Automatic suturing system and method for flexible packaging of energetic tablets

Abstract

The invention discloses an automatic sewing system and method for flexible packaging of energetic tablets. The system comprises a vibration charging system (1), a tool auxiliary clamping and supporting system (2), a medicine bag compact vibration system (4), a medicine bag transplanting and clamping system (3), a horizontal transferring system (5), a mechanical arm self-adaptive sewing system (6) and a real-time detection and control system (7). The tool auxiliary clamping and supporting system (2) is used for fixing and clamping a flexible packaging bag (4-28), the vibration charging system (1) is used for feeding and can load energetic medicine particles into the flexible packaging bag (4-28), and the medicine bag compacting and vibrating system (4) is used for installing the flexible packaging bag (4-28) and achieving vibration compacting of the flexible packaging bag (4-28). The horizontal transfer system (5) is used for moving the medicine package compact vibration system (4) to an automatic sewing position, and the mechanical arm self-adaptive sewing system (6) is used for achieving self-adaptive sewing of flexible packaging bags (4-28).

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic packaging sewing, and particularly relates to an automatic sewing system and method for flexible packaging of energetic grains. Background Art

[0002] At present, energetic grains play an important role in key fields such as military industry and special civilian blasting. However, there are many shortcomings in the supporting packaging technology. First of all, from the perspective of safety, energetic grains themselves have the characteristics of being flammable and explosive. Traditional packaging technology does not fully consider this point, and it is easy to generate sparks due to friction of mechanical parts, electrostatic accumulation, etc. during the packaging process. Once the energetic grains are detonated, the consequences will be unimaginable, seriously endangering the safety of surrounding personnel and facilities.

[0003] Secondly, in terms of product protection, energetic grains have extremely high requirements for the sealing and flexibility of packaging. Traditional grain packaging is mostly rigid packaging or simple sealing, which cannot meet the need for further densification of energetic grains, and it is easy to cause the grains to be damaged by external forces, affecting their performance stability.

[0004] Furthermore, the traditional flexible packaging sewing process relies on manual labor, making it difficult to ensure the safety and consistency of the sewing process. In view of these hidden dangers and deficiencies, it is urgent to develop an automatic sewing system for flexible packaging of energetic grains to meet the high standards of the industry for the packaging of energetic grains.

[0005] Traditional grain packaging technology shows obvious limitations when facing the flexible packaging requirements of energetic grains. On the one hand, traditional packaging technology lacks protective measures against the high risk of energetic grains. During the packaging process of energetic grains, due to frequent mechanical movements, it is extremely easy to generate electrostatic sparks due to friction, and energetic grains are flammable and explosive, posing a huge threat to the safety of personnel's lives and property.

[0006] On the other hand, from the perspective of packaging quality, energetic grains require flexible packaging to be further densified to prevent the grains from being damaged. Traditional technology is difficult to provide a suitable flexible packaging solution, and in the sewing link, the process is rough, unable to ensure the sealing and durability of the packaging, and it is easy to cause the grains to be affected by moisture and oxidized, affecting the performance and stability of energetic grains. Therefore, it is urgent to develop an automatic sewing system for flexible packaging of energetic grains to fill the gap in the existing technology. Summary of the Invention

[0007] To solve the problem that traditional grain packaging technology is not applicable to energetic grains, the present invention proposes an automatic sewing system and method for flexible packaging of energetic grains, realizing automatic sewing of flexible packaging of energetic grains, taking into account the safety of the packaging sewing process on the one hand and ensuring the stability of the packaging sewing on the other hand.

[0008] The technical solution adopted by the present invention is as follows:

[0009] An automatic sewing system for flexible packaging of energetic granules, comprising a vibrating feeding system, a tooling auxiliary clamping and supporting system, a medicine bag compaction vibration system, a medicine bag transplanting and clamping system, a horizontal transfer system, a robotic arm adaptive sewing system and a real-time detection and control system;

[0010] The tooling auxiliary clamping and supporting system, the medicine bag transplanting and clamping system and the medicine bag compaction vibration system are located below the vibrating feeding system. The medicine bag compaction vibration system is installed on the medicine bag transplanting and clamping system, and the medicine bag transplanting and clamping system is installed on the horizontal transfer system. The tooling auxiliary clamping and supporting system is used to fixedly clamp the flexible packaging bag. The vibrating feeding system is used for feeding and can load the energetic granules into the flexible packaging bag. The medicine bag compaction vibration system is used to install the flexible packaging bag and realize the vibration compaction of the flexible packaging bag. The horizontal transfer system is used to move the medicine bag compaction vibration system to the automatic sewing position. The robotic arm adaptive sewing system is used to realize the adaptive sewing of the flexible packaging bag. The real-time detection and control system is used to monitor the whole process of feeding, compaction and sewing of the energetic granules in real time.

[0011] Further, the vibrating feeding system includes a vibrating hopper, a fixed frame, a feeding hopper, a fixed seat and a first vibrator. The fixed frame is fixed to the ground, the fixed seat is fixed at the top of the fixed frame, the feeding hopper is fixed at the middle part of the top of the fixed seat, the vibrating hopper is flexibly connected and fixed to the bottom of the feeding hopper, and the first vibrator is fixed to the side of the vibrating hopper.

[0012] Further, the tooling auxiliary clamping and supporting system includes a feeding tooling, a feeding tooling moving unit, a feeding tooling clamping unit and a flexible packaging bag clamping unit. The flexible packaging bag can be fixedly clamped outside the feeding tooling. The feeding tooling moving unit is used to realize the movement of the feeding tooling. The feeding tooling clamping unit is used to realize the clamping of the feeding tooling. After the flexible packaging bag is fixedly clamped outside the feeding tooling, the flexible packaging bag clamping unit can realize the secondary clamping of the flexible packaging bag.

[0013] Further, the feeding tooling moving unit includes a fixing plate, a pen-shaped cylinder I, a connecting plate, a linear guide rail and a positioning shaft. The pen-shaped cylinder I is fixed to one side of the fixing plate. The feeding tooling is connected to the pen-shaped cylinder I through the connecting plate. The positioning shaft is fixed to one side of the fixing plate. A positioning conical hole is provided on one side of the feeding tooling. The pen-shaped cylinder I can drive the feeding tooling to move along the linear guide rail until the positioning conical hole of the feeding tooling is docked and positioned with the positioning shaft;

[0014] The feeding tooling clamping unit includes a pen-shaped cylinder II, a profiling jaw II, a cylinder fixing bracket, and a cylinder fixing block. The cylinder fixing bracket and the cylinder fixing block are fixed on the other side of the fixing plate. One side of the pen-shaped cylinder II is fixed on the cylinder fixing bracket, and the other side is fixed on the cylinder fixing block. The guide rod of the pen-shaped cylinder II is connected to the profiling jaw II, and the profiling jaw II is fixedly connected to the linear guide rail. After the feeding tooling is docked and positioned with the positioning shaft, the profiling jaw II can move along the linear guide rail under the drive of the pen-shaped cylinder II to clamp the feeding tooling.

