Automatic shaping and stacking system suitable for soft bags

Abstract

The invention provides an automatic shaping and stacking system suitable for soft bags, and relates to the technical field of stacking equipment. The system comprises a first conveying unit, a vibration conveying unit, a second conveying unit, a manual guiding and limiting unit, a detection unit, a shaping unit and a stacking robot, the first conveying unit, the vibration conveying unit and the second conveying unit are sequentially in butt joint in the cargo advancing direction, and the manual guiding and limiting unit is connected to the feeding end of the first conveying unit; the detecting unit and the shaping unit are sequentially connected to the discharging end of the first conveying unit in the cargo advancing direction, and the stacking robot is located on one side of the discharging end of the second conveying unit. The automatic shaping and stacking system is higher in automation degree, normal warehousing quantity is guaranteed, meanwhile, subsequent procedures are not affected, the phenomenon that the packaging bags are manually placed at will in the unloading process can be avoided, efficiency is improved, and the automatic shaping and stacking system is fast, effective and suitable for soft packaging bags of different sizes and specifications.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing equipment, and in particular to an automatic shaping and palletizing system suitable for soft bag packaging. Background Art

[0002] Soft bag packaging is widely used in many fields. In the existing soft bag packaging, there are many manual processes in the transportation process, and manual unloading is generally used at the front end of the conveyor line to place the materials on the conveyor line. Since the manual placement process is relatively random, it is difficult to unify the placement direction of the goods, and it is also difficult to control the placement height, which ultimately leads to the inability to guarantee the normal storage volume, and it is also easy to affect the subsequent processes, and the overall efficiency will also be reduced. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic shaping and stacking system suitable for soft bags to solve the technical problems existing in the prior art. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An automatic shaping and palletizing system suitable for soft bags, comprising a first conveying unit, a vibrating conveying unit, a second conveying unit, a manual guide limiting unit, a detection unit, a shaping unit and a palletizing robot, wherein the first conveying unit, the vibrating conveying unit and the second conveying unit are connected in sequence along the direction of goods travel, the manual guide limiting unit is connected to the feeding end of the first conveying unit, the detection unit and the shaping unit are connected in sequence to the discharging end of the first conveying unit along the direction of goods travel, and the palletizing robot is located on one side of the discharging end of the second conveying unit.

[0006] Preferably, the first conveying unit is a telescopic belt conveyor.

[0007] Preferably, the vibration conveying unit includes a first frame, a first driving assembly and a roller shaft, the first driving assembly is connected to the first frame, a plurality of the roller shafts are movably connected to the first frame and drivingly connected to the first driving assembly, and a plurality of vibration bars are evenly arranged on the outer side of the roller shaft along the circumferential direction.

[0008] Preferably, the second conveying unit includes a second frame, a cache segment drive assembly, a docking segment drive assembly and rollers, a plurality of the rollers are movably connected to the second frame and are divided into a cache segment and a docking segment along the direction of travel of the goods, the rollers located in the cache segment are drive-connected to the cache segment drive assembly, the rollers located in the docking segment are drive-connected to the docking segment drive assembly, and the cache segment drive assembly and the docking segment drive assembly are both connected to the second frame.

[0009] Preferably, the manual guide limiting unit includes a manual guide limiting guardrail, and two manual guide limiting guardrails are symmetrically connected to the first conveying unit.

[0010] Preferably, the detection unit includes a first bracket, a second bracket and a through-beam sensor, the first bracket is connected to the first conveying unit and is located in front of the shaping unit, the second bracket is connected to the first conveying unit and is connected to the shaping unit, and the through-beam sensor is provided on both the first bracket and the second bracket.

[0011] Preferably, the shaping unit includes a third bracket, a first movable component and a movable push plate component, the third bracket is connected to the first conveying unit, two first movable components are symmetrically connected to the third bracket and each is movably connected to a movable push plate component, and each of the first movable components can drive the corresponding movable push plate component to move relative to each other on a horizontal plane in a direction perpendicular to the direction of travel of the goods.

[0012] Preferably, the movable push plate assembly includes a fixed frame, a second movable assembly, a push plate body and a sliding assembly, the fixed frame is connected to the first movable assembly, the second movable assembly is connected to the fixed frame, the push plate body is drivingly connected to the second movable assembly and is slidingly connected to the fixed frame through the sliding assembly.

