Ton bag feeding machine and method

Abstract

The invention provides a ton bag feeding machine and method, and relates to the technical field of packaging. The ton bag feeding machine comprises a tray, a displacement device, a bag suction device, two bag opening devices, four bag clamping devices and four bag opening devices, the tray is used for stacking a plurality of flattened ton bags, and each ton bag is provided with a bag opening located in the middle and four bag lugs located at the four corners respectively. The displacement device is used for driving the tray, the bag suction device, the bag opening devices, the bag clamping devices and the bag opening devices to move in the space, the bag suction device is used for sucking up a bag opening, the two bag opening devices are used for tearing the bag opening open, the four bag clamping devices are used for clamping four bag lugs respectively, and the four bag opening devices are used for opening the four bag lugs respectively. According to the ton bag feeding device, the ton bag feeding procedure is designed based on the devices, so that ton bag feeding automation is achieved, manual ton bag feeding in a traditional scheme is not needed, the labor intensity of workers can be reduced, and the packaging efficiency of the ton bags can be improved.

Description

Technical Field

[0001] The present application relates to the field of packaging technology, and in particular to a ton bag loading machine and method. Background Art

[0002] Ton bags refer to containers used to package granular, powdery, blocky materials. They are mostly made of polyester fibers such as polypropylene and polyethylene. They have large capacity, high strength, moisture resistance, dust resistance, radiation resistance, and convenient loading and unloading. They are widely used. In related technologies, when using ton bags to package materials, a ton bag machine (i.e., a ton bag packaging machine) is required. Although the ton bag machine can realize the automation of a series of packaging processes from material transportation, metering to bagging and sealing, the bagging of ton bags still needs to be done manually, which not only increases the labor intensity of the staff, but also reduces the packaging efficiency of ton bags. Summary of the invention

[0003] The present application provides a ton bag loading machine and method, aiming to solve the problems in the related art of low efficiency in packaging ton bags using ton bagging machines and high labor intensity for workers.

[0004] In order to solve the above-mentioned disadvantages existing in the related art, the first aspect of the present application provides a ton bag loading machine, including a main frame, a controller, a pallet, and a displacement device, a bag suction device, two bag opening devices, four bag clamping devices and four bag supporting devices which are respectively communicatively connected to the controller, the displacement device is arranged on the main frame, the pallet, the bag suction device, the bag opening device, the bag clamping device and the bag supporting device are all connected to the displacement device, the bag suction device is located above the pallet, the four bag clamping devices are all located above the pallet and distributed around the bag suction device, one bag opening device and two bag supporting devices are all located on one side of the pallet, the other bag opening device and the other two bag supporting devices are all located on the other side opposite to the pallet, each bag opening device is located between the two bag supporting devices on the same side, the pallet is used to stack multiple flattened ton bags, the ton bag has a bag opening located in the middle and four bag ears located at the four corners, the displacement device is used to drive the pallet, the bag suction device, the bag opening device, the bag clamping device and the bag supporting device to move in space. Specifically, the controller is used to: control the displacement device so that the bag mouth, four bag ears and the bag suction device, two bag opening devices, four bag clamping devices and four bag stretching devices are respectively located in their respective workstations; control the bag suction device to suck up the bag mouth; control the two bag opening devices to respectively adsorb the two sides of the bag mouth, and control the bag suction device to release the bag mouth; control the displacement device so that the two bag opening devices move in opposite directions to open the bag mouth; control the four bag clamping devices to respectively clamp up the four bag ears; control the displacement device so that the four bag stretching devices extend into the four bag ears respectively, and control the four bag stretching devices to respectively stretch the four bag ears; control the four bag clamping devices to respectively release the four bag ears; control the displacement device so that the two bag opening devices and the four bag stretching devices move towards the ton-charter aircraft with the ton-charter aircraft so as to transfer the ton-bag to the ton-charter aircraft.

[0005] In some implementations, the displacement device includes a top displacement module, a bottom displacement module, and two side displacement modules arranged on the main frame, the top displacement module is located at the top, the bottom displacement module is located below the top displacement module, the tray is connected to the bottom displacement module, the two side displacement modules are respectively located on opposite sides of the tray, the bag suction device and the four bag clamping devices are connected to the top displacement module, one bag opening device and the two bag holding devices are connected to one side displacement module, and the other bag opening device and the other two bag holding devices are connected to the other side displacement module. Specifically, the top displacement module is used to drive the bag suction device and the four bag clamping devices to move in space; the bottom displacement module is used to drive the tray to move in space; and the side displacement module is used to drive the corresponding bag opening device and the two bag holding devices to move in space.

[0006] In some implementations, the top displacement module includes a lifting frame and a lifting component, a first displacement component, and four second displacement components that are respectively communicatively connected to the controller, the lifting component is arranged on the main frame, the lifting frame is slidably arranged on the main frame along the z-axis direction and is connected to the lifting component, the first displacement component is arranged on the lifting frame, the four second displacement components are all arranged on the lifting frame and distributed around the first displacement component, the four bag clamping devices are respectively connected to the four second displacement components, and the bag suction device is connected to the first displacement component. Specifically, the lifting component is used to drive the lifting frame to move in the z-axis direction; the first displacement component is used to drive the bag suction device to move in space; and the four second displacement components are used to respectively drive the four bag clamping devices to move in space.

[0007] In some implementation schemes, the lifting assembly includes a first reducer, a first gear, a first rack, and a first motor communicatively connected to the controller, the first rack is arranged on the main frame along the z-axis direction, the first motor and the first reducer are both arranged on the lifting frame, the output shaft of the first motor is connected to the first reducer, and the first gear is sleeved on the output shaft of the first reducer and meshes with the first rack.

[0008] In some implementation schemes, the lifting frame has a mounting plate, and a through hole is formed on the mounting plate; the first displacement assembly includes a sliding plate, a bearing plate, a plurality of guide rods, and a first linear cylinder and a second linear cylinder respectively connected to the controller in communication, the sliding plate is slidably arranged on the mounting plate along the x-axis direction and is located at the through hole, the first linear cylinder is arranged on the mounting plate, the piston rod of the first linear cylinder is connected to the sliding plate, the bearing plate is located below the sliding plate, the second linear cylinder is arranged on the sliding plate, the piston rod of the second linear cylinder passes through the sliding plate and is connected to the bearing plate, one end of the plurality of guide rods are arranged on the bearing plate, and the other end of the plurality of guide rods passes through the sliding plate and is slidably matched with the sliding plate, the plurality of guide rods are spaced around the second linear cylinder, and the bag suction device is arranged on the bearing plate. Specifically, the first linear cylinder is used to drive the sliding plate to move in the x-axis direction; the second linear cylinder is used to drive the bearing plate to move in the z-axis direction.

[0009] In some implementation schemes, the bag suction device includes a first vacuum generator and multiple first suction cups. The first vacuum generator is arranged on the sliding plate and is communicatively connected to the controller. The multiple first suction cups are all arranged on a side of the supporting plate away from the sliding plate and are respectively connected to the first vacuum generator.

[0010] In some implementations, the four second displacement assemblies are all arranged on one side of the mounting plate close to the carrier plate and are respectively located at the four corners of the mounting plate. The second displacement assemblies include a linear motion mechanism, a rotary cylinder, and a third linear cylinder that are respectively communicatively connected to the controller. The linear motion mechanism is arranged on the mounting plate, the third linear cylinder is connected to the linear motion mechanism, the rotary cylinder is connected to the piston rod of the third linear cylinder, and the bag clamping device is connected to the rotary cylinder. Specifically, the linear motion mechanism is used to drive the third linear cylinder to move on a preset path, which is a linear path between the position of the linear motion mechanism and the middle of the mounting plate; the third linear cylinder is used to drive the rotary cylinder to move in the z-axis direction; and the rotary cylinder is used to drive the bag clamping device to rotate around the z-axis.

[0011] In some implementations, the bag clamping device includes a pneumatic clamping jaw, a vacuum adsorption component is provided on the clamping jaw side of the pneumatic clamping jaw, and the pneumatic clamping jaw and the vacuum adsorption component are respectively connected to the controller for communication. Based on this, when the four bag clamping devices respectively clamp the four bag ears, the controller is specifically used to: control the four pneumatic clamping jaws to enter an open state; control the four vacuum adsorption components to respectively absorb the four bag ears; and control the four pneumatic clamping jaws to enter a closed state.

[0012] In some implementation schemes, the side displacement module includes a main moving frame, a sub-movable frame, a connecting plate, and a third displacement component, a fourth displacement component, a fifth displacement component, a sixth displacement component and a seventh displacement component that are communicatively connected to the controller, the third displacement component is arranged on the main frame, the main moving frame is slidably arranged on the main frame along the y-axis direction and is connected to the third displacement component, the fourth displacement component is arranged on the main moving frame, the connecting plate is slidably arranged on the main moving frame along the y-axis direction and is connected to the fourth displacement component, the fifth displacement component is arranged on the connecting plate, the sub-movable frame is slidably arranged on the connecting plate along the z-axis direction and is connected to the fifth displacement component, the sixth displacement component is arranged on the sub-movable frame, the two bag-holding devices are connected to the sixth displacement component and are respectively located at both ends of the sixth displacement component, the seventh displacement component is mounted on the sub-movable frame and is located between the two bag-holding devices, and the bag opening device is connected to the seventh displacement component. Specifically, the third displacement assembly is used to drive the main movable frame to move in the y-axis direction; the fourth displacement assembly is used to drive the connecting plate to move in the y-axis direction; the fifth displacement assembly is used to drive the auxiliary movable frame to move in the z-axis direction; the sixth displacement assembly is used to drive the two bag-holding devices to move toward or away from each other in the y-axis direction; and the seventh displacement assembly is used to drive the bag-opening device to move in the x-axis direction.

