Ton bag on bag machine and method

Abstract

The application provides a ton bag bagging machine and method, and relates to the technical field of packaging. The ton bag bagging machine comprises a tray, a displacement device, a bag suction device, two bag opening devices, four bag clamping devices and four bag supporting devices. The tray is used for stacking a plurality of flattened ton bags. The ton bag has a bag opening in the middle and four bag ears at four corners. The displacement device is used to drive the tray, the bag suction device, the bag opening device, the bag clamping device and the bag supporting device to move in space. The bag suction device is used to suck up the bag opening. The two bag opening devices are used to tear open the bag opening. The four bag clamping devices are used to clamp up the four bag ears respectively. The four bag supporting devices are used to support open the four bag ears respectively. The application designs a ton bag bagging process based on the devices, thereby realizing the automation of ton bag bagging without manual ton bag bagging as in the traditional scheme. Not only can the labor intensity of the staff be reduced, but also the packaging efficiency of the ton bag can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the packaging technical field, and particularly relates to a ton bag bagging machine and method. BACKGROUND

[0002] The ton bag refers to a container for packaging granular, powdery, blocky and other materials, which is mostly made of polypropylene, polyethylene and other polyester fibers, and has the advantages of large capacity, high strength, moisture resistance, dust resistance, radiation resistance, convenient loading and unloading and the like, and is widely used. In the related art, when the ton bag is used to package the material, a ton bag machine (i.e., a ton bag packaging machine) needs to be used. The ton bag machine can realize the automation of a series of packaging processes from the conveying, metering to the bagging, sealing and the like of the material, but the bagging of the ton bag still needs to be manually performed, which not only increases the labor intensity of the workers, but also reduces the packaging efficiency of the ton bag. SUMMARY

[0003] The present application provides a ton bag bagging machine and method, and aims to solve the problems of low efficiency and large labor intensity of workers in the related art when the ton bag is packaged by using the ton bag machine.

[0004] To solve the above-mentioned problems existing in the related art, the first aspect of the present application provides a ton bag on bag machine, which 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 supporting 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 supporting 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 are distributed around the bag suction device. One bag opening device and two bag supporting devices are located on one side of the tray, and the other bag opening device and the other two bag supporting devices are located on the other side of the tray opposite to the one side. Each bag opening device is located between the two bag supporting devices on the same side. The tray is used for stacking a plurality of flattened ton bags. The ton bag has a bag opening located in the middle and four bag ears located at four corners. The displacement device is used for driving the tray, 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 for: controlling 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 supporting devices respectively be in their respective workstations; controlling the bag suction device to suck up the bag opening; controlling the two bag opening devices to respectively adsorb two sides of the bag opening, and controlling the bag suction device to release the bag opening; controlling the displacement device to make the two bag opening devices move away from each other to open the bag opening; controlling the four bag clamping devices to respectively clamp the four bag ears; controlling the four bag supporting devices to respectively extend into the four bag ears through the control of the displacement device, and controlling the four bag supporting devices to respectively open the four bag ears; controlling the four bag clamping devices to respectively release the four bag ears; and controlling the displacement device to make the two bag opening devices and the four bag supporting devices move together with the ton bag to the ton bag machine, so as to complete the handover of the ton bag to the ton bag machine.

[0005] In some implementations, 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 above, 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 the 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 two bag supporting devices are connected to one side displacement module, and the other bag opening device and the other two bag supporting devices are connected to the other side displacement module. Specifically, the top displacement module is used for driving the bag suction device and the four bag clamping devices to move in space; the bottom displacement module is used for driving the tray to move in space; and the side displacement module is used for driving the corresponding bag opening device and the two bag supporting devices to move in space.

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

[0007] In some implementations, the lifting assembly includes a first speed 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 speed reducer are arranged on the lifting frame, the output shaft of the first motor is connected to the first speed reducer, and the first gear is sleeved on the output shaft of the first speed reducer and engaged with the first rack.

[0008] In some implementations, the lifting frame has a mounting plate, a through hole is formed in 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 communicatively connected to the controller, the sliding plate is slidingly arranged on the mounting plate at the through hole along the x-axis direction, 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 through the sliding plate and is connected to the bearing plate, one end of each of the plurality of guide rods is arranged on the bearing plate, the other end of each of the plurality of guide rods penetrates through the sliding plate and slidingly cooperates with the sliding plate, the plurality of guide rods are distributed around the second linear cylinder, and the bag sucking 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; and the second linear cylinder is used to drive the bearing plate to move in the z-axis direction.

[0009] In some implementations, the bag sucking device includes a first vacuum generator and a plurality of first suction cups, the first vacuum generator is arranged on the sliding plate and communicatively connected to the controller, and the plurality of first suction cups are arranged on the side of the bearing plate away from the sliding plate and respectively connected to the first vacuum generator.

[0010] In some implementations, the four second displacement assemblies are each arranged on a side of the mounting plate close to the bearing plate and at four corners of the mounting plate respectively, and each of the second displacement assemblies comprises a linear motion mechanism, a rotary cylinder and a third linear cylinder which are connected to the controller in communication respectively, 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 a piston rod of the third linear cylinder, and the bag clamping device is connected to the rotary cylinder. Specifically, the linear motion mechanism is configured to drive the third linear cylinder to move on a preset path, the preset path being a straight path between a position where the linear motion mechanism is located and a middle part of the mounting plate; the third linear cylinder is configured to drive the rotary cylinder to move in the z-axis direction; and the rotary cylinder is configured to drive the bag clamping device to rotate around the z-axis.

[0011] In some implementations, the bag clamping device comprises a pneumatic clamping jaw, a vacuum suction assembly is arranged on a clamping jaw side of the pneumatic clamping jaw, and the pneumatic clamping jaw and the vacuum suction assembly are connected to the controller in communication respectively. Based on this, during the process that the four bag clamping devices clamp four bag ears respectively, the controller is specifically configured to: control the four pneumatic clamping jaws to enter an open state; control the four vacuum suction assemblies to clamp the four bag ears respectively; and control the four pneumatic clamping jaws to enter a closed state.

[0012] In some implementations, the side displacement module comprises a main moving frame, a secondary moving frame, a connecting plate, and a third displacement assembly, a fourth displacement assembly, a fifth displacement assembly, a sixth displacement assembly and a seventh displacement assembly which are connected to the controller in communication, the third displacement assembly is arranged on the main frame, the main moving frame is slidably arranged on the main frame in the y-axis direction and connected to the third displacement assembly, the fourth displacement assembly is arranged on the main moving frame, the connecting plate is slidably arranged on the main moving frame in the y-axis direction and connected to the fourth displacement assembly, the fifth displacement assembly is arranged on the connecting plate, the secondary moving frame is slidably arranged on the connecting plate in the z-axis direction and connected to the fifth displacement assembly, the sixth displacement assembly is arranged on the secondary moving frame, the two bag supporting devices are connected to the sixth displacement assembly and located at two ends of the sixth displacement assembly respectively, the seventh displacement assembly is arranged on the secondary moving frame and located between the two bag supporting devices, and the bag opening device is connected to the seventh displacement assembly. Specifically, the third displacement assembly is configured to drive the main moving frame to move in the y-axis direction; the fourth displacement assembly is configured to drive the connecting plate to move in the y-axis direction; the fifth displacement assembly is configured to drive the secondary moving frame to move in the z-axis direction; the sixth displacement assembly is configured to drive the two bag supporting devices to move towards each other or away from each other in the y-axis direction; and the seventh displacement assembly is configured to drive the bag opening device to move in the x-axis direction.

