a jaw proximity sensor, a movable jaw mounting block, a movable jaw, a jaw reset guide wheel, an arc-shaped jaw, a fixed jaw and a jaw opening and closing cylinder;

[0067] The main board of the bag holding and clamping claw device is installed on the slide block;

[0068] The fixed clamping claw is fixedly installed on the upper end of the main board of the bag holding clamping claw device;

[0069] The movable clamp is connected to the movable clamp mounting block, and the movable clamp mounting block is movably connected to the main board of the bag holding clamp device; the clamp opening and closing cylinder is installed on the main board of the bag holding clamp device, and the telescopic end of the clamp opening and closing cylinder is connected to the movable clamp mounting block;

[0070] The upper ends of the fixed clamping jaw and the movable clamping jaw are both provided with arc-shaped clamping jaws; the arc-shaped clamping jaw on the fixed clamping jaw and the arc-shaped clamping jaw on the movable clamping jaw are arranged opposite to each other;

[0071] The clamping jaw resetting guide wheel is arranged on the movable clamping jaw;

[0072] The clamping jaw proximity sensor is located on the main board of the bag holding clamping jaw device and on the side of the movable clamping jaw mounting block.

[0073] In the above technical solution, the bag-supporting clamping jaw device also includes a movable clamping jaw rotating shaft and a clamping jaw reset spring;

[0074] The lower end of the movable clamping jaw is connected to the movable clamping jaw mounting block through the movable clamping jaw rotating shaft;

[0075] The jaw reset spring is respectively connected to the lower end of the movable jaw and the mounting plate on the movable jaw mounting block; the jaw reset spring can pull the movable jaw, and at the same time the jaw reset spring cooperates with the limit column on the movable jaw mounting block to always keep the movable jaw in a vertical state and reset the movable jaw.

[0076] Compared with the prior art, the present invention has the following advantages:

[0077] (1) The entire mechanism is part of a fully automatic bagging and tying machine, which can truly realize automated operation. The bag-making mechanism uses roll film bags, which does not require frequent material changes and only requires one person to watch the machine;

[0078] (2) The structural design is optimized and a flexible control program is adopted. The main mechanical movements are all precisely driven by servo or stepper motors, without mechanical hard stop movements and obvious motion deviations, and the probability of collision is infinitely close to zero. After the parameters are set in the present invention, the servo motor runs according to the program, and the encoder can detect the point feedback position by itself. At the same time, the encoder can realize position partitioning, thereby controlling the running speed and acceleration and deceleration of the mechanism between partitions, so as to run more smoothly. The stepper motor can rotate a certain number of times at a predetermined speed in each running cycle according to the setting, thereby controlling the length and speed of bag delivery.

[0079] (3) Add intelligent control systems. Each motion mechanism is equipped with magnetic sensors and proximity switches to monitor and control the operation of the mechanism. At the same time, the servo and stepper motors can accurately feedback the motion point and operation status. The intelligent control system can warn the location of the fault and help workers troubleshoot faster and more accurately to ensure production.

[0080] (4) The servo and stepper motors run fast and accurately, with high bagging efficiency and success rate, which is as high as over 95%. The bagging of the next bag can be started immediately after bagging is completed, and there is no time interval between the two production cycles, which can reach 800-900 bags / hour;

[0081] (5) The bag feeding, bag scalding and bag cutting are designed in an integrated manner, which makes the bag feeding, bag scalding and bag cutting more stable and the bag making effect uniform; the bag feeding device uses a stepper motor to accurately control the bag feeding length; the bag scalding and bag cutting are completed at the same time, which ensures the stability of the bag scalding position, that is, the stability of the effective loading length; at the same time, the bag scalding time and temperature are adjustable, which can be adjusted in real time according to the actual thickness of the mushroom bag, the ambient temperature, and the effect of the bag scalding to ensure the stability of the bag scalding sealing; the bag cutting device adopts an optimized design, using a rod cylinder to ensure the stability of the bag cutting force, and using an alloy blade to ensure the sharpness, durability and flatness of the cut;