[0013] In some implementations, the third displacement assembly includes a second reducer, a second gear, a second rack, and a second motor communicatively connected to the controller, the second rack is arranged on the main frame along the y-axis direction, the second motor and the second reducer are both arranged on the main moving frame, the output shaft of the second motor is connected to the second reducer, the second gear is sleeved on the output shaft of the second reducer and meshes with the second rack.

[0014] In some implementations, the fourth displacement assembly includes a third reducer, a third gear, a third rack, and a third motor communicatively connected to the controller, the third rack is arranged on the main moving frame along the y-axis direction, the third motor and the third reducer are both arranged on the connecting plate, the output shaft of the third motor is connected to the third reducer, and the third gear is sleeved on the output shaft of the third reducer and meshes with the third rack.

[0015] In some implementations, the fifth displacement assembly includes a fourth reducer, a fourth gear, a fourth rack, and a fourth motor communicatively connected to the controller, the fourth rack is arranged on the sub-movable frame along the z-axis direction, the fourth motor and the fourth reducer are both arranged on the connecting plate, the output shaft of the fourth motor is connected to the fourth reducer, the fourth gear is sleeved on the output shaft of the fourth reducer and meshes with the fourth rack.

[0016] In some implementation schemes, the sixth displacement assembly includes a fifth reducer, a lead screw, a sliding rod, two fixed blocks, two sliders, two connecting seats, and a fifth motor and two fourth linear cylinders respectively communicatively connected to the controller, the two fixed blocks are arranged on the sub-movable frame opposite to and spaced from each other, the lead screw is located between the two fixed blocks, the two ends of the lead screw are respectively inserted into the two fixed blocks and respectively rotate with the two fixed blocks, the sliding rod is located between the two fixed blocks, the two ends of the sliding rod are respectively inserted into the two fixed blocks, each slider is sleeved on the lead screw and the sliding rod, each slider is threadedly matched with the lead screw and slidingly matched with the sliding rod, the two sliders are respectively close to the two fixed blocks, the two fourth linear cylinders are respectively arranged on the two sliders, the two connecting seats are respectively connected to the piston rods of the two fourth linear cylinders, the two bag-holding devices are respectively arranged on the two connecting seats, the fifth motor and the fifth reducer are both arranged on the sub-movable frame, the output shaft of the fifth motor is connected to the fifth reducer, and one end of the lead screw passes through the corresponding fixed block and is connected to the output shaft of the fifth reducer.

[0017] In some implementations, the bag-opening device includes pneumatic fingers. When the four bag-opening devices open the four bag ears respectively, the controller is specifically used to control the four pneumatic fingers to enter an open state from a closed state.

[0018] In some implementation schemes, the seventh displacement assembly includes a first adapter plate, a second adapter plate, and a first electric push rod and a second electric push rod respectively communicatively connected to the controller, the first electric push rod is mounted on the sub-movable frame and located between the two bag-supporting devices, the first adapter plate is connected to the push rod of the first electric push rod, the second electric push rod is arranged on the first adapter plate, the second adapter plate is connected to the push rod of the second electric push rod, and the bag opening device is arranged on the second adapter plate.

[0019] In some implementation schemes, the bag opening device includes a second vacuum generator and multiple second suction cups, the second vacuum generator and the multiple second suction cups are both arranged on a second adapter plate, the second vacuum generator is communicatively connected to the controller, and the multiple second suction cups are respectively connected to the second vacuum generator.

[0020] In some implementation schemes, the lateral displacement module also includes a guide rail extending along the y-axis direction, one end of the guide rail is connected to the main frame and the other end is adjacent to the ton package machine. The main mobile frame has a support column, and a roller is rotatably provided at the bottom end of the support column. The roller contacts the guide rail and rolls with the guide rail.

[0021] In some implementation schemes, the bottom displacement module includes a sixth reducer, a belt, a main pulley, a slave pulley and a sixth motor communicatively connected to the controller, the main pulley and the slave pulley are both arranged on the main frame to rotate relative to and spaced from each other, the main pulley and the slave pulley are connected to each other by a belt, the sixth motor and the sixth reducer are both arranged on the main frame, the output shaft of the sixth motor is connected to the sixth reducer, the output shaft of the sixth reducer is connected to the main pulley, and the tray is arranged on the slave pulley.

[0022] In some implementations, the ton bag loading machine further includes a camera device, which is communicatively connected to the controller, connected to the displacement device and located above the pallet, and used to capture images of the ton bags. Based on this, the displacement device is also used to drive the camera device to move in space; the controller is specifically used to control the displacement device according to the image of the ton bag so that the bag mouth, four bag ears, and the bag suction device, two bag opening devices, four bag clamping devices, and four bag support devices are respectively in their respective workstations.

[0023] The second aspect of the present application provides a ton bag loading method, which is applied to the ton bag loading machine provided in the first aspect of the present application. When a controller is used as the execution body, the ton bag loading method includes: controlling the displacement device to make the bag mouth, four bag ears, and the bag suction device, two bag opening devices, four bag clamping devices and four bag support devices respectively in their respective workstations; controlling the bag suction device to suck up the bag mouth, and controlling the two bag opening devices to respectively adsorb the opposite sides of the bag mouth, and then controlling the bag suction device to release the bag mouth; controlling the displacement device to make the two bag opening devices move back to back to open the bag mouth, and controlling the four bag clamping devices to respectively clamp the four bag ears; controlling the displacement device to make the four bag support devices respectively extend into the four bag ears, and controlling the four bag support devices to respectively open the four bag ears; controlling the four bag clamping devices to respectively release the four bag ears; controlling the displacement device to make the two bag opening devices and the four bag support devices move towards the ton charter machine with the ton bag, so as to hand over the ton bag to the ton charter machine.

[0024] The ton bag loading machine provided in the first aspect of the present application is composed of a main frame, a controller, a pallet, and a displacement device, a bag suction device, two bag opening devices, four bag clamping devices and four bag supporting devices which are respectively communicatively connected to the controller. The displacement device is arranged on the main frame, and the pallet, the bag suction device, the bag opening device, the bag clamping device and the bag supporting device are all connected to the displacement device. The bag suction device is located above the pallet, and the four bag clamping devices are all located above the pallet and distributed around the bag suction device. One bag opening device and two bag supporting devices are all located on one side of the pallet, and another bag opening device and the other two bag supporting devices are all located on the other side opposite to the pallet. Each bag opening device is located between two bag supporting devices on the same side. The pallet is used to stack multiple flattened ton bags, and the ton bag has a bag opening located in the middle and four bag ears located at the four corners. The displacement device is used to drive the pallet, the bag suction device, the bag opening device, the bag clamping device and the bag supporting device to move in space. In actual applications, the loading of ton bags can be controlled by the controller throughout the whole process. The specific loading process is: the controller controls the displacement device so that the bag mouth, four bag ears, bag suction device, two bag opening devices, four bag clamping devices and four bag support devices are respectively in their respective workstations; the controller controls the bag suction device to suck up the bag mouth; the controller controls the two bag opening devices to adsorb the two sides of the bag mouth respectively, and controls the bag suction device to release the bag mouth; the controller controls the displacement device to make the two bag opening devices move in opposite directions to open the bag mouth; the controller controls the four bag clamping devices to clamp the four bag ears respectively; the controller controls the displacement device to make the four bag support devices extend into the four bag ears respectively, and controls the four bag support devices to open the four bag ears respectively; the controller controls the four bag clamping devices to release the four bag ears respectively; the controller controls the displacement device to make the two bag opening devices and the four bag support devices move towards the ton charter aircraft with the ton bag, so as to hand over the ton bag to the ton charter aircraft. It can be seen that the present application realizes the automation of ton bag loading, and there is no need to manually load ton bags as in traditional solutions. This can not only reduce the labor intensity of the staff, but also improve the packaging efficiency of ton bags.

[0025] The ton bag loading method provided in the second aspect of the present application is implemented based on the ton bag loading machine provided in the first aspect of the present application, so it has all the advantages of the ton bag loading machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the related technologies or the embodiments of the present application, the drawings required for use in the description of the related technologies or the embodiments of the present application will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, not all embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1A schematic diagram of the structure of a ton bag loading machine provided in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of the structure of the top displacement module provided in an embodiment of the present application at a certain viewing angle;

[0029] Figure 3 A schematic diagram of the structure of the top displacement module provided in an embodiment of the present application from another perspective;

[0030] Figure 4 An exploded schematic diagram of a lateral displacement module provided in an embodiment of the present application;

[0031] Figure 5 Provided for the embodiments of this application Figure 4 A partial enlarged view of the middle A;

[0032] Figure 6 A schematic diagram of the structure of a bottom displacement module provided in an embodiment of the present application;

[0033] Figure 7 A schematic flow chart of the method for loading ton bags provided in an embodiment of the present application.