[0013] Preferably, the palletizing robot comprises a palletizing claw, and the maximum opening distance of the palletizing claw is smaller than the length of the roller.

[0014] Preferably, it also includes a centering guide limiting unit, which includes a centering guide limiting guardrail, and two centering guide limiting guardrails are symmetrically connected to the vibration conveying unit.

[0015] The beneficial effects of the present invention are as follows: in the automatic shaping and palletizing system, the goods can be continuously conveyed in the order of the first conveying unit, the vibrating conveying unit and the second conveying unit; the manual guide limit unit can limit the placement direction of the goods to avoid placing the goods horizontally during manual placement, and to make the goods as flat as possible in the center; meanwhile, the placement direction of the goods can be prevented from exceeding the opening range of the palletizing grippers of the palletizing robot; the detection unit can detect the placement position and placement height of the goods on the first conveying unit; the shaping unit can perform targeted shaping according to the detection result of the detection unit, so that the goods are placed in the center and have a compliant placement height; the vibrating conveying unit can vibrate and bump the goods, so that the goods are kept as even as possible in a flat state; the palletizing robot can stably and accurately clamp the goods, and move the goods to the next process;

[0016] The automatic shaping and palletizing system has a higher degree of automation. It can ensure the normal storage volume without affecting the subsequent processes. It can solve the problem of manual placement during unloading, improve efficiency, be fast and effective, and can be applied to a variety of soft packaging bags of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural diagram of the present invention;

[0019] Figure 2 It is a detailed structural diagram of the vibration conveying unit and the centering guide limiting unit of the present invention;

[0020] Figure 3 It is a detailed structural diagram of the second conveying unit and the palletizing robot of the present invention;

[0021] Figure 4 is a detailed structural diagram of the detection unit of the present invention;

[0022] Figure 5 It is a detailed structural diagram of the shaping unit of the present invention;

[0023] In the figure, 1, the first conveying unit;

[0024] 2. Vibration conveying unit; 21. First frame; 22. First driving assembly; 23. Roller; 231. Vibration bar;

[0025] 3. Second conveying unit; 31. Second frame; 32. Buffering section driving assembly; 33. Docking section driving assembly; 34. Roller;

[0026] 4. Manual guide limit unit; 41. Manual guide limit guardrail;

[0027] 5. Detection unit; 51. First bracket; 52. Second bracket; 53. Opposing beam sensor;

[0028] 6. Shaping unit; 61. Third bracket; 62. First moving assembly; 63. Moving push plate assembly; 631. Fixed frame; 632. Second moving assembly; 633. Push plate body; 634. Sliding assembly; 64. Guide assembly;

[0029] 7. Palletizing robot; 71. Palletizing gripper;

[0030] 8. Centering guide limit unit; 81. Centering guide limit guardrail. DETAILED DESCRIPTION

[0031] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "center", "lateral", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "side" and the like indicate positions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0034] Reference Figures 1 to 5The present invention provides an automatic shaping and palletizing system suitable for soft bags, including a first conveying unit 1, a vibration conveying unit 2, a second conveying unit 3, a manual guide limit unit 4, a detection unit 5, a shaping unit 6 and a palletizing robot 7.

[0035] The first conveying unit 1 , the vibrating conveying unit 2 and the second conveying unit 3 are connected in sequence along the traveling direction of the goods, and the goods can be continuously conveyed in the order of the first conveying unit 1 , the vibrating conveying unit 2 and the second conveying unit 3 .

[0036] In this embodiment, the first conveying unit 1 is preferably a telescopic belt conveyor. The structure of the telescopic belt conveyor itself is conventional existing technology. The telescopic belt conveyor can adjust its own telescopic distance and is more flexibly applied to the automatic shaping and stacking system to form a better docking effect with the vibration conveying unit 2.

[0037] The vibration conveying unit 2 includes a first frame 21, a first driving assembly 22 and a roller shaft 23;

[0038] The first frame 21 is placed on the ground and can fix and support the first driving assembly 22 and the roller shaft 23;

[0039] The first driving assembly 22 is connected to the first frame 21 , a plurality of rollers 23 are movably connected to the first frame 21 and drivingly connected to the first driving assembly 22 , and a plurality of vibration bars 231 are evenly arranged on the outer side of the rollers 23 along the circumferential direction.