[0082] (6) The frame of the bag-making, bag-supporting and bag-covering mechanism of the present invention is welded by tooling. After the frame is welded, it can be assembled without additional debugging. During the debugging process, it is only necessary to determine the servo point position. The debugging is simple and there is no need for repeated mechanical debugging, which greatly shortens the debugging cycle and reduces the difficulty of debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] Figure 1 This is a position diagram of the bag making, bag holding and bagging mechanism of the present invention in the fully automatic bagging and tying machine;

[0084] Figure 2 This is a diagram showing the positions of the main devices in the bag-supporting and bag-covering mechanism of the present invention;

[0085] Figure 3 This is a structural diagram of the main frame of the bag-supporting and bag-covering mechanism of the present invention;

[0086] Figure 4 This is a structural diagram of the bag suction, bag moving and bag supporting device of the present invention;

[0087] Figure 5 This is a structural diagram of the integrated bag feeding, bag ironing and bag cutting device of the present invention;

[0088] Figure 6 This is a structural diagram of the bag holding clamp device of the present invention;

[0089] Figure 7 This is a front view of the bag holding clamp device of the present invention;

[0090] Figure 8 This is a structural diagram of the rectangular motion device of the gripper of the present invention.

[0091] In the figure, 1, vacuum blower, 2, bag making, bag holding and bagging mechanism, 3, main frame of the fully automatic bagging and tying machine, 4, main frame, 5, bag suction, bag moving and bag holding device, 6, integrated device for feeding, hot cutting, 7, bag holding and clamping device, 8, rectangular movement device of the clamping claw, 40, frame, 41, solenoid valve group, 42, pressure regulating valve, 43, mounting pad, 44, fungus bag guide groove, 45, synchronous belt group of X-axis motion servo motor, 46, air breaking valve, 47, air breaking valve cylinder, 500, Y-axis bag moving servo motor, 501, inductive proximity sensor , 502, bag suction, bag transfer, bag support mounting plate, 503, bag support cylinder, 504, lower suction box air pipe, 505, mushroom bag support plate, 506, guide shaft, 507, upper suction box air pipe, 508, linear bearing, 509, bag transfer timing belt, 510, lower suction box mounting plate, 511, lower suction box, 512, upper suction box, 513, upper suction box mounting plate, 600, bag feeding stepper motor, 601, mushroom bag guide plate, 602, bag feeding rubber wheel, 603, heating resistor, 604, bag ironing module, 605, cloth rolling shaft, 606, bag feeding pressure Tightening spring, 607, quick clamp, 608, hot bag clamping cylinder mounting plate, 609, hot bag clamping cylinder, 610, hot bag mechanism upper mounting plate, 611, hot bag lower pressure plate, 612, hot bag module mounting plate, 613, hot bag clamping spring, 614, high temperature resistant cloth roll, 615, bag cutting clamping block, 616, upper hot bag silicone plate, 617, lower hot bag silicone plate, 618, hot bag mechanism lower mounting plate, 619, bag cutting blade, 620, blade mounting block, 621, bag cutting cylinder, 70, bag support clamp device main board 71, clamp Claw proximity sensor, 72, movable jaw mounting block, 73, movable jaw, 74, jaw reset guide wheel, 75, arc-shaped jaw, 76, fixed jaw, 77, jaw opening and closing cylinder, 78, movable jaw rotating shaft, 79, jaw reset spring, 80, optical axis mounting seat, 81, optical axis, 82, Y-axis motion servo motor, 83, X-axis synchronous belt connecting block, 84, origin position control proximity switch, 85, slide rail, 86, slider, 87, jaw Y-axis synchronous belt connecting block, 88, synchronous belt, 89, jaw rectangular motion device mainboard. DETAILED DESCRIPTION

[0092] The following is a detailed description of the implementation of the present invention in conjunction with the accompanying drawings, but they do not constitute a limitation of the present invention and are only given as examples. At the same time, the advantages of the present invention are made clearer and easier to understand through the description.

[0093] The bag making, bag holding and bagging mechanism in the present invention is a device configured on a fully automatic bagging machine, which can automatically complete the above-mentioned continuous actions. The device first delivers a certain length of mushroom bag driven by the servo motor through the cooperation between the bag feeding rubber wheel, vacuum suction cup and various cylinders, and then simultaneously completes the actions of scalding and sealing the bag and cutting the bag, and then the vacuum suction cup absorbs and holds the mouth of the mushroom bag open, and then moves to the bagging position, the bagging clamp is closed under the drive of the clamp cylinder, inserted into the mouth of the mushroom bag and then holds the mouth of the mushroom bag open, and at the same time the suction cup stops sucking air, the mushroom bag is separated from the suction cup, and the clamp holds the mushroom bag and starts to complete the actions of bagging and separating from the discharge barrel under the drive of the servo motor.

