Bagging and boxing machine and intelligent control system thereof

Abstract

The invention relates to a bag arranging and boxing machine and an intelligent control system thereof, the bag arranging and grouping function and the automatic boxing function are integrated, the bag arranging and boxing machine comprises a human-machine interface HMI, a PLC, an automatic counting system, a bag arranging and grouping system, a box sucking and opening system, a box moving and conveying system, a box sealing system, a sensor network control system and an alarm detection system, and the human-machine interface HMI is in communication connection with the PLC. The PLC controls the action executing mechanisms and the automatic detection mechanisms of the subsystems to work cooperatively, automatic control over incoming material counting, bag arranging and grouping, box sucking and opening, box moving and conveying, box sealing, sensing detection and alarming is achieved, the intelligent degree and the integration degree are high, the function is powerful, and the equipment production efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of automated packaging, and in particular to a bagging and boxing machine and an intelligent control system thereof. Background Art

[0002] Traditionally, the bag sorter and cartoner are two independent devices. The bags that need to be boxed first enter the bag sorter, which counts the incoming materials and organizes them into groups. The grouped bags are then output to the input transport device of the cartoner, which transports them to the bag pushing and boxing station of the cartoner to complete the subsequent automatic cartoning process.

[0003] Since the bag sorting machine and cartoning machine are two independent devices with independent control systems, in order to better cooperate with each other during production and meet the normal operation of the production line, the control systems of the two devices need to exchange data in real time, such as the mutual transmission of equipment fault information and the mutual coordination of production rhythm signals. It is necessary to add communication modules to each device, connect the lines, and write communication control programs to achieve data interaction. Data communication is relatively complex. Data packet loss and communication failure caused by hardware lines may also occur during the communication process. When the two devices are docked and linked, the docking of the mechanical parts is also relatively complex, and an additional transfer buffer mechanism is required for transition, which occupies a large space. Summary of the invention

[0004] In view of the defects of the prior art, the present invention provides a bag sorting and cartoning machine and its intelligent control system, which integrates the bag sorting and grouping and automatic cartoning functions into one device to realize intelligent control, thereby solving a series of problems such as equipment docking and complex data communication caused by the fact that the bag sorting and grouping functions and automatic cartoning functions of traditional equipment belong to two separate devices.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is: A bag sorting and cartoning machine and its intelligent control system, comprising a human-machine interface HMI, a PLC, an automatic counting system, a bag sorting and grouping system, a box suction and opening system, a box transfer and conveying system, a box sealing system, a sensor network control system and an alarm detection system. The human-machine interface HMI is communicatively connected with the PLC, and the PLC controls the action execution mechanism and the automatic detection mechanism of each subsystem to work in coordination, so as to realize the automatic control of incoming material counting, bag sorting and grouping, box suction and opening, box transfer and conveying, box sealing, as well as sensor detection and alarm.

[0006] Furthermore, the PLC includes a speed calculation unit, a servo synchronization control unit, a cylinder control unit, a sensor network control unit and a fault automatic alarm shutdown unit.

[0007] Furthermore, the speed calculation unit is used to calculate the operating curve of each servo motor and send it to the servo synchronization control unit. The servo synchronization control unit controls the output of each system servo motor through the servo driver and adjusts the servo motor in real time according to the signal fed back by the encoder.

[0008] Furthermore, the cylinder control unit controls the pneumatic control system through a pneumatic control program, and completes the functional actions of bag sorting and fixing, pushing out the entire group, sucking and opening the box, folding the box ears, and buckling the box through the cylinder and mechanical actuator, and uses the cylinder position detection sensor to detect in real time whether the cylinder action is in place, forming a cylinder control closed loop.

[0009] Furthermore, the sensor network control unit is used to control the sensor network control system to realize real-time detection of each servo zero position, each cylinder in-position signal, and equipment operating status. The automatic fault alarm and shutdown unit is used to control the alarm detection system. When a fault alarm occurs in the equipment, the alarm program is executed and the servo motor is controlled to shut down in time.