[0015] The flexible packaging bag clamping unit includes two groups of slide cylinders and a profiling jaw I installed at the bottom of the fixing plate. After the flexible packaging bag is fixedly clamped outside the feeding tooling, the slide cylinders can drive the corresponding profiling jaw I to achieve secondary clamping of the flexible packaging bag.

[0016] Further, the feeding tooling is cylindrical, and spring pieces are welded on the outer circumferential direction for clamping the flexible packaging bag.

[0017] . According to the energetic grain flexible packaging automatic stitching system as claimed in the claim or, it is characterized in that the medicine bag densifying vibration system includes a support base, a medicine bag base, a left housing, a right housing, a quick clamp, a second vibrator, a pressing plate, a left clamping block, and a right clamping block.

[0018] The medicine bag base is inserted into the support base. The left housing and the right housing can be installed on the upper end surface of the support base. The flexible packaging bag can be installed in the clamped left housing and right housing. The second vibrator can densify the flexible packaging bag through vibration. After the flexible packaging bag is densified, the left clamping block and the right clamping block can be locked by the quick clamp, and a pressing plate is placed on the top of the flexible packaging bag, with the inner and outer linings of the flexible packaging bag exposed.

[0019] Further, the medicine bag transplanting and clamping system includes a fixed frame, a left connecting seat, a right connecting seat, a linear guide rail, a weighing device, a lifting plate, a first servo motor, a second servo motor, a left-handed ball screw, a right-handed ball screw, and a rubber-coated wheel. The medicine bag densifying vibration system is fixed on the lifting plate. The first servo motor is used to drive the lifting plate to drive the flexible packaging bag to move directly below the feeding tooling. After the flexible packaging bag is fixed to the feeding tooling, the second servo motor can drive the left-handed ball screw and the right-handed ball screw located on both sides of the medicine bag densifying vibration system to drive the corresponding rubber-coated wheels to clamp and support the medicine bag densifying vibration system. The linear guide rail is installed on both sides of the fixed frame. The left connecting seat and the right connecting seat are respectively fixed on the linear guide rail. The lifting plate is fixed on the left connecting seat and the right connecting seat. The weighing device is installed at the bottom of the fixed frame.

[0020] Further, the horizontal transfer system includes a linear guide rail, a fixed base, a moving bottom plate, an adjustment seat, a connecting plate, a linear module, and a connecting block;

[0021] The adjustment seat is locked and fixed to the bottom of the fixed base through threads and supported on the horizontal ground. The linear guide rail is fixed on both sides of the tabletop of the fixed base. The moving bottom plate is fixed on the slider of the linear guide rail. The linear module is fixedly connected to the fixed base. The connecting plate is fixed on the linear module. The connecting plate and the moving bottom plate are fixedly connected. Two connecting blocks are fixed on both sides of the fixed base, and the connecting blocks are fixedly connected to the vibrating loading system.

[0022] Further, the robotic arm adaptive stitching system includes a six-axis robotic arm, a fixed base, a connecting frame, a sewing mechanism, a vision camera, a connecting bracket, and a vision camera controller;

[0023] The six-axis robotic arm is fixedly connected to the fixed base. The connecting frame is circumferentially positioned at the end of the six-axis robotic arm through a shaft hole and then fixedly connected by screws. The sewing mechanism is fixed on one side of the connecting frame, the vision camera is fixed on the other side of the connecting frame, the connecting bracket is fixedly connected to the connecting frame, and the vision camera controller is fixedly connected to the connecting bracket.

[0024] An automatic stitching method for an automatic stitching system for flexible packaging of energetic granules according to the above, includes the following steps:

[0025] Step 1: Driven by the first pen-shaped cylinder, the feeding tooling is driven to move along the linear guide rail and is positioned and fixed through the positioning conical hole on the side and the positioning shaft. After moving and positioning, the second profiling gripper is driven by the second pen-shaped cylinder to move along the linear guide rail to clamp the feeding tooling, and the flexible packaging bag is fixedly clamped through the feeding tooling. The first servo motor drives the lifting plate to drive the flexible packaging bag to move directly below the feeding tooling and fix the flexible packaging bag to the feeding tooling. Subsequently, the two sets of first profiling grippers are driven by the slide cylinders arranged at the bottom of the fixed plate to perform secondary clamping on the flexible packaging bag fixed on the feeding tooling;

[0026] Step 2: The energetic granules are poured into the feeding hopper through the feeding mechanism and then introduced from the feeding hopper into the vibrating hopper. Driven by the first vibrator, the energetic granules are loaded into the flexible packaging bag, and the weighing device weighs the energetic granules during the loading process;

[0027] Step 3: The second vibrator is started to vibrate and compact the medicine package. After compaction, the left clamping block and the right clamping block are rotated and butted, and then locked by a quick clamp. A pressing plate is placed on the top of the flexible packaging bag to expose the inner and outer linings of the flexible packaging bag to provide support for subsequent stitching;

[0028] Step 4: Driven by the linear module, the moving bottom plate is driven to drive the medicine package compaction vibration system to move to the automatic stitching position;

[0029] Step 5: After the flexible packaging bag moves to the automatic sewing position, the six-axis robotic arm drives the vision camera to perform 3D scanning on the inner and outer linings of the flexible packaging bag, and then the PLC control system generates a sewing trajectory. The sewing mechanism is driven by the robotic arm to achieve adaptive sewing.

[0030] The beneficial effects of the present invention are as follows: The present invention ensures stable feeding and smooth blanking through the vibration feeding system; the tooling auxiliary clamping and supporting system provides precise guiding and clamping to ensure smooth feeding; the medicine bag densification vibration system is highly efficient in densification and precise in positioning, providing circumferential motion support for sewing; the medicine bag transfer and clamping system performs real-time weighing and adapts the position to improve stability; the adaptive sewing system achieves precise automatic sewing, improving efficiency and safety; the multi-degree-of-freedom robotic arm system provides stable support and precise control to ensure efficient and stable sewing; the real-time monitoring and control system achieves full closed-loop control to ensure the efficient operation of each link. Overall, through the coordination of multiple systems, the automatic sewing of energetic grain flexible packaging is realized safely, efficiently, and with high quality.