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

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

[0015] In some implementations, the fifth displacement assembly includes a fourth speed reducer, a fourth gear, a fourth rack, and a fourth motor in communication with the controller, the fourth rack is arranged on the auxiliary moving frame along the z-axis direction, the fourth motor and the fourth speed reducer are both arranged on the connecting plate, an output shaft of the fourth motor is connected to the fourth speed reducer, and the fourth gear is sleeved on the output shaft of the fourth speed reducer and engaged with the fourth rack.

[0016] In some implementations, the sixth displacement assembly includes a fifth speed reducer, a lead screw, a sliding rod, two fixed blocks, two sliding blocks, two connecting seats, and a fifth motor and two fourth linear cylinders in communication with the controller, the two fixed blocks are oppositely and spacedly arranged on the auxiliary moving frame, the lead screw is located between the two fixed blocks, both ends of the lead screw are inserted into the two fixed blocks and are rotationally fitted with the two fixed blocks, the sliding rod is located between the two fixed blocks, both ends of the sliding rod are inserted into the two fixed blocks, each sliding block is sleeved on the lead screw and the sliding rod, each sliding block is threadedly fitted with the lead screw and slidingly fitted with the sliding rod, the two sliding blocks are close to the two fixed blocks respectively, the two fourth linear cylinders are arranged on the two sliding blocks respectively, the two connecting seats are connected to the piston rods of the two fourth linear cylinders respectively, the two bag supporting devices are arranged on the two connecting seats respectively, the fifth motor and the fifth speed reducer are both arranged on the auxiliary moving frame, an output shaft of the fifth motor is connected to the fifth speed reducer, and one end of the lead screw penetrates through the corresponding fixed block and is connected to the output shaft of the fifth speed reducer.

[0017] In some implementations, the bag supporting device includes a pneumatic finger, and the controller is specifically configured to control the four pneumatic fingers to enter the open state from the folded state during the process that the four bag supporting devices respectively support the four bag ears to be opened.

[0018] In some implementations, 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 arranged on the auxiliary moving frame and located between the two bag supporting devices, the first adapter plate is connected to a 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 a push rod of the second electric push rod, and the bag opening device is arranged on the second adapter plate.

[0019] In some implementations, 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 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.

[0020] In some implementations, the side displacement module further 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 bag machine, the main moving frame has a support column, a roller is rotatably arranged at a bottom end of the support column, and the roller is in contact with and rolls with the guide rail.

[0021] In some implementations, the bottom displacement module includes a sixth speed reducer, a belt, a main belt pulley, a slave belt pulley, and a sixth motor communicatively connected to the controller, the main belt pulley and the slave belt pulley are rotatably arranged on the main frame in a relative and spaced manner, the main belt pulley and the slave belt pulley are connected by the belt, the sixth motor and the sixth speed reducer are arranged on the main frame, an output shaft of the sixth motor is connected to the sixth speed reducer, an output shaft of the sixth speed reducer is connected to the main belt pulley, and the tray is arranged on the slave belt pulley.

[0022] In some implementations, the ton bag bagging machine further includes a camera device communicatively connected to the controller, the camera device is connected to the displacement device and located above the tray, and the camera device is used for shooting images of the ton bag. Based on this, the displacement device is further used for driving the camera device to move in space; and the controller is specifically used for controlling the displacement device to make the bag opening, the four bag ears, and the bag supporting device, the two bag opening devices, the four bag clamping devices, and the four bag supporting devices respectively be in the respective stations according to the images of the ton bag.

[0023] The second aspect of the present application provides a ton bag on bag method applied to the ton bag on bag machine provided by the first aspect of the present application, when the controller is the execution subject, the ton bag on bag method comprises: controlling the displacement device to make the bag opening, 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 respectively in the respective stations; controlling the bag suction device to suck up the bag opening, and controlling the two bag opening devices to respectively adsorb the opposite sides of the bag opening, then controlling the bag suction device to release the bag opening; controlling the displacement device to make the two bag opening devices move away from each other to open the bag opening, and controlling the four bag clamping devices to respectively clamp the four bag ears; controlling the displacement device to make the four bag supporting devices respectively extend into the four bag ears, and controlling the four bag supporting devices to respectively support 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 supporting devices move together with the ton bag to the ton bag machine, so as to complete the ton bag handover with the ton bag machine.

[0024] The ton bag on-bag machine provided in the first aspect of the present application is composed of 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 supporting 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 devices, the bag clamping devices, and the bag supporting devices 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 are distributed around the bag suction device. One bag opening device and two bag supporting devices are located on one side of the tray, and the other bag opening device and the other two bag supporting devices are located on the other side of the tray opposite to the one side. Each bag opening device is located between the two bag supporting devices on the same side. The tray is used to stack a plurality of flattened ton bags. The ton bag has a bag opening located in the middle and four bag ears located at four corners. The displacement device is used to drive the tray, the bag suction device, the bag opening devices, the bag clamping devices, and the bag supporting devices to move in space. In actual application, the ton bag on-bag process can be controlled by the controller. Specifically, the controller controls 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 supporting devices be located at respective stations. The controller controls the bag suction device to suck up the bag opening. The controller controls the two bag opening devices to respectively adsorb two sides of the bag opening and controls the bag suction device to release the bag opening. The controller controls the displacement device to make the two bag opening devices move away from each other to open the bag opening. The controller controls the four bag clamping devices to respectively clamp the four bag ears. The controller controls the four bag supporting devices to respectively extend into the four bag ears and controls the four bag supporting devices to respectively open the four bag ears. The controller controls the four bag clamping devices to respectively release the four bag ears. The controller controls the displacement device to make the two bag opening devices and the four bag supporting devices move together with the ton bag to the ton bag machine to complete the handover of the ton bag. As can be seen, the present application realizes the automation of ton bag on-bag, and does not need to manually put the ton bag on the ton bag machine as in the traditional scheme, which can not only reduce the labor intensity of the workers, but also improve the packaging efficiency of the ton bag.

[0025] The ton bag on-bag method provided in the second aspect of the present application is realized based on the ton bag on-bag machine provided in the first aspect of the present application, and therefore has all the advantages of the ton bag on-bag machine. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the related art or the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the related art or the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and not all embodiments. Those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0027] Figure 1A structural schematic diagram of a ton bag on bag machine provided for an embodiment of the present application;

[0028] Figure 2 A structural schematic diagram of a top displacement module provided for an embodiment of the present application from one perspective;

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

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

[0031] Figure 5 A structural schematic diagram of a bottom displacement module provided for an embodiment of the present application; Figure 4 A partial enlarged view of A in FIG. 7;

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

[0033] Figure 7 A flow schematic diagram of a ton bag on bag method provided for an embodiment of the present application.