[0010] Furthermore, the automatic counting system includes a bag conveying mechanism, a through-beam photoelectric sensor and a bag sliding slot mechanism; the bag conveying mechanism is used to accelerate the bags and increase the spacing between them, and the accelerated bags fly into the bag sliding slot mechanism. The through-beam photoelectric sensor in the bag sliding slot mechanism counts once each bag is detected and sends out a falling signal, so that the system executes the bag sorting and grouping process.

[0011] Furthermore, the bag sorting and grouping system includes a bag pushing mechanism, a bag caching mechanism, a bag sorting fixing mechanism, a bag sorting supporting mechanism, and a whole group pushing mechanism; the bag pushing mechanism is used to push the bags into the bag caching mechanism after receiving a material dropping signal, the bag sorting supporting mechanism is used to support the bags squeezed out of the bag caching mechanism to gradually retreat, the bag sorting fixing mechanism is used to prevent the bags squeezed out of the bag caching mechanism from tipping over, the bag pushing mechanism is used to push out all the bags in the bag caching mechanism, and the whole group pushing mechanism is used to push the sorted whole group of bags into the box in the bag pushing station of the box transfer and conveying system.

[0012] Furthermore, the box sucking and opening system includes a box warehouse mechanism, a box shortage detection sensor, a box suction and arrival sensor, a box sucking and opening mechanism and a box sorting mechanism; the box warehouse mechanism is used to store paper boxes, the box sucking and opening mechanism is used to suck out paper boxes from the box warehouse mechanism and transport them to the box opening station to open the boxes, and then put the opened boxes into the box placing station of the box shifting slot, the box sorting mechanism is used to fix the state of the opened boxes, the box shortage detection sensor is used to detect the number of boxes in the box warehouse mechanism in real time, and when it detects that the number of boxes is small, it issues an alarm and reminder, the box suction and arrival sensor is used to detect whether the box sucking and opening mechanism accurately puts the opened boxes into the box placing station of the box shifting slot, and when it detects that the box placement fails, it issues an alarm and shuts down.

[0013] Furthermore, the box shifting and conveying system includes a box shifting servo motor, a lifting cylinder, a box shifting slot, and a box shifting in-position sensor; when the box suction in-position sensor detects that the box suction and opening mechanism places the opened box into the box placing position of the box shifting slot, the box shifting servo motor drives the box shifting slot to move, and moves the opened box from the box placing position to the bag pushing into box position, and after the box shifting in-position sensor detects that the box is in position, the whole group of pushing mechanisms pushes the whole group of organized bags into the boxes in the bag pushing into box position of the box shifting slot, and then, the lifting cylinder controls the box shifting slot to descend, and the box shifting slot returns to the zero position driven by the box shifting servo motor, and the lifting cylinder controls the box shifting slot to rise again.

[0014] Furthermore, the box sealing system includes a box ear folding mechanism, a folding and inserting tongue mechanism, a cover snapping mechanism, and a cover snapping completion sensor. When the whole group of bags is pushed into the box, the box suction position sensor detects that the box suction and opening mechanism has accurately placed the opened box into the box placing station of the box shifting slot, and the box shifting servo motor drives the box shifting slot to move the opened box from the box placing station to the bag pushing station. At the same time, the box containing the bag is synchronously transported from the bag pushing station to the box ear folding station. The box ear folding mechanism folds the box ears, and after the action is completed, waits for the next box shifting slot action, and transports the box with the folded box ears from the box ear folding station to the cover snapping station. The folding and inserting tongue mechanism and the cover snapping mechanism cooperate with each other to complete the cover snapping function, triggering the cover snapping completion sensor, and in the next box shifting cycle, the box with the completed cover is moved from the cover snapping station to the output station for output.