[0031] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The present invention will be further described in detail below with reference to the drawings. Brief Description of the Drawings

[0032] Figure 1 is the automatic sewing system diagram of the energetic grain flexible packaging of the present invention.

[0033] Figure 2 is the schematic diagram of the vibration feeding system.

[0034] Figure 3 is the schematic diagram of the tooling auxiliary clamping and supporting system.

[0035] Figure 4 is the partial schematic diagram of the medicine bag densification vibration system.

[0036] Figure 5 is the partial schematic diagram of the medicine bag densification vibration system.

[0037] Figure 6 is the schematic diagram of the medicine bag transfer and clamping system.

[0038] Figure 7 is the partial schematic diagram of the medicine bag transfer and clamping system.

[0039] Figure 8 is the schematic diagram of the horizontal transfer system.

[0040] Figure 9 is the schematic diagram of the robotic arm adaptive sewing system.

[0041] Reference numerals in the figures: 1 Vibration loading system; 2 Tooling auxiliary clamping and supporting system; 3 Cartridge transplanting and clamping system; 4 Cartridge compaction and vibration system; 5 Horizontal transfer system; 6 Robotic arm adaptive stitching system; 7 Real-time detection and control system; 2-1 Vibration hopper; 2-2 Fixed frame; 2-3 Feeding hopper; 2-4 Fixed seat; 2-5 Vibrator; 2-6 Protective plate; 3-1 Fixed plate; 3-2 Profiled jaw 1; 3-3 Loading tooling; 3-4 Slide cylinder; 3-5 Pen-type cylinder; 3-6 Positioning shaft; 3-7 Fixed seat; 3-8 Block; 3-9 Connecting plate; 3-10 Profiled jaw 2; 3-11 Linear guide; 3-12 Cylinder fixing block; 3-13 Pen-type cylinder 2; 3-14 Cylinder fixing bracket; 4-1 Servo motor; 4-2 Rectangular spring; 4-3 Spring gasket; 4-4 Support base; 4-8 Pin bracket; 4-9 Thin cylinder; 4-10 Tapered positioning shaft; 4-11 Positioning seat; 4-12 Right-angle reducer; 4-13 Fixed bottom plate; 4-14 Limit block; 4-15 Cylinder fixing block; 4-17 Left housing; 4-18 Right housing; 4-19 Rotating platform; 4-20 Quick clamp; 4-21 Vibrator fixing seat; 4-22 Vibrator; 4-23 Pressure plate; 4-24 Left clamping block; 4-25 Right clamping block; 4-26 Pin shaft; 4-27 Vibration bottom plate; 4-28 Flexible packaging bag; 5-1 Fixed frame; 5-2 Lifting plate; 5-3 Spacer 1; 5-4 Reducer bracket; 5-5 Spacer 2; 5-6- Lead screw fixing seat; 5-7 Weighing device; 5-8 Lead screw support seat; 5-9 Right connecting seat; 5-10 Coupling; 5-11 Bracket; 5-12 Rubber-coated wheel; 5-13 Rubber-coated wheel bracket; 5-14 Spacer 3; 5-15 Universal ball; 5-16 Left connecting seat; 5-17 Right-angle reducer; 5-18 Servo motor; 5-19 Ball screw; 5-20 Lead screw nut; 5-21 Linear guide; 5-22 Lifting plate; 5-23 Guide rail support; 5-24 Linear guide; 5-25 Spacer 4; 5-26 Lead screw fixing seat; 5-27 Lead screw support seat; 5-28 Left-handed ball screw; 5-29 Right-handed ball screw; 5-30 Limit pad; 5-31 Motor bracket; 5-32 Servo motor; 5-33 Fixed plate 2; 5-34 Coupling; 5-35 Rigid coupling; 5-36 Fixed plate; 6-1 Spacer; 6-2 Linear guide; 6-3 Fixed base; 6-4 Moving bottom plate; 6-5 Adjusting seat; 6-6 Connecting plate; 6-7 Linear module; 6-8 Connecting block; 7-1 Six-axis robotic arm; 7-2 Fixed base; 7-3 Connecting frame; 7-4 Sewing mechanism; 7-5 Vision camera; 7-6 Connecting bracket; 7-7 Vision controller. Detailed implementation manners

[0042] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0043] A layout schematic diagram of an automatic stitching system for flexible packaging of energetic granules is asFigure 1 As shown in the figure, it includes a vibrating feeding system 1, a horizontal transfer system 5, a medicine package compacting vibration system 4, a medicine package transfer and clamping system 3, a tooling auxiliary clamping and supporting system 2, a robotic arm adaptive sewing system 6, and a real-time detection and control system 7;

[0044] The vibrating feeding system 1 is fixed to the ground with expansion screws. It imports energetic grains into the vibrating hopper through the feeding hopper, and the grains fall into the flexible packaging bag 4-28 after being vibrated by the vibrator, realizing the vibrating feeding of energetic grains. The horizontal transfer system 5 is connected and fixed to the vibrating feeding system 1 and has a height adjustment function. The medicine package compacting vibration system 4 is installed on the horizontal transfer system 5, and it can be accurately moved and positioned through the servo drive of the horizontal transfer system 5. The medicine package compacting vibration system 4 can position and fix the flexible packaging bag 4-28, and apply vibration to the fixed bottom plate through the vibrator to realize the vibrating compaction of energetic grains. The spring buffer under the fixed bottom plate can isolate the vibration, achieving the purpose of not affecting the rotational movement accuracy of the medicine package compacting vibration system 4. The medicine package transfer and clamping system 3 is installed on the moving bottom plate of the horizontal transfer system. The medicine package transfer and clamping system 3 is connected and fixed to the moving bottom plate through a weighing device, and can realize the weighing of the grain weight during the medicine filling process of the medicine package. The tooling auxiliary clamping and supporting system 2 drives the left and right lead screws to rotate through a servo motor, thereby driving the clamping device to clamp and support the medicine package positioning housing. The tooling auxiliary clamping and supporting system 2 is installed at the top of the medicine package transfer and clamping system 3. The tooling auxiliary clamping and supporting system 2 can push and position the feeding tooling through a cylinder, and after positioning, clamp and fix the feeding tooling through the cylinder-driven profiling jaws; The robotic arm adaptive sewing system 6 is connected and fixed to the ground through a fixed base. The system 6 collects information through a 3D vision camera, generates a sewing trajectory through an algorithm, and the sewing mechanism realizes adaptive sewing under the drive of the robotic arm. The electrical control cabinet of the real-time detection and control system 7 is placed beside the equipment according to the site.

