Pneumatic-electric cooperative driving bag opening device and control method thereof

Abstract

The invention provides a pneumoelectric cooperative driving bag opening device and a control method thereof, and relates to the technical field of packaging machineries, the bag opening device comprises a pneumatic coarse adjustment unit, a pneumatic coarse adjustment unit, a pneumatic coarse adjustment unit and a pneumatic coarse adjustment unit, the pneumatic coarse adjustment unit is used for rapidly adsorbing a bag body of a packaging bag through negative pressure and generating a preliminary opening action on the bag body; the electric fine adjustment unit comprises a motor and an electric push rod driven by the motor, and is used for adjusting the bag body according to the position of the bag opening of the preliminarily opened bag body and the received adsorption force and thrust, so that the bag opening of the bag body is aligned to the target position; the sensing and control unit comprises a force sensor, a visual sensor and a controller, and the force sensor is used for detecting adsorption force and thrust borne by the bag body; the visual sensor is used for detecting the bag opening position of the bag body; the controller is used for adjusting the adsorption force, the displacement of the electric push rod and the output curve according to data collected by the force sensor and the visual sensor. According to the bag opening device, rapid preliminary opening of a bag body and accurate adjustment of the position of a bag opening are achieved, and the whole bag opening process is more stable and accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging machinery, and in particular, to a pneumatic-electric collaborative driving bag-opening device and a control method thereof. Background Art

[0002] The bag-opening device of packaging machinery is a key component in packaging machinery for opening and fixing the bag mouth of a packaging bag. Through a specific mechanical structure or driving method, the originally closed bag mouth is opened to a certain extent before feeding materials into the bag.

[0003] Existing bag-opening devices generally adopt a single driving mode, such as a pure pneumatic driving scheme or a pure electric driving scheme. The pure pneumatic driving scheme relies on pneumatic grippers to achieve rapid response. The pure electric driving scheme realizes high-precision positioning through a servo motor. Additionally, there is also a composite driving scheme that combines electric components and pneumatic components.

[0004] In the process of implementing the present invention, the inventors found that there are at least the following problems in the prior art: In the pure pneumatic driving scheme, the clamping force of the pneumatic gripper is significantly affected by air pressure fluctuations, resulting in insufficient accuracy of the bag-opening position and prone to bag mouth deformation or slippage; the pure electric driving scheme has problems such as slow response speed, risk of motor overload, and a sharp increase in energy consumption caused by frequent start and stop; the composite driving scheme lacks a timing coordination and dynamic compensation mechanism, resulting in a response mismatch between driving units and being unable to effectively balance the contradiction between speed and accuracy; in addition, the traditional mechanical structure relies on the linkage of multiple cylinders and complex connecting rod mechanisms, which is prone to positioning deviation due to mechanical wear after long-term use, and the debugging and maintenance costs are high. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems in the related art to some extent.

[0006] For this purpose, the object of the present invention is to provide a pneumatic-electric collaborative driving bag-opening device and a control method thereof, which integrate the advantages of pneumatic rapid response and electric precise control, and have a bag-opening technology with an adaptive adjustment ability to solve the difficulty of synergistically optimizing efficiency, accuracy, and reliability.

[0007] To achieve the above object, the first aspect of the present invention provides a pneumatic-electric collaborative driving bag-opening device, including: A pneumatic rough adjustment unit for quickly adsorbing the bag body of the packaging bag through negative pressure to perform a preliminary bag-opening action on the bag body; An electric fine adjustment unit including a motor and an electric push rod driven by the motor, for adjusting the bag body according to the bag mouth position of the preliminarily opened bag body, the adsorption force and the thrust received, so that the bag mouth of the bag body is aligned with the target position; The sensing and control unit includes a force sensor, a vision sensor, and a controller. The force sensor is used to detect the adsorption force and the thrust force received by the bag body. The vision sensor is used to detect the position of the bag opening of the bag body. The controller is used to adjust the adsorption force, the displacement of the electric push rod, and the output force curve according to the data collected by the force sensor and the vision sensor.