[0034] The marks in each of the above figures respectively represent:

[0035] 1 - main frame, 2 - tray, 3 - displacement device, 4 - bag suction device, 5 - bag opening device, 6 - bag clamping device, 7 - bag supporting 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 speed reducer, 3122 - first rack, 3123 - first gear, 3124 - first motor, 3131 - sliding plate, 3132 - bearing plate, 3133 - guide rod, 3134 - first linear cylinder, 3135 - second linear cylinder, 3141 - linear motion mechanism, 3142 - third linear cylinder, 3143 - rotary cylinder, 321 - sixth speed reducer, 322 - belt, 323 - main pulley, 324 - from pulley, 325 - sixth motor, 331 - main moving frame, 332 - auxiliary moving frame, 333 - connecting plate, 334 - third displacement assembly, 335 - fourth displacement assembly, 336 - fifth displacement assembly, 337 - sixth displacement assembly, 338 - seventh displacement assembly, 339 - guide rail, 3311 - support column, 3341 - second speed reducer, 3342 - second gear, 3343 - second rack, 3344 - second motor, 3351 - third speed reducer, 3352 - third gear, 3353 - third rack, 3354 - third motor, 3361 - fourth speed reducer, 3362 - fourth gear, 3363 - fourth rack, 3364 - fourth motor, 3371 - fifth speed reducer, 3372 - lead screw, 3373 - sliding rod, 3374 - fixed block, 3375 - sliding block, 3376 - connecting seat, 3377 - fifth motor, 3378 - fourth linear cylinder, 3381 - first adapter plate, 3382 - second adapter plate, 3383 - first electric push rod, 3384 - second electric push rod, 41 - first vacuum generator, 42 - first suction cup, 51 - second suction cup, 61 - pneumatic clamping jaw, 62 - vacuum suction assembly, 71 - pneumatic finger. DETAILED DESCRIPTION

[0036] In the related art, when ton bag packaging materials are used, a ton bag machine (i.e., a ton bag packaging machine) needs to be used. The ton bag machine can realize automation of a series of packaging processes from material conveying, metering to bagging, sealing, etc., but the bagging of the ton bag still needs to be done manually, which not only increases the labor intensity of the workers, but also reduces the packaging efficiency of the ton bag. In view of this, the ton bag machine and method are proposed in the embodiments below to solve the above-mentioned drawbacks existing in the related art.

[0037] In order to make the purposes, technical solutions and advantages of the present application more obvious and easy to understand, the present application will be described clearly and completely below in combination with the embodiments of the present application and the corresponding drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. It should be understood that the embodiments of the present application described below are only used to explain the present application and do not limit the present application, that is, based on the various embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor 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] Please refer to Figure 1 , Figure 1 is a structural schematic diagram of a ton bag on bag machine. The present embodiment provides a ton bag on bag machine, which comprises a main frame 1, a controller (not shown in the figure), 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 supporting devices 7 which are respectively connected in communication with the controller, 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 supporting device 7 are all connected on 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 are distributed around the bag suction device 4, one bag opening device 5 and two bag supporting devices 7 are located on one side of the tray 2, the other bag opening device 5 and the other two bag supporting devices 7 are located on the other side of the tray 2 opposite to the one side, and each bag opening device 5 is located between the two bag supporting devices 7 on the same side. In addition, it should be noted that the controller can adopt any device with control and data processing and analysis functions commonly used in the art, such as small computers, single-chip microcontrollers, industrial control computers (IPC), programmable logic controllers (PLC) and distributed control systems (DCS), etc., and the present embodiment is not limited to this.

[0039] In the embodiment, the tray 2 is used to stack a plurality of flattened ton bags, each having a bag opening in the middle and four bag ears at the four corners respectively. 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 supporting device 7 to move in space, which can 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 bag upper bagging machine. The controller is used to: control the displacement device 3 to make the bag opening, the four bag ears of the ton bag and the bag suction device 4, the two bag opening devices 5, the four bag clamping devices 6 and the four bag supporting devices 7 respectively be in their respective stations; control the bag suction device 4 to suck up the bag opening; control the two bag opening devices 5 to respectively suck the two opposite sides of the bag opening, and control the bag suction device 4 to release the bag opening; control the displacement device 3 to move the two bag opening devices 5 away from each other to open the bag opening; control the four bag clamping devices 6 to respectively clamp the four bag ears; control the four bag supporting devices 7 to respectively extend into the four bag ears, and control the four bag supporting devices 7 to respectively support the four bag ears; control the four bag clamping devices 6 to respectively release the four bag ears; and control the displacement device 3 to move the two bag opening devices 5 and the four bag supporting devices 7 together with the ton bag to the ton bag upper bagging machine to complete the handover of the ton bag.

[0040] It should be noted that the station of the bag suction device 4 is above the bag opening of the ton bag, the stations of the two bag opening devices 5 are respectively on the opposite sides of the bag opening of the ton bag, the stations of the four bag clamping devices 6 are respectively above the four bag ears of the ton bag, and the stations of the four bag supporting devices 7 are respectively 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 tray 2, the controller can control the displacement device 3 to drive the tray 2 to move in space, thereby changing the orientation of the ton bag on the tray 2, and further making the bag opening and the four bag ears of the ton bag respectively be in their respective stations to prepare for the subsequent bagging.

[0041] That is to say, in actual application, the bagging of the ton bag can be controlled by the controller throughout the whole process. The specific bagging 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 supporting devices 7 to move in space, so that the bag opening, the 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 supporting devices 7 are respectively located at the respective stations; controlling the displacement device 3 to drive the bag suction device 4 to descend (i.e. to move towards the ton bag bag opening), then controlling the bag suction device 4 to suck up the ton bag bag opening, and controlling the displacement device 3 to drive the bag suction device 4 to ascend by a certain distance, facilitating the subsequent two bag opening devices 5 to perform the adsorption operation on the ton bag bag opening; controlling the two bag opening devices 5 to move towards each other (i.e. both move towards the ton bag bag opening), then controlling the two bag opening devices 5 to suck the opposite sides of the ton bag bag opening respectively; controlling the bag suction device 4 to release the ton bag bag opening, and controlling the displacement device 3 to drive the bag suction device 4 to move away from the ton bag (i.e. to ascend), so as to avoid interfering with the subsequent two bag opening devices 5 to open the ton bag bag opening; controlling the displacement device 3 to drive the two bag opening devices 5 to move away from each other (i.e. both move away from the ton bag bag opening), so as to pull open the ton bag bag opening; controlling the displacement device 3 to drive the four bag clamping devices 6 to descend (i.e. both move towards the corresponding ton bag bag ear), then controlling the four bag clamping devices 6 to clamp the four bag ears of the ton bag respectively, and controlling the displacement device 3 to drive the four bag clamping devices 6 to ascend by a certain distance, facilitating the subsequent four bag supporting devices 7 to extend into the four bag ears of the ton bag respectively; controlling the displacement device 3 to drive the four bag supporting devices 7 to move towards the corresponding ton bag bag ear, so that the four bag supporting devices 7 extend into the corresponding ton bag bag ear, then controlling the four bag supporting devices 7 to open the corresponding ton bag bag ear respectively; controlling the four bag clamping devices 6 to release the four bag ears respectively, and controlling the four bag clamping devices 6 to ascend by a certain distance, so as to avoid interfering with the subsequent ton bag machine to transport the ton bag with the bag opening opened and the bag ears all opened; controlling the displacement device 3 to drive the two bag opening devices 5 and the four bag supporting devices 7 to move towards the ton bag machine together, at this time, the ton bag with the bag opening opened and the bag ears all opened will also move towards the ton bag machine synchronously; when the ton bag reaches the ton bag machine, the ton bag machine can use its own bag opening clamping device, bag ear hook and the like to take down and fix the ton bag, and then the ton bag can be packaged through the ton bag machine.