[0045] See Figure 2 , the figure shows that the vibrating feeding system 1 of the present invention includes: a fixed frame 2-2 for providing fixation, and the fixed frame 2-2 is fixed to the horizontal ground with expansion screws. The fixed seat 2-4 is locked and fixed to the top of the fixed frame 2-2 with screws. The feeding hopper 2-3 is locked and fixed to the middle part of the top of the fixed seat 2-4 through pin positions and screws. The vibrating hopper 2-1 is flexibly connected and fixed to the bottom of the feeding hopper 2-3 through springs and guide rods. The vibrator 2-5 is locked and fixed to the right side of the vibrating hopper 2-1 with screws.

[0046] Operation process: Energetic grains are poured into the feeding hopper 2-3 through the feeding mechanism, and then imported into the vibrating hopper 2-1 from the feeding hopper 2-3. Driven by the vibrator 2-5, the energetic grains are loaded into the subsequent flexible packaging bag 4-28.

[0047] The fixed frame 2-2 of the vibration loading system 1 is accurately positioned and has strong fastening performance, which can firmly lock the vibrating hopper 2-3 to ensure that the hopper 2-3 is always in the preset position during the entire feeding process. The fixed frame 2-2 is tightly fixed to the ground, making full use of the static friction force to effectively resist the structural offset caused by vibration, laying a solid foundation for the stable operation of the system. The vibrating discharging hopper 2-1 has a built-in spring buffer function and is equipped with vibrating motors on its side walls. During operation, the two work together to ensure smooth material discharging, prevent blockage, and significantly improve the working efficiency and reliability of the vibration loading system 1.

[0048] See Figure 3 , in the figure, the tooling auxiliary clamping and supporting system 2 of the present invention is shown, including: a fixing plate 3-1, which fixes a fixed seat 3-7, a linear guide rail 3-11, a cylinder fixing block 3-12, and a cylinder fixing bracket 3-14 by screw locking. After the positioning shaft 3-6 is axially mated with the fixed seat 3-7, it is fixed by screw locking. The profiling jaw two 3-10 has a profiling arc, and the arc surface has knurling to increase the clamping friction force. One end of it is fixed to the linear guide rail 3-11 by screw locking, and the other end is locked and connected to the block 3-8 by screw. The left side of the pen-shaped cylinder two 3-13 is fixed to the cylinder fixing bracket 3-14 by screw locking, the right side is fixed to the cylinder fixing block 3-12 by screw locking, and the end of the guide rod of the pen-shaped cylinder two 3-13 is connected to the block 3-8 through a floating joint.

[0049] The feeding tooling 3-3 is cylindrical, and its interior is divided into left and right channels. The two channels are independent and non-interconnected. Spring pieces are welded on the outer circumferential direction for clamping and filing the flexible packaging bag 4-28. It has a cylindrical positioning tapered hole on the side and is fixed to the slider of the linear guide rail 3-11 by screw locking. The connecting plate 3-9 is fixed to the side of the feeding tooling 3-3 by screw locking. The pen-shaped cylinder one 3-5 is fixed to the upper and edge position of the fixing plate 3-1 by screw locking, and the end of the guide rod of the pen-shaped cylinder one 3-5 is connected and fixed to the connecting plate 3-9 through a floating joint. The slide table cylinder 3-4 is fixed to the bottom surface of the fixing plate 3-1 by screw locking. The profiling jaw one 3-2 is V-shaped, and the contact position with the feeding tooling 3-3 has knurling to increase the friction force during clamping. It is fixed to the moving end of the slide table cylinder 3-4 by screw locking.

[0050] Operation process: The initial position of the loading tooling 3-3 is on the left side of the fixed plate 3-1. After the flexible packaging bag 4-28 is in place, it is driven by the pen-shaped cylinder 3-5 to drive the loading tooling 3-3 to move along the linear guide 3-11, and is positioned and fixed with the positioning shaft 3-6 through the cylindrical positioning tapered hole on the side. After moving and positioning, the profiling jaw 3-10 moves along the linear guide 3-11 under the drive of the pen-shaped cylinder 3-13 to clamp the loading tooling 3-3. Then, the operator fixes and clamps the flexible packaging bag 4-28 through the spring pieces around the loading tooling 3-3. Subsequently, two sets of profiling jaws 3-2 are driven by the slide cylinder 3-4 arranged at the bottom of the fixed plate 3-1 to perform secondary clamping on the flexible packaging bag fixed on the loading tooling 3-3. Ensure the stability of the loading tooling 3-3 and the flexible packaging bag during the loading process.

[0051] The loading tooling 3-3 in the tooling auxiliary clamping and supporting system 2 can provide a very precise guiding function for the loading process of flexible packaging. There is a positioning tapered hole on the side of the tooling 3-3, and it can achieve flexible movement and positioning by relying on the cylinder drive, and also has the function of tooling auxiliary clamping. This system drives the profiling jaws to operate by cylinders in three directions, and can firmly clamp the loading tooling 3-3, thus effectively ensuring the smooth and orderly progress of the loading process.

[0052] Reference Figures 4-5 , the figure shows the medicine bag densification vibration system 4 of the present invention. This system includes: a servo motor 4-1, which is positioned and locked with a right-angle reducer 4-12 through the shaft end with screws. The right-angle reducer 4-12 is positioned and locked with a rotary platform 4-19 through the shaft end with screws.

[0053] The rotary platform 4-19 is locked and fixed to the bottom of the fixed base plate 4-13 with screws. Two limit blocks 4-14 are locked and fixed to the left and right sides on the upper surface of the fixed floor 4-13 with screws, and are used for limiting the vibration bottom plate 4-27 during vibration densification. The upper and lower ends of the rectangular spring 4-2 are installed with spring washers 4-3, and the upper vibration bottom plate 4-27 and the lower fixed base plate 4-13 are flexibly connected through the middle pin shaft. The positioning seat 4-11 has a tapered positioning hole and is locked and fixed to the upper end face of the fixed base plate 4-13 with screws.

[0054] The thin cylinder 4-9 is locked and fixed on the pin support 4-8. The inner hole of the pin support 4-8 is inlaid with a copper sleeve and is positioned through the shaft hole of the vibration bottom plate 4-27, and then locked with screws. The top of the tapered positioning shaft 4-10 is conical and has the same conical angle as the positioning seat 4-11, and the tail is threaded and is threadedly connected and locked with the guide rod of the thin cylinder.

[0055] Open holes are provided on both sides of the support base 4-4. The bushing 4-6 is installed in the hole of the support base 4-4 by interference fit and is fixed at the middle position of the vibration bottom plate 4-27 by screw locking. The cylinder fixing blocks 4-15 are respectively fixed on both sides of the support base 4-4 with screws. The thin cylinder 4-9 is fixed on the end face of the latch bracket 4-8. The positioning and clamping block 4-16 passes through the bushing 4-6 with clearance fit and is thread-locked at the end of the guide rod of the thin cylinder 4-9 by the locking screw 4-7.