[0094] In the process of the bag-making, bag-supporting and bag-covering mechanism of the present invention, the positional relationship between the clamp and the upper and lower suction cups and the force of the clamp to support the bag are very important. If the upper and lower gaps are too small, it is easy to collide with the machine; if the left and right are not centered, the clamp is easy to collide with the bag opening, causing bagging failure; if the clamp is not open with enough force, the bag opening is not open enough, the bag is easy to fall off, and the gap between the clamp and the discharge barrel is too small during bagging, which is easy to cause loading; if the clamp is opened with too much force, the bag opening is easy to be broken.

[0095] The present invention adjusts the height of the upper suction cup by adjusting the tail end limit of the bag-holding cylinder 503; the height difference between the upper and lower suction cups is the size of the suction cup opening, and this size is required to just accommodate the clamping claws without collision, and the upper and lower spacing must be uniform. The clamping claws in the present invention can be smoothly inserted into the mouth of the bag, so that they can be smoothly opened by the clamping claws; the height of the lower suction cup and the entire bag making and feeding mechanism is adjusted by adjusting the height of the bag suction, bag transfer and bag holding mounting plate 502; the left and right of the suction cup is controlled by adjusting the bag-covering position of the Y-axis bag transfer servo motor 500; the strength of the clamping claw opening and closing cylinder 77, that is, the strength of the clamping claw to hold the bag, is controlled by controlling the pressure regulating valve 42; the problem that the position of the clamping claw and the upper and lower suction cups is difficult to determine and the strength of the clamping claw to hold the bag is difficult to control during the process of clamping the bag-covering mechanism of the bag making, bag-covering and bag-covering mechanism is solved.

[0096] The movable end of the clamp in the present invention has two clamp proximity sensors 71, which can detect whether the clamp is opened to the right extent. The magnetic induction proximity sensor switch located on the right side is used to detect whether the clamp is completely closed, and the magnetic induction proximity sensor switch located on the left side is used to detect whether the clamp is holding the bag. If the clamp is holding the bag, the signal can be sensed. If the bag falls off the clamp, the clamp will open further, so the signal cannot be sensed. At this time, the logic judges that there is no bag on the clamp; therefore, during the bagging process, if the signal is lost, it means that the bag is not put on halfway during the bagging process and needs to be re-bagged.

[0097] Other magnetic sensors are arranged on the cylinder to sense and detect whether the cylinder has moved into place and to detect the fault location.

[0098] It should be noted that: Figure 1 When the main frame 3 of the fully automatic bagging and sealing machine is formed, the left and right direction is regarded as the X-axis direction, the front and back direction is regarded as the Y-axis direction, and the up and down direction is regarded as the Z-axis direction.

[0099] The working principle and control method of the present invention are introduced as follows:

[0100] As attached Figure 1 As shown, the bag making, bag holding and bag covering mechanism of the present invention is an auxiliary mechanism in the fully automatic bagging and tying machine, and is used to complete the bag making, bag holding and bag covering actions.

[0101] like Figure 1 As shown, the noted surface is the front surface, the left and right direction is regarded as the X-axis direction, and the front and back direction is regarded as the Y-axis direction. The entire mechanism mainly performs rectangular motion in these two directions.

[0102] The origin positions of each device are as follows: the bag sucking, moving, and holding bag device 5 is at the bag outlet position of the bag feeding, hot bag, and cutting integrated device 6, and the fungus bag is just centered with the suction cup; the bag holding and clamping jaw device 7 is at the bag receiving position, and the clamping jaw rectangular motion device 8 only needs to move the clamping jaw device 7 in the X-axis direction for a short distance to insert the clamping jaw into the bag opening, and then the clamping jaw device 7 opens the clamping jaw to complete the bag holding.