[0034] The symbols in the above drawings represent:

[0035] 1-main frame, 2-tray, 3-displacement device, 4-bag suction device, 5-bag opening device, 6-bag clamping device, 7-bag support device, 8-camera device, 9-pressing device, 10-clamping device, 31-top displacement module, 32-bottom displacement module, 33-side displacement module, 311-lifting frame, 312-lifting assembly, 313-first displacement assembly, 314-second displacement assembly, 3111-mounting plate, 3112-through hole, 3121-first reducer, 3122-first rack, 3123-first A gear, 3124-a first motor, 3131-a sliding plate, 3132-a bearing plate, 3133-a guide rod, 3134-a first linear cylinder, 3135-a second linear cylinder, 3141-a linear motion mechanism, 3142-a third linear cylinder, 3143-a rotary cylinder, 321-a sixth reducer, 322-a belt, 323-a main pulley, 324-a slave pulley, 325-a sixth motor, 331-a main moving frame, 332-a secondary moving frame, 333-a connecting plate, 334-a third displacement group Components, 335-fourth displacement assembly, 336-fifth displacement assembly, 337-sixth displacement assembly, 338-seventh displacement assembly, 339-guide rail, 3311-support column, 3341-second reducer, 3342-second gear, 3343-second rack, 3344-second motor, 3351-third reducer, 3352-third gear, 3353-third rack, 3354-third motor, 3361-fourth reducer, 3362-fourth gear, 3363-fourth rack, 3364 -The fourth motor, 3371-the fifth reducer, 3372-the lead screw, 3373-the slide rod, 3374-the fixed block, 3375-the slide block, 3376-the connecting seat, 3377-the fifth motor, 3378-the fourth linear cylinder, 3381-the first adapter plate, 3382-the second adapter plate, 3383-the first electric push rod, 3384-the second electric push rod, 41-the first vacuum generator, 42-the first suction cup, 51-the second suction cup, 61-the pneumatic clamp, 62-the vacuum adsorption component, 71-the pneumatic finger. DETAILED DESCRIPTION

[0036] In the related art, when using ton bags to pack materials, a ton bagging machine (i.e., a ton bag packaging machine) is required. Although the ton bagging machine can realize the automation of a series of packaging processes from material transportation, metering to bagging, sealing, etc., the loading of ton bags still needs to be done manually, which not only increases the labor intensity of the staff, but also reduces the packaging efficiency of ton bags. In view of this, the present application proposes a ton bag loading machine and method in the following embodiments to solve the above-mentioned drawbacks existing in the related art.

[0037] In order to make the purpose, technical solutions and advantages of the present application more obvious and easy to understand, the present application will be clearly and completely described below in conjunction with the embodiments of the present application and the corresponding drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. It should be understood that the embodiments of the present application described below are only used to explain the present application and are not used to limit the present application, that is, based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0038] See also Figure 1 , Figure 1 : is a structural schematic diagram of a ton bag bagging machine. This embodiment provides a ton bag bagging machine, which includes a main frame 1, a controller (not shown), a tray 2, and a displacement device 3, a bag suction device 4, two bag opening devices 5, four bag clamping devices 6 and four bag support devices 7 which are respectively connected to the controller in communication, the displacement device 3 is arranged on the main frame 1, the tray 2, the bag suction device 4, the bag opening device 5, the bag clamping device 6 and the bag support device 7 are all connected to the displacement device 3, the bag suction device 4 is located above the tray 2, the four bag clamping devices 6 are all located above the tray 2 and distributed around the bag suction device 4, one bag opening device 5 and two bag support devices 7 are all located on one side of the tray 2, another bag opening device 5 and the other two bag support devices 7 are all located on the other side opposite to the tray 2, and each bag opening device 5 is located between two bag support devices 7 on the same side. In addition, it should be noted that the controller can adopt any device commonly used in the art that has control and data processing and analysis functions, such as a small computer, a microcontroller such as a single-chip microcomputer, and an industrial control computer (IPC), a programmable logic controller (PLC) and a distributed control system (DCS), etc. This embodiment does not make a sole limitation to this.

[0039] In this embodiment, the tray 2 is used to stack a plurality of flattened ton bags, each of which has a bag opening in the middle and four bag ears at the four corners. The displacement device 3 is used to drive the tray 2, the bag suction device 4, the bag opening device 5, the bag clamping device 6 and the bag holding device 7 to move in space, which may include but is not limited to movement in the x-axis direction, movement in the y-axis direction, movement in the z-axis direction, rotation around the x-axis, rotation around the y-axis, rotation around the z-axis, movement in any direction in the xy plane, movement in any direction in the yz plane, movement in any direction in the xz plane, and movement in any direction in the three-dimensional space formed by the x-axis, the y-axis and the z-axis, wherein the x-axis, the y-axis and the z-axis refer to the reference coordinate system of the ton bagging machine. The controller is used to: control the displacement device 3 so that the bag mouth, four bag ears, bag suction device 4, two bag opening devices 5, four bag clamping devices 6 and four bag holding devices 7 of the ton bag are respectively located at their respective workstations; control the bag suction device 4 to suck up the bag mouth; control the two bag opening devices 5 to respectively adsorb the two opposite sides of the bag mouth, and control the bag suction device 4 to release the bag mouth; control the displacement device 3 so that the two bag opening devices 5 move in opposite directions to open the bag mouth; control the four bag clamping devices 6 to respectively clamp up the four bag ears; control the displacement device 3 so that the four bag holding devices 7 extend into the four bag ears respectively, and control the four bag holding devices 7 to respectively open the four bag ears; control the four bag clamping devices 6 to respectively release the four bag ears; control the displacement device 3 so that the two bag opening devices 5 and the four bag holding devices 7 move together with the ton bag to the ton charter aircraft so as to transfer the ton bag to the ton charter aircraft.

[0040] It should be noted that the station of the bag suction device 4 is located above the mouth of the ton bag, the stations of the two bag opening devices 5 are located on opposite sides of the mouth of the ton bag, the stations of the four bag clamping devices 6 are located above the four bag ears of the ton bag, and the stations of the four bag support devices 7 are located on the sides of the four bag ears of the ton bag. It should also be noted that since the ton bag is placed on the pallet 2, the controller can control the displacement device 3 to drive the pallet 2 to move in space, thereby changing the orientation of the ton bag on the pallet 2, and then making the mouth of the ton bag and the four bag ears be in their respective stations, so as to prepare for the subsequent bag loading.

[0041] That is to say, in actual application, the loading of ton bags can be controlled by the controller throughout the whole process, and the specific loading process includes: controlling the displacement device 3 to drive the tray 2, the bag suction device 4, the two bag opening devices 5, the four bag clamping devices 6 and the four bag support devices 7 to move in space, so that the bag mouth, four bag ears and the bag suction device 4, the two bag opening devices 5, the four bag clamping devices 6 and the four bag support devices 7 of the ton bag are respectively located at their respective workstations; controlling the displacement device 3 to drive the bag suction device 4 to descend (i.e., move toward the bag mouth of the ton bag), and then controlling the bag suction device 4 to move the bag mouth of the ton bag The bag suction device 4 is sucked up, and the displacement device 3 is controlled to drive the bag suction device 4 to rise a certain distance, so as to facilitate the subsequent two bag opening devices 5 to suck the bag opening of the ton bag; the two bag opening devices 5 are controlled to move towards each other (that is, both move towards the bag opening of the ton bag), and then the two bag opening devices 5 are controlled to suck the opposite sides of the bag opening of the ton bag respectively; the bag suction device 4 is controlled to release the bag opening of the ton bag, and the displacement device 3 is controlled to drive the bag suction device 4 away from the ton bag (that is, rise), so as to avoid interfering with the subsequent two bag opening devices 5 to open the bag opening of the ton bag; the displacement device 3 is controlled to drive the two bag opening devices 5 to move in opposite directions (that is, both move away from the bag opening of the ton bag ) to tear open the mouth of the ton bag; control the displacement device 3 to drive the four bag clamping devices 6 to all descend (that is, to move toward the corresponding bag ears of the ton bag), then control the four bag clamping devices 6 to respectively clamp the four bag ears of the ton bag, and control the displacement device 3 to drive the four bag clamping devices 6 to all rise a certain distance, so that the subsequent four bag-supporting devices 7 can respectively extend into the four bag ears of the ton bag; control the displacement device 3 to drive the four bag-supporting devices 7 to all move toward the corresponding bag ears of the ton bag, so that the four bag-supporting devices 7 can all extend into the corresponding bag ears of the ton bag, and then control the four bag-supporting devices 7 to respectively lift the corresponding The bag ears of the ton bag are stretched open; the four bag clamping devices 6 are controlled to loosen the four bag ears respectively, and the four bag clamping devices 6 are controlled to rise a certain distance to avoid interfering with the subsequent transportation of the ton bag with the bag mouth opened and the bag ears stretched open to the ton charter machine; the displacement device 3 is controlled to drive the two bag opening devices 5 and the four bag stretching devices 7 to move toward the ton charter machine together. At this time, the ton bag with the bag mouth opened and the bag ears stretched open will also move toward the ton charter machine synchronously; when the ton bag arrives at the ton charter machine, the ton charter machine can use its own bag clamping device, bag ear hooks, etc. to remove and fix the ton bag, and then the ton bag can be packaged by the ton charter machine.