[0056] The vibrator fixing seat 4-21 is locked and installed on the upper end face of the vibration bottom plate 4-27 with screws. The vibrator 4-22 is locked and installed on the side of the vibrator fixing seat 4-21 with screws.

[0057] The bottom of the medicine package base 4-5 has a grooved positioning shaft, which is installed in the middle of the support base 4-4 by transition fit and is clamped and fixed by the positioning and clamping block 4-16. The left housing 4-17 and the right housing 4-18 are installed on the upper part of the support base 4-4, axially limited by clamping the medicine package base 4-5, and axially limited by clamping with the quick clamp 4-20. The left clamping block 4-24 and the right clamping block 4-25 are respectively fixed on the left housing 4-17 and the right housing 4-18 by the pin shaft 4-26, and the left clamping block 4-24 and the right clamping block 4-25 are symmetrically arranged.

[0058] The flexible packaging bag 4-28 is installed in the clamped left housing 4-17 and right housing 4-18. The pressing plate 4-23 is pressed in the flexible packaging bag 4-28 containing the energetic grains, exposing the suture of the inner and outer linings, providing support for subsequent suturing.

[0059] Operation process: In the initial state, the thin cylinder 4-9 is in the extended state, and the conical positioning shaft 4-10 cooperates with the positioning seat 4-11 for positioning. The medicine package base 4-5 is inserted into the support base 4-4. After manually installing the left housing 4-17 and the right housing 4-18 on the upper end face of the support base 4-4 and clamping and fixing them with the quick clamp 4-20, the positioning and clamping block 4-16 is driven by the thin cylinder 4-9 to clamp and fix the medicine package base 4-5. Subsequently, the vibrator 4-22 is started to drive the vibration bottom plate 4-27 to vibrate and compact the medicine package.

[0060] After compaction, after manually rotating and docking the left clamping block 4-24 and the right clamping block 4-25 and locking them with the quick clamp 4-20, the pressing plate 4-23 is placed on the top of the flexible packaging bag 4-28 to expose the inner and outer linings of the medicine package, providing support for subsequent suturing.

[0061] The medicine package densification vibration system 4 can carry out efficient vibration densification operations on the flexible packaging bag 4-28 filled with medicine grains. This system also has the ability to accurately clamp and position the flexible packaging core tube, and the equipped profiling fixed housing can accurately position the flexible packaging bag 4-28. This system can drive the entire medicine package to rotate, providing stable circumferential movement support for the subsequent sewing process. Below the vibration densification base, there is a spring buffer device, which can effectively buffer and isolate the vibration generated by the vibration motor on the base, ensuring that it will not interfere with the circumferential movement of the medicine package.

[0062] Reference Figures 6-7 , the figure shows the medicine package transfer and clamping system 3 of the present invention. This system includes: a fixed frame 5-1, and the weighing device 5-7 is fixedly installed at the bottom of the fixed frame 5-1 by screws (there are a total of 4 weighing devices 5-7, which are respectively installed at four positions at the bottom of the fixed frame 5-1, and the bottom of the weighing device 5-7 is fixed on the moving bottom plate 6-4). The lifting mechanisms are symmetrically arranged. Only the left lifting mechanism will be described below: The linear guide rails 5-21 are fixedly installed on both sides of the fixed frame 5-1 by screws, and the left connecting seat 5-16 and the right connecting seat 5-9 are respectively fixed to the sliders of the linear guide rails 5-21. The lifting plate 5-22 is fixedly installed on the left connecting seat 5-16 and the right connecting seat 5-9 by screws. The spacer block three 5-14 is fixedly installed on the upper end surface of the lifting plate 5-22 by screws, and the universal ball 5-15 is fixedly installed on the spacer block three 5-14 by screws. The spacer block one 5-3 is fixed at the middle position on the left side of the fixed frame 5-1, and the spacer block two 5-5 is fixed at the lower left position of the fixed frame 5-1. The lead screw fixed seat 5-6 and the lead screw support seat 5-8 are respectively fixedly installed on the spacer block one 5-3 and the spacer block two 5-5 by screws. The lead screw nut 5-20 passes through the lifting plate 5-22 and is fixedly installed by screws. The ball screw 5-19 respectively passes through the lead screw support seat 5-8, the lead screw nut 5-20 and the lead screw fixed seat 5-6. The reducer bracket 5-4 is fixedly installed on the side surface of the fixed frame 5-1 by screws. After the right-angle reducer 5-17 and the servo motor 5-18 are fixedly installed by screws, they are then fixedly installed on the reducer bracket 5-4 by screws, and the right-angle reducer 5-17 is connected to the ball screw 5-19 through the coupling 5-10.

[0063] The fixed plate 5-36 is fixedly installed on the back of the fixed frame 5-1 by screws, and the guide rail supports 5-23 are fixedly installed on the upper and lower sides of the fixed plate 5-36 by screws. The linear guide rail 5-24 is fixed on the guide rail supports 5-23. The lead screw support seat 5-27 and the lead screw fixed seat 5-26 are fixed on the fixed plate 5-36 in cooperation with the spacer block four 5-25.

[0064] The fixed plate two 5-33 is fixed to the slider of the linear guide 5-24 by screws. The bracket 5-11 is locked and fixed to the fixed plate two 5-33 by screws. The rubber-coated wheel bracket 5-13 is fixed to the bracket 5-11, and the rubber-coated wheel 5-12 is fixed to the rubber-coated wheel bracket 5-13 by a rotating shaft.

[0065] The left-handed ball screw 5-28 passes through the screw fixed seat 5-26, the screw support seat 5-27 and the limit pad 5-30 on one side and is fixed to the fixed plate 5-33 by a screw nut. The right-handed ball screw 5-29 passes through the screw fixed seat 5-26, the screw support seat 5-27 and the limit pad 5-30 on the other side and is fixed to the fixed plate 5-33 by a screw nut. The left-handed ball screw 5-28 and the right-handed ball screw 5-29 are connected by a rigid coupling 5-35 in the middle. The servo motor 5-32 is fixed to the motor bracket 5-31 and then locked and fixed to the fixed plate 5-36 by screws. The servo motor 5-32 and the left-handed ball screw 5-28 are connected by a coupling 5-34 to transmit the motor power.