[0103] The specific control process of the present invention is as follows:

[0104] After setting the bag-scalding temperature and time, the bag-scalding module 604 reaches the preset temperature under the heating of the heating resistor 603, and the start knob is turned to manual. First, manually click the bag-making button to make a bag, remove the bag and put it away, then turn it to automatic, press the green start button, and start automatic production. (At this time, the bottom of the bag sealed by the heat is the bottom of the next bag)

[0105] The upper and lower rubber wheels 602 pressed by the bag pressing spring 606 rotate under the driving of the bag stepping motor 600, and the fungus bag is pulled out of the film roll disc to a certain length. At this time, the bag stepping motor 600 stops rotating, and the bag pressing plate 611, the bag pressing module mounting plate 612, the bag pressing module 604 and the bag cutting pressing block 615 simultaneously complete the pressing action under the action of the bag pressing cylinder 609, and the bag pressing spring 613 plays the role of buffering and elastic pressing. At the same time, the upper suction cup 512 and the lower suction cup 511 are closed under the action of the bag supporting cylinder 503, and the air breaking valve 46 completes the connection between the suction box and the vacuum fan 1 under the action of the air breaking valve cylinder 47. At this time, the fungus bag is pressed by the upper bag hot silica gel plate 616 and the lower bag hot silica gel plate 617, and the bag hot module 604 performs the bag hot sealing, and the bag cutting blade 619 completes the bag cutting work under the action of the bag cutting cylinder 621.

[0106] After the bag is scalded, the bag pressing cylinder 609 is retracted, and the pressing mechanism of the entire integrated feeding, scalding and cutting device 6 is fully returned to its original position. At this time, the bag mouth of the fungus bag is sucked by the suction cup, and the lower suction box mounting plate 510 is driven by the Y-axis bag transfer servo motor 500 and the bag transfer synchronous belt 509 to move the entire suction cup mechanism along the Y-axis to the bag receiving position. During the movement, the bag holding cylinder 503 is extended, and the upper and lower suction boxes are opened to complete the opening of the fungus bag. This time, the bag holding jaw device 7 moves from the bag receiving position to the bag holding position under the action of the jaw rectangular movement device 8. After the arc-shaped jaw 75 is inserted into the bag mouth, the movable jaw 73 completes the bag holding under the action of the jaw opening and closing cylinder 77. The air pressure of the jaw opening and closing cylinder 77 is controlled by the pressure regulating valve 42 to prevent the jaw from opening too much and causing the bag mouth to rupture. After the bag is supported, the air-breaking valve cylinder 47 is reset, the air-breaking valve 46 connects the vacuum fan 1 with the atmosphere, the suction cup no longer generates suction, and the bag is smoothly separated from the suction cup under the action of the clamp. At the same time, the bag suction, bag moving and bag supporting device 5 is reset and returns to the bag outlet position to wait for the next bag.

[0107] At the same time, the clamp of the bag-supporting clamp device 7 moves along the Y axis to the discharge barrel position under the drive of the Y-axis motion servo motor on the clamp rectangular motion device 8. The servo parameter setting here is extremely important. It is necessary to accurately control the gap between the two sides of the clamp and the upper and lower sides of the bag mouth and the entire discharge barrel to be uniform and without interference. Only the stable and precise control of the servo motor can achieve this. After the clamp moves to the right position, the entire bag-supporting clamp device 7 and the clamp rectangular motion device main board 89 and its accessories move along the X axis under the drive of the X-axis motion servo motor synchronous belt group 45 to complete the bagging action. After moving to the bagging completion point, the clamp will automatically detach from the bag because the bagging area of ​​the discharge barrel is longer than the bag. If the clamp detaches from the bag in advance, the clamp proximity sensor 71 will lose the signal in advance, which is a bagging failure signal. The device will perform the above steps again after the clamp detaches from the discharge barrel until the bagging is successful. If the bagging fails three times in a row, the equipment stops production and issues a warning.

[0108] After the clamp is separated from the bag, the clamp continues to move to the disengagement position of the discharge barrel, and the bag-supporting clamp device 7 is driven by the Y-axis movement servo motor 82 to disengage from the discharge barrel along the Y-axis. At the same time, the clamp opening and closing cylinder 77 retracts, and the movable clamp 73 rotates and resets around the movable clamp shaft 78 along the arc ring on the discharge barrel under the simultaneous action of the clamp reset guide wheel 74 and the clamp reset spring 79. At this time, the clamp closes and starts to move along the X-axis to the bag receiving position to wait for the next bag.

