High-flexibility flexible packaging line and design method

Abstract

The invention discloses a design method of a high-flexibility flexible packaging line and the high-flexibility flexible packaging line, and relates to the field of packaging bags, and the high-flexibility flexible packaging line comprises a full-automatic packaging machine A, a full-automatic packaging machine B, a full-automatic packaging machine C, a full-automatic packaging machine D, a curve conveying line, a robot connecting flange, a sliding block, a guide rail and a clamping jaw. A re-inspection scale is arranged at the bottom of the full-automatic packaging machine B, a bag-to-bag conveyor is arranged at one end of the re-inspection scale, and a turning conveyor is arranged at one end of the bag-to-bag conveyor. According to the production line, the compound fertilizer packaging line A and the compound fertilizer packaging line B are standby for each other, and converging of two parallel production lines including the belt line and the curve conveying line is achieved; the upper-layer production line and the lower-layer production line in the space are converged, the two production lines can share one stacking system, a complete clamping jaw system is arranged, the stacking system can be suitable for packaging bags of 5-50 kg in a wide range, the stacking system can correspond to different packaging specifications, and continuous production can be achieved without shutdown.

Description

Technical Field

[0001] The present invention relates to the field of packaging bags, and specifically to a highly flexible flexible packaging line and a design method thereof. Background Art

[0002] The existing flexible packaging lines have problems such as the mismatch between the existing semi - automated packaging lines in the factory and the packaging capacity after a large increase in production volume, the mismatch between the existing semi - automated packaging lines in the factory and the packaging capacity after a large increase in production volume, the increasing number of various production orders in the factory and the need to stop the line for switching during different order productions, the continuous production demand in the factory and the inevitable equipment failures of electromechanical equipment, the urgent need to reduce the production equipment cost and the relatively large required production capacity, the mixing of materials during the confluence of different production line bodies resulting in product chaos, the increasing number of various production orders in the factory and the mismatch between the different order productions that require stopping the line to switch different - sized packaging bags and the clamping range of the grippers, and the increasing number of various production orders in the factory and the need to stop the machine to replace the grippers.

[0003] Traditional packaging lines cannot adapt to various packaging specifications such as 5KG / 25KG / 50KG and packaging materials without replacing any interfaces and modules, cannot be used in combination, interlocked with each other and used as spares between an existing semi - automated packaging line A and a newly built fully - automated packaging line A, named compound fertilizer packaging line A, nor can they be used in combination, interlocked with each other and used as spares between an existing semi - automated packaging line B and a newly built fully - automated packaging line B, named compound fertilizer packaging line B, cannot make compound fertilizer packaging line A and compound fertilizer packaging line B be used as spares for each other, it is difficult to achieve the confluence of two parallel production lines, namely the belt line and the curved conveyor line, and the confluence of the upper and lower layer production lines in space, cannot make two production lines share a set of palletizing systems, do not have a complete gripper system, cannot adapt to 5kg - 50kg packaging bags over a wide range, and it is difficult to continuously produce without stopping the machine for different packaging specifications.

[0004] Therefore, those skilled in the art have provided a highly flexible flexible packaging line and a design method thereof to solve the problems raised in the above background art. Summary of the Invention