[0042] As can be seen from the above, the embodiment designs the bagging process of the ton bag 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 the ton bag bagging, without the need for manual ton bag bagging as in the traditional scheme, which not only can reduce the labor intensity of the workers, but also can improve the packaging efficiency of the ton bag.

[0043] In some embodiments, please refer to Figure 1The displacement device 3 comprises a top displacement module 31, a bottom displacement module 32 and two side displacement modules 33 arranged on the main rack 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 located at opposite sides of the tray 2. The bag suction device 4 and the four bag clamping devices 6 are connected to the top displacement module 31, the four bag clamping devices 6 are distributed around the bag suction device 4, one bag opening device 5 and two bag supporting devices 7 are connected to one side displacement module 33, and the other bag opening device 5 and the other two bag supporting devices 7 are connected to the other side displacement module 33. The bag opening device 5 connected to the same displacement module is located between the corresponding two bag supporting devices 7. Specifically, in actual application, 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 two bag supporting devices 7 to move in space.

[0044] As one or more embodiments thereof, reference is made to Figure 2 and Figure 3 , Figure 2 is a structural schematic view of the top displacement module from one perspective, Figure 3 is a structural schematic view of the top displacement module from another perspective; the top displacement module 31 comprises a lifting rack 311 and a lifting assembly 312, a first displacement assembly 313 and four second displacement assemblies 314 which are communicatively connected to the controller. The lifting assembly 312 is arranged on the main rack 1, the lifting rack 311 is slidably arranged on the main rack 1 along the z-axis direction and connected to the lifting assembly 312, the first displacement assembly 313 is arranged on the lifting rack 311, and the four second displacement assemblies 314 are arranged on the lifting rack 311 and distributed around the first displacement assembly 313. The four bag clamping devices 6 are connected to the four second displacement assemblies 314, and the bag suction device 4 is connected to the first displacement assembly 313.

[0045] Specifically, in actual application, the lifting assembly 312 can drive the lifting rack 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; and the four second displacement assemblies 314 can respectively drive the four bag clamping devices 6 to move in space. That is, the movement of the bag suction device 4 and the four bag clamping devices 6 in space can be realized by the top displacement module 31, thereby realizing the suction of the bag opening of the ton bag by the bag suction device 4 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 comprises a first speed reducer 3121, a first gear 3123, a first rack 3122 and a first motor 3124 connected to the controller in communication, the first rack 3122 is arranged on the main frame 1 along the z-axis direction, the first motor 3124 and the first speed reducer 3121 are both arranged on the lifting frame 311, the output shaft of the first motor 3124 is connected to the first speed reducer 3121, and the first gear 3123 is sleeved on the output shaft of the first speed reducer 3121 and engaged with the first rack 3122. It can be understood that in actual application, the controller can control the first motor 3124 to start, the first motor 3124 can drive the first gear 3123 to rotate through the first speed reducer 3121 after starting, and the first gear 3123 is engaged with the first rack 3122 extending along the z-axis direction and fixed, so as to realize the movement of the lifting frame 311 in the z-axis direction (i.e. vertical direction).

[0047] In the one or more embodiments, the lifting frame 311 has a mounting plate 3111 with a through hole 3112 formed therein; the first displacement assembly 313 comprises 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 connected to the controller in communication, respectively, the sliding plate 3131 is slidably arranged on the mounting plate 3111 at the through hole 3112 along the x-axis direction, the first linear cylinder 3134 is arranged on the mounting plate 3111, the piston rod of the first linear cylinder 3134 is connected to the sliding plate 3131, 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 through the sliding plate 3131 and is connected to the bearing plate 3132, one end of each of the plurality of guide rods 3133 is arranged on the bearing plate 3132 and close to the edge of the bearing plate 3132, the other end of each of the plurality of guide rods 3133 penetrates through the sliding plate 3131 and is in sliding cooperation with the sliding plate 3131, the plurality of guide rods 3133 are spaced apart 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 further driving the bearing plate 3132, the bag suction device 4 and the plurality of 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 bearing plate 3132 to move up and down in the z-axis direction, and further driving the bag suction device 4 to move up and down in the z-axis direction.

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

[0049] In the one or more embodiments, the four second displacement assemblies 314 are arranged on the side of the mounting plate 3111 close to the bearing plate 3132 and are respectively located at the four corners of the mounting plate 3111, the second displacement assembly 314 comprises 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, the preset path refers to a straight line path between the position of the linear motion mechanism 3141 and the middle part 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; and 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, so as to drive the third linear cylinder 3142 and the rotary cylinder 3143 to move on the preset path, and then drive 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, so as to drive the rotary cylinder 3143 to ascend or descend in the z-axis direction, and then drive the bag clamping device 6 to ascend or descend in the z-axis direction; and the controller can also control the rotary cylinder 3143 to rotate around the z-axis, so as to drive the bag clamping device 6 to rotate around the z-axis.

[0050] In the one or more embodiments, the bag clamping device 6 comprises a pneumatic clamping jaw 61, a vacuum suction assembly 62 is arranged on the clamping jaw side of the pneumatic clamping jaw 61, and the pneumatic clamping jaw 61 and the vacuum suction assembly 62 are respectively connected to the controller in communication. Based on this, during the process that the four bag clamping devices 6 clamp the four bag ears respectively, the controller is specifically used for: controlling the four pneumatic clamping jaws 61 to enter the open state; controlling the four vacuum suction assemblies 62 to clamp the four bag ears respectively; and controlling the four pneumatic clamping jaws 61 to enter the closed state. That is, during the process that the bag clamping device 6 clamps the bag ear of the ton bag, the controller needs to first control the pneumatic clamping jaw 61 to open the two clamping jaws of itself, then control the vacuum suction assembly 62 to clamp the bag ear of the ton bag, and finally control the pneumatic clamping jaw 61 to close the two clamping jaws of itself; it can be understood that, in order to avoid frequently adding ton bags on the tray 2, the ton bags placed on the tray 2 need to be flattened, in this case, it is difficult to directly use the pneumatic clamping jaw 61 to clamp the bag ear of the ton bag, therefore, the vacuum suction assembly 62 is arranged for the pneumatic clamping jaw 61, the bag ear of the ton bag is first clamped by the vacuum suction assembly 62 to have a certain height, and then the two clamping jaws of the pneumatic clamping jaw 61 are inserted into the bag ear of the ton bag by closing the pneumatic clamping jaw 61, so as to clamp the bag ear of the ton bag. Preferably, like the bag suction device 4, the vacuum suction assembly 62 also adopts the form of a vacuum generator combined with a suction disc.