[0015] Beneficial effects: 1. The present invention realizes the linkage of bag sorting and boxing equipment by PLC-controlled servo and cylinder, and has the functions of automatic counting of incoming materials, automatic bag sorting and grouping, automatic pushing of bags into boxes, automatic box sealing, etc. The equipment integrates bag sorting and grouping and automatic boxing functions into one device, which solves a series of problems such as equipment docking and complex data communication caused by the bag sorting and grouping functions and automatic boxing functions of traditional equipment being two separate devices. At the same time, due to the integrated design, the size of the whole machine is much smaller than that of similar boxing machines on the market, and the equipment is more compact, saving floor space.

[0016] 2. The present invention integrates the bag sorting function and the box loading function into one device, without the need for an additional transfer buffer mechanism, and shares a control system, thereby avoiding data packet loss that may occur during the communication process and communication failures caused by hardware line reasons; in addition, the PLC control program considers the bag sorting function and the box loading function at the same time, the production rhythm is easy to control, avoiding the problem of mismatch in the production rhythms of the two devices, and the overall operation of the system is smoother.

[0017] 3. The bagging and cartoning machine and its intelligent control system involved in the present invention are designed in accordance with the corresponding national standards and industry standards, have good operability and safety in use, are highly automated and intelligently integrated, have powerful functions, and greatly improve the production efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Block diagram of intelligent control system for bagging and cartoning machine; Figure 2 Schematic diagram of automatic counting system; Figure 3 Schematic diagram of bag sorting and grouping system; Figure 4 Schematic diagram of the suction box opening system; Figure 5 Schematic diagram of the box transfer, conveying and sealing system.

[0019] Reference numerals: 1. Human-machine interface, 2. Programmable logic controller, 3. Automatic counting system, 4. Bag sorting and grouping system, 5. Box suction and opening system, 6. Box transfer and conveying system, 7. Box sealing system, 8. Sensor network control system, 9. Alarm detection system, 10. Bag conveying mechanism, 11. Opposing photoelectric sensor, 12. Bag sliding slot mechanism, 13. Bag pushing mechanism, 14. Bag buffering mechanism, 15. Bag sorting and fixing mechanism, 16. Bag sorting and supporting mechanism, 17. Whole group pushing mechanism, 18. Box magazine mechanism, 19. Box missing detection sensor, 20. Box suction in place sensor, 21. Box suction and opening mechanism, 22. Box sorting mechanism, 23. Box moving servo motor, 24. Lifting cylinder, 25. Box moving slot, 26. Box moving in place sensor, 27. Box ear folding mechanism, 28. Tongue folding and inserting mechanism, 29. Cover buckling mechanism, 30. Cover buckling completion sensor, 31. Box placing station, 32. Bag pushing station, 33. Box ear folding station, 34. Cover buckling station, 35. Output station. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The bag sorting and cartoning machine of the present invention integrates bag sorting, grouping and automatic cartoning functions on one device and is controlled by a control system. The intelligent control system of the bag sorting and cartoning machine is mainly composed of a human-machine interface 1 (HMI), a programmable logic controller 2 (PLC), a servo driver, a servo motor, a mechanical actuator, a sensor network and a cylinder, wherein the HMI and the PLC communicate via RS232; the PLC controls the servo motor and the cylinder to cooperate with each other so that the mechanical actuator performs corresponding actions to realize the linkage of the bag sorting and cartoning equipment.

[0022] like Figure 1As shown, the bag sorting and cartoning machine and its intelligent control system are mainly composed of subsystems such as HMI, PLC, automatic counting system 3, bag sorting and grouping system 4, box suction and opening system 5, box transfer and conveying system 6, box sealing system 7, sensor network control system 8, and alarm detection system 9.

[0023] The automatic counting system comprises a bag conveying mechanism 10, a beam-type photoelectric sensor 11 and a bag sliding slot mechanism 12, which are mainly used to receive and count bags input from the previous process. The bag sorting and grouping system 4 comprises a bag pushing mechanism 13 , a bag buffering mechanism 14 , a bag sorting and fixing mechanism 15 , a bag sorting and supporting mechanism 16 , and a whole group pushing mechanism 17 , which are used to sort and group the bags and push the whole group of bags into the bag pushing and boxing station 32 of the box transfer and conveying system 6 .