[0109] The above-mentioned bag feeding, bag scalding, bag cutting, bag moving and bag supporting are carried out in a cycle. Each time the discharge barrel completes bagging, bagging begins. All bagging preparation actions are completed during the bagging process of the discharge barrel, that is, the bagging action of the next bag is started immediately after bagging is completed. There is no time interval between the two production cycles for waiting for the completion of bagging preparation, and the two production cycles are staggered and circulated in sequence.

[0110] Other parts not described belong to the prior art.

Claims

1. A control method for a bag making, bag holding and bagging mechanism, characterized in that: Control the bag making, bag holding and bag putting mechanism. The specific control method includes the following steps: Step 1: After setting the bag-scalding temperature and time, the bag-scalding module (604) of the bag-making, bag-supporting and bag-covering mechanism reaches a predetermined temperature under the heating of the heating resistor (603), the start knob is turned to manual, and the bag-making button is manually clicked to make a bag, and the bag is removed and not used, and then turned to automatic, and the green start button is pressed to start automatic production; Step 2: bag making, bag feeding, bag ironing and bag cutting; The upper and lower bag feeding rubber wheels (602) which are pressed by the bag feeding and clamping springs (606) of the bag making, supporting and bag covering mechanism rotate under the drive of the bag feeding stepping motor (600) to pull the fungus material bag out of the film rolling disk to a certain length. At this time, the bag feeding stepping motor (600) stops rotating, and the bag pressing plate (611), the bag heating module mounting plate (612), the bag heating module (604) and the bag cutting and clamping block (615) simultaneously complete the pressing action under the action of the bag heating and clamping cylinder (609), and the bag heating and clamping springs (613) play the role of buffering and elastic clamping; at the same time, the upper suction cup (512) and the lower suction cup (511) complete the closing under the action of the bag supporting cylinder (503), and the air breaking valve (46) completes the connection between the suction box and the vacuum fan (1) under the action of the air breaking valve cylinder (47); At this time, the bag is pressed tightly by the upper bag-scalding silica gel plate (616) and the lower bag-scalding silica gel plate (617), and at the same time, the bag-scalding module (604) performs bag-scalding sealing, and the bag-cutting blade (619) completes the bag-cutting work under the action of the bag-cutting cylinder (621); Step 3: Move the bag and support the bag; After the bag is scalded, the bag scalding and pressing cylinder (609) of the bag making, bag holding and bag covering mechanism is retracted, and the pressing mechanism of the entire integrated feeding, scalding and cutting device (6) is completely returned to its original position. At this time, the bag mouth is sucked by the suction cup, and the lower suction box mounting plate (510) is driven by the Y-axis bag moving servo motor (500) and the bag moving synchronous belt (509) to move the entire suction cup mechanism along the Y-axis to the bag receiving position. During the movement, the bag holding cylinder (503) is extended, and the upper and lower suction boxes are opened to complete the opening of the bag. This time, the bag holding claw device (7) is moved from the bag receiving position under the action of the claw rectangular movement device (8). After the arc-shaped clamping jaw (75) is moved to the bag-supporting position and inserted into the mouth of the bag, the movable clamping jaw (73) completes the bag-supporting under the action of the clamping jaw opening and closing cylinder (77); the air pressure of the clamping jaw opening and closing cylinder (77) is controlled by the pressure regulating valve (42) to prevent the clamping jaw from opening too much and causing the bag mouth to rupture; after the bag-supporting is completed, the air-breaking valve cylinder (47) is reset, the air-breaking valve (46) is connected to the vacuum fan (1) and the atmosphere, the suction cup no longer generates suction, and the bag is smoothly separated from the suction cup under the action of the clamping jaw, and at the same time, the bag suction, moving and supporting device (5) is reset and returns to the bag-discharging position to wait for the next bag; Step 4: Bagging; The clamping jaws of the bag holding clamping jaw device (7) of the bag making, holding and bagging mechanism are driven by the Y-axis motion servo motor on the clamping jaw rectangular motion device (8) to move along the Y-axis to the position of the discharge barrel; after the clamping jaws move to the position, the entire bag holding clamping jaw device (7) and the clamping jaw rectangular motion device main board (89) and its auxiliary parts are driven by the X-axis motion servo motor synchronous belt group (45) to move along the X-axis to complete the bagging action, and after moving to the bagging completion point, the clamping jaws automatically detach from the bag because the bagging area of ​​the discharge barrel is longer than the bag; If the gripper is separated from the bag in advance, the gripper proximity sensor (71) will lose the signal in advance, which is a bagging failure signal. The device will perform the above steps again after the gripper is separated from the discharge barrel until the bagging is successful. If the bagging fails three times in a row, the equipment will stop production and issue a warning. Step 5: After the clamping jaws are separated from the bag, the clamping jaws of the bag making, bag holding and bag covering mechanism continue to move to the disengagement position of the discharge barrel, and the bag holding clamping jaw device (7) is driven by the Y-axis motion servo motor (82) to disengage from the discharge barrel along the Y-axis, and at the same time, the clamping jaw opening and closing cylinder (77) retracts, and the movable clamping jaw (73) rotates and resets along the arc ring on the discharge barrel around the movable clamping jaw rotating shaft (78) under the simultaneous action of the clamping jaw reset guide wheel (74) and the clamping jaw reset spring (79). At this time, the clamping jaw closes and starts to move along the X-axis to the bag receiving position to wait for the next bag; Step 6: The above-mentioned bag feeding, bag scalding, bag cutting, bag moving, bag supporting and bagging are carried out in a cycle. Each time the discharge barrel completes bagging, bagging begins. All bagging preparation actions are completed during the bagging process of the discharge barrel, that is, the bagging action of the next bag is started immediately after bagging is completed. There is no time interval between the two production cycles, and they are cycled in sequence.