[0051] As one or more embodiments thereof, refer to Figure 4 and Figure 5 , Figure 4 is an exploded view of the side displacement module, Figure 5 is Figure 4 A local enlarged view of the place in; the side displacement module 33 comprises a main moving frame 331, a vice moving frame 332, a connecting plate 333, and a third displacement assembly 334, a fourth displacement assembly 335, a fifth displacement assembly 336, a sixth displacement assembly 337, and a seventh displacement assembly 338 connected to the controller in communication, the third displacement assembly 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 with the third displacement assembly 334, the fourth displacement assembly 335 is arranged on the main moving frame 331, the connecting plate 333 is slidably arranged on the main moving frame 331 along the y-axis direction and connected with the fourth displacement assembly 335, the fifth displacement assembly 336 is arranged on the connecting plate 333, the vice moving frame 332 is slidably arranged on the connecting plate 333 along the z-axis direction and connected with the fifth displacement assembly 336, the sixth displacement assembly 337 is arranged on the vice moving frame 332, the two bag supporting devices 7 are both connected to the sixth displacement assembly 337 and respectively located at both ends of the sixth displacement assembly 337, the seventh displacement assembly 338 is arranged on the vice moving frame 332 and located between the two bag supporting devices 7, and the bag opening device 5 is connected to the seventh displacement assembly 338.

[0052] Specifically, the third displacement assembly 334 is configured to drive the main moving frame 331 to move in the y-axis direction; the fourth displacement assembly 335 is configured to drive the connecting plate 333 to move in the y-axis direction; the fifth displacement assembly 336 is configured to drive the secondary moving frame 332 to move in the z-axis direction; the sixth displacement assembly 337 is configured to drive the two bag opening devices 7 to move towards / away from each other in the y-axis direction; and the seventh displacement assembly 338 is configured 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 opening devices 7 in the y-axis direction (the direction of transporting the ton bag to the ton bag machine), i.e., the controller can control the third displacement assembly 334 to drive the main moving frame 331 to move in the y-axis direction, thereby driving the connecting plate 333, the fourth displacement assembly 335, the secondary moving frame 332 and the fifth displacement assembly 336 to move in the y-axis direction, and further driving the sixth displacement assembly 337, the seventh displacement assembly 338, the bag opening device 5 and the two bag opening devices 7 to move in the y-axis direction; the controller can also control the fourth displacement assembly 335 to drive the connecting plate 333 to move in the y-axis direction, thereby driving the secondary moving frame 332 and the fifth displacement assembly 336 to move in the y-axis direction, and further driving the sixth displacement assembly 337, the seventh displacement assembly 338, the bag opening device 5 and the two bag opening devices 7 to move in the y-axis direction. On this basis, the controller can also control the fifth displacement assembly 336 to drive the secondary moving frame 332 to move in the z-axis direction, thereby driving the sixth displacement assembly 337 and the seventh displacement assembly 338 to move in the y-axis direction, and further driving the bag opening device 5 and the two bag opening devices 7 to move in the y-axis direction; the controller can also control the sixth displacement assembly 337 to drive the two bag opening devices 7 to move towards / away from each other in the y-axis direction, and control the seventh displacement assembly 338 to drive the bag opening device 5 to move in the x-axis direction. That is, the present application can realize the movement of the two bag opening devices 5 and the four bag opening devices 7 in space through the two side displacement modules 33, thereby realizing the tearing of the ton bag opening by the bag opening device 5, the opening of the ton bag ear by the bag opening device 7, and the transportation of the ton bag with the opened opening and the opened ear to the ton bag machine.

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

[0054] In the one or more embodiments, the fourth displacement assembly 335 comprises a third speed reducer 3351, a third gear 3352, a third rack 3353 and a third motor 3354 connected to the controller in communication, the third rack 3353 is arranged on the main moving frame 331 along the y-axis direction, the third motor 3354 and the third speed reducer 3351 are both arranged on the connecting plate 333, the output shaft of the third motor 3354 is connected to the third speed reducer 3351, the third gear 3352 is sleeved on the output shaft of the third speed reducer 3351 and engaged with the third rack 3353. It can be understood that in actual application, the controller can control the third motor 3354 to start, the third motor 3354 can drive the third gear 3352 to rotate through the third speed reducer 3351 after starting, and the third gear 3352 is engaged with the third rack 3353 extending along the y-axis direction and fixed, so as to realize the movement of the connecting plate 333 along the y-axis direction.

[0055] In the one or more embodiments, the fifth displacement assembly 336 comprises a fourth speed reducer 3361, a fourth gear 3362, a fourth rack 3363, and a fourth motor 3364 connected to the controller in communication, the fourth rack 3363 is arranged on the sub-moving frame 332 along the z-axis direction, the fourth motor 3364 and the fourth speed reducer 3361 are arranged on the connecting plate 333, the output shaft of the fourth motor 3364 is connected to the fourth speed reducer 3361, the fourth gear 3362 is sleeved on the output shaft of the fourth speed reducer 3361 and is engaged with the fourth rack 3363. It can be understood that in actual application, the controller can control the fourth motor 3364 to start, the fourth motor 3364 can drive the fourth gear 3362 to rotate through the fourth speed reducer 3361 after starting, and the fourth gear 3362 is engaged with the fourth rack 3363 extending along the z-axis direction and fixed, so as to realize the lifting of the sub-moving frame 332 along the z-axis direction.

[0056] In the one or more embodiments, the sixth displacement assembly 337 comprises a fifth speed reducer 3371, a lead screw 3372, a slide bar 3373, two fixed blocks 3374, two sliding blocks 3375, two connecting seats 3376, a fifth motor 3377 and two fourth linear cylinders 3378 which are respectively connected with the controller, the two fixed blocks 3374 are oppositely and mutually spacedly arranged on the auxiliary moving frame 332, 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 rotationally fitted 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, each sliding block 3375 is sleeved on the lead screw 3372 and the slide bar 3373, each sliding block 3375 is threadedly fitted with the lead screw 3372 and is slidingly fitted with the slide bar 3373, the two sliding blocks 3375 are respectively close to the two fixed blocks 3374, the two fourth linear cylinders 3378 are respectively arranged on the two sliding blocks 3375, the two connecting seats 3376 are respectively connected with 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 speed reducer 3371 are arranged on the auxiliary moving frame 332, the output shaft of the fifth motor 3377 is connected with the fifth speed reducer 3371, one end of the lead screw 3372 penetrates through the corresponding fixed block 3374 and is connected with the output shaft of the fifth speed reducer 3371. It can be understood that the controller can control the sixth motor 325 to start, the sixth motor 325 can drive the lead screw 3372 to rotate through the sixth speed reducer 321 after starting, and since the two sliding blocks 3375 are threadedly fitted with the lead screw 3372 and are respectively provided with the fourth linear cylinder 3378 and the bag supporting device 7, the two sliding blocks 3375 (i.e. the two bag supporting devices 7) will move towards / away from each other along the lead screw 3372 (or the slide bar 3373) in the process of rotation of the lead screw 3372, so that the two fourth linear cylinders 3378 and the two bag supporting devices 7 move towards / 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 supporting device 7 arranged thereon to move in the x-axis direction.