[0008] According to the pneumatic-electricity collaborative driving bag supporting device of the present invention, by setting a pneumatic rough adjustment unit, an electric fine adjustment unit, and a sensing and control unit, the pneumatic driving and the electric driving are integrated, realizing the rapid preliminary opening of the bag body and the precise adjustment of the bag opening position. The sensing and control unit dynamically adjusts the pneumatic-electricity collaborative strategy according to the data collected by the sensors, optimizing the response speed and accuracy of the entire device, making the entire bag supporting process smoother and more precise.

[0009] According to an embodiment of the present invention, the pneumatic rough adjustment unit includes a vacuum suction cup array, a vacuum generator, and a solenoid valve group. The vacuum generator is used to provide a stable negative pressure source. The vacuum suction cup array includes a plurality of suction cups, which are used to adsorb the bag body and preliminarily open the bag body. The solenoid valve group is connected to the suction cups and is used to control the adsorption state of each suction cup.

[0010] According to an embodiment of the present invention, it further includes a dynamic coupling mechanism. The dynamic coupling mechanism includes an elastic coupling and a guide rail. One end of the elastic coupling is connected to the electric push rod, and the other end of the elastic coupling is indirectly connected to the vacuum suction cup array, which is used to generate a small amount of deformation during the preliminary opening stage of the bag body to buffer the impact and reduce the vibration. The guide rail extends along the X direction and is used to limit the movement direction of the electric push rod.

[0011] According to an embodiment of the present invention, the electric push rod adopts a double-stage or multi-stage telescopic structure.

[0012] According to an embodiment of the present invention, it further includes a frame, a slider, and a pneumatic lifting unit. The frame includes an upper beam and a middle frame. The upper beam and the middle frame are arranged on the frame. The upper beam is located above the middle frame. The upper beam extends along the X direction. The motor is arranged on the upper beam. The guide rail is arranged at one end of the upper beam close to the electric push rod. The slider is slidably connected to the guide rail. The pneumatic lifting unit includes a first cylinder and a first pneumatic push rod driven by the first cylinder. The first pneumatic push rod extends along the Z direction. The first cylinder is connected to the slider and is also connected to the elastic coupling.

[0013] According to an embodiment of the present invention, the vacuum suction cup array includes an upper suction cup array and a lower suction cup array. The upper suction cup array is provided at the bottom end of the first pneumatic push rod, and the lower suction cup array is provided outside the middle frame and is disposed opposite to the upper suction cup array.

[0014] According to an embodiment of the present invention, it further includes an inserting knife unit. The inserting knife unit is provided outside the frame. The inserting knife unit includes two inserting knives. One of the inserting knives is used to move along the Y direction to adjust the Y-direction spacing between the two inserting knives; the two inserting knives are used to simultaneously rotate around the Y axis to transfer the bag body.

[0015] A second aspect of the present invention provides a control method for the pneumatic and electric collaborative driving bag-supporting device as described in the first aspect, including: Pneumatic rough adjustment stage: Rapid adsorption and preliminary opening of the bag mouth are performed through the pneumatic suction cup array to achieve rough positioning of the bag mouth; Electric fine adjustment stage: The electric push rod is driven by the motor to adjust the bag mouth to achieve fine positioning of the bag mouth; Dynamic holding stage: The external disturbance is monitored in real time, and the adsorption force and the position of the electric push rod are adjusted to ensure the stability of the bag body posture.

[0016] According to the control method of the pneumatic and electric collaborative driving bag-supporting device of the present invention, the pneumatic rough adjustment stage can prevent the bag body from deforming or slipping, the electric fine adjustment stage can accurately align the bag mouth with the target position, and the dynamic holding stage can ensure the stability of the bag body posture, especially during material filling or external force impact.

[0017] According to an embodiment of the present invention, it further includes: Adopting a lag compensation algorithm to eliminate the vibration generated during the switching process between the pneumatic rough adjustment unit and the electric fine adjustment unit.

[0018] According to an embodiment of the present invention, it further includes enhancing the adaptability and stability of the bag-supporting device through a compensation algorithm. The compensation algorithm includes: Dynamically adjusting the PID parameters according to the material characteristics of the bag body, the environmental temperature and humidity to make the adsorption force reach the control effect; Establishing a non-linear relationship model between the thrust of the electric push rod and the deformation amount of the bag mouth, and using feedforward compensation to eliminate the inertial error; Combining the friction characteristics of the bag body and the factors of environmental change, and using fuzzy self-adaptation to adjust the output ratio of the pneumatic rough adjustment unit and the electric fine adjustment module.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0020] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the following detailed description of the preferred embodiments. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered to be a limitation of the present invention. Also, throughout the drawings, the same reference numerals are used to represent the same components. Wherein: Figure 1 Block diagram of a pneumatic-electricity collaborative driving bag-supporting device proposed by an embodiment of the present invention.