[0042] As can be seen from the above, this embodiment designs a ton bag loading process based on the controller, the tray 2, the displacement device 3, the bag suction device 4, the two bag opening devices 5, the four bag clamping devices 6 and the four bag supporting devices 7, thereby realizing the automation of ton bag loading. There is no need to manually load the ton bags like in the traditional scheme, which can not only reduce the labor intensity of the staff, but also improve the packaging efficiency of the ton bags.

[0043] In some embodiments, see Figure 1The displacement device 3 includes a top displacement module 31, a bottom displacement module 32 and two side displacement modules 33 arranged on the main frame 1, the top displacement module 31 is located at the top, the bottom displacement module 32 is located below the top displacement module 31, the tray 2 is connected to the bottom displacement module 32, and the two side displacement modules 33 are respectively located on the opposite sides of the tray 2. The bag suction device 4 and four bag clamping devices 6 are all connected to the top displacement module 31, and the four bag clamping devices 6 are distributed around the bag suction device 4. A bag opening device 5 and two bag holding devices 7 are all connected to one side displacement module 33, and another bag opening device 5 and another two bag holding devices 7 are all connected to another side displacement module 33. The bag opening device 5 connected to the same displacement module is located between the corresponding two bag holding devices 7. Specifically, in actual applications, the top displacement module 31 can drive the bag suction device 4 and the four bag clamping devices 6 to move in space, the bottom displacement module 32 can drive the tray 2 to move in space, and each side displacement module 33 can drive the corresponding bag opening device 5 and the two bag supporting devices 7 to move in space.

[0044] As one or more examples, see Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the top displacement module from one perspective. Figure 3 It is a structural schematic diagram of the top displacement module from another perspective; the top displacement module 31 includes a lifting frame 311 and a lifting component 312, a first displacement component 313 and four second displacement components 314 which are respectively communicatively connected to the controller, the lifting component 312 is arranged on the main frame 1, the lifting frame 311 is slidably arranged on the main frame 1 along the z-axis direction and is connected to the lifting component 312, the first displacement component 313 is arranged on the lifting frame 311, the four second displacement components 314 are all arranged on the lifting frame 311 and distributed around the first displacement component 313, the four bag clamping devices 6 are respectively connected to the four second displacement components 314, and the bag suction device 4 is connected to the first displacement component 313.

[0045] Specifically, in actual application, the lifting assembly 312 can drive the lifting frame 311 to move in the z-axis direction, thereby driving the first displacement assembly 313, the bag suction device 4, the four second displacement assemblies 314, and the four bag clamping devices 6 to move in the z-axis direction; the first displacement assembly 313 can drive the bag suction device 4 to move in space; the four second displacement assemblies 314 can respectively drive the four bag clamping devices 6 to move in space. In other words, the present application can realize the movement of the bag suction device 4 and the four bag clamping devices 6 in space through the top displacement module 31, thereby realizing the suction of the bag suction device 4 to the bag mouth of the ton bag and the clamping of the four bag ears of the ton bag by the four bag clamping devices 6.

[0046] In the one or more embodiments, the lifting assembly 312 includes a first reducer 3121, a first gear 3123, a first rack 3122, and a first motor 3124 that is communicatively connected to the controller. The first rack 3122 is arranged on the main frame 1 along the z-axis direction. The first motor 3124 and the first reducer 3121 are both arranged on the lifting frame 311. The output shaft of the first motor 3124 is connected to the first reducer 3121. The first gear 3123 is sleeved on the output shaft of the first reducer 3121 and meshed with the first rack 3122. It can be understood that in actual applications, the controller can control the first motor 3124 to start, and the first motor 3124 can drive the first gear 3123 to rotate through the first reducer 3121 after starting, and the first gear 3123 is meshed with the first rack 3122 that extends and is fixed along the z-axis direction, so that the lifting frame 311 can move in the z-axis direction (i.e., the vertical direction).

[0047] In the one or more embodiments, the lifting frame 311 has a mounting plate 3111, and a through hole 3112 is opened on the mounting plate 3111; the first displacement assembly 313 includes a sliding plate 3131, a bearing plate 3132, a plurality of guide rods 3133, and a first linear cylinder 3134 and a second linear cylinder 3135 respectively connected to the controller for communication; the sliding plate 3131 is slidably arranged on the mounting plate 3111 along the x-axis direction and is located at the through hole 3112; the first linear cylinder 3134 is arranged on the mounting plate 3111, and the piston rod of the first linear cylinder 3134 is connected to the sliding plate 3131. 131 is connected, the bearing plate 3132 is located below the sliding plate 3131, the second linear cylinder 3135 is arranged on the sliding plate 3131, the piston rod of the second linear cylinder 3135 penetrates the sliding plate 3131 and is connected to the bearing plate 3132, one end of the plurality of guide rods 3133 is arranged on the bearing plate 3132 and is close to the edge of the bearing plate 3132, the other ends of the plurality of guide rods 3133 penetrate the sliding plate 3131 and are slidably matched with the sliding plate 3131, the plurality of guide rods 3133 are spaced around the second linear cylinder 3135, and the bag suction device 4 is arranged on the bearing plate 3132. Specifically, the first linear cylinder 3134 is used to drive the sliding plate 3131 to move in the x-axis direction; the second linear cylinder 3135 is used to drive the bearing plate 3132 to move in the z-axis direction. It can be understood that the controller can control the piston rod of the first linear cylinder 3134 to extend or retract in the x-axis direction, thereby driving the sliding plate 3131 to slide in the x-axis direction, and then driving the supporting plate 3132, the bag suction device 4 and the multiple guide rods 3133 to move in the x-axis direction; the controller can also control the piston rod of the second linear cylinder 3135 to extend or retract in the z-axis direction, thereby driving the supporting plate 3132 to rise and fall in the z-axis direction, and then driving the bag suction device 4 to rise and fall in the z-axis direction.

[0048] In the one or more embodiments, the bag suction device 4 includes a first vacuum generator 41 and a plurality of first suction cups 42. The first vacuum generator 41 is disposed on the sliding plate 3131. The first vacuum generator 41 is communicatively connected to the controller. The plurality of first suction cups 42 are disposed on a side of the carrier plate 3132 away from the sliding plate 3131 and are respectively connected to the first vacuum generator 41. It is understandable that the controller can control the first vacuum generator 41 to start, so as to form a negative pressure at the first suction cup 42 by using the first vacuum generator 41, and then the bag mouth of the ton bag is sucked up by the first suction cup 42.

[0049] In one or more embodiments, the four second displacement assemblies 314 are all arranged on one side of the mounting plate 3111 close to the supporting plate 3132 and are respectively located at the four corners of the mounting plate 3111. The second displacement assemblies 314 include a linear motion mechanism 3141, a rotary cylinder 3143 and a third linear cylinder 3142 which are respectively communicatively connected to the controller. The linear motion mechanism 3141 is arranged on the mounting plate 3111, the third linear cylinder 3142 is connected to the linear motion mechanism 3141, the rotary cylinder 3143 is connected to the piston rod of the third linear cylinder 3142, and the bag clamping device 6 is connected to the rotary cylinder 3143. Specifically, the linear motion mechanism 3141 is used to drive the third linear cylinder 3142 to move on a preset path, and the preset path refers to the linear path between the position of the linear motion mechanism 3141 and the middle of the mounting plate 3111; the third linear cylinder 3142 is used to drive the rotary cylinder 3143 to move in the z-axis direction; the rotary cylinder 3143 is used to drive the bag clamping device 6 to rotate around the z-axis. It can be understood that the controller can control the linear motion mechanism 3141 to move on the preset path, thereby driving the third linear cylinder 3142 and the rotary cylinder 3143 to move on the preset path, and then driving the bag clamping device 6 to move on the preset path; the controller can also control the piston rod of the third linear cylinder 3142 to extend or retract in the z-axis direction, thereby driving the rotary cylinder 3143 to rise and fall in the z-axis direction, and then driving the bag clamping device 6 to rise and fall in the z-axis direction; the controller can also control the rotary cylinder 3143 to rotate around the z-axis, thereby driving the bag clamping device 6 to rotate around the z-axis.