[0057] In the one or more embodiments, the bag supporting device 7 comprises a pneumatic finger 71, and the controller is specifically configured to control the four pneumatic fingers 71 to enter the open state from the folded state in the process that the four bag supporting devices 7 respectively support the four bag ears. That is, in the process of supporting the bag ears of the ton bag by the bag supporting device 7, the controller needs to first control the pneumatic finger 71 to fold the two fingers of the pneumatic finger 71, then control the sixth displacement assembly 337 to drive the finger side of the pneumatic finger 71 to stretch into the bag ear of the ton bag, and finally control the pneumatic finger 71 to unfold the two fingers of the pneumatic finger 71, so as to support the bag ear of the ton bag.

[0058] In the one or more embodiments, the seventh displacement assembly 338 comprises 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 in communication with the controller, the first electric push rod 3383 is arranged on the auxiliary moving frame 332 and located between the two bag supporting 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, and 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 comprises 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 arranged on the second adapter plate 3382, the second vacuum generator is in communication with 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 negative pressure at the second suction cup 51 by the second vacuum generator, and then the ton bag bag opening is sucked by the second suction cup 51, which is convenient for subsequent opening of the ton bag bag opening.

[0060] In the one or more embodiments, the side displacement module 33 further comprises a guide rail 339 extending in the y-axis direction, one end of the guide rail 339 is connected with the main frame 1, and the other end is adjacent to the ton bag machine, the main moving frame 331 has a supporting column 3311, and the bottom end of the supporting column 3311 is rotatably provided with a roller (not shown in the figure), which is in contact with and rolls with the guide rail 339. It can be understood that after the bag opening of the ton bag and the ton bag bag ear are opened, the ton bag needs to be transported to the ton bag machine, and in this process, the main moving frame 331 will move in the y-axis direction, and the roller on the supporting column 3311 of the main moving 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 embodiments, please refer to Figure 6 , Figure 6is a structural schematic view of the bottom displacement module; the bottom displacement module 32 comprises a sixth speed reducer 321, a belt 322, a main belt pulley 323, a slave belt pulley 324 and a sixth motor 325 connected with the controller, the main belt pulley 323 and the slave belt pulley 324 are both rotatably arranged on the main frame 1 and spaced from each other, the main belt pulley 323 and the slave belt pulley 324 are connected through the belt 322, the sixth motor 325 and the sixth speed reducer 321 are both arranged on the main frame 1, the output shaft of the sixth motor 325 is connected with the sixth speed reducer 321, the output shaft of the sixth speed reducer 321 is connected with the main belt pulley 323, and the tray 2 is arranged on the slave belt pulley 324. It can be understood that the controller can control the sixth motor 325 to start, the sixth motor 325 can drive the main belt pulley 323 to rotate through the sixth speed reducer 321 after starting, the main belt pulley 323 can drive the slave belt pulley 324 to rotate through the belt 322, so as to realize the rotation of the tray 2 and the ton bag thereon, and further change the orientation of the ton bag on the tray 2, so as to facilitate the bag opening and the four bag ears of the ton bag to be respectively placed on the respective stations.

[0062] In some embodiments, referring to Figure 3 , the ton bag bagging machine further comprises a camera 8 connected with the controller, the camera 8 is connected with the displacement device 3 and located above the tray 2, and the camera 8 is used for shooting the image of the ton bag in real time. Based on this, the displacement device 3 is further used for driving the camera 8 to move in space; the controller is specifically used for controlling the displacement device 3 according to the image of the ton bag, so that the bag opening, the four bag ears of the ton bag and the suction bag device 4, the two bag opening devices 5, the four bag clamping devices 6 and the four bag supporting devices 7 are respectively located at the respective stations. Of course, for the suction bag device 4 to suck up the bag opening of the ton bag, the bag clamping device 6 to clamp up the bag ear of the ton bag, the bag supporting device 7 to open the bag ear of the ton bag, etc., the controller can also take the image of the ton bag as a reference, and drive the suction bag device 4, the bag clamping device 6 and the bag supporting device 7 to move in space. Preferably, at least one mark point can be arranged on the ton bag, so that the controller can easily judge the orientation of the ton bag according to the mark point in the image of the ton bag, and conveniently control the displacement device 3 to adjust the positions of the devices in space.

[0063] In some embodiments, referring to Figure 3, the ton bag upper bag machine further comprises two pressing devices 9, both of which are connected to the displacement device 3 and located above the tray 2, and are respectively located on the opposite sides of the bag suction device 4, and are respectively connected to the controller; preferably, the two pressing devices 9 are arranged on one side of the mounting plate 3111 close to the bearing plate 3132 and are respectively located at the opposite ends of the through hole 3112, and the two pressing devices 9 are arranged in a staggered manner. Based on this, the displacement device 3 is further used to drive the two pressing devices 9 to move in space; the controller is further used to control the two pressing devices 9 to press the opposite sides of the ton bag respectively before controlling the bag suction device 4 to suck up the bag opening of the ton bag, and to control the two pressing devices 9 to move away from the ton bag to cancel the pressing of the ton bag respectively after controlling the bag suction device 4 to suck up the bag opening of the ton bag. It can be understood that if the opposite sides of the ton bag are not pressed before the bag suction device 4 sucks up the bag opening of the ton bag, it is likely that the ton bag will be sucked up entirely due to the excessive suction force of the bag suction device 4, which hinders the subsequent opening of the bag opening of the ton bag by the two bag opening devices 5, so the application sets the pressing device 9. Exemplarily, the pressing device 9 comprises a piston cylinder and a flexible pressing rubber block with good performance, and the pressing rubber block is connected to the piston rod of the piston cylinder.

[0064] In some embodiments, referring to Figure 3 , the ton bag upper bag machine further comprises two clamping devices 10 respectively connected to the controller, both of which are connected to the displacement device 3 and located above the tray 2, and are respectively located on the opposite sides of the bag suction device 4; preferably, the two clamping devices 10 are arranged on the bearing 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 further used to drive the two clamping devices 10 to move in space; the controller is further used to control the two clamping devices 10 to clamp the opposite ends of the bag opening respectively after controlling the bag suction device 4 to suck up the bag opening of the ton bag, and to control the two clamping devices 10 to release the opposite ends of the bag opening of the ton bag at the same time as the bag suction device 4 releases the bag opening. It can be understood that if the 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 likely that the bag opening of the ton bag will fall off the bag suction device 4 due to unstable suction force of the bag suction device 4, which affects the subsequent opening of the bag opening of the ton bag by the two bag opening devices 5, so the application sets the clamping device 10. Exemplarily, the clamping device 10 comprises a rotary cylinder and a clamping plate, the clamping plate is connected to the rotary cylinder, and the controller can realize the clamping of the opposite ends of the bag opening of the ton bag by controlling the rotary cylinder to drive the clamping plate to open or close.