2. The control method of the bag making, bag holding and bag covering mechanism according to claim 1 is characterized in that: The bag making, bag holding and bag covering mechanism comprises a main frame (4), a bag suction, bag moving and bag holding device (5), an integrated conveying, hot-cutting device (6), a bag holding and clamping claw device (7) and a rectangular clamping claw moving device (8); The bag suction, bag transfer and bag holding device (5), the integrated conveying, hot cutting device (6), the bag holding claw device (7) and the claw rectangular moving device (8) are all arranged on the main frame (4); The integrated feeding, hot-cutting device (6) is movably connected to the main frame (4); The bag-supporting clamping claw device (7) is movably mounted on the clamping claw rectangular motion device (8); The clamping claw rectangular motion device (8) is movably connected to the main frame (4).

3. The control method of the bag making, bag holding and bag covering mechanism according to claim 2 is characterized in that: The main frame (4) comprises a frame (40), a solenoid valve group (41), a pressure regulating valve (42), a mounting pad (43), a fungus bag guide groove (44), an X-axis motion servo motor synchronous belt group (45), a piercing valve (46) and a piercing valve cylinder (47); The solenoid valve group (41) and the pressure regulating valve (42) are both installed on the side end of the frame (40); The mounting pads (43) are located at the four corners of the upper end of the frame (40); The fungus bag guide groove (44) is located at the upper end of the frame (40); The X-axis motion servo motor synchronous belt group (45) is located at the upper end of the frame (40) and below the side of the fungus bag guide groove (44); The air-breaking valve (46) is mounted on the lower end surface of the frame (40); The air-breaking valve cylinder (47) is connected to the air duct plug in the air-breaking valve (46).