[0066] Operation process: The medicine bag vibration compaction system 4 is fixed to the lifting plate 5-22 by the rotating platform 4-19. After the cylinder drives the feeding tooling 3-3 to place in position and clamp, the servo motor 5-18 drives the lifting plate 5-22 to drive the flexible packaging bag 4-28 to move directly below the feeding tooling 3-3, and then the operator fixes the flexible packaging bag 4-28 to the feeding tooling 3-3. The servo motor 5-32 drives the left-handed ball screw 5-28 and the right-handed ball screw 5-29 to drive the rubber-coated wheels 5-12 on both sides to clamp and support the medicine bag vibration compaction system 4. The universal ball 5-15 supports the rotation of the medicine bag vibration compaction system 4.

[0067] The medicine bag transfer and clamping system 3 can accurately weigh the amount of medicine in the flexible packaging bag 4-28 in real time. At the same time, it can also drive the entire medicine bag compaction system to make a vertical lifting movement through double servo linkage to adapt to the position of the feeding tooling 3-3. In addition, the system is equipped with rubber-coated rollers 5-12, and in a servo-driven manner, the rubber-coated wheels 5-12 play an auxiliary clamping and supporting role for the medicine bag compaction housing, thereby significantly improving the stability of the entire compaction and vibration system.

[0068] Further, refer to Figure 8, Figure 5 shows the horizontal transfer system 5 of the present invention. The system includes: a fixed base 6-3, an adjustment base 6-5 with a threaded structure, which is locked and fixed to the fixed base 6-3 through threads and supported on the horizontal ground. The adjustment base 6-5 can be horizontally adjusted through threads. The linear guide rail 6-2 is locked and fixed on both sides of the tabletop of the fixed base 6-3 by screws. The moving base plate 6-4 is locked and fixed on the slider of the linear guide rail 6-2 by screws. The linear module 6-7 is positioned with the fixed base 6-3 through pins and then locked and fixed by screws. The connecting plate 6-6 is locked and fixed on the linear module 6-7 by screws. The spacer block 6-1 is locked and connected to the connecting plate 6-6 and the moving base plate 6-4 by screws. Two connecting blocks 6-8 are locked and fixed on both sides of the fixed base 6-3 by screws, and the connecting block 6-8 is further locked and connected to the vibration loading system 2 by screws.

[0069] Operation process: After the flexible packaging bag 4-28 filled with energetic grains is vibrated and compacted by the medicine bag compaction vibration system 4, it is driven by the linear module 6-7, driving the moving base plate 6-4, and thus driving the medicine bag compaction vibration system 4 to move to the automatic sewing position.

[0070] The horizontal transfer system 5 adopts a servo drive mode to accurately drive the operation of the linear module 6-7. Driven efficiently by the linear module 6-7, the moving platform can move smoothly and accurately. At the same time, the moving platform drives the medicine bag compaction vibration system 4 together, enabling it to move precisely in the horizontal direction and finally accurately positioning to the position required for automatic sewing, making full preparations for the subsequent sewing process.

[0071] Further, referring to Figure 9 , Figure 6 shows the robotic arm adaptive sewing system 6 of the present invention. The system includes: a fixed base 7-2, which is locked and fixed to the horizontal plane through expansion screws. The six-axis robotic arm 7-1 is precisely positioned with the fixed base 7-2 through pins and then locked and fixed by screws. The connecting frame 7-3 is circumferentially positioned with the end of the six-axis robotic arm 7-1 through a shaft hole and then locked and fixedly connected by screws. The sewing mechanism 7-4 is locked and fixed on the left side of the connecting frame 7-3 by screws, and the vision camera 7-5 is locked and fixed on the right side of the connecting frame 7-3 by screws. The vision camera controller 7-7 is locked and fixed with the connecting bracket 7-6 by screws, and the connecting bracket 7-6 is locked and fixedly connected to the connecting frame 7-3 by screws.

[0072] Operation process: After the flexible packaging bag 4-28 moves into place, the six-axis robotic arm 7-1 drives the vision camera 7-5 to perform 3D scanning on the inner and outer linings of the flexible packaging bag 4-28, and then the PLC control system generates a sewing trajectory in combination with the algorithm. The sewing mechanism 7-4 realizes adaptive sewing under the drive of the robotic arm 7-1.

[0073] The multi-degree-of-freedom robotic arm adaptive stitching system 6 can achieve precise stitching of flexible packaging. First, the system uses 3D vision technology for positioning, and then generates a stitching trajectory through an algorithm. At the same time, the robotic arm 7-1 is equipped with a fixed base 7-2 with high strength and high stiffness, and the fixed base 7-2 is firmly fastened to the ground through expansion bolts. Then, switch to the sewing component. The robotic arm 7-1 is deeply integrated with an advanced algorithm and a control system to achieve precise control. According to the generated stitching trajectory, the robotic arm 7-1 can flexibly drive the sewing component to operate, accurately and efficiently complete the flexible stitching of the flexible packaging, and effectively ensure the stable and efficient development of the stitching work. Thus, the automated stitching of the flexible packaging is achieved, effectively improving the efficiency and safety of stitching.

[0074] The real-time detection and control system 7 includes an explosion-proof control cabinet, a PLC system, a robotic arm control system, a vision control system, vibration sensors, torque sensors, displacement sensors, in-place detection sensors, etc. During the entire process of the energetic grain feeding, compaction, and stitching, the real-time monitoring and control system 7 can monitor multiple key parameters in real time, such as the feeding vibration frequency, amplitude, clamping speed, compaction vibration frequency, amplitude, and vision parameters. The system will feedback these real-time monitored data and make precise adjustments according to the feedback information, ultimately achieving the full closed-loop control of the entire energetic grain processing process to ensure the efficient and stable operation of each link.

[0075] The automatic stitching method of the energetic grain flexible packaging automatic stitching system of the present invention includes the following steps:

[0076] Step 1: Driven by the pen-shaped cylinder 3-5, drive the feeding tooling 3-3 to move along the linear guide rail 3-11, and position and fix it through the positioning conical hole on the side and the positioning shaft 3-6. After moving and positioning, the profiling jaw 3-10 moves along the linear guide rail 3-11 under the drive of the pen-shaped cylinder 3-13 to clamp the feeding tooling 3-3, and fix and clamp the flexible packaging bag 4-28 through the feeding tooling 3-3. The first servo motor 5-18 drives the lifting plate 5-22 to drive the flexible packaging bag 4-28 to move directly below the feeding tooling 3-3, and fix the flexible packaging bag 4-28 to the feeding tooling 3-3. Subsequently, two sets of profiling jaws 3-2 are driven by the slide cylinder 3-4 arranged at the bottom of the fixing plate 3-1 to perform secondary clamping on the flexible packaging bag 4-28 fixed on the feeding tooling 3-3;

[0077] Step 2: The energetic grains are poured into the feeding hopper 2-3 through the feeding mechanism, and then imported from the feeding hopper 2-3 into the vibrating hopper 2-1. Driven by the first vibrator 2-5, the energetic grains are loaded into the flexible packaging bag 4-28, and the weighing device 5-7 weighs the energetic grains during the loading process;

[0078] Step 3: The second vibrator 4-22 is started to vibrate and compact the medicine package. After compaction, the left clamping block 4-24 and the right clamping block 4-25 are rotated and butted, and then locked by the quick clamp 4-20. A pressing plate 4-23 is placed on the top of the flexible packaging bag 4-28, and the inner and outer linings of the flexible packaging bag 4-28 are exposed to provide support for subsequent sewing.