[0021] Figure 2 It is a block diagram of a pneumatic-electricity collaborative driving bag-supporting device proposed by another embodiment of the present invention.

[0022] Figure 3 Front view of a pneumatic-electricity collaborative driving bag-supporting device proposed by an embodiment of the present invention.

[0023] Figure 4 Partial perspective schematic diagram of a pneumatic-electricity collaborative driving bag-supporting device proposed by an embodiment of the present invention.

[0024] Figure 5 Structural schematic diagram of an electric fine-tuning unit related to an embodiment of the present invention.

[0025] Figure 6 Structural schematic diagram of an inserting knife unit related to an embodiment of the present invention.

[0026] Figure 7 Flow schematic diagram of a control method for a pneumatic-electricity collaborative driving bag-supporting device proposed by an embodiment of the present invention.

[0027] Explanation of reference numerals: 10 - Frame, 11 - Upper beam, 12 - Middle frame, 20 - Electric fine-tuning unit, 21 - Motor, 22 - Electric push rod, 23 - Slide block, 24 - Guide rail, 25 - Force sensor, 26 - Vision sensor, 30 - Pneumatic lifting unit, 31 - First cylinder, 32 - First pneumatic push rod, 40 - Upper suction cup array, 41 - Mounting plate, 42 - Upper suction cup, 50 - Lower suction cup array, 51 - Support plate, 52 - Lower suction cup, 60 - Inserting knife unit, 61 - Inserting knife, 62 - Second cylinder, 63 - Second pneumatic push rod, 64 - Rotary cylinder, 70 - Elastic coupling, 80 - Vacuum generator, 100 - Pneumatic-electricity collaborative driving bag-supporting device. Detailed implementation manners

[0028] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention. On the contrary, the embodiments of the present invention include all variations, modifications and equivalents falling within the spirit and scope of the appended claims.

[0029] Reference is made below to Figures 1 to 6 , to describe the pneumatic-electricity collaborative drive bag-supporting device 100 according to an embodiment of the present invention.

[0030] Referring to Figure 1 , the pneumatic-electricity collaborative drive bag-supporting device according to an embodiment of the present invention includes a pneumatic coarse adjustment unit, an electric fine adjustment unit, and a sensing and control unit.

[0031] The pneumatic coarse adjustment unit is used to quickly adsorb the bag body of the packaging bag through negative pressure and generate a preliminary bag-opening action on the bag body. The specific type of the packaging bag is set according to actual needs and is not limited thereto. It can be an ordinary packaging bag or a complex special-shaped bag. In one example, the packaging bags are laid flat and stacked, and the pneumatic coarse adjustment unit opens the bag mouth from the Y direction.

[0032] The electric fine adjustment unit 20 includes a motor 21 and an electric push rod 22 driven by the motor 21, and is used to adjust the bag body according to the bag mouth position of the preliminarily opened bag body, the adsorption force and the thrust received, so that the bag mouth of the bag body is aligned with the target position. The rotation speed of the motor 21 is proportional to the telescopic speed of the electric push rod 22. The telescopic direction of the electric push rod 22 is selected according to actual needs. For example, the electric push rod 22 extends along the X direction, and the X direction is perpendicular to the Y direction. After the pneumatic coarse adjustment unit completes the preliminary bag support, the motor 21 drives the electric push rod 22 to perform precise thrust control according to the visual positioning and force feedback information, and finely adjusts the bag mouth position and angle to ensure that subsequent processes (such as filling and sealing) can proceed smoothly.