[0050] In the one or more embodiments, the bag clamping device 6 includes a pneumatic clamping jaw 61, a vacuum adsorption component 62 is provided on the clamping jaw side of the pneumatic clamping jaw 61, and the pneumatic clamping jaw 61 and the vacuum adsorption component 62 are respectively connected to the controller for communication. Based on this, in the process of the four bag clamping devices 6 respectively clamping the four bag ears, the controller is specifically used to: control the four pneumatic clamping jaws 61 to all enter the open state; control the four vacuum adsorption components 62 to respectively suck up the four bag ears; and control the four pneumatic clamping jaws 61 to all enter the closed state. That is to say, in the process of using the bag clamping device 6 to clamp the bag ears of the ton bag, the controller needs to first control the pneumatic clamp 61 to open its two clamps, then control the vacuum adsorption component 62 to suck up the bag ears of the ton bag, and finally control the pneumatic clamp 61 to close its two clamps; it can be understood that in order to avoid frequently adding ton bags to the pallet 2, the ton bags placed on the pallet 2 need to be flattened. In this case, it is difficult to directly use the pneumatic clamp 61 to clamp the bag ears of the ton bag. Therefore, the present application configures the pneumatic clamp 61 with a vacuum adsorption component 62, first uses the vacuum adsorption component 62 to suck up the bag ears of the ton bag to a certain height, and then closes the pneumatic clamp 61 so that the two clamps of the pneumatic clamp 61 are inserted into the bag ears of the ton bag, thereby achieving the clamping of the bag ears of the ton bag. Preferably, like the bag suction device 4, the vacuum adsorption component 62 also adopts the form of a vacuum generator combined with a suction cup.

[0051] As one or more examples, see Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of the lateral displacement module. Figure 5 yes Figure 4 A partial enlarged view of the center A; the side displacement module 33 includes a main moving frame 331, a sub-moving frame 332, a connecting plate 333, and a third displacement component 334, a fourth displacement component 335, a fifth displacement component 336, a sixth displacement component 337 and a seventh displacement component 338 which are communicatively connected to the controller, the third displacement component 334 is arranged on the main frame 1, the main moving frame 331 is slidably arranged on the main frame 1 along the y-axis direction and connected to the third displacement component 334, the fourth displacement component 335 is arranged on the main moving frame 331, and the connecting plate 333 is slidably arranged along the y-axis direction. On the main movable frame 331 and connected to the fourth displacement assembly 335, the fifth displacement assembly 336 is arranged on the connecting plate 333, the auxiliary movable frame 332 is slidably arranged on the connecting plate 333 along the z-axis direction and connected to the fifth displacement assembly 336, the sixth displacement assembly 337 is arranged on the auxiliary movable frame 332, the two bag holding devices 7 are connected to the sixth displacement assembly 337 and are respectively located at the two ends of the sixth displacement assembly 337, the seventh displacement assembly 338 is mounted on the auxiliary movable frame 332 and is located between the two bag holding devices 7, and the bag opening device 5 is connected to the seventh displacement assembly 338.

[0052] Specifically, the third displacement assembly 334 is used to drive the main movable frame 331 to move in the y-axis direction; the fourth displacement assembly 335 is used to drive the connecting plate 333 to move in the y-axis direction; the fifth displacement assembly 336 is used to drive the auxiliary movable frame 332 to move in the z-axis direction; the sixth displacement assembly 337 is used to drive the two bag-holding devices 7 to move toward / away from each other in the y-axis direction; and the seventh displacement assembly 338 is used to drive the bag-opening device 5 to move in the x-axis direction. It can be understood that the side displacement module 33 of the present application can realize the secondary movement of the bag opening device 5 and the two bag holding devices 7 in the y-axis direction (the direction of transporting ton bags to the ton charter aircraft), that is: the controller can control the third displacement component 334 to drive the main movable frame 331 to move in the y-axis direction, thereby driving the connecting plate 333, the fourth displacement component 335, the auxiliary movable frame 332 and the fifth displacement component 336 to move in the y-axis direction, and then driving the sixth displacement component 337, the seventh displacement component 338, the bag opening device 5 and the two bag holding devices 7 to move in the y-axis direction; the controller can also control the fourth displacement component 335 to drive the connecting plate 333 to move in the y-axis direction, thereby driving the auxiliary movable frame 332 and the fifth displacement component 336 to move in the y-axis direction, and then driving the sixth displacement component 337, the seventh displacement component 338, the bag opening device 5 and the two bag holding devices 7 to move in the y-axis direction. On this basis, the controller can also control the fifth displacement component 336 to drive the auxiliary moving frame 332 to move in the z-axis direction, thereby driving the sixth displacement component 337 and the seventh displacement component 338 to move in the y-axis direction, and then driving the bag opening device 5 and the two bag-holding devices 7 to move in the y-axis direction; the controller can also control the sixth displacement component 337 to drive the two bag-holding devices 7 to move toward / away from each other in the y-axis direction, and control the seventh displacement component 338 to drive the bag opening device 5 to move in the x-axis direction. In other words, the present application can realize the movement of the two bag opening devices 5 and the four bag-holding devices 7 in space through two side displacement modules 33, thereby realizing the bag opening device 5 to tear open the bag mouth of the ton bag, the bag-holding device 7 to open the bag ears of the ton bag, and transporting the ton bag with the bag mouth opened and the bag ears opened to the ton charter aircraft.

[0053] In the one or more embodiments, the third displacement assembly 334 includes a second reducer 3341, a second gear 3342, a second rack 3343 and a second motor 3344 that is communicatively connected to the controller, the second rack 3343 is arranged on the main frame 1 along the y-axis direction, the second motor 3344 and the second reducer 3341 are both arranged on the main moving frame 331, the output shaft of the second motor 3344 is connected to the second reducer 3341, and the second gear 3342 is sleeved on the output shaft of the second reducer 3341 and meshed with the second rack 3343. It can be understood that in actual applications, the controller can control the second motor 3344 to start, and after starting, the second motor 3344 can drive the second gear 3342 to rotate through the second reducer 3341, and the second gear 3342 is meshed with the second rack 3343 that extends and is fixed along the y-axis direction, so that the main moving frame 331 can move in the y-axis direction.

[0054] In the one or more embodiments, the fourth displacement assembly 335 includes a third reducer 3351, a third gear 3352, a third rack 3353, and a third motor 3354 that is communicatively connected to the controller. The third rack 3353 is arranged on the main moving frame 331 along the y-axis direction. The third motor 3354 and the third reducer 3351 are both arranged on the connecting plate 333. The output shaft of the third motor 3354 is connected to the third reducer 3351. The third gear 3352 is sleeved on the output shaft of the third reducer 3351 and meshed with the third rack 3353. It can be understood that in actual applications, the controller can control the third motor 3354 to start, and after the third motor 3354 is started, the third gear 3352 can be driven to rotate through the third reducer 3351, and the third gear 3352 is meshed with the third rack 3353 that extends and is fixed along the y-axis direction, so that the movement of the connecting plate 333 in the y-axis direction can be achieved.

[0055] In the one or more embodiments, the fifth displacement assembly 336 includes a fourth reducer 3361, a fourth gear 3362, a fourth rack 3363, and a fourth motor 3364 that is communicatively connected to the controller, the fourth rack 3363 is arranged on the auxiliary mobile frame 332 along the z-axis direction, the fourth motor 3364 and the fourth reducer 3361 are both arranged on the connecting plate 333, the output shaft of the fourth motor 3364 is connected to the fourth reducer 3361, and the fourth gear 3362 is sleeved on the output shaft of the fourth reducer 3361 and meshed with the fourth rack 3363. It can be understood that in actual applications, the controller can control the fourth motor 3364 to start, and the fourth motor 3364 can drive the fourth gear 3362 to rotate through the fourth reducer 3361 after starting, and the fourth gear 3362 is meshed with the fourth rack 3363 that extends and is fixed along the z-axis direction, so that the auxiliary mobile frame 332 can be lifted and lowered in the z-axis direction.

[0056] In the one or more embodiments, the sixth displacement assembly 337 includes a fifth reducer 3371, a lead screw 3372, a slide bar 3373, two fixed blocks 3374, two sliders 3375, two connecting seats 3376, and a fifth motor 3377 and two fourth linear cylinders 3378 respectively communicatively connected to the controller, the two fixed blocks 3374 are arranged on the auxiliary moving frame 332 oppositely and spaced from each other, the lead screw 3372 is located between the two fixed blocks 3374, the two ends of the lead screw 3372 are respectively inserted into the two fixed blocks 3374 and are respectively rotatably matched with the two fixed blocks 3374, the slide bar 3373 is located between the two fixed blocks 3374, the two ends of the slide bar 3373 are respectively inserted into the two fixed blocks 3374, and each slider 3375 is It is sleeved on the lead screw 3372 and the slide rod 3373, each slider 3375 is threadedly matched with the lead screw 3372 and slidingly matched with the slide rod 3373, the two sliders 3375 are respectively close to the two fixed blocks 3374, the two fourth linear cylinders 3378 are respectively arranged on the two sliders 3375, the two connecting seats 3376 are respectively connected to the piston rods of the two fourth linear cylinders 3378, the two bag-supporting devices 7 are respectively arranged on the two connecting seats 3376, the fifth motor 3377 and the fifth reducer 3371 are both arranged on the auxiliary moving frame 332, the output shaft of the fifth motor 3377 is connected to the fifth reducer 3371, and one end of the lead screw 3372 passes through the corresponding fixed block 3374 and is connected to the output shaft of the fifth reducer 3371. It can be understood that the controller can control the sixth motor 325 to start, and after the sixth motor 325 is started, it can drive the lead screw 3372 to rotate through the sixth reducer 321. Since the two sliders 3375 are both threaded with the lead screw 3372 and are provided with the fourth linear cylinder 3378 and the bag-holding device 7, the two sliders 3375 (that is, the two bag-holding devices 7) will move toward / away from each other along the lead screw 3372 (or the slide bar 3373) during the rotation of the lead screw 3372, thereby causing the two fourth linear cylinders 3378 and the two bag-holding devices 7 to move toward / away from each other along the lead screw 3372; the controller can also control the fourth linear cylinder 3378 to drive the connecting seat 3376 and the bag-holding device 7 thereon to move in the x-axis direction.