[0005] The object of the present invention is to provide a highly flexible flexible packaging line and a design method, so as to solve the problems raised in the above background technology, that is, the traditional packaging line cannot adapt to various packaging specifications of 5KG / 25KG / 50KG and packaging materials without replacing any interfaces and modules, cannot make use of the old semi-automatic packaging line A half and the newly built fully automatic packaging line A full to be combined, interlocked and used as spares for each other, named compound fertilizer packaging line A, nor can the old semi-automatic packaging line B half and the newly built fully automatic packaging line B full be combined, interlocked and used as spares for each other, named compound fertilizer packaging line B, cannot make the compound fertilizer packaging line A and the compound fertilizer packaging line B be used as spares for each other, it is difficult to realize the confluence of two parallel production lines of the belt line and the curved conveyor line, the upper and lower layer production line confluence in space, cannot make the two production lines share a set of palletizing systems, does not have a complete gripper system, cannot adapt to 5kg-50kg packaging bags in a wide range, and it is difficult to continuously produce without stopping the machine corresponding to different packaging specifications.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A highly flexible flexible packaging line, including fully automatic packaging machine A, fully automatic packaging machine B, fully automatic packaging machine C, fully automatic packaging machine D, curved conveyor line, robot connection flange and slider, guide rail and gripper, characterized in that a recheck scale is provided at the bottom of the fully automatic packaging machine B, an inverted bag conveyor is provided at one end of the recheck scale, a turning conveyor is provided at one end of the inverted bag conveyor, a climbing conveyor is provided at one end of the turning conveyor, a confluence roller conveyor A is provided at one end of the climbing conveyor, a fully automatic packaging machine A is provided on one side of the confluence roller conveyor A, an iron pallet warehouse is provided at one end of the confluence roller conveyor A, a variable pitch gripper A is provided at the top side of the iron pallet warehouse, a palletizing robot A is provided at one end of the variable pitch gripper A, a sewing conveyor is provided at one end of the fully automatic packaging machine C, a rejection conveyor is provided at one end of the sewing conveyor, a confluence roller conveyor B is provided at one end of the rejection conveyor, a sewing and heat-sealing conveyor is provided at one end of the fully automatic packaging machine D, a confluence roller conveyor B is provided at one end of the sewing and heat-sealing conveyor, a wooden pallet warehouse is provided at one end of the confluence roller conveyor B, an end pressing conveyor A and an end pressing conveyor B are provided at the top of the wooden pallet warehouse, a variable pitch gripper B is provided at the top of the end pressing conveyor A and the end pressing conveyor B, a palletizing robot B is provided at one end of the variable pitch gripper B, a rotating shaft is provided at one end of the curved conveyor line, a support frame is provided at one end of the rotating shaft, a rotating cylinder is rotatably connected to one end of the rotating shaft, a fixed frame is provided on the outer wall of the rotating cylinder, an upper turning plate is sleeved on the outer wall of the rotating shaft, a lower turning plate is fixedly connected to the outer wall of the upper turning plate, a belt conveyor is provided on the top surface of one end of the fixed frame, baffles are provided on both sides of the belt conveyor, a side variable pitch gripper A is provided on one side of the robot connection flange, a side variable pitch gripper B is provided on the other side of the robot connection flange, a rocker is provided at the top of the gripper, a rotating shaft is provided at the top end of the gripper, a cylinder is provided at one end of the rotating shaft, an oil pressure buffer is provided on one side of the top of the gripper, a guide rail and a slider are provided at the top of the gripper, a rack is provided inside the guide rail, a gear is provided inside the rack, a speed reducer is provided at the bottom of the gear, a motor is provided at one end of the speed reducer, and a pressing plate is provided on one side of the top end of the gripper.

[0008] As a preferred embodiment of the present invention: The fully automatic packaging machine A and the fully automatic packaging machine B have the same structure, and the fully automatic packaging machine C and the fully automatic packaging machine D have the same structure.

[0009] As a preferred embodiment of the present invention: The confluence roller conveyor A and the confluence roller conveyor B have the same structure, and the confluence roller conveyor A and the confluence roller conveyor B are symmetrically arranged relative to each other.

[0010] As a preferred embodiment of the present invention: The variable pitch gripper A and the variable pitch gripper B have the same structure, and the palletizing robot A and the palletizing robot B have the same structure.

[0011] As a preferred embodiment of the present invention: The confluence roller conveyor A includes a curved conveyor line, a support frame, a rotating shaft, an upper flap, a fixed frame, a rotating cylinder, a lower flap, a belt conveyor line, and a baffle.

[0012] As a preferred embodiment of the present invention: The rotating shaft and the rotating cylinder are located on the same vertical central axis, and the included angle between the upper flap and the lower flap is 90°.