[0033] The sensing and control unit includes a force sensor 25, a vision sensor 26 and a controller. The force sensor 25 is used to detect the adsorption force and thrust force received by the bag body. The vision sensor 26 is used to detect the position of the bag mouth of the bag body. The controller is used to adjust the adsorption force, the displacement and the output force curve of the electric push rod 22 according to the data collected by the force sensor 25 and the vision sensor 26. The type of the controller is selected according to actual needs. By way of example, the controller is a microcontroller or a PLC. The force sensor can measure the pressure of the electric push rod 22 on the bag body, is integrated at the end of the electric push rod 22, and can detect the force condition of the bag body in real time, so as to ensure that excessive pressure is not applied during the bag supporting process to prevent the bag body from being damaged. The vision sensor 26 can adopt a high-resolution industrial camera or a laser range finder sensor to detect the deviation of the bag mouth position and provide data support for subsequent precise adjustment. The controller can dynamically adjust the air-electric cooperation strategy according to a compensation algorithm, and the compensation algorithm includes but is not limited to: pneumatic adsorption force PID regulation, feedforward compensation and fuzzy self-adaptive regulation.

[0034] According to the air-electric cooperation driven bag supporting device of the present invention, by arranging a pneumatic rough adjustment unit, an electric fine adjustment unit and a sensing and control unit, the pneumatic drive and the electric drive are integrated, so as to realize the rapid preliminary opening of the bag body and the precise adjustment of the bag mouth position. The sensing and control unit dynamically adjusts the air-electric cooperation strategy according to the data collected by the sensor, optimizes the response speed and accuracy of the whole device, and makes the whole bag supporting process smoother and more accurate.

[0035] As Figure 2 shown, in some embodiments, the pneumatic rough adjustment unit includes a vacuum chuck array, a vacuum generator 80 and a solenoid valve group. The vacuum generator 80 is used to provide a stable negative pressure source. The vacuum chuck array includes a plurality of chucks for adsorbing the bag body and preliminarily opening the bag body. The solenoid valve group is communicated with the chucks and is used to control the adsorption state of each chuck. In one example, the stroke of the pneumatic rough positioning of the bag body by the pneumatic rough adjustment unit is 3-5 times the stroke of the electric fine positioning of the bag body by the electric fine adjustment unit, and the rough positioning speed ≥ 1 m / s.

[0036] The number of the chucks is selected according to actual needs and is not limited thereto. The working frequency of the solenoid valve group is selected to be high frequency, for example, above 200 Hz, which can accurately control the adsorption state of each chuck, so as to complete the pneumatic adjustment within milliseconds, improve the stability of bag supporting, and prevent the bag body from deforming or being damaged. The type of the chucks is set according to actual needs. By way of example, the chucks are made of silica gel material and the outer wall has a corrugated structure to enhance the adhesion to the bag body.

[0037] The gas-electricity collaborative driving bag-supporting device further includes a dynamic coupling mechanism. The dynamic coupling mechanism includes an elastic coupling 70 and a guide rail 24. One end of the elastic coupling 70 is connected to the electric push rod 22, and the other end of the elastic coupling 70 is indirectly connected to the vacuum suction cup array, which is used to generate a small amount of deformation during the initial bag-opening stage to buffer impacts and reduce vibrations. The guide rail 24 extends along the X direction and is used to limit the movement direction of the electric push rod 22 to ensure linear guidance during the electric fine-tuning stage and avoid the attitude deviation of the electric push rod. In one example, the electric push rod 22 adopts a two-stage or multi-stage telescopic structure and can adapt to different telescopic lengths.

[0038] In some embodiments, as shown in Figures 3 to 6 the gas-electricity collaborative driving bag-supporting device further includes a frame 10, a slider 23, and a pneumatic lifting unit 30. The frame 10 includes an upper beam 11 and a middle frame 12. The upper beam 11 and the middle frame 12 are arranged on the frame 10, and the upper beam 11 is located above the middle frame 12. The upper beam 11 extends along the X direction, and the motor 21 is arranged on the upper beam 11. The frame 10 is made of profiles and is the basic structure of the entire device. The length of the upper beam 11 is set according to actual needs.

[0039] The guide rail 24 is arranged at one end of the upper beam 11 close to the electric push rod 22, and the slider 23 is slidably connected to the guide rail 24. The pneumatic lifting unit 30 includes a first cylinder 31 and a first pneumatic push rod 32 driven by the first cylinder 31. The first pneumatic push rod 32 extends along the Z direction, the first cylinder 31 is connected to the slider 23, and the first cylinder 31 is also connected to the elastic coupling 70.