[0040] In this embodiment, the first driving assembly 22 preferably includes a motor, a chain and a sprocket, the motor is connected to the chain in a transmission manner, the chain is connected to the sprocket in a transmission manner, and the sprocket is connected to the end of the roller shaft 23. The structure, connection method and transmission principle of the motor, chain and sprocket are conventional prior art, so they are not further described and are not shown in detail in the drawings.

[0041] After the motor is started, it can drive the chain to rotate, the chain rotation can drive the sprocket rotation, the sprocket rotation can drive the roller 23 to rotate. During the rotation of the roller 23, the part of the roller 23 with the vibration bar 231 and the part without the vibration bar 231 rotate alternately to the top in turn, thereby driving the goods to vibrate and bump up and down, so that the goods can be kept as even as possible in a flat state.

[0042] The second conveying unit 3 includes a second frame 31, a buffer section driving assembly 32, a docking section driving assembly 33 and a roller 34;

[0043] The second frame 31 is placed on the ground and can fix and support the buffer segment drive assembly 32, the docking segment drive assembly 33 and the roller 34;

[0044] A plurality of rollers 34 are movably connected to the second frame 31 and are divided into a buffer section and a docking section along the direction of cargo travel. The rollers 34 located in the buffer section are drivingly connected to the buffer section drive assembly 32, and the rollers 34 located in the docking section are drivingly connected to the docking section drive assembly 33. Both the buffer section drive assembly 32 and the docking section drive assembly 33 are connected to the second frame 31.

[0045] In this embodiment, the buffer segment drive assembly 32 and the docking segment drive assembly 33 preferably include a motor, a chain and a sprocket, the motor is connected to the chain, the chain is connected to the sprocket, and the sprocket is connected to the end of the roller 34. The structure, connection method and transmission principle of the motor, chain and sprocket are conventional prior art, so they are not further described and are not shown in detail in the drawings.

[0046] After the motor is started, it can drive the chain to rotate, the chain rotation can drive the sprocket rotation, and the sprocket rotation can drive the roller 34 to rotate. It is worth noting that since the roller 34 is divided into a cache section and a docking section, in the actual operation process, the roller 34 of the cache section and the roller 34 of the docking section can be independently controlled according to different practical needs, so that the roller 34 of the cache section and the roller 34 of the docking section have different rotation speeds, and can also achieve independent start and stop, thereby improving work efficiency. The cache section mainly plays a caching role, and the docking section mainly corresponds to the subsequent palletizing robot 7, which is convenient for the clamping operation of the palletizing robot 7.

[0047] The manual guide limit unit 4 is connected to the feeding end of the telescopic belt conveyor. In this embodiment, the manual guide limit unit 4 preferably includes a manual guide limit guardrail 41, and two manual guide limit guardrails 41 are symmetrically connected to the telescopic belt conveyor;

[0048] There is a distance between the two manual guide limit guardrails 41, which is related to the size of the goods, smaller than the length direction of the goods and larger than the width direction of the goods, so as to limit the placement direction of the goods and avoid placing the goods horizontally when placed manually. Here, horizontal placement means that the width direction of the goods is parallel to the direction of travel of the goods, and it can also avoid the placement direction of the goods exceeding the opening range of the stacking claws 71 of the stacking robot 7;

[0049] In addition, the two artificial guide limit guardrails 41 actually form a narrowed state at the feeding end of the telescopic belt conveyor, thereby having a certain centering effect, so that the goods can be placed flat in the center as much as possible, which is conducive to the smooth progress of subsequent processes.

[0050] The detection unit 5 and the shaping unit 6 are sequentially connected to the discharge end of the first conveying unit 1 along the moving direction of the goods.

[0051] The detection unit 5 preferably includes a first bracket 51, a second bracket 52 and a corresponding radiation sensor 53. The first bracket 51 is connected to the first conveying unit 1 and is located in front of the shaping unit 6. The second bracket 52 is connected to the first conveying unit 1 and is connected to the shaping unit 6. The corresponding radiation sensor 53 is provided on both the first bracket 51 and the second bracket 52.