[0079] Step 4: Driven by the linear module 6-7, the moving bottom plate 6-4 is driven, thereby driving the medicine package compaction vibration system 4 to move to the automatic sewing position.

[0080] Step 5: After the flexible packaging bag 4-28 moves to the automatic sewing position, the six-axis robotic arm 7-1 drives the vision camera 7-5 to perform 3D scanning on the inner and outer linings of the flexible packaging bag 4-28. Then, the PLC control system generates a sewing trajectory, and the sewing mechanism 7-4 realizes adaptive sewing under the drive of the robotic arm 7-1.

[0081] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic sewing system for flexible packaging of energetic granules, characterized in that, It includes a vibrating feeding system (1), a tooling auxiliary clamping and supporting system (2), a medicine bag compaction vibration system (4), a medicine bag transplanting and clamping system (3), a horizontal transfer system (5), a robotic arm adaptive stitching system (6) and a real-time detection and control system (7); The tooling auxiliary clamping and supporting system (2), the medicine bag transplanting and clamping system (3) and the medicine bag compaction vibration system (4) are located below the vibrating feeding system (1). The medicine bag compaction vibration system (4) is installed on the medicine bag transplanting and clamping system (3), and the medicine bag transplanting and clamping system (3) is installed on the horizontal transfer system (5). The tooling auxiliary clamping and supporting system (2) is used to fixedly clamp the flexible packaging bag (4-28). The vibrating feeding system (1) is used for feeding and can load energetic grains into the flexible packaging bag (4-28). The medicine bag compaction vibration system (4) is used to install the flexible packaging bag (4-28) and realize the vibration compaction of the flexible packaging bag (4-28). The horizontal transfer system (5) is used to move the medicine bag compaction vibration system (4) to the automatic stitching position. The robotic arm adaptive stitching system (6) is used to realize the adaptive stitching of the flexible packaging bag (4-28). The real-time detection and control system (7) is used to monitor the entire process of energetic grain feeding, compaction and stitching in real time.

2. The automatic sewing system for flexible packaging of energetic granules according to claim 1, wherein The vibrating feeding system (1) includes a vibrating hopper (2-1), a fixed frame (2-2), a feeding hopper (2-3), a fixed seat (2-4), and a first vibrator (2-5). The fixed frame (2-2) is fixed to the ground. The fixed seat (2-4) is fixed at the top of the fixed frame (2-2). The feeding hopper (2-3) is fixed at the middle part of the top of the fixed seat (2-4). The vibrating hopper (2-1) is flexibly connected and fixed to the bottom of the feeding hopper (2-3). The first vibrator (2-5) is fixed to the side of the vibrating hopper (2-1).

3. The automatic sewing system for flexible packaging of energetic granules according to claim 2, wherein The tooling auxiliary clamping and supporting system (2) includes a feeding tooling (3-3), a feeding tooling moving unit, a feeding tooling clamping unit and a flexible packaging bag clamping unit. The flexible packaging bag (4-28) can be fixedly clamped outside the feeding tooling (3-3). The feeding tooling moving unit is used to realize the movement of the feeding tooling (3-3). The feeding tooling clamping unit is used to realize the clamping of the feeding tooling (3-3). After the flexible packaging bag (4-28) is fixedly clamped outside the feeding tooling (3-3), the flexible packaging bag clamping unit can realize the secondary clamping of the flexible packaging bag (4-28).

4. The flexible packaging automatic sewing system for energetic granules according to claim 3, wherein The feeding tooling moving unit includes a fixing plate (3-1), a pen-shaped cylinder I (3-5), a connecting plate (3-9), a linear guide rail (3-11), and a positioning shaft (3-6). The pen-shaped cylinder I (3-5) is fixed on one side of the fixing plate (3-1). The feeding tooling (3-3) is connected to the pen-shaped cylinder I (3-5) through the connecting plate (3-9). The positioning shaft (3-6) is fixed on one side of the fixing plate (3-1). A positioning tapered hole is provided on one side of the feeding tooling (3-3). The pen-shaped cylinder I (3-5) can drive the feeding tooling (3-3) to move along the linear guide rail (3-11) until the positioning tapered hole of the feeding tooling (3-3) is docked and positioned with the positioning shaft (3-6). The feeding tooling clamping unit includes a pen-shaped cylinder II (3-13), a profiling gripper II (3-10), a cylinder fixing bracket (3-14), and a cylinder fixing block (3-12). The cylinder fixing bracket (3-14) and the cylinder fixing block (3-12) are fixed on the other side of the fixing plate (3-1). One side of the pen-shaped cylinder II (3-13) is fixed on the cylinder fixing bracket (3-14), and the other side is fixed on the cylinder fixing block (3-12). The guide rod of the pen-shaped cylinder II (3-13) is connected to the profiling gripper II (3-10). The profiling gripper II (3-10) is fixedly connected to the linear guide rail (3-11). After the feeding tooling (3-3) is docked and positioned with the positioning shaft (3-6), the profiling gripper II (3-10) can move along the linear guide rail (3-11) under the drive of the pen-shaped cylinder II (3-13) to clamp the feeding tooling (3-3). The flexible packaging bag clamping unit includes two groups of slide cylinders (3-4) and profiling gripper I (3-2) installed at the bottom of the fixing plate (3-1). After the flexible packaging bag (4-28) is fixedly clamped outside the feeding tooling (3-3), the slide cylinder (3-4) can drive the corresponding profiling gripper I (3-2) to achieve secondary clamping of the flexible packaging bag (4-28).

5. The automatic sewing system for flexible packaging of energetic granules according to claim 4, characterized in that, The feeding tooling (3-3) is cylindrical, and spring pieces are welded on the outer circumferential direction for clamping the flexible packaging bag (4-28).