[0040] The vacuum suction cup array includes an upper suction cup array 40 and a lower suction cup array 50. The upper suction cup array 40 is arranged at the bottom end of the first pneumatic push rod 32, and the lower suction cup array 50 is arranged outside the middle frame 12 and is arranged opposite to the upper suction cup array 40. In one example, the upper suction cup array 40 includes a mounting plate 41 and a plurality of upper suction cups 42 arranged along the Y direction. The mounting plate 41 is connected to the end of the first pneumatic push rod 32. The lower suction cup array 50 includes a support plate 51 and a plurality of lower suction cups 52 arranged along the Y direction. The support plate 51 is mounted on the middle frame 12 and is used to support the bag body, and the openings of the lower suction cups 52 face upward.

[0041] As shown in Figure 3 and Figure 4As shown, in some embodiments, the pneumatic and electric collaborative driving bag supporting device further includes a knife inserting unit 60. The knife inserting unit 60 is arranged outside the frame 10. The knife inserting unit 60 includes two knife inserts 61. One of the knife inserts 61 can move along the Y direction to adjust the Y-direction distance between the two knife inserts 61, and the two knife inserts 61 can rotate around the Y axis. The two knife inserts 61 are used to transfer the bag with the opened mouth to the filling position. During operation, one of the knife inserts 61 moves along the Y direction to hold the bag, and then the two knife inserts 61 rotate synchronously around the Y axis to transfer the bag to the filling position. In one example, the knife inserting unit 60 further includes a second air cylinder 62, a second pneumatic push rod 63 driven by the second air cylinder 62, and a rotary air cylinder 64. The rotary air cylinder 64 is connected to the frame 10 and is used to rotate the second air cylinder 62 and the second pneumatic push rod 63 around the Y-axis direction. One end of the second air cylinder 62 fixes one knife insert 61, and the end of the second pneumatic push rod 63 fixes the other knife insert 61.

[0042] Combined with Figures 1 to 7 As shown, an embodiment of the present invention also provides a control method for a pneumatic and electric collaborative driving bag supporting device, including the following steps: Step S110, pneumatic rough adjustment stage: Rapid adsorption and preliminary opening of the bag mouth are performed through the pneumatic suction cup array to achieve rough positioning of the bag mouth.

[0043] In this embodiment, the packaging bag is initially located on the flat plate below the middle frame. The pneumatic lifting unit 30 drives the upper suction cup array 40 to pick up a packaging bag and place it on the support plate 51. The lower suction cup array 50 adsorbs the bottom of the bag body of the packaging bag to preliminarily open the bag mouth. The negative pressure value of the suction cup is controlled in this stage to ensure that the bag mouth can be quickly and stably opened. In this stage, the suction cup adjusts the adsorption force according to the elastic characteristics of the bag body to ensure that the bag body does not deform or slip off.

[0044] Step S120, electric fine adjustment stage: The motor drives the electric push rod to adjust the bag mouth to achieve fine positioning of the bag mouth.

[0045] In this embodiment, in the case where the upper suction cup array 40 and the lower suction cup array 50 adsorb the bag body, the motor 21 drives the electric push rod 22 to perform precise thrust control according to the visual positioning and force feedback information. By moving the electric push rod along the X direction, the position and angle of the bag mouth are finely adjusted. The visual coordinates and the force signal are jointly input into the controller to achieve six-degree-of-freedom compensation (position + attitude) and avoid error accumulation caused by a single sensor.

[0046] In this stage, precise sub-millimeter-level adjustment of the bag body is performed. The electric push rod is combined with the visual sensor. The actual position and force distribution of the bag mouth are detected through the force sensor, and the position of the electric push rod is adjusted according to the real-time feedback to ensure that the bag mouth is precisely aligned with the target position.

[0047] Step S130, dynamic maintenance stage: Continuously monitor external disturbances, adjust the adsorption force and the position of the electric push rod to ensure the stability of the bag's posture.

[0048] In this embodiment, during this stage, the pneumatic coarse adjustment unit enters the pressure-holding mode, while the motor-driven electric push rod maintains the stable position of the bag opening.