[0052] The first bracket 51 and the second bracket 52 form two detection positions. When the goods arrive at the detection position corresponding to the first bracket 51 under the transportation of the first conveying unit 1, the through-beam sensor 53 can check whether the goods are biased to the left or right. If the goods are biased to the left or right, the sensor signal will be transmitted to the shaping unit 6. The goods passing through the subsequent shaping unit 6 is equivalent to moving to the detection position corresponding to the second bracket 52. The through-beam sensor 53 can detect that the goods are in place, and then the first conveying unit 1 temporarily stops conveying, and the shaping unit 6 can act to shape the goods.

[0053] The through-beam sensor 53 can also check the height of the goods on the first conveying unit 1. If the goods are in a intact flat state, the subsequent shaping unit 6 will not operate. If the size of the goods exceeds the flat state, the sensor signal will be transmitted to the shaping unit 6. The goods passing through the subsequent shaping unit 6 is equivalent to moving to the detection position corresponding to the second bracket 52. The through-beam sensor 53 can detect that the goods are in place, and then the first conveying unit 1 temporarily stops conveying, and the shaping unit 6 can operate to shape the goods.

[0054] The shaping unit 6 preferably includes a third bracket 61, a first moving assembly 62 and a moving push plate assembly 63. The third bracket 61 is connected to the first conveying unit 1. The two first moving assemblies 62 are symmetrically connected to the third bracket 61 and are each movably connected to a moving push plate assembly 63. Each first moving assembly 62 can drive the corresponding moving push plate assembly 63 to move relatively in a horizontal plane in a direction perpendicular to the direction of travel of the goods. When the goods are more inclined to one side, the moving push plate assembly 63 on that side can simulate the action of manually pushing the bag material on the goods to move it to a more centered position. When the height of the goods exceeds the lying state, the two moving push plate assemblies 63 can work together to simulate the action of manually pushing the bag material on the goods to lower the height to meet the height restriction.

[0055] In this embodiment, the first moving assembly 62 is preferably a cylinder structure, the rod end of the cylinder is connected to the moving push plate assembly 63, and the shaping unit 6 also includes a guide assembly 64, which is preferably a combination structure of a guide rod and a guide sleeve, the guide rod is fixed on the third bracket 61, and the guide sleeve is fixed on the moving push plate assembly 63. After the cylinder is started, it can drive the moving push plate assembly 63 to move relatively with the cooperation of the guide assembly 64;

[0056] The movable push plate assembly 63 includes a fixed frame 631, a second movable assembly 632, a push plate body 633 and a sliding assembly 634. The fixed frame 631 is connected to the first movable assembly 62, and the guide sleeve of the guide assembly 64 is connected to the fixed frame 631.

[0057] The second moving assembly 632 is connected to the fixed frame 631, the push plate body 633 is connected to the second moving assembly 632 by driving and is connected to the fixed frame 631 by sliding assembly 634. The second moving assembly 632 is preferably a cylinder structure, the rod end of the cylinder is connected to the push plate body 633, and the sliding assembly 634 is preferably a combination structure of a slideway and a slider, the slideway is connected to the fixed frame 631, and the slider is connected to the push plate body 633. After the cylinder is started, it can drive the push plate body 633 to move relative to each other in the vertical direction with the cooperation of the sliding assembly 634, so that the lifting height of the push plate body 633 can be adjusted according to the height of the goods, so that the push plate body 633 is applicable to a wider range of goods sizes;

[0058] In this embodiment, the cross-sectional shape of the slider of the sliding assembly 634 is preferably a dovetail shape, which can prevent the bag from being scratched.

[0059] The palletizing robot 7 is located at one side of the discharge end of the second conveying unit 3. The palletizing robot 7 preferably includes a palletizing gripper 71. The palletizing robot 7 can grip the goods on the second conveying unit 3 through the palletizing gripper 71 and then move it to the next process.

[0060] In this embodiment, the maximum opening distance of the stacking jaws 71 is smaller than the length of the roller 34, ensuring that the stacking jaws 71 can stably and accurately clamp the goods.