[0013] As a preferred embodiment of the present invention: The variable pitch gripper A includes a robot connection flange, a side variable pitch gripper A, and a side variable pitch gripper B. The side variable pitch gripper A and the side variable pitch gripper B have the same structure, and the side variable pitch gripper A and the side variable pitch gripper B are arranged opposite to each other.

[0014] As a preferred embodiment of the present invention: The side variable pitch gripper A includes a slider, a guide rail, a rotating shaft, an oil buffer, a rocker, a gripper, a pressing plate, a motor, a cylinder, a reducer, a gear, and a rack.

[0015] A design method for a highly flexible flexible packaging line includes the following steps:

[0016] S1: Raw material replenishment step; The product to be packaged this time is granular compound fertilizer, which has certain corrosiveness. Therefore, in this solution, except for plastic parts, proximity switches, photoelectric switches, etc. that cannot use stainless steel, stainless steel products are used for production. The silo, as a device for storing raw materials, needs to be subjected to material level detection to ensure that the silo liquid level is sufficient. If the silo is emptied, the unit will automatically stop. The silo solution is equipped with a low material level. When the material in the silo is lower than the low material level, the material level sensor outputs a low material level signal, and the packaging machine touch screen alarms and displays a low material level alarm to prevent inaccurate metering caused by too little material; When it is necessary to empty the silo, open the empty silo button on the touch screen, and the device will automatically ignore the material level sensor signal;

[0017] S2: Packaging step; An automatic bag supply solution is adopted, with two bag bins. Workers only need to place the packaging bags in the bag bins. When the bag supply mechanism detects that there are no packaging bags in the current bag bin, it will execute the bag bin change action through the bag bin change lever to move the packaging bags in the spare bin to the bag library. And an alarm will be given to prompt the worker to place new packaging bags in the spare bin; In the first step of the bag supply method, the bag is taken from the bottom to prevent bag adhesion from affecting the extraction of the next bag. After the bag is taken out, the roller bag takes the bag out of the bag library as a whole. The traditional roller chain uses a chain, which has problems such as high noise, easy rusting and rust spots, and pollution to the packaging bags. The company independently developed a rubber roller chain through mold opening, which is mainly produced by vulcanization process between 7 steel wires and rubber. It has the advantages of silent operation, corrosion resistance, no pollution to the packaging bags, and can meet the packaging requirements of different materials. After the packaging machine detects the bags in the bag library, it automatically starts the bag taking and roller bag processes to the material discharge port of the packaging machine, and then proceeds with the bag opening, bag stretching, and bag sleeving processes. After the processes are satisfied, bag feeding and bag sleeving are carried out, and the bag clamping is judged. After successful bag clamping, the weighed material is released; In the second step of the bag opening method, a vacuum pump is used as the negative pressure source, and the opening and closing of the vacuum are controlled by the on-off of the solenoid valve. The company independently developed the bag opening suction cup, which has high strength and softness, and significantly improved sealing performance and durability; In the third step of the bag loading method, an inner support plate is used to fix the bag, which has stronger universality for the bag and has no requirements for the hardness and softness of the bag. The traditional bag loading requires a 90° rotation, with problems such as high hanging bag rate and complex structure. The company independently developed a bag clamping mechanism that only needs to rotate 45° in cooperation with the bag loading, which improves the bag loading success rate, reduces the labor intensity of workers and the waste of packaging bags caused by unsuccessful bag loading. The overall structure is simple and easy to maintain, and does not require professional maintenance personnel; In the fourth step of the bag clamping method, an integrated connecting rod is used to combine multiple actions into one action. The bag clamping opening can rotate at a 45° inclination angle to coincide with the 45° inclination angle of the bag loading, which improves the bag loading rate and production efficiency; In the fifth step of the weighing method, the discharge door of the weighing hopper uses a 45° conical opening for the bottom discharge door, which is controlled by a vertical cylinder. The discharge speed is very fast, and the vibration generated by the cylinder will not affect the weighing accuracy. The electronic scale consists of a weighing system mechanical component, a sensor, and a weighing control instrument system.The combined cylinder and vibration motor control the feeding accuracy. The material is fed from the distributor hopper, enters the feeding mechanism through the flow regulating valve, then enters the weighing hopper through the feeding door. The weighing instrument of the weighing sensor connected to the weighing hopper sends out a weight change signal, and the feeding door is controlled by the preset value of the weighing instrument. When the weighing is completed, the weighing hopper door opens, and the material enters the empty bag on the bag clamping mechanism through the buffer filling hopper; In the sixth step of the sewing method, the sewing machine uses a special chain drive to ensure the stability of the material bag clamping and conveying and the coordinated movement of each mechanism, thus ensuring the sealing quality. Without manual intervention, it can stop or start at any time to ensure effective and correct thread cutting, avoid manual remedial thread cutting for missed cutting, realize high-speed hemming of the packaging bag, and can stop or resume starting at any time during the packaging process and continue the previous work process. Thread breakage detection can manually adjust the height of the hemming machine and the sewing machine; Pause at any time during the packaging operation to facilitate equipment inspection and processing; Independently set three mechanical buttons for start, stop, and emergency stop for easy use; It has upstream and downstream interlocking functions;