[0049] According to the control method of the pneumatic-electric collaborative driving bag-supporting device of the embodiment of the present invention, the pneumatic coarse adjustment stage can prevent the bag from deforming or slipping, the electric fine adjustment stage can accurately align the bag opening with the target position, and the dynamic maintenance stage can ensure the stability of the bag's posture, especially during material filling or external force impact.

[0050] In some embodiments, the control method of the pneumatic-electric collaborative driving bag-supporting device further includes: Step S122, adopt a lag compensation algorithm to eliminate the vibration generated during the switching process between the pneumatic coarse adjustment unit and the electric fine adjustment unit.

[0051] In this embodiment, the lag compensation algorithm avoids the impact caused by direct switching during the process of switching from the pneumatic coarse adjustment unit to the electric fine adjustment unit. By presetting a lag interval, the pneumatic coarse adjustment unit continues to work until a certain threshold is reached, while the electric fine adjustment unit gradually intervenes until it completely takes over.

[0052] In some embodiments, the control method of the pneumatic-electric collaborative driving bag-supporting device further includes step S124, enhancing the adaptability and stability of the bag-supporting device through a compensation algorithm. The compensation algorithm specifically includes: Step S1241, dynamically adjust the PID parameters according to the material characteristics of the bag and the environmental temperature and humidity to make the adsorption force reach the control effect.

[0053] In this embodiment, obtaining the corresponding PID parameters from the database can flexibly adapt to different working conditions and make the adsorption force of the suction cup reach the best control effect.

[0054] Step S1242, establish a non-linear relationship model between the thrust of the electric push rod and the deformation of the bag opening, and use feed-forward compensation to eliminate the inertial error.

[0055] In this embodiment, the inertial error refers to the phenomenon that due to the inertia of the system, the change in the output force of the electric push rod cannot be immediately reflected in the deformation of the bag opening, resulting in delay or overshoot. Using feed-forward compensation can avoid the deviation caused by the too fast or too slow response speed of the electric push rod.

[0056] Step S1243, considering the friction characteristics of the bag and the factors of environmental changes, use fuzzy self-adaptation to adjust the output ratio of the pneumatic coarse adjustment unit and the electric fine adjustment module.

[0057] In this embodiment, the friction characteristic of the bag body mainly refers to the friction coefficient of the bag body material, and the environmental change mainly refers to the changes in temperature and humidity. The fuzzy adaptive control algorithm can automatically adjust according to the working conditions that change in real time without manual intervention, and the output ratio is dynamically adjusted according to the position error and the contact stress.

[0058] As Figure 7 shown, in some embodiments, the control method of the pneumatic-electric collaborative driving bag-supporting device further includes step S140. When the position of the bag body of the packaging bag exceeds the limit value, the bag-supporting device is emergently stopped and an alarm is given; when the adsorption of the bag body of the packaging bag by the pneumatic adjustment unit fails, it is switched to the electric emergency mode.

[0059] In the electric emergency mode, the bag-supporting device can still continue to operate, reducing the downtime.

[0060] It should be noted that in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0061] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or communicable with each other; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0062] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0063] In the description of the present invention, the orientation or positional relationship indicated by the terms "left", "right", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0064] Any process or method description depicted in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where functions may be executed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0065] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0066] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An air-electricity collaborative driving bag-supporting device, characterized in that Comprising: A pneumatic rough adjustment unit for quickly adsorbing the bag body of the packaging bag through negative pressure to generate a preliminary opening action on the bag body; An electric fine adjustment unit (20), including a motor (21) and an electric push rod (22) driven by the motor (21), for adjusting the bag body according to the bag mouth position of the preliminarily opened bag body, the adsorption force and the thrust received, so that the bag mouth of the bag body is aligned with the target position; A sensing and control unit, including a force sensor (25), a vision sensor (26) and a controller. The force sensor (25) is used to detect the adsorption force and the thrust received by the bag body; the vision sensor (26) is used to detect the bag mouth position of the bag body; the controller is used to adjust the adsorption force, the displacement of the electric push rod (22) and the output force curve according to the data collected by the force sensor (25) and the vision sensor (26).