[0061] In order to further guide the goods in the center, the automatic shaping palletizing system further includes a centering guide limiting unit 8. In this embodiment, the centering guide limiting unit 8 preferably includes a centering guide limiting guardrail 81. Two centering guide limiting guardrails 81 are symmetrically connected to the vibration conveying unit 2. The two centering guide limiting guardrails 81 can jointly guide the goods in the center, so that the goods are kept within the opening range of the subsequent stacking jaws 71.

[0062] At the same time, the two centering guide limiting guardrails 81 extend in their length direction all the way to the feeding end of the second conveying unit 3, thereby ensuring continuous centering guidance.

[0063] In the automatic shaping and palletizing system, the goods can be continuously conveyed in the order of the first conveying unit 1, the vibrating conveying unit 2 and the second conveying unit 3. The manual guide limit unit 4 can limit the placement direction of the goods to avoid placing the goods horizontally during manual placement, and make the goods as centered and flat as possible. At the same time, it can also avoid the placement direction of the goods exceeding the opening range of the palletizing claws 71 of the palletizing robot 7. The detection unit 5 can detect the placement position and placement height of the goods on the first conveying unit 1. The shaping unit 6 can perform targeted shaping based on the detection results of the detection unit 5, so that the goods are placed in the center and have a compliant placement height. The vibrating conveying unit 2 can vibrate and bump the goods to keep the goods as even as possible in a flat state. The palletizing robot can stably and accurately clamp the goods and move the goods to the next process.

[0064] The automatic shaping and palletizing system has a higher degree of automation. It can ensure the normal storage volume without affecting the subsequent processes. It can solve the problem of manual placement during unloading, improve efficiency, and is fast and effective. It can be applied to soft packaging bags of various sizes and specifications, and is suitable for the later palletizing processing of related soft packaging industries such as fertilizers, fabrics, cement, sugar, feed, and salt.

[0065] The workflow of the automatic shaping and palletizing system is as follows:

[0066] 1. The worker places the unloaded soft packaged goods from the corresponding positions of the two manual guide limit guardrails 41 onto the telescopic belt conveyor of the first conveying unit 1, and the goods are conveyed on the telescopic belt conveyor;

[0067] 2. When the goods arrive at the detection position corresponding to the designated first bracket 51, the through-beam sensor 53 can check whether the goods are biased to the left or right. If the goods are biased to the left or right, the sensor signal will be transmitted to the shaping unit 6. In addition, the through-beam sensor 53 can also check the height of the goods on the first conveying unit 1. If the goods are in a good flat state, the subsequent shaping unit 6 will not act. If the size of the goods exceeds the flat state, the sensor signal will be transmitted to the shaping unit 6, and the shaping unit 6 can act to shape the goods;

[0068] 3. When the goods arrive at the corresponding position of the shaping unit 6 / the second bracket 52, the beam sensor 53 on the second bracket 52 can detect that the goods are in place, and the conveying line of the first conveying unit 1 can be temporarily stopped as needed;

[0069] 4. When the goods stop on the conveying line of the first conveying unit 1, the moving push plate assembly 63 of the shaping unit 6 can be started according to the detection information in the previous order. The moving push plate assembly 63 can determine the specific moving push plate assembly 63 to perform the action according to the detection information. The moving push plate assembly 63, driven by the cylinder, performs the action of manually pushing the bag material on the goods. After completing a reciprocating action, the action of the shaping unit 6 is completed;

[0070] 5. After the shaping unit 6 completes its action, the first conveying unit 1 starts again to drive the goods to be continuously conveyed, so that different goods can continue to be inspected and shaped;

[0071] 6. The goods are moved from the first conveying unit 1 to the vibrating conveying unit 2. The vibrating conveying unit 2 can drive the goods to vibrate and bump up and down, so that the goods can lie flat as evenly as possible, and continue to be centered with the cooperation of the two centering guide limit guardrails 81, so as to reach the opening range of the subsequent stacking jaws 71;

[0072] 7. The goods are moved from the vibrating conveying unit 2 to the second conveying unit 3. In order to improve work efficiency, the second conveying unit 3 is divided into two power controls, namely the buffer section and the docking section. When the goods move under the palletizing gripper 71, the palletizing gripper 71 of the palletizing robot 7 performs the palletizing grabbing task, grabs the goods and moves them to the palletizing tray next to them for palletizing, and then performs subsequent operations.