[0018] S3: Conveying step; After the feeding is completed, it enters the heat-sealing, sewing, and hemming machine for hemming and sewing. The whole line is composed of conveying components such as inverted bag conveying, climbing conveying, pressing bag conveying, grasping conveying, re-selection weighing, and unqualified rejection conveying. After sewing, it enters horizontal inverted bagging, and then enters the on-line weight detection mechanism for weight detection. Unqualified products in terms of weight are rejected, and qualified products enter the subsequent conveying. After pressing and shaping, they are waiting for the code line, waiting for the robot arm to grab and stack;

[0019] S4: Stacking step; The whole line is equipped with a pallet library, empty pallet conveying, stacking conveying, pallet heavy-load conveying, and fork-lifting conveyor. The stacking robot uses a single-grab mode to grab the bagged materials on the waiting-for-code line and place the bagged materials on the pallet in sequence according to the set formula process. The on-site workers place the pallet in the automatic pallet library, and the conveyor in the library conveys the empty pallet in the pallet library to the set position. The stacking robot places the materials on the empty pallet. When the stacking is completed, the pallet passes through the out-stack conveyor and is automatically conveyed to the designated position, waiting for the forklift to pick it up. At the same time, the conveyor in the library automatically replenishes the empty pallet to the set position;

[0020] S5: Dust removal step; The dust removal mainly focuses on dredging to create a negative pressure environment in the whole feeding channel. The dust removal ports are configured as follows: The electronic scale is equipped with a group of dust removal ports, the transition bin is equipped with a group of dust removal ports, there is a sandwich in the feeding channel, and a group of dust removal ports are arranged outside the sandwich. Each device is allocated an independent cabinet-type dust removal air volume of 1000m 3 / hour, installed nearby for convenient dust collection and maintenance;

[0021] S6: Reuse step; For the original two semi - automated production lines in the factory, on the basis of the original reused equipment, 4 sets of curved conveyors, 2 sets of transition conveyors, 2 sets of slope bag conveyors and 2 sets of dust removal systems and pipelines need to be added. The original semi - automated production line and the newly built fully automated packaging line can achieve one - key switching; The original semi - automated production line and the newly built fully automated packaging line have corresponding interlocking mechanisms and overall equipment linkage functions.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] A highly flexible flexible packaging line and design method of the present invention can change the characteristics that the traditional packaging line cannot adapt to various packaging specifications of 5KG / 25KG / 50KG and packaging materials without replacing any interfaces and modules. One reused semi - automated packaging line A half and one newly built fully automated packaging line A full are used in combination, interlocked with each other and used as spares for each other, named compound fertilizer packaging line A. One reused semi - automated packaging line B half and one newly built fully automated packaging line B full are used in combination, interlocked with each other and used as spares for each other, named compound fertilizer packaging line B. It realizes that compound fertilizer packaging line A and compound fertilizer packaging line B are used as spares for each other, the confluence of two parallel production lines of the belt line and the curved conveyor line, and the confluence of the upper and lower layer production lines in space. It can make the two production lines share a set of palletizing systems and has a complete jaw system, which can widely adapt to 5kg - 50kg packaging bags and can continuously produce without stopping corresponding to different packaging specifications. Brief Description of the Drawings