[0057] In the one or more embodiments, the bag-stretching device 7 includes a pneumatic finger 71. When the four bag-stretching devices 7 stretch the four bag ears respectively, the controller is specifically used to control the four pneumatic fingers 71 to enter the open state from the closed state. That is, when the bag ears of the ton bag are stretched open by the bag-stretching device 7, the controller needs to first control the pneumatic finger 71 to close its two fingers, and then control the sixth displacement component 337 to drive the finger side of the pneumatic finger 71 to extend into the bag ears of the ton bag, and finally control the pneumatic finger 71 to open its two fingers so as to stretch the bag ears of the ton bag.

[0058] In one or more embodiments, the seventh displacement assembly 338 includes a first adapter plate 3381, a second adapter plate 3382, and a first electric push rod 3383 and a second electric push rod 3384 respectively communicatively connected to the controller, the first electric push rod 3383 is mounted on the sub-movable frame 332 and is located between the two bag holding devices 7, the first adapter plate 3381 is connected to the push rod of the first electric push rod 3383, the second electric push rod 3384 is arranged on the first adapter plate 3381, the second adapter plate 3382 is connected to the push rod of the second electric push rod 3384, and the bag opening device 5 is arranged on the second adapter plate 3382. It can be understood that the seventh displacement assembly 338 realizes the secondary movement of the bag opening device 5 in the x-axis direction, that is: the controller can control the first electric push rod 3383 to move in the x-axis direction to drive the first adapter plate 3381, the second adapter plate 3382 and the bag opening device 5 to move in the x-axis direction; the controller can also control the second electric push rod 3384 to move in the x-axis direction to drive the second adapter plate 3382 and the bag opening device 5 to move in the x-axis direction.

[0059] In the one or more embodiments, the bag opening device 5 includes a second vacuum generator (not shown in the figure) and a plurality of second suction cups 51. The second vacuum generator and the plurality of second suction cups 51 are both arranged on the second adapter plate 3382. The second vacuum generator is communicatively connected to the controller, and the plurality of second suction cups 51 are respectively connected to the second vacuum generator. It can be understood that the controller can control the second vacuum generator to start, so as to form a negative pressure at the second suction cup 51 by using the second vacuum generator, and then suck one side of the bag mouth of the ton bag through the second suction cup 51, so as to facilitate the subsequent opening of the bag mouth of the ton bag.

[0060] In the one or more embodiments, the side displacement module 33 further includes a guide rail 339 extending in the y-axis direction, one end of the guide rail 339 is connected to the main frame 1, and the other end is adjacent to the ton bag machine, and the main mobile frame 331 has a support column 3311, and the bottom end of the support column 3311 is rotatably provided with a roller (not shown), and the roller contacts and rolls with the guide rail 339. It can be understood that after opening the mouth of the ton bag and stretching the bag ears of the ton bag, the ton bag needs to be transported to the ton bag machine, and in this process, the main mobile frame 331 will move in the y-axis direction, and the roller on the support column 3311 of the main mobile frame 331 will also roll along the guide rail 339, which can ensure that the ton bag is stable and firm during the bagging process.

[0061] As one or more examples, see Figure 6 , Figure 6It is a structural schematic diagram of the bottom displacement module; the bottom displacement module 32 includes a sixth reducer 321, a belt 322, a main pulley 323, a slave pulley 324 and a sixth motor 325 communicatively connected to the controller, the main pulley 323 and the slave pulley 324 are both arranged on the main frame 1 to rotate relative to and spaced from each other, the main pulley 323 is connected to the slave pulley 324 through the belt 322, the sixth motor 325 and the sixth reducer 321 are both arranged on the main frame 1, the output shaft of the sixth motor 325 is connected to the sixth reducer 321, the output shaft of the sixth reducer 321 is connected to the main pulley 323, and the tray 2 is arranged on the slave pulley 324. It can be understood that the controller can control the sixth motor 325 to start. After the sixth motor 325 is started, it can drive the main pulley 323 to rotate through the sixth reducer 321, and the main pulley 323 can drive the slave pulley 324 to rotate through the belt 322, thereby realizing the rotation of the pallet 2 and the ton bag thereon, and then changing the orientation of the ton bag on the pallet 2, so as to facilitate placing the bag mouth and four bag ears of the ton bag on their respective work stations.

[0062] In some embodiments, see Figure 3 In addition to the structure given above, the ton bag loading machine also includes a camera device 8 that is communicatively connected to the controller. The camera device 8 is connected to the displacement device 3 and is located above the pallet 2. The camera device 8 is used to capture the image of the ton bag in real time. Based on this, the displacement device 3 is also used to drive the camera device 8 to move in space; the controller is specifically used to control the displacement device 3 according to the image of the ton bag so that the bag mouth, four bag ears, and the bag suction device 4, two bag opening devices 5, four bag clamping devices 6 and four bag support devices 7 of the ton bag are respectively in their respective workstations. Of course, for the bag suction device 4 sucking up the bag mouth of the ton bag, the bag clamping device 6 clamping the bag ears of the ton bag, and the bag support device 7 opening the bag ears of the ton bag, etc., the controller can also use the image of the ton bag as a reference and drive the bag suction device 4, the bag clamping device 6 and the bag support device 7 to move in space. Preferably, at least one marking point can be set on the ton bag, so that the controller can easily determine the orientation of the ton bag based on the marking point in the ton bag image, making it convenient for the controller to adjust the position of each device in space by controlling the displacement device 3.

[0063] In some embodiments, see Figure 3In addition to the structure given above, the ton bag loading machine also includes two clamping devices 9. The two clamping devices 9 are connected to the displacement device 3. The two clamping devices 9 are located above the pallet 2. The two clamping devices 9 are located on the opposite sides of the bag suction device 4. The two clamping devices 9 are respectively connected to the controller for communication. Preferably, the two clamping devices 9 are arranged on one side of the mounting plate 3111 close to the carrier plate 3132 and are respectively located at the opposite ends of the through hole 3112. The two clamping devices 9 are staggered. Based on this, the displacement device 3 is also used to drive the two clamping devices 9 to move in space. The controller is also used to control the two clamping devices 9 to respectively clamp the opposite sides of the ton bag before controlling the bag suction device 4 to suck up the bag mouth of the ton bag, and to control the two clamping devices 9 to move away from the ton bag to cancel the clamping of the ton bag after controlling the bag suction device 4 to suck up the bag mouth of the ton bag. It is understandable that if the two opposite sides of the ton bag are not compressed before the bag suction device 4 sucks up the bag opening of the ton bag, it is very likely that the ton bag will be completely sucked up due to the excessive suction force of the bag suction device 4, which hinders the subsequent two bag opening devices 5 from opening the bag opening of the ton bag. Therefore, the present application provides a compression device 9. Exemplarily, the compression device 9 includes a piston cylinder and a compression rubber block with good flexibility, and the compression rubber block is connected to the piston rod of the piston cylinder.

[0064] In some embodiments, see Figure 3 In addition to the structure given above, the ton bag loading machine also includes two clamping devices 10 that are respectively connected to the controller in communication. The two clamping devices 10 are both connected to the displacement device 3, and the two clamping devices 10 are both located above the tray 2. The two clamping devices 10 are respectively located on the opposite sides of the bag suction device 4; preferably, the two clamping devices 10 are arranged on the carrier plate 3132 and are respectively located at the opposite ends of the plurality of first suction cups 42. Based on this, the displacement device 3 is also used to drive the two clamping devices 10 to move in space; the controller is also used to control the two clamping devices 10 to clamp the opposite ends of the bag opening after controlling the bag suction device 4 to suck up the bag opening of the ton bag, and control the two clamping devices 10 to release the opposite ends of the bag opening of the ton bag while controlling the bag suction device 4 to release the bag opening of the ton bag. It is understandable that if the two opposite ends of the bag opening are not clamped after the bag suction device 4 sucks up the bag opening of the ton bag, it is very likely that the bag opening of the ton bag will fall off the bag suction device 4 due to the unstable suction force of the bag suction device 4, which affects the opening of the bag opening of the ton bag by the subsequent two bag opening devices 5. Therefore, the present application provides a clamping device 10. Exemplarily, the clamping device 10 includes a rotating cylinder and a clamping plate, and the clamping plate is connected to the rotating cylinder. The controller can control the rotating cylinder to drive the clamping plate to open or close to achieve clamping of the opposite ends of the bag opening of the ton bag.