[0073] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automatic shaping and stacking system suitable for soft bags, characterized in that: The invention comprises a first conveying unit (1), a vibrating conveying unit (2), a second conveying unit (3), a manual guide limiting unit (4), a detection unit (5), a shaping unit (6) and a palletizing robot (7); the first conveying unit (1), the vibrating conveying unit (2) and the second conveying unit (3) are connected in sequence along the direction of travel of the goods; the manual guide limiting unit (4) is connected to the feeding end of the first conveying unit (1); the detection unit (5) and the shaping unit (6) are connected in sequence to the discharging end of the first conveying unit (1) along the direction of travel of the goods; and the palletizing robot (7) is located on one side of the discharging end of the second conveying unit (3).

2. The automatic shaping and stacking system for soft bags according to claim 1 is characterized in that: The first conveying unit (1) is a telescopic belt conveyor.

3. The automatic shaping and stacking system for soft bags according to claim 1 is characterized in that: The vibration conveying unit (2) comprises a first frame (21), a first driving assembly (22) and a roller shaft (23); the first driving assembly (22) is connected to the first frame (21); a plurality of roller shafts (23) are movably connected to the first frame (21) and are drivingly connected to the first driving assembly (22); and a plurality of vibration bars (231) are evenly arranged on the outer side of the roller shaft (23) along the circumferential direction.

4. The automatic shaping and stacking system for soft bags according to claim 1 is characterized in that: The second conveying unit (3) comprises a second frame (31), a cache segment drive assembly (32), a docking segment drive assembly (33) and rollers (34); a plurality of rollers (34) are movably connected to the second frame (31) and are divided into a cache segment and a docking segment along the direction of travel of the goods; the rollers (34) located in the cache segment are drivably connected to the cache segment drive assembly (32); the rollers (34) located in the docking segment are drivably connected to the docking segment drive assembly (33); the cache segment drive assembly (32) and the docking segment drive assembly (33) are both connected to the second frame (31).

5. The automatic shaping and stacking system for soft bags according to claim 1 is characterized in that: The manual guide limiting unit (4) comprises a manual guide limiting guardrail (41), and two manual guide limiting guardrails (41) are symmetrically connected to the first conveying unit (1).

6. The automatic shaping and stacking system for soft bags according to claim 1 is characterized in that: The detection unit (5) comprises a first bracket (51), a second bracket (52) and a beam sensor (53); the first bracket (51) is connected to the first conveying unit (1) and is located in front of the shaping unit (6); the second bracket (52) is connected to the first conveying unit (1) and is connected to the shaping unit (6); the beam sensor (53) is provided on both the first bracket (51) and the second bracket (52).

7. The automatic shaping and stacking system for soft bags according to claim 1 is characterized in that: The shaping unit (6) comprises a third bracket (61), a first moving assembly (62) and a moving push plate assembly (63); the third bracket (61) is connected to the first conveying unit (1); two first moving assemblies (62) are symmetrically connected to the third bracket (61) and each is movably connected to one of the moving push plate assemblies (63); each of the first moving assemblies (62) can drive the corresponding moving push plate assembly (63) to move relative to each other on a horizontal plane in a direction perpendicular to the direction of travel of the goods.

8. The automatic shaping and stacking system for soft bags according to claim 7 is characterized in that: The movable push plate assembly (63) includes a fixed frame (631), a second movable assembly (632), a push plate body (633) and a sliding assembly (634), wherein the fixed frame (631) is connected to the first movable assembly (62), the second movable assembly (632) is connected to the fixed frame (631), the push plate body (633) is drivingly connected to the second movable assembly (632) and is slidingly connected to the fixed frame (631) via the sliding assembly (634).

9. The automatic shaping and stacking system for soft bags according to claim 4, characterized in that: The palletizing robot (7) comprises a palletizing clamp (71), and the maximum opening distance of the palletizing clamp (71) is smaller than the length of the roller (34).

10. The automatic shaping and stacking system for soft bags according to claim 1, characterized in that: It also comprises a centering guide limiting unit (8), wherein the centering guide limiting unit (8) comprises a centering guide limiting guardrail (81), and two centering guide limiting guardrails (81) are symmetrically connected to the vibration conveying unit (2).

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