2. The gas-electricity collaborative driving bag-supporting device according to claim 1, wherein, The pneumatic rough adjustment unit includes a vacuum chuck array, a vacuum generator (80) and a solenoid valve group. The vacuum generator (80) is used to provide a stable negative pressure source; the vacuum chuck array includes a plurality of chucks for adsorbing the bag body and preliminarily opening the bag body; the solenoid valve group is communicated with the chucks for controlling the adsorption state of each chuck.

3. The gas-electricity collaborative driving bag-supporting device according to claim 2, wherein It further includes a dynamic coupling mechanism. The dynamic coupling mechanism includes an elastic coupling (70) and a guide rail (24). One end of the elastic coupling (70) is connected to the electric push rod (22), and the other end of the elastic coupling (70) is indirectly connected to the vacuum chuck array, for generating a slight deformation during the preliminary opening stage of the bag body to buffer impact and reduce vibration; The guide rail (24) extends along the X direction for restricting the movement direction of the electric push rod (22).

4. The gas-electricity collaborative driving bag-supporting device according to claim 2, wherein, The electric push rod (22) adopts a two-stage or multi-stage telescopic structure.

5. The air-electricity collaborative driving bag-supporting device according to claim 3, characterized in that, It further includes a frame (10), a slider (23) and a pneumatic lifting unit (30). The frame (10), an upper beam (11) and a middle frame (12). The upper beam (11) and the middle frame (12) are arranged on the frame (10). The upper beam (11) is located above the middle frame (12). The upper beam (11) extends along the X direction. The motor (21) is arranged on the upper beam (11); the guide rail (24) is arranged at one end of the upper beam (11) close to the electric push rod (22). The slider (23) is slidably connected to the guide rail (24); the pneumatic lifting unit (30) includes a first cylinder (31) and a first pneumatic push rod (32) driven by the first cylinder (31). The first pneumatic push rod (32) extends along the Z direction. The first cylinder (31) is connected to the slider (23), and the first cylinder (31) is also connected to the elastic coupling (70).

6. The gas-electricity collaborative driving bag-supporting device according to claim 5, characterized in that, The vacuum chuck array includes an upper chuck array (40) and a lower chuck array (50). The upper chuck array (40) is arranged at the bottom end of the first pneumatic push rod (32). The lower chuck array (50) is arranged outside the middle frame (12) and is arranged opposite to the upper chuck array (40).

7. The air-electricity collaborative driving bag-supporting device according to claim 5, characterized in that It further includes a inserting knife unit (60), which is arranged outside the frame (10). The inserting knife unit (60) includes two inserting knives (61), one of the inserting knives (61) is used to move along the Y direction to adjust the Y-direction distance between the two inserting knives (61); the two inserting knives (61) are used to rotate around the Y axis simultaneously to transfer the bag body.

8. A control method for the pneumatic-electric collaborative driving bag-supporting device according to any one of claims 1 to 7, characterized in that, It includes: Pneumatic rough adjustment stage: Quick adsorption and preliminary opening of the bag mouth are carried out through the pneumatic suction cup array to achieve rough positioning of the bag mouth; Electric fine adjustment stage: The motor drives the electric push rod to adjust the bag mouth to achieve fine positioning of the bag mouth; Dynamic holding stage: The external disturbance is monitored in real time, and the adsorption force and the position of the electric push rod are adjusted to ensure the stability of the bag body posture.

9. The control method of the air-electricity collaborative driving bag-supporting device according to claim 8, characterized in that, It further includes: A hysteresis compensation algorithm is adopted to eliminate the vibration generated during the switching process between the pneumatic rough adjustment unit and the electric fine adjustment unit.

10. The control method of the gas-electricity collaborative driving bag-supporting device according to claim 8, characterized in that, It further includes enhancing the adaptability and stability of the bag supporting device through a compensation algorithm. The compensation algorithm includes: According to the material characteristics of the bag body, the environmental temperature and humidity, the PID parameters are dynamically adjusted to make the adsorption force reach the control effect; A nonlinear relationship model between the thrust of the electric push rod and the deformation of the bag mouth is established, and feedforward compensation is used to eliminate the inertial error; Combined with the friction characteristics of the bag body and the factors of environmental change, the output ratio of the pneumatic rough adjustment unit and the electric fine adjustment module is adjusted by fuzzy self-adaptation.

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