[0024] By reading the detailed description of the non - restrictive embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0025] Figure 1 It is a three - dimensional structure schematic diagram of the overall high - flexibility flexible packaging line and design method;

[0026] Figure 2 It is a three - dimensional structure schematic diagram of the confluence roller conveyor A in a high - flexibility flexible packaging line and design method;

[0027] Figure 3 It is an isometric side - view structure schematic diagram of the confluence roller conveyor A in a high - flexibility flexible packaging line and design method;

[0028] Figure 4 It is a three - dimensional structure schematic diagram of the variable - pitch gripper A in a high - flexibility flexible packaging line and design method.

[0029] Figure 5 It is an isometric side - view structure schematic diagram of the variable - pitch gripper A in a high - flexibility flexible packaging line and design method.

[0030] Figure 6 It is a three-dimensional structural schematic diagram inside the variable pitch gripper A in a highly flexible flexible packaging line and its design method.

[0031] In the figure: 1. Automatic packaging machine A; 2. Automatic packaging machine B; 3. Automatic packaging machine C; 4. Automatic packaging machine D; 5. Re-inspection scale; 6. Bag-turning conveyor; 7. Incline conveyor; 8. Converging roller conveyor A; 801. Curved conveyor line; 802. Support frame; 803. Rotating shaft; 804. Upper flap; 805. Fixed frame; 806. Rotary cylinder; 807. Lower flap; 808. Belt conveyor; 809. Baffle; 9. Iron pallet warehouse; 10. Variable pitch gripper A; 1001. Robot connection flange; 1002. Side variable pitch gripper A; 10021. Slide block; 10022. Guide rail; 10023. Rotating shaft; 10024. Hydraulic buffer; 10025. Rocker; 10026. Gripper; 10027. Pressure plate; 10028. Motor; 10029. Cylinder; 100210. Reducer; 100211. Gear; 100212. Rack; 1003. Side variable pitch gripper B; 11. Palletizing robot A; 12. Sewing bag conveyor; 13. Rejection conveyor; 14. Converging roller conveyor B; 15. Sewing bag heat-sealing conveyor; 16. Wooden pallet warehouse; 17. End pressing bag conveyor A; 18. End pressing bag conveyor B; 19. Palletizing robot B; 20. Variable pitch gripper B; 21. Turning conveyor. Specific implementation manners