[0065] See also Figure 7 , Figure 7It is a flow chart of the ton bag loading method. The present embodiment provides a ton bag loading method, which is applied to the ton bag loading machine described above, that is, the ton bag loading method is implemented based on the ton bag loading machine described above. Specifically, with the controller of the ton bag loading machine as the execution body, the ton bag loading method includes steps 701 to 705 (abbreviated as S701 to S705), namely: S701, controlling the displacement device to make the bag mouth, four bag ears and the bag suction device, two bag opening devices, four bag clamping devices and four bag support devices respectively in their respective workstations; S702, controlling the bag suction device to suck up the bag mouth, and controlling the two bag opening devices to respectively suck the opposite sides of the bag mouth, and then controlling the bag suction device to release the bag mouth; S7 03, control the displacement device to make the two bag opening devices move in opposite directions to open the bag mouth, and control the four bag clamping devices to clamp the four bag ears respectively; S704, control the displacement device to make the four bag support devices extend into the four bag ears respectively, and control the four bag support devices to open the four bag ears respectively; S705, control the four bag clamping devices to loosen the four bag ears respectively, and then control the displacement device to make the two bag opening devices and the four bag support devices move together with the ton bag to the ton charter machine, so as to transfer the ton bag to the ton charter machine. It should be noted that for the incomplete description of the ton bag loading method, please refer to the relevant description of the ton bag loading machine in the previous text, and this embodiment will not be repeated.

[0066] The above embodiments are only preferred implementations of the present application, and they are not the only limitations on the ton bag bagging machine and related methods; in this regard, those skilled in the art can flexibly set them according to the actual application scenarios based on the above embodiments. It can be understood that through the implementation of the above embodiments of the present application, a ton bag bagging machine is composed of a main frame 1, a controller, a pallet 2, and a displacement device 3, a bag suction device 4, two bag opening devices 5, four bag clamping devices 6, and four bag holding devices 7 that are communicatively connected to the controller. The displacement device 3 is arranged on the main frame 1, and the pallet 2, the bag suction device 4, the bag opening device 5, the bag clamping device 6, and the bag holding device 7 are all connected to the displacement device 3. The bag suction device 4 is located above the pallet 2, and the four bag clamping devices 6 are all located above the pallet 2 and distributed. Around the bag suction device 4, a bag opening device 5 and two bag holding devices 7 are all located on one side of the pallet 2, and another bag opening device 5 and another two bag holding devices 7 are all located on the other side opposite to the pallet 2. Each bag opening device 5 is located between two bag holding devices 7 on the same side. The pallet 2 is used to stack multiple flattened ton bags, and the ton bags have a bag opening located in the middle and four bag ears located at the four corners respectively. The displacement device 3 is used to drive the pallet 2, the bag suction device 4, the bag opening device 5, the bag clamping device 6 and the bag holding device 7 to move in space. In actual application, the loading of ton bags can be controlled by the controller throughout the whole process. The specific loading process is: the controller controls the displacement device 3 so that the bag mouth, four bag ears, the bag suction device 4, the two bag opening devices 5, the four bag clamping devices 6 and the four bag holding devices 7 are respectively in their respective workstations; the controller controls the bag suction device 4 to suck up the bag mouth; the controller controls the two bag opening devices 5 to absorb the two sides of the bag mouth respectively, and controls the bag suction device 4 to release the bag mouth; the controller controls the displacement device 3 to make the two bag opening devices 5 move in opposite directions to open the bag mouth; the controller controls the four bag clamping devices 6 to clamp the four bag ears respectively; the controller controls the displacement device 3 to make the four bag holding devices 7 extend into the four bag ears respectively, and controls the four bag holding devices 7 to open the four bag ears respectively; the controller controls the four bag clamping devices 6 to release the four bag ears respectively; the controller controls the displacement device 3 to make the two bag opening devices 5 and the four bag holding devices 7 move towards the ton charter aircraft with the ton charter aircraft so as to transfer the ton bag to the ton charter aircraft. It can be seen that the present application realizes the automation of ton bag loading, and there is no need to manually load ton bags as in traditional solutions. This can not only reduce the labor intensity of the staff, but also improve the packaging efficiency of ton bags.

[0067] It should be noted that the several embodiments shown in the present application above are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can refer to each other. It should also be noted that in the text description of the present application, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is such an actual relationship or order between these entities or operations. Further, the terms "include", "comprise" or any other corresponding variants are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only these elements, but also other elements that are not explicitly listed, or may also include elements inherent to such a process, method, article or device; and, in the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0068] In addition, by implementing the several embodiments shown above in the present application, professionals and technicians in this field can implement or use the present application. For the several embodiments shown above in the present application, various modifications will be obvious to professionals and technicians in this field, and the general principles defined in the present application can be implemented in other embodiments not shown without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the several embodiments shown above, but will conform to the widest range consistent with the principles and novel features disclosed in the present application.

Claims

1. A ton bag loading machine, characterized in that: The invention comprises a main frame, a controller, a tray, and a displacement device, a bag suction device, two bag opening devices, four bag clamping devices and four bag holding devices which are respectively communicatively connected to the controller, the displacement device is arranged on the main frame, the tray, the bag suction device, the bag opening device, the bag clamping device and the bag holding device are all connected to the displacement device, the bag suction device is located above the tray, the four bag clamping devices are all located above the tray and distributed around the bag suction device, one bag opening device and two bag holding devices are all located on one side of the tray, another bag opening device and the other two bag holding devices are all located on the other side opposite to the tray, each bag opening device is located between two bag holding devices on the same side, the tray is used to stack a plurality of flattened ton bags, the ton bags have a bag opening located in the middle and four bag ears located at the four corners, and the displacement device is used to drive the tray, the bag suction device, the bag opening device, the bag clamping device and the bag holding device to move in space; The controller is used to: control the displacement device to make the bag opening, the four bag ears, the bag suction device, the two bag opening devices, the four bag clamping devices and the four bag support devices respectively in their respective working positions; control the bag suction device to suck up the bag opening; control the two bag opening devices to respectively absorb the two sides of the bag opening, and control the bag suction device to release the bag opening; control the displacement device to make the two bag opening devices move in opposite directions to open the bag opening; control the four bag clamping devices to respectively clamp up the four bag ears; By controlling the displacement device, the four bag-holding devices are respectively extended into the four bag ears, and the four bag-holding devices are respectively controlled to open the four bag ears; the four bag-clamping devices are respectively controlled to loosen the four bag ears; by controlling the displacement device, the two bag-opening devices and the four bag-holding devices are moved together with the ton-charter aircraft with the ton-charter aircraft, so as to transfer the ton-bag to the ton-charter aircraft.

2. The ton bag loading machine according to claim 1, characterized in that: The displacement device comprises a top displacement module, a bottom displacement module and two side displacement modules arranged on the main frame, the top displacement module is located at the top, the bottom displacement module is located below the top displacement module, the tray is connected to the bottom displacement module, the two side displacement modules are respectively located on both sides of the tray, the bag suction device and the four bag clamping devices are all connected to the top displacement module, one bag opening device and the two bag holding devices are all connected to one side displacement module, and the other bag opening device and the other two bag holding devices are all connected to the other side displacement module; The top displacement module is used to drive the bag suction device and the four bag clamping devices to move in space; The bottom displacement module is used to drive the tray to move in space; The lateral displacement module is used to drive the corresponding bag opening device and the two bag holding devices to move in space.

3. The ton bag loading machine according to claim 2, characterized in that: The top displacement module includes a lifting frame and a lifting component, a first displacement component and four second displacement components respectively connected to the controller in communication, the lifting component is arranged on the main frame, the lifting frame is slidably arranged on the main frame along the z-axis direction and connected to the lifting component, the first displacement component is arranged on the lifting frame, four second displacement components are all arranged on the lifting frame and distributed around the first displacement component, the four bag clamping devices are respectively connected to the four second displacement components, and the bag suction device is connected to the first displacement component; The lifting assembly is used to drive the lifting frame to move in the z-axis direction; the first displacement assembly is used to drive the bag suction device to move in space; The four second displacement components are used to respectively drive the four bag clamping devices to move in space.

4. The ton bag loading machine according to claim 3, characterized in that: The lifting assembly includes a first reducer, a first gear, a first rack and a first motor communicatively connected to the controller, the first rack is arranged on the main frame along the z-axis direction, the first motor and the first reducer are both arranged on the lifting frame, the output shaft of the first motor is connected to the first reducer, and the first gear is sleeved on the output shaft of the first reducer and meshes with the first rack.

5. The ton bag loading machine according to claim 3, characterized in that: The lifting frame has a mounting plate, and a through hole is formed on the mounting plate; The first displacement assembly comprises a sliding plate, a bearing plate, a plurality of guide rods, and a first linear cylinder and a second linear cylinder respectively communicatively connected to the controller, the sliding plate is slidably arranged on the mounting plate along the x-axis direction and is located at the through hole, the first linear cylinder is arranged on the mounting plate, the piston rod of the first linear cylinder is connected to the sliding plate, the bearing plate is located below the sliding plate, the second linear cylinder is arranged on the sliding plate, the piston rod of the second linear cylinder penetrates the sliding plate and is connected to the bearing plate, one end of the plurality of guide rods are all arranged on the bearing plate, the other end of the plurality of guide rods penetrates the sliding plate and is slidably matched with the sliding plate, the plurality of guide rods are spaced around the second linear cylinder, and the bag suction device is arranged on the bearing plate; The first linear cylinder is used to drive the sliding plate to move in the x-axis direction; the second linear cylinder is used to drive the supporting plate to move in the z-axis direction.