4. The control method of the bag making, bag holding and bag covering mechanism according to claim 3 is characterized in that: The bag suction, bag transfer and bag support device (5) comprises a Y-axis bag transfer servo motor (500), an inductive proximity sensor (501), a bag suction, bag transfer and bag support mounting plate (502), a bag support cylinder (503), a lower suction box air pipe (504), a fungus bag support plate (505), a guide shaft (506), an upper suction box air pipe (507), a linear bearing (508), a bag transfer synchronous belt (509), a lower suction box mounting plate (510), a lower suction box (511), an upper suction box (512) and an upper suction box mounting plate (513); The upper suction box (512) is installed on the upper suction box mounting plate (513); the upper suction box air pipe (507) is connected to the upper suction box (512); The lower suction box (511) is installed on the lower suction box mounting plate (510); the lower suction box air pipe (504) is connected to the lower suction box (511); The mushroom bag supporting plate (505) is arranged on the lower suction box (511); The upper suction box mounting plate (513) is located above the lower suction box mounting plate (510); The linear bearing (508) is mounted on the lower end surface of the upper suction box mounting plate (513); the guide shaft (506) passes through the upper suction box mounting plate (513), the linear bearing (508) and the lower suction box mounting plate (510) in sequence; The bag-supporting cylinder (503) is mounted on the lower end surface of the lower suction box mounting plate (510); The Y-axis bag transfer servo motor (500) is mounted on the bag suction, bag transfer and bag support mounting plate (502); The bag transfer synchronous belt (509) is installed on the driving end of the Y-axis bag transfer servo motor (500); the lower suction box mounting plate (510) is installed on the bag transfer synchronous belt (509) and is slidably connected with the bag suction, bag transfer and bag support mounting plate (502); The inductive proximity sensor (501) is mounted on the bag suction, bag transfer and bag support mounting plate (502).

5. The control method of the bag making, bag holding and bag covering mechanism according to claim 4 is characterized in that: The integrated feeding, hot-cutting device (6) comprises a bag feeding stepping motor (600), a bag guide plate (601), a bag feeding rubber wheel (602), a heating resistor (603), a bag hot-cutting module (604), a cloth rolling shaft (605), a bag feeding pressing spring (606), a quick clamp (607), a bag hot-cutting pressing cylinder mounting plate (608), a bag hot-cutting pressing cylinder (609), a bag hot-cutting mechanism upper mounting plate (610), a bag hot-cutting lower pressing plate (611), a bag hot-cutting module mounting plate (612), a bag hot-cutting pressing spring (613), a high temperature resistant cloth rolling (614), a bag cutting pressing block (615), an upper bag hot-cutting silica gel plate (616), a lower bag hot-cutting silica gel plate (617), a bag hot-cutting mechanism lower mounting plate (618), a bag cutting blade (619), a blade mounting block (620), and a bag cutting cylinder (621); The upper mounting plate (610) of the bag steaming mechanism is mounted above the lower mounting plate (618) of the bag steaming mechanism; The bag pressing cylinder mounting plate (608) is located on the bag pressing mechanism upper mounting plate (610); the fixed end of the bag pressing cylinder (609) is located inside the bag pressing cylinder mounting plate (608), and the telescopic end is connected to the bag pressing lower plate (611); The bag cutting and pressing block (615) is located below the bag hot pressing plate (611); the support guide shaft is installed between the bag cutting and pressing block (615) and the bag hot pressing plate (611); the bag hot pressing spring (613) is sleeved on the support guide shaft; The bag cutting and pressing block (615) is located above the lower mounting plate (618) of the bag hotting mechanism; the upper bag hotting silica gel plate (616) is located at the lower end surface of the bag cutting and pressing block (615); the lower bag hotting silica gel plate (617) is located at the upper end surface of the lower mounting plate (618) of the bag hotting mechanism; the upper bag hotting silica gel plate (616) is located directly above the lower bag hotting silica gel plate (617); The bag cutting blade (619) is located on the lower mounting plate (618) of the bag hot mechanism; the blade mounting block (620) is respectively connected to the bag cutting blade (619) and the bag cutting cylinder (621), and is slidably connected to the lower mounting plate (618) of the bag hot mechanism; The bag-scalding module mounting plate (612) is located between the bag-scalding lower pressing plate (611) and the bag-cutting pressing block (615); The high temperature resistant roll cloth (614) is located on the bag hot module mounting plate (612); The steaming bag module (604) is installed below the steaming bag lower pressing plate (611); The heating resistor (603) is assembled in the through hole of the hot bag module (604); The cloth rolling shaft (605) is installed on the side of the lower pressing plate (611) of the hot bag; The bag-feeding rubber wheel (602) is located at the upper and lower sides of the fungus bag guide plate (601); a bag-feeding pressing guide shaft is arranged between the mounting plate (610) on the bag-scalding mechanism and the bag-feeding rubber wheel support; and a bag-feeding pressing spring (606) is sleeved on the bag-feeding pressing guide shaft; The quick clamp (607) is located on the upper mounting plate (610) of the bag-scalding mechanism; the fungus bag guide plate (601) is located on the lower mounting plate (618) of the bag-scalding mechanism and is located between the upper and lower bag-feeding rubber wheels (602); The bag-feeding stepping motor (600) is arranged on the lower mounting plate (618) of the bag-scalding mechanism; the bag-feeding stepping motor (600) is connected to the bag-feeding rubber wheel (602) located below via a coupling.