[0032] Please refer to Figure 1-6, in the embodiment of the present invention, a highly flexible flexible packaging line and a design method thereof include a full-automatic packaging machine A1, a full-automatic packaging machine B2, a full-automatic packaging machine C3, a full-automatic packaging machine D4, a curved conveyor line 801, a robot connection flange 1001, a slider 10021, a guide rail 10022, and a gripper 10026. A recheck scale 5 is provided at the bottom of the full-automatic packaging machine B2. An inverted bag conveyor 6 is provided at one end of the recheck scale 5. A turning conveyor 21 is provided at one end of the inverted bag conveyor 6. A climbing conveyor 7 is provided at one end of the turning conveyor 21. A confluence roller conveyor A8 is provided at one end of the climbing conveyor 7. Material A is conveyed to the front end of the lower belt conveyor through equipment such as the full-automatic packaging machine, the recheck scale 5, the sewing and heat-sealing conveyor 15, and the inverted bag conveyor 6. Material B is conveyed to the front end of the upper roller conveyor through equipment such as the semi-automatic packaging machine, the recheck scale 5, the inverted bag conveyor 6, the turning conveyor 21, and the climbing conveyor 7. The packaging bags A and B are released according to the current production strategy, and reach the palletizing area through equipment such as the shared square roller conveyor, the end pressing conveyor A17, the end pressing conveyor A18, and the palletizing conveyor. The turning confluence conveyor is the key node for the confluence and integration of two lines. The production beat of this project is fast. The palletizing speed of a traditional production line equipped with one robot can no longer keep up with the production beat. Equipping two production lines with two robots requires adding a production line, a palletizing pallet library, robots, working sites, etc., which will cause huge waste in terms of economy, space, energy consumption, etc.On one side of the confluence roller conveyor A8, there is a full-automatic packaging machine A1. At one end of the confluence roller conveyor A8, there is an iron pallet warehouse 9. On one side of the top of the iron pallet warehouse 9, there is a variable pitch gripper A10. At one end of the variable pitch gripper A10, there is a palletizing robot A11. At one end of the full-automatic packaging machine C3, there is a sewing conveyor 12. At one end of the sewing conveyor 12, there is a rejection conveyor 13. At one end of the rejection conveyor 13, there is a confluence roller conveyor B14. At one end of the full-automatic packaging machine D4, there is a sewing and heat-sealing conveyor 15. At one end of the sewing and heat-sealing conveyor 15, there is a confluence roller conveyor B14. At one end of the confluence roller conveyor B14, there is a wooden pallet warehouse 16. On the top of the wooden pallet warehouse 16, there are an end pressing conveyor A17 and an end pressing conveyor B18. On the top of the end pressing conveyor A17 and the end pressing conveyor B18, there is a variable pitch gripper B20. At one end of the variable pitch gripper B20, there is a palletizing robot B19. At one end of the curved conveyor line 801, there is a rotating shaft 803. At one end of the rotating shaft 803, there is a support frame 802. One end of the rotating shaft 803 is rotatably connected to a rotating cylinder 806. On the outer wall of the rotating cylinder 806, there is a fixed frame 805. The outer wall of the rotating shaft 803 is sleeved with an upper flap 804. The outer wall of the upper flap 804 is fixedly connected to a lower flap 807. On the top surface of one end of the fixed frame 805, there is a belt conveyor line 808. On both sides of the belt conveyor line 808, there are baffles 809. This solution combines two lines into one line and shares a single palletizing operation area, which can improve operation efficiency, flexibility, safety, and economy. It concentrates the materials from two production lines onto one conveyor line. Due to insufficient production capacity of the front-end production equipment, the back-end palletizing operation is not fully saturated, wasting the high production capacity of the robot. This equipment can increase the conveying efficiency by 80% under the production strategy of double-opening the production line. When one of the line bodies is not working, it can be blocked. When the materials of the lower conveyor line are needed, the lower conveyor line is opened for feeding, and the upper conveyor line is blocked from feeding. If one of the production lines fails or the production equipment needs maintenance, the other production line can still independently complete the production task, avoiding the shutdown of the entire production line. On one side of the robot connection flange 1001, there is a side variable pitch gripper A1002. On the other side of the robot connection flange 1001, there is a side variable pitch gripper B1003. On the top of the gripper 10026, there is a rocker 10025. At the top end of the gripper 10026, there is a rotating shaft 10023. At one end of the rotating shaft 10023, there is a cylinder 10029. On one side of the top of the gripper 10026, there is an oil pressure buffer 10024. On the top of the gripper 10026, there are a guide rail 10022 and a slider 10021. Inside the guide rail 10022, there is a rack 100212. Inside the rack 100212, there is a gear 100211. At the bottom of the gear 100211, there is a speed reducer 100210. At one end of the speed reducer 100210, there is a motor 10028. On one side of the top end of the gripper 10026, there is a pressing plate 10027.