[0065] Please refer to Figure 7 , Figure 7is a flowchart of a ton bag on bag method. The embodiment provides a ton bag on bag method applied to the ton bag on bag machine described above, i.e. the ton bag on bag method is realized based on the ton bag on bag machine described above. Specifically, taking the controller of the ton bag on bag machine as the execution subject, the ton bag on bag method comprises steps 701 to 705 (abbreviated as S701 to S705), i.e. S701, through controlling the displacement device, the bag mouth, the four bag ears, and the suction bag device, the two bag opening devices, the four bag clamping devices and the four bag supporting devices are respectively arranged at the respective workstations; S702, the suction bag device is controlled to suck up the bag mouth, and the two bag opening devices are controlled to respectively adsorb the two opposite sides of the bag mouth, and then the suction bag device is controlled to release the bag mouth; S703, through controlling the displacement device, the two bag opening devices are moved away from each other to open the bag mouth, and the four bag clamping devices are controlled to respectively clamp the four bag ears; S704, through controlling the displacement device, the four bag supporting devices are respectively inserted into the four bag ears, and the four bag supporting devices are controlled to respectively support the four bag ears; S705, the four bag clamping devices are controlled to respectively release the four bag ears, and then through controlling the displacement device, the two bag opening devices and the four bag supporting devices are moved together with the ton bag to the ton bag machine to complete the ton bag on bag method. It should be noted that for the unfinished part in the description of the ton bag on bag method, please refer to the relevant description of the ton bag on bag machine above, and the embodiment will not be repeated here.

[0066] The above embodiments are only preferred implementations of the present application, and are not the only limit to the ton bag on-bag machine and the related method; based on the above embodiments, those skilled in the art can flexibly set according to the actual application scene. It can be understood that through the implementation of the above embodiments of the present application, the ton bag on-bag machine is jointly constituted by the main frame 1, the controller, the tray 2, the displacement device 3 connected to the controller, the bag suction device 4, the two bag opening devices 5, the four bag clamping devices 6 and the four bag supporting devices 7. 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 supporting device 7 are connected to the displacement device 3, the bag suction device 4 is located above the tray 2, the four bag clamping devices 6 are located above the tray 2 and are distributed around the bag suction device 4, one bag opening device 5 and two bag supporting devices 7 are located on one side of the tray 2, the other bag opening device 5 and the other two bag supporting devices 7 are located on the other side of the tray 2 opposite to the one side, each bag opening device 5 is located between the two bag supporting devices 7 on the same side, the tray 2 is used for stacking a plurality of flattened ton bags, the ton bag has a bag opening located in the middle and four bag ears located at four corners, and the displacement device 3 is used for driving the tray 2, the bag suction device 4, the bag opening device 5, the bag clamping device 6 and the bag supporting device 7 to move in space. In actual application, the ton bag on-bag process can be controlled by the controller throughout the process. The specific on-bag process is as follows: the controller controls the displacement device 3 to make the bag opening, the 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 supporting devices 7 respectively located at respective stations; the controller controls the bag suction device 4 to suck up the bag opening; the controller controls the two bag opening devices 5 to respectively suck the two sides of the bag opening, and controls the bag suction device 4 to release the bag opening; the controller controls the displacement device 3 to make the two bag opening devices 5 move away from each other to open the bag opening; the controller controls the four bag clamping devices 6 to respectively clamp the four bag ears; the controller controls the four bag supporting devices 7 to respectively extend into the four bag ears, and controls the four bag supporting devices 7 to respectively open the four bag ears; the controller controls the four bag clamping devices 6 to respectively release the four bag ears; and the controller controls the displacement device 3 to make the two bag opening devices 5 and the four bag supporting devices 7 move together with the ton bag to the ton bag machine to complete the ton bag on-bag process. As can be seen, the present application realizes the automation of the ton bag on-bag process, and does not need to manually put the ton bag on the ton bag machine as in the traditional scheme, which not only reduces the labor intensity of the workers, but also improves the packaging efficiency of the ton bag.

[0067] It should be noted that the several embodiments illustrated in the above-described are for the purpose of simplifying the present application and are not meant to limit the present application to a particular embodiment, and that for those of ordinary skill in the art, modifications on the several embodiments according to specific working requirements can be made and the identical or similar parts among the embodiments can be inter-referred to. It should also be noted that the relationship terms such as first, second, and the like in the description of the present application are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the actual relationship or sequence between the entities or operations. Further, the terms "comprise", "contain" or any other corresponding variants are intended to cover the non-exclusive inclusion, so that the process, method, article or device comprising a series of elements not only includes these elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device; and the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0068] In addition, those of ordinary skill in the art can implement or use the present application by implementing the several embodiments illustrated in the above. For the several embodiments illustrated in the above, various modifications will be apparent to those of ordinary skill in the art, and the general principles defined in the present application can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the several embodiments illustrated in the above, but will conform to the widest scope consistent with the principles and novel features disclosed in the present application.

Claims

1. A ton bag loading machine, characterized in that, The system includes 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 supporting devices, all communicatively connected to the controller. The displacement device is mounted on the main frame. The tray, the bag suction device, the bag opening device, the bag clamping device, and the bag supporting devices 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 supporting devices are located on one side of the tray, and another bag opening device and two more bag supporting devices are located on the opposite side of the tray. Each bag opening device is located between two bag supporting devices on the same side. The tray is used to stack multiple flattened ton bags. Each ton bag has a bag opening in the middle and four bag ears located at the four corners. The displacement device is used to drive the tray, the bag suction device, the bag opening device, the bag clamping device, and the bag supporting devices to move in space. The controller is used to: control the displacement device to position the bag opening, the four bag ears, the suction device, the two opening devices, the four clamping devices, and the four supporting devices in their respective positions; control the suction device to lift the bag opening; control the two opening devices to suction the two sides of the bag opening respectively, and control the suction device to release the bag opening; control the displacement device to move the two opening devices in opposite directions to open the bag opening; and control the four clamping devices to clamp the four bag ears respectively. By controlling the displacement device, the four bag-supporting devices are respectively inserted into the four bag ears, and the four bag-supporting devices are respectively opened. The four bag-clamping devices are respectively released from the four bag ears. By controlling the displacement device, the two bag-opening devices and the four bag-supporting devices move together with the ton bag towards the ton bag machine, so as to hand over the ton bag to the ton bag machine.

2. The ton bag loading machine according to claim 1, characterized in that, The displacement device includes a top displacement module, a bottom displacement module, and two side displacement modules mounted on the main frame. The top displacement module is located at the top, and the bottom displacement module is located below the top displacement module. The tray is connected to the bottom displacement module, and the two side displacement modules are located on both sides of the tray. The bag suction device and four bag clamping devices are all connected to the top displacement module. One bag opening device and two bag supporting devices are all connected to one side displacement module, and another bag opening device and two more bag supporting devices are all connected to another 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 supporting 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 that are communicatively connected to the controller. The lifting component is mounted on the main frame, and the lifting frame is slidably mounted on the main frame along the z-axis and connected to the lifting component. The first displacement component is mounted on the lifting frame, and the four second displacement components are all mounted 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 suction bag device to move in space; The four second displacement components are used to drive the four bag clamping devices to move in space, respectively.