6. The control method of the bag making, bag holding and bag covering mechanism according to claim 5, characterized in that: The clamping claw rectangular motion device (8) comprises an optical axis mounting seat (80), an optical axis (81), a Y-axis motion servo motor (82), an X-axis synchronous belt connecting block (83), an origin position control proximity switch (84), a slide rail (85), a slider (86), a clamping claw Y-axis synchronous belt connecting block (87), a synchronous belt (88) and a clamping claw rectangular motion device mainboard (89); The optical axis (81) is mounted on the upper end of the main frame (4) via an optical axis mounting seat (80); The main board (89) of the clamping claw rectangular motion device is sleeved on the optical axis (81); A slide rail (85) is arranged on the upper end of the main board (89) of the clamping claw rectangular motion device; a slider (86) is located on the slide rail (85) and is slidably connected to the slide rail (85); The Y-axis motion servo motor (82) is mounted on the lower end of the clamping claw rectangular motion device mainboard (89) and is connected to the synchronous rotating shaft; Two synchronous rotating shafts are installed at intervals on the upper end of the main board (89) of the clamping claw rectangular motion device; The synchronous belt (88) is sleeved on the synchronous rotating shaft; The upper end surface of the main board (89) of the clamping claw rectangular motion device is provided with a clamping claw Y-axis synchronous belt connection block (87), and the lower end surface is provided with an X-axis synchronous belt connection block (83); the clamping claw Y-axis synchronous belt connection block (87) is located in the area surrounded by the synchronous belt (88); The origin position control proximity switch (84) is located on the lower end surface of the main board (89) of the clamping claw rectangular motion device and on the side of the optical axis (81).

7. The control method of the bag making, bag holding and bag covering mechanism according to claim 6, characterized in that: The bag-supporting clamping jaw device (7) comprises a bag-supporting clamping jaw device mainboard (70), a clamping jaw proximity sensor (71), a movable clamping jaw mounting block (72), a movable clamping jaw (73), a clamping jaw resetting guide wheel (74), an arc-shaped clamping jaw (75), a fixed clamping jaw (76) and a clamping jaw opening and closing cylinder (77); The mainboard (70) of the bag support clamping claw device is installed on the slide block (86); The fixed clamping claw (76) is fixedly mounted on the upper end of the main board (70) of the bag-supporting clamping claw device; The movable clamping jaw (73) is connected to the movable clamping jaw mounting block (72), and the movable clamping jaw mounting block (72) is movably connected to the main board (70) of the bag-supporting clamping jaw device; the clamping jaw opening and closing cylinder (77) is installed on the main board (70) of the bag-supporting clamping jaw device, and the telescopic end of the clamping jaw opening and closing cylinder (77) is connected to the movable clamping jaw mounting block (72); The upper ends of the fixed clamping jaw (76) and the movable clamping jaw (73) are both provided with arc-shaped clamping jaws (75); the arc-shaped clamping jaw (75) on the fixed clamping jaw (76) and the arc-shaped clamping jaw (75) on the movable clamping jaw (73) are arranged opposite to each other; The clamping jaw resetting guide wheel (74) is arranged on the movable clamping jaw (73); The clamping jaw proximity sensor (71) is located on the main board (70) of the bag-supporting clamping jaw device and on the side of the movable clamping jaw mounting block (72).

8. The control method of the bag making, bag holding and bag covering mechanism according to claim 7, characterized in that: The bag-supporting clamping jaw device (7) also includes a movable clamping jaw rotating shaft (78) and a clamping jaw reset spring (79); The lower end of the movable clamping jaw (73) is connected to the movable clamping jaw mounting block (72) via a movable clamping jaw rotating shaft (78); The clamping jaw return spring (79) is respectively connected to the lower end of the movable clamping jaw (73) and the mounting piece on the movable clamping jaw mounting block (72).

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