6. The automatic sewing system for flexible packaging of energetic granules according to claim 4 or 5, characterized in that The medicine package compaction vibration system (4) includes a support base (4-4), a medicine package base (4-5), a left housing (4-17), a right housing (4-18), a quick clamp (4-20), a second vibrator (4-22), a pressing plate (4-23), a left clamping block (4-24), and a right clamping block (4-25). The medicine packet base (4-5) is inserted into the support base (4-4). The left housing (4-17) and the right housing (4-18) can be installed on the upper end surface of the support base (4-4). The flexible packaging bag (4-28) can be installed inside the clamped left housing (4-17) and right housing (4-18). The second vibrator (4-22) can compact the flexible packaging bag (4-28) through vibration. After the flexible packaging bag (4-28) is compacted, the left clamping block (4-24) and the right clamping block (4-25) can be locked by the quick clamp (4-20), and a pressing plate (4-23) is placed on the top of the flexible packaging bag (4-28), with the inner and outer linings of the flexible packaging bag (4-28) exposed.

7. The automatic sewing system for flexible packaging of energetic granules according to claim 6, characterized in that, The medicine packet transplanting and clamping system (3) includes a fixed frame (5-1), a left connecting seat (5-16), a right connecting seat (5-9), a linear guide rail (5-21), a weighing device (5-7), a lifting plate (5-22), a first servo motor (5-18), a second servo motor (5-32), a left-handed ball screw (5-28), a right-handed ball screw (5-29), and a rubber-coated wheel (5-12). The medicine packet compaction vibration system (4) is fixed on the lifting plate (5-22). The first servo motor (5-18) is used to drive the lifting plate (5-22) to drive the flexible packaging bag (4-28) to move directly below the feeding tooling (3-3). After the flexible packaging bag (4-28) is fixed to the feeding tooling (3-3), the second servo motor (5-32) can drive the left-handed ball screw (5-28) and the right-handed ball screw (5-29) located on both sides of the medicine packet compaction vibration system (4) to drive the corresponding rubber-coated wheels (5-12) to clamp and support the medicine packet compaction vibration system (4). The linear guide rail (5-21) is installed on both sides of the fixed frame (5-1). The left connecting seat (5-16) and the right connecting seat (5-9) are respectively fixed on the linear guide rail (5-21). The lifting plate (5-22) is fixed on the left connecting seat (5-16) and the right connecting seat (5-9). The weighing device (5-7) is installed at the bottom of the fixed frame (5-1).

8. The automatic sewing system for flexible packaging of energetic granules according to claim 7, wherein, The horizontal transfer system (5) includes a linear guide rail (6-2), a fixed base (6-3), a moving bottom plate (6-4), an adjusting seat (6-5), a connecting plate (6-6), a linear module (6-7), and a connecting block (6-8); The adjusting seat (6-5) is locked and fixed to the bottom of the fixed base (6-3) through threads and supports on the horizontal ground. The linear guide rail (6-2) is fixed on both sides of the tabletop of the fixed base (6-3). The moving bottom plate (6-4) is fixed on the slider of the linear guide rail (6-2). The linear module (6-7) is fixedly connected to the fixed base (6-3). The connecting plate (6-6) is fixed on the linear module (6-7). The connecting plate (6-6) and the moving bottom plate (6-4) are fixedly connected. Two connecting blocks (6-8) are fixed on both sides of the fixed base (6-3), and the connecting block (6-8) is fixedly connected to the vibration loading system 2.

9. The automatic sewing system for flexible packaging of energetic granules according to claim 8, characterized in that, The robotic arm adaptive sewing system (6) includes a six-axis robotic arm (7-1), a fixed base (7-2), a connecting frame (7-3), a sewing mechanism (7-4), a vision camera (7-5), a connecting bracket (7-6), and a vision camera controller (7-7); The six-axis robotic arm (7-1) is fixedly connected to the fixed base (7-2). The connecting frame (7-3) is circumferentially positioned at the end of the six-axis robotic arm (7-1) through a shaft hole and then fixedly connected by screws. The sewing mechanism (7-4) is fixed on one side of the connecting frame (7-3), the vision camera (7-5) is fixed on the other side of the connecting frame (7-3), the connecting bracket (7-6) is fixedly connected to the connecting frame (7-3), and the vision camera controller (7-7) is fixedly connected to the connecting bracket (7-6).

10. The automatic stitching method of the flexible packaging automatic stitching system for energetic granules according to claim 9, characterized in that, It includes the following steps: Step 1: Driven by the pen-shaped cylinder one (3-5), the feeding tooling (3-3) is driven to move along the linear guide rail (3-11), and is positioned and fixed through the positioning conical hole on the side and the positioning shaft (3-6). After moving and positioning, the profiling jaw two (3-10) is driven by the pen-shaped cylinder two (3-13) to move along the linear guide rail (3-11) to clamp the feeding tooling (3-3), and the flexible packaging bag (4-28) is fixedly clamped through the feeding tooling (3-3). The first servo motor (5-18) drives the lifting plate (5-22) to drive the flexible packaging bag (4-28) to move directly below the feeding tooling (3-3), and the flexible packaging bag (4-28) is fixed to the feeding tooling (3-3). Subsequently, the two sets of profiling jaws one (3-2) are driven by the slide table cylinder (3-4) arranged at the bottom of the fixed plate (3-1) to perform secondary clamping on the flexible packaging bag (4-28) fixed on the feeding tooling (3-3); Step 2: The energetic grains are poured into the feeding hopper (2-3) through the feeding mechanism, and then introduced into the vibrating hopper (2-1) from the feeding hopper (2-3). Driven by the first vibrator (2-5), the energetic grains are loaded into the flexible packaging bag (4-28), and the weighing device (5-7) weighs the energetic grains during the loading process; Step 3: The second vibrator (4-22) is started to vibrate and compact the medicine bag. After compaction, the left clamping block (4-24) and the right clamping block (4-25) are rotated and butted, and then locked by the quick clamp (4-20). A pressing plate (4-23) is placed on the top of the flexible packaging bag (4-28) to expose the inner and outer linings of the flexible packaging bag (4-28) to provide support for subsequent sewing; Step 4: Driven by the linear module (6-7), the moving bottom plate (6-4) is driven to drive the medicine bag compaction vibration system (4) to move to the automatic sewing position; Step 5: After the flexible packaging bag (4-28) moves to the automatic sewing position, the six-axis robotic arm (7-1) drives the vision camera (7-5) to perform 3D scanning on the inner and outer linings of the flexible packaging bag (4-28). Then, the PLC control system generates a sewing trajectory, and the sewing mechanism (7-4) is driven by the six-axis robotic arm (7-1) to achieve adaptive sewing.

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