6. The ton bag loading machine according to claim 5, characterized in that: The bag suction device includes a first vacuum generator and a plurality of first suction cups. The first vacuum generator is arranged on the sliding plate and is communicatively connected to the controller. The plurality of first suction cups are arranged on a side of the supporting plate away from the sliding plate and are respectively connected to the first vacuum generator.

7. The ton bag loading machine according to claim 5, characterized in that: The four second displacement assemblies are all arranged on one side of the mounting plate close to the bearing plate and are respectively located at the four corners of the mounting plate, the second displacement assemblies include a linear motion mechanism, a rotary cylinder and a third linear cylinder respectively connected to the controller in a communication manner, the linear motion mechanism is arranged on the mounting plate, the third linear cylinder is connected to the linear motion mechanism, the rotary cylinder is connected to the piston rod of the third linear cylinder, and the bag clamping device is connected to the rotary cylinder; The linear motion mechanism is used to drive the third linear cylinder to move on a preset path, and the preset path is a straight path between the position of the linear motion mechanism and the middle of the mounting plate; the third linear cylinder is used to drive the rotary cylinder to move in the z-axis direction; the rotary cylinder is used to drive the bag clamping device to rotate around the z-axis.

8. The ton bag loading machine according to claim 7, characterized in that: The bag clamping device comprises a pneumatic clamping jaw, a clamping jaw side of the pneumatic clamping jaw is provided with a vacuum adsorption component, and the pneumatic clamping jaw and the vacuum adsorption component are respectively communicatively connected to the controller; In the process of the four bag clamping devices clamping the four bag ears respectively, the controller is specifically used to: control the four pneumatic clamps to enter an open state; control the four vacuum adsorption components to suck up the four bag ears respectively; and control the four pneumatic clamps to enter a closed state.

9. The ton bag loading machine according to claim 2, characterized in that: The side displacement module includes a main moving frame, a sub-moving frame, a connecting plate, and a third displacement component, a fourth displacement component, a fifth displacement component, a sixth displacement component and a seventh displacement component which are communicatively connected to the controller, wherein the third displacement component is arranged on the main frame, the main moving frame is slidably arranged on the main frame along the y-axis direction and is connected to the third displacement component, the fourth displacement component is arranged on the main moving frame, the connecting plate is slidably arranged on the main moving frame along the y-axis direction and is connected to the fourth displacement component, the fifth displacement component is arranged on the connecting plate, the sub-moving frame is slidably arranged on the connecting plate along the z-axis direction and is connected to the fifth displacement component, the sixth displacement component is arranged on the sub-moving frame, both of the two bag-holding devices are connected to the sixth displacement component and are respectively located at two ends of the sixth displacement component, the seventh displacement component is mounted on the sub-moving frame and is located between the two bag-holding devices, and the bag opening device is connected to the seventh displacement component; The third displacement assembly is used to drive the main movable frame to move in the y-axis direction; the fourth displacement assembly is used to drive the connecting plate to move in the y-axis direction; the fifth displacement assembly is used to drive the auxiliary movable frame to move in the z-axis direction; the sixth displacement assembly is used to drive the two bag-holding devices to move toward or away from each other in the y-axis direction; the seventh displacement assembly is used to drive the bag-opening device to move in the x-axis direction.

10. The ton bag loading machine according to claim 9, characterized in that: The third displacement assembly includes a second reducer, a second gear, a second rack and a second motor communicatively connected to the controller, the second rack is arranged on the main frame along the y-axis direction, the second motor and the second reducer are both arranged on the main moving frame, the output shaft of the second motor is connected to the second reducer, the second gear is sleeved on the output shaft of the second reducer and meshes with the second rack.

11. The ton bag loading machine according to claim 9, characterized in that: The fourth displacement assembly includes a third reducer, a third gear, a third rack and a third motor communicatively connected to the controller, the third rack is arranged on the main moving frame along the y-axis direction, the third motor and the third reducer are both arranged on the connecting plate, the output shaft of the third motor is connected to the third reducer, and the third gear is sleeved on the output shaft of the third reducer and meshes with the third rack.

12. The ton bag loading machine according to claim 9, characterized in that: The fifth displacement assembly includes a fourth reducer, a fourth gear, a fourth rack and a fourth motor communicatively connected to the controller, the fourth rack is arranged on the auxiliary moving frame along the z-axis direction, the fourth motor and the fourth reducer are both arranged on the connecting plate, the output shaft of the fourth motor is connected to the fourth reducer, and the fourth gear is sleeved on the output shaft of the fourth reducer and meshes with the fourth rack.

13. The ton bag loading machine according to claim 9, characterized in that: The sixth displacement assembly includes a fifth reducer, a lead screw, a slide bar, two fixed blocks, two sliders, two connecting seats, and a fifth motor and two fourth linear cylinders respectively connected to the controller for communication. The two fixed blocks are arranged on the auxiliary moving frame opposite to and spaced from each other. The lead screw is located between the two fixed blocks. The two ends of the lead screw are respectively inserted into the two fixed blocks and are respectively rotatably matched with the two fixed blocks. The slide bar is located between the two fixed blocks. The two ends of the slide bar are respectively inserted into the two fixed blocks. Each slider is sleeved on the lead screw and the slide bar. , each of the sliders is threadably matched with the lead screw and slidably matched with the slide rod, the two sliders are respectively close to the two fixed blocks, the two fourth linear cylinders are respectively arranged on the two sliders, the two connecting seats are respectively connected to the piston rods of the two fourth linear cylinders, the two bag-supporting devices are respectively arranged on the two connecting seats, the fifth motor and the fifth reducer are both arranged on the auxiliary moving frame, the output shaft of the fifth motor is connected to the fifth reducer, and one end of the lead screw passes through the corresponding fixed block and is connected to the output shaft of the fifth reducer.

14. The ton bag loading machine according to claim 13, characterized in that: The bag-opening device comprises pneumatic fingers. When the four bag-opening devices open the four bag ears respectively, the controller is specifically used to control the four pneumatic fingers to enter an open state from a closed state.

15. The ton bag loading machine according to claim 9, characterized in that: The seventh displacement component includes a first adapter plate, a second adapter plate, and a first electric push rod and a second electric push rod which are respectively communicatively connected to the controller, the first electric push rod is mounted on the auxiliary movable frame and is located between the two bag holding devices, the first adapter plate is connected to the push rod of the first electric push rod, the second electric push rod is arranged on the first adapter plate, the second adapter plate is connected to the push rod of the second electric push rod, and the bag opening device is arranged on the second adapter plate.

16. The ton bag loading machine according to claim 15, characterized in that: The bag opening device includes a second vacuum generator and a plurality of second suction cups, the second vacuum generator and the plurality of second suction cups are both arranged on the second adapter plate, the second vacuum generator is communicatively connected to the controller, and the plurality of second suction cups are respectively connected to the second vacuum generator.

17. The ton bag loading machine according to claim 9, characterized in that: The side displacement module also includes a guide rail extending along the y-axis direction, one end of the guide rail is connected to the main frame, and the other end is adjacent to the ton package machine. The main movable frame has a support column, and a roller is rotatably provided at the bottom end of the support column. The roller contacts the guide rail and rolls with the guide rail.

18. The ton bag loading machine according to claim 2, characterized in that: The bottom displacement module includes a sixth reducer, a belt, a main pulley, a slave pulley and a sixth motor communicatively connected to the controller, the main pulley and the slave pulley are both rotatably arranged on the main frame, the main pulley and the slave pulley are opposite to and spaced from each other, the main pulley and the slave pulley are connected through the belt, the sixth motor and the sixth reducer are both arranged on the main frame, the output shaft of the sixth motor is connected to the sixth reducer, the output shaft of the sixth reducer is connected to the main pulley, and the tray is arranged on the slave pulley.

19. The ton bag loading machine according to claim 1, characterized in that: Also included is a camera device communicatively connected to the controller, the camera device is connected to the displacement device and is located above the pallet, and the camera device is used to capture an image of the ton bag; The displacement device is also used to drive the camera device to move in space; The controller is specifically used to control the displacement device according to the image of the ton bag, so that the bag mouth, the four bag ears and the bag suction device, the two bag opening devices, the four bag clamping devices and the four bag supporting devices are respectively in their respective workstations.

20. A method for loading ton bags, characterized in that: A controller for a ton bag loading machine as claimed in any one of claims 1 to 19, comprising: The bag mouth, four bag ears, a bag suction device, two bag opening devices, four bag clamping devices and four bag supporting devices are placed in their respective positions by controlling the displacement device; Control the bag suction device to suck up the bag opening, control the two bag opening devices to respectively suck the two opposite sides of the bag opening, and then control the bag suction device to release the bag opening; The two bag opening devices are moved in opposite directions by controlling the displacement device to open the bag mouth, and the four bag clamping devices are controlled to clamp the four bag ears respectively; By controlling the displacement device, the four bag-stretching devices are respectively extended into the four bag ears, and the four bag-stretching devices are respectively controlled to stretch open the four bag ears; Controlling the four bag clamping devices to loosen the four bag ears respectively; By controlling the displacement device, the two bag opening devices and the four bag holding devices are made to move together with the ton bag toward the ton charter machine, so as to transfer the ton bag to the ton charter machine.

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