[0024] The box sucking and opening system 5 comprises a box bin mechanism 18, a box shortage detection sensor 19, a box sucking and in-place sensor 20, a box sucking and opening mechanism 21, and a box sorting mechanism 22, and is used to suck and open boxes from the box bin and place the opened boxes into the box placing station 31 of the box transfer and conveying system.

[0025] The box transfer and conveying system 6 includes a box transfer servo motor 23, a lifting cylinder 24, a box transfer slot 25, and a box transfer position sensor 26, wherein the box transfer slot 25 is provided with a box placing station 31, a bag pushing and box entering station 32, a box ear folding station 33, a cover fastening station 34, and an output station 35. The box transfer and conveying system 6 is used to realize the movement of boxes between multiple stations.

[0026] The box sealing system 7 comprises a box ear folding mechanism 27, a folding and inserting tongue mechanism 28, a cover fastening mechanism 29, and a cover fastening completion sensor 30. The system cooperates with the box transfer and conveying system 6 to fold the box ears, fold the inserting tongue, and fasten the cover of the box after bagging.

[0027] The sensor network control system 8 realizes real-time detection of each servo zero position, each cylinder arrival signal, and the equipment operation status; the alarm detection system 9 promptly issues an alarm message and shuts down the equipment when the system detects that the equipment is working abnormally.

[0028] PLC is the comprehensive control center of the bag sorting and cartoning machine, with built-in sub-function program block units such as speed calculation unit, servo synchronization control unit, cylinder control unit, sensor network control unit, fault automatic alarm shutdown unit, etc. The PLC controls the output of each servo motor through the servo drive system, controls the action of each cylinder through the cylinder control system, and combines with the mechanical actuators of subsystems such as automatic counting system, bag sorting and grouping system, box suction and opening system, box transfer and conveying system and box sealing system to realize a series of actions and functions such as incoming material counting, bag sorting and grouping, box suction and opening, box transfer and conveying, and box sealing.

[0029] Servo drive and mechanical transmission system: The servo drive system has the characteristics of fast response speed and high control accuracy. It is programmed through PLC to calculate the operation curve of each servo motor, and then sent to the servo driver through high-speed pulses. The servo driver controls the output of the servo motor according to the PLC instructions. The encoder installed coaxially with the servo motor feeds back the output value of the servo motor in real time through the communication cable. The servo driver adjusts the servo motor in real time according to the feedback signal, thereby controlling the output accuracy of the servo motor, and then drives the mechanical transmission mechanism of the equipment to complete a series of functional actions such as pushing bags, supporting bags, and moving boxes. When the equipment fails and alarms, the PLC executes the alarm program and controls the servo motor to stop in time to protect the production equipment and reduce production waste.

[0030] Pneumatic control system: This control system plays a vital role in the equipment. It is composed of pneumatic control program, solenoid valve, cylinder, cylinder position detection sensor and mechanical actuator. According to the process flow of the equipment, the pneumatic control program controls the cylinder and actuator to complete the functions of bag fixing, group pushing, box opening, box ear folding, box buckling, etc. The cylinder position detection sensor detects whether the cylinder action is in place in real time, forming a cylinder control closed loop, thereby ensuring the reliability of the cylinder action.

[0031] PLC cooperates with the servo drive system and the cylinder control system to make the mechanical actuators of each subsystem perform corresponding actions, and realizes real-time detection of each servo zero position, each cylinder in-position signal, and equipment operation status through the sensors of the sensor network; when the system detects abnormal operation of the equipment, it will promptly issue an alarm message and shut down the machine. The following describes the control process of the bag sorting and box filling machine in combination with the automatic counting system, bag sorting and grouping system, box suction and opening system, box transfer and conveying system, and box sealing system.