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 connected to the controller. The first rack is mounted on the main frame along the z-axis. Both the first motor and the first reducer are mounted on the lifting frame. The output shaft of the first motor is connected to the first reducer. 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 with through holes. The first displacement component includes a sliding plate, a support plate, multiple guide rods, and a first linear cylinder and a second linear cylinder respectively communicatively connected to the controller. The sliding plate is slidably mounted on the mounting plate along the x-axis and located at the through hole. The first linear cylinder is mounted on the mounting plate, and its piston rod is connected to the sliding plate. The support plate is located below the sliding plate. The second linear cylinder is mounted on the sliding plate, and its piston rod passes through the sliding plate and is connected to the support plate. One end of each of the multiple guide rods is mounted on the support plate, and the other end passes through the sliding plate and slides with the sliding plate. The multiple guide rods are spaced apart around the second linear cylinder. The suction bag device is mounted on the support 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 bearing plate to move in the z-axis direction.

6. The ton bag loading machine according to claim 5, characterized in that, The suction bag device includes a first vacuum generator and a plurality of first suction cups. The first vacuum generator is disposed on the sliding plate and is communicatively connected to the controller. The plurality of first suction cups are disposed on the side of the support 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 components are all located on the side of the mounting plate near the bearing plate and are respectively located at the four corners of the mounting plate. The second displacement component includes a linear motion mechanism, a rotary cylinder and a third linear cylinder respectively connected to the controller. The linear motion mechanism is located 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. The bag clamping device is connected to the rotary cylinder. The linear motion mechanism is used to drive the third linear cylinder to move along a preset path, which 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 includes a pneumatic gripper, and a vacuum adsorption component is provided on the gripper side of the pneumatic gripper. The pneumatic gripper and the vacuum adsorption component are respectively communicatively connected to the controller. During the process of the four bag clamping devices clamping the four bag ears respectively, the controller is specifically used to: control the four pneumatic grippers to enter the open state; control the four vacuum adsorption components to suck up the four bag ears respectively; and control the four pneumatic grippers to enter the 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 secondary moving frame, a connecting plate, and a third, fourth, fifth, sixth, and seventh displacement components that are communicatively connected to the controller. The third displacement component is mounted on the main frame. The main moving frame is slidably mounted on the main frame along the y-axis and connected to the third displacement component. The fourth displacement component is mounted on the main moving frame. The connecting plate is slidably mounted on the main moving frame along the y-axis and connected to the fourth displacement component. The fifth displacement component is mounted on the connecting plate. The secondary moving frame is slidably mounted on the connecting plate along the z-axis and connected to the fifth displacement component. The sixth displacement component is mounted on the secondary moving frame. Both bag-supporting devices are connected to the sixth displacement component and are located at opposite ends of the sixth displacement component. The seventh displacement component is mounted on the secondary moving frame and located between the two bag-supporting devices. The bag-opening device is connected to the seventh displacement component. The third displacement component is used to drive the main moving frame to move in the y-axis direction; the fourth displacement component is used to drive the connecting plate to move in the y-axis direction; the fifth displacement component is used to drive the auxiliary moving frame to move in the z-axis direction; the sixth displacement component is used to drive the two bag-supporting devices to move towards each other or away from each other in the y-axis direction; and the seventh displacement component 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 component includes a second reducer, a second gear, a second rack, and a second motor that is communicatively connected to the controller. The second rack is mounted on the main frame along the y-axis. Both the second motor and the second reducer are mounted 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 component includes a third reducer, a third gear, a third rack, and a third motor connected to the controller. The third rack is mounted on the main moving frame along the y-axis. The third motor and the third reducer are both mounted on the connecting plate. The output shaft of the third motor is connected to the third reducer. 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 component includes a fourth reducer, a fourth gear, a fourth rack, and a fourth motor that is communicatively connected to the controller. The fourth rack is mounted on the auxiliary moving frame along the z-axis. The fourth motor and the fourth reducer are both mounted 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.

13. The ton bag loading machine according to claim 9, characterized in that, The sixth displacement component includes a fifth reducer, a lead screw, a slide 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 opposite to each other and spaced apart on the auxiliary moving frame. The lead screw is located between the two fixed blocks, with its two ends inserted into and rotatably engaged with the two fixed blocks respectively. The slide rod is located between the two fixed blocks, with its two ends inserted into the two fixed blocks respectively. Each slider is fitted onto the lead screw and the slide rod. Each slider is threadedly engaged with the lead screw and slidably engaged with the slide rod. Two sliders are respectively close to two fixed blocks. Two fourth linear cylinders are respectively mounted on the two sliders. Two connecting seats are respectively connected to the piston rods of the two fourth linear cylinders. Two bag-supporting devices are respectively mounted on the two connecting seats. The fifth motor and the fifth reducer are both mounted on the auxiliary moving frame. The output shaft of the fifth motor is connected to the fifth reducer. 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 includes pneumatic fingers. During the process of the four bag-opening devices opening the four bag ears respectively, the controller is specifically used to control the four pneumatic fingers to enter the open state from the 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 that are respectively communicatively connected to the controller. The first electric push rod is mounted on the auxiliary moving 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 mounted on the first adapter plate. The second adapter plate is connected to the push rod of the second electric push rod. The bag-opening device is mounted 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 all mounted 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 lateral displacement module also includes a guide rail extending along the y-axis. One end of the guide rail is connected to the main frame and the other end is adjacent to the ton-bag machine. The main moving 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 driven pulley, and a sixth motor connected to the controller. The main pulley and the driven pulley are both rotatably mounted on the main frame. The main pulley and the driven pulley are opposite to each other and spaced apart. The main pulley and the driven pulley are connected by the belt. The sixth motor and the sixth reducer are both mounted 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. The tray is mounted on the driven pulley.

19. The ton bag loading machine according to claim 1, characterized in that, It also includes a camera device that is communicatively connected to the controller, the camera device being connected to the displacement device and positioned above the pallet, the camera device being used to capture images 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 opening, the four bag ears, 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 working positions.

20. A method for loading ton bags, characterized in that, The controller applied to the ton bag loading machine according to any one of claims 1 to 19 includes: The displacement control device positions the bag opening, four bag ears, bag suction device, two bag opening devices, four bag clamping devices, and four bag supporting devices in their respective work positions. The suction device is controlled to suck up the bag opening, and the two opening devices are controlled to suck up the opposite sides of the bag opening respectively. Then the suction device is controlled to release the bag opening. The displacement device is controlled to make the two bag opening devices move in opposite directions to open the bag opening, and the four bag clamping devices are controlled to clamp the four bag ears respectively. By controlling the displacement device, the four bag-supporting devices are respectively inserted into the four bag ears, and the four bag-supporting devices are respectively controlled to open the four bag ears; Control the four bag clamping devices to release the four bag ears respectively; By controlling the displacement device, the two bag opening devices and the four bag supporting devices move together with the ton bag towards the ton bag machine, so as to hand over the ton bag to the ton bag machine.

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