[0032] Automatic counting system: Figure 2 As shown, after the bags produced in the current process enter the bag conveying mechanism 10, the bag conveying mechanism 10 accelerates them, widens the distance between the bags, and the accelerated bags fly into the bag sliding groove mechanism 12. The opposing photoelectric sensor 11 in the bag sliding groove mechanism 12 counts once each time it detects a bag, and sends out a falling signal, so that the system executes the bag sorting and grouping process.

[0033] Bag sorting and grouping system: Figure 3As shown (it should be noted that this figure is mainly used to illustrate the function and workflow of bag sorting and grouping. Not all parts are shown in the figure. The bag pushing mechanism 13, the bag sorting fixing mechanism 15, the bag sorting supporting mechanism 16, and the whole group pushing mechanism 17 are not shown in the figure). After the bag pushing mechanism 13 receives the material dropping signal from the automatic counting system, the bag pushing servo motor starts to control the bag pushing mechanism 13 to push the bag into the bag buffer mechanism 14 and then quickly return to the origin; and so on. When the bag buffer mechanism 14 is full, the first bag entering the bag buffer mechanism 14 will be gradually squeezed out of the bag buffer mechanism 14 by the bags behind it. As the number of bag sorting increases , the bags that first enter the bag buffer mechanism 14 are squeezed out of the bag buffer mechanism 14 one by one; the bag sorting support mechanism 16 supports the first bag to gradually retreat under the control of the servo motor, and at the same time, the cylinder controls the side bag sorting fixing mechanism 15 to extend to prevent the bags squeezed out of the bag buffer mechanism 14 from tipping over; when the number of bags in the sorting process reaches the set value, the bag pushing mechanism 13 pushes out all the bags in the bag buffer mechanism 14 and then quickly returns to the origin, and the bag sorting support mechanism 16 synchronously retreats the same displacement; when it is detected that the bag pushing mechanism 13 returns to the origin, the cylinder controls the bag sorting fixing mechanism 15 to descend, and the whole group pushing mechanism 17 pushes the whole group of bags that have been sorted out along the Figure 3 The bag is pushed into the box in the pushing and boxing station 32 of the box transfer and conveying system 6 in the direction indicated by the middle arrow for box loading, while the bag sorting support mechanism 16 and the whole group pushing mechanism 17 return to their respective origins quickly under the control of the servo motor and the cylinder respectively, waiting for the next action.

[0034] Suction box opening system: Figure 4 As shown, the box warehouse mechanism 18 is used to store paper boxes. During the operation of the equipment, the box suction and opening mechanism 21 rises under the action of the cylinder, and sucks out a paper box from the box warehouse mechanism 18 through the vacuum suction cup it is equipped with, and then transports it to the box opening station to open the box, and finally puts the opened box into the box placing station 31 of the box shifting slot 25 of the box shifting and conveying system 6. At the same time, the sorting cylinder controls the action of the box sorting mechanism 22 to fix the state of the opened box to prevent it from deformation; the box shortage detection sensor 19 detects the number of boxes in the box warehouse mechanism 18 in real time. When it detects that the number of boxes is small, it issues an alarm but does not stop the machine, reminding the operator to replenish the boxes in time; the box suction and arrival sensor 20 detects whether the box suction and opening mechanism 21 accurately places the opened box into the box placing station 31 of the box shifting slot 25. When it detects that the box placement fails, it issues an alarm and stops the machine.

[0035] Box transfer system: Figure 5As shown, when the box suction sensor 20 detects that the box suction and opening mechanism 21 puts the opened box into the box placing station 31 of the box shifting slot 25, the box shifting servo motor 23 drives the box shifting slot 25 to move, and moves the opened box from the box placing station 31 to the bag pushing station 32. After the box shifting sensor 26 detects that the box is in place, the whole group pushing mechanism 17 of the bag sorting and grouping system pushes the whole group of sorted bags into the box in the bag pushing station 32 of the box shifting slot 25, and then, the lifting cylinder 24 controls the box shifting slot 25 to descend, and the box shifting slot 25 returns to the zero position driven by the box shifting servo motor 23, and the lifting cylinder 24 controls the box shifting slot 25 to rise.

[0036] Sealing system: Figure 5 As shown, when the whole group of bags is pushed into the box at the bag pushing and boxing station 32, the box suction position sensor 20 detects that the box suction and box opening mechanism 21 has accurately placed the opened box into the box placing station 31 of the box shifting slot 25, and the box shifting servo motor 23 drives the box shifting slot 25 to move, and the opened box is moved from the box placing station 31 to the bag pushing and boxing station 32. At the same time, the box containing the bags is synchronously transported from the bag pushing and boxing station 32 to the box ear folding station 33, and the box ear folding mechanism 27 folds the box ears on both sides of the box by 90°. After the action is completed, wait for the next box shifting slot 25 to move, and transport the box with the folded box ears from the box ear folding station 33 to the cover buckling station 34, and the folding tongue mechanism 28 and the cover buckling mechanism 29 cooperate with each other to complete the cover buckling function and trigger the cover buckling completion sensor 30; finally, wait for the next box shifting cycle again, and move the box with the completed cover from the cover buckling station 34 to the output station 35 for output, thereby completing the automatic box sealing process.

[0037] The bag sorting and cartoning machine and its intelligent control system of the present invention highly integrate the traditional bag sorting and grouping function and the automatic cartoning function, and are controlled by a control system on the same device, so that device docking and data interaction are simpler. Compared with two traditional independent devices, one PLC and two communication modules are saved, and data packet loss and communication failure caused by hardware circuit reasons that may occur during data interaction communication between devices are also avoided. The machine has a high degree of automation and intelligence, saves control resources, and greatly improves the production efficiency of the equipment.

[0038] At the same time, the bag sorting and boxing machine and the intelligent control system thereof of the present invention have good operability and safety in use, and the integrated equipment has a compact structure, powerful functions and a wide compatibility range.

[0039] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A bagging and cartoning machine and its intelligent control system, characterized in that: It includes a human-machine interface HMI, a PLC, an automatic counting system, a bag sorting and grouping system, a box suction and opening system, a box transfer and conveying system, a box sealing system, a sensor network control system and an alarm detection system. The human-machine interface HMI is connected to the PLC for communication, and the PLC controls the action execution mechanism and the automatic detection mechanism of each subsystem to work together to realize the automatic control of incoming material counting, bag sorting and grouping, box suction and opening, box transfer and conveying, box sealing, as well as sensor detection and alarm.

2. The bag sorting and cartoning machine and its intelligent control system according to claim 1, characterized in that: The PLC includes a speed calculation unit, a servo synchronization control unit, a cylinder control unit, a sensor network control unit and a fault automatic alarm shutdown unit.

3. The bag sorting and cartoning machine and its intelligent control system according to claim 2, characterized in that: The speed calculation unit is used to calculate the operating curve of each servo motor and send it to the servo synchronization control unit. The servo synchronization control unit controls the output of each system servo motor through the servo driver and adjusts the servo motor in real time according to the signal fed back by the encoder.

4. The bag sorting and cartoning machine and its intelligent control system according to claim 2, characterized in that: The cylinder control unit controls the pneumatic control system through a pneumatic control program, and completes the functional actions of bag sorting and fixing, pushing out the entire group, sucking and opening the box, folding the box ears, and buckling the box through the cylinder and mechanical actuator. The cylinder position detection sensor is used to detect in real time whether the cylinder action is in place, forming a cylinder control closed loop.

5. The bag sorting and cartoning machine and its intelligent control system according to claim 2, characterized in that: The sensor network control unit is used to control the sensor network control system to realize real-time detection of each servo zero position, each cylinder in-position signal, and the equipment operation status. The automatic fault alarm and shutdown unit is used to control the alarm detection system. When a fault alarm occurs in the equipment, the alarm program is executed and the servo motor is controlled to shut down in time.

6. The bag sorting and cartoning machine and its intelligent control system according to claim 1, characterized in that: The automatic counting system comprises a bag conveying mechanism, a through-beam photoelectric sensor and a bag sliding slot mechanism; The bag conveying mechanism is used to accelerate the bags and increase the spacing between them. The accelerated bags fly into the bag sliding trough mechanism. The through-beam photoelectric sensor in the bag sliding trough mechanism counts each bag it detects and sends out a drop signal, allowing the system to execute the bag sorting and grouping process.

7. The bag sorting and cartoning machine and its intelligent control system according to claim 1, characterized in that: The bag sorting and grouping system comprises a bag pushing mechanism, a bag buffer mechanism, a bag sorting fixing mechanism, a bag sorting supporting mechanism, and a whole group pushing mechanism; the bag pushing mechanism is used to push the bags into the bag buffer mechanism after receiving a material dropping signal, the bag sorting supporting mechanism is used to support the bags squeezed out of the bag buffer mechanism to gradually retreat, the bag sorting fixing mechanism is used to prevent the bags squeezed out of the bag buffer mechanism from tipping over, the bag pushing mechanism is used to push out all the bags in the bag buffer mechanism, and the whole group pushing mechanism is used to push the sorted whole group of bags into the box in the bag pushing station of the box transfer and conveying system.

8. The bag sorting and cartoning machine and its intelligent control system according to claim 1, characterized in that: The box suction and opening system comprises a box magazine mechanism, a box shortage detection sensor, a box suction in place sensor, a box suction and opening mechanism and a box sorting mechanism; The box warehouse mechanism is used to store paper boxes, the box suction and opening mechanism is used to suck out paper boxes from the box warehouse mechanism and transport them to the box opening station to open the boxes, and then put the opened boxes into the box placing station of the box shifting slot, the box sorting mechanism is used to fix the state of the opened boxes, the box shortage detection sensor is used to detect the number of boxes in the box warehouse mechanism in real time, and when it detects that the number of boxes is small, it issues an alarm and reminder, the box suction in place sensor is used to detect whether the box suction and opening mechanism accurately places the opened box into the box placing station of the box shifting slot, and when it detects that the box placement fails, it issues an alarm and stops the machine.

9. The bag sorting and cartoning machine and its intelligent control system according to claim 1, characterized in that: The box transfer and conveying system comprises a box transfer servo motor, a lifting cylinder, a box transfer slot, and a box transfer in place sensor; When the box suction in place sensor detects that the box suction and opening mechanism places the opened box into the box placing position of the box shifting slot, the box shifting servo motor drives the box shifting slot to move, and moves the opened box from the box placing position to the bag pushing position. After the box shifting in place sensor detects that the box is in place, the whole set of pushing mechanisms pushes the whole set of organized bags into the box in the bag pushing position of the box shifting slot. Then, the lifting cylinder controls the box shifting slot to descend, and the box shifting slot returns to the zero position driven by the box shifting servo motor, and the lifting cylinder controls the box shifting slot to rise again.

10. The bag sorting and cartoning machine and its intelligent control system according to claim 1, characterized in that: The box sealing system comprises a box ear folding mechanism, a folding and inserting tongue mechanism, a cover snapping mechanism, and a cover snapping completion sensor. When the whole group of bags is pushed into the box, the box suction position sensor detects that the box suction and opening mechanism has accurately placed the opened box into the box placing station of the box shifting slot, and the box shifting servo motor drives the box shifting slot to move the opened box from the box placing station to the bag pushing station. At the same time, the box containing the bag is synchronously transported from the bag pushing station to the box ear folding station. The box ear folding mechanism folds the box ear, and after the action is completed, waits for the next box shifting slot action, and transports the box with the folded box ear from the box ear folding station to the cover snapping station. The folding and inserting tongue mechanism and the cover snapping mechanism cooperate with each other to complete the cover snapping function, triggering the cover snapping completion sensor, and in the next box shifting cycle, the box with the completed cover is moved from the cover snapping station to the output station for output.

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