[0033] Fully automatic packaging machines A1 and B2 share the same structure, while fully automatic packaging machines C3 and D4 share the same structure. Converging roller conveyors A8 and B14 share the same structure and are arranged symmetrically. Simultaneous operation of two lines reduces fatigue on production equipment, extends equipment life, and improves production efficiency. Traditionally, the palletizing speed of a single robot equipped with a single gripper has been insufficient to keep pace with production. Installing two robots requires additional palletizing storage, robots, and workspace, resulting in significant waste in terms of cost, space, and energy consumption. A single robot equipped with dual grippers improves efficiency, flexibility, safety, and cost-effectiveness in palletizing operations. Dual grippers can simultaneously grasp two bags, reducing the number of round trips by the robot arm and shortening the palletizing cycle time. This makes them particularly suitable for high-speed production lines or high-density cargo handling scenarios. On this packaging line, a traditional single gripper can handle 400 pieces per hour; a dual gripper can increase this to 600-700 pieces per hour. The variable-pitch gripper A10 and the variable-pitch gripper B20 have the same structure, and the palletizing robot A11 and the palletizing robot B19 have the same structure. The converging roller conveyor A8 includes a curved conveyor line 801, a support frame 802, a rotating shaft 803, an upper flap 804, a fixed frame 805, a rotating cylinder 806, a lower flap 807, a belt conveyor line 808, and a baffle 809. The rotating shaft 803 and the rotating cylinder 806 are located on the same vertical central axis, and the angle between the upper flap 804 and the lower flap 807 is 90°. Both the A and B jaws of this double gripper are variable-pitch grippers that can quantitatively adjust the width of the bag they clamp, with a width range of 300mm-600mm, adapting to the vast majority of packaging bag specifications in the market. Traditional grippers have a fixed clamping width, poor versatility, and a narrow application range. If one of the grippers fails, the other gripper can still independently complete emergency handling, avoiding shutdown of the entire production line. The synchronized force applied by the two grippers reduces the load pressure on a single gripper, extending the life of the equipment. The variable-pitch gripper A10 includes a robot connection flange 1001, a side variable-pitch gripper A1002, and a side variable-pitch gripper B1003. The side variable-pitch grippers A1002 and B1003 have identical structures and are positioned relative to each other. The side variable-pitch gripper A1002 includes a slider 10021, a guide rail 10022, a rotating shaft 10023, a hydraulic buffer 10024, a rocker 10025, a gripper 10026, a pressure plate 10027, a motor 10028, a cylinder 10029, a reducer 100210, a gear 100211, and a rack 100212.

[0034] A design method for a highly flexible packaging line includes the following steps:

[0035] S1: Raw material supplement step; The product of this packaging is granular compound fertilizer, which has certain corrosiveness. Therefore, in this solution, except for plastic parts, proximity switches, photoelectric switches, etc. that cannot use stainless steel, all are made of stainless steel products. As a device for storing raw materials, the silo needs to be subjected to material level detection to ensure that the liquid level in the silo is sufficient. Once the silo is empty, the unit will automatically stop. The silo solution is equipped with a low material level. When the material in the silo is lower than the low material level, the material level sensor outputs a low material level signal, and the touch screen of the packaging machine alarms and displays a low material level alarm to prevent inaccurate metering caused by too little material; If it is necessary to empty the silo, open the empty silo button on the touch screen, and the device will automatically ignore the signal of the material level sensor;

[0036] S2: Packaging step; An automatic bag supply solution is adopted, with two bag warehouses. Workers only need to place the packaging bags in the bag warehouses. When the bag supply mechanism detects that there are no packaging bags in the current bag warehouse, it will execute the warehouse change action through the warehouse change lever to move the packaging bags in the spare warehouse to the bag library. And an alarm will be given to prompt the worker to place new packaging bags in the spare warehouse; In the first step of the bag supply method, the method of taking the bag from the bottom of the bag is adopted to prevent the bags from sticking together and affecting the extraction of the next bag. After the bag is taken out, the roller bag is used to take the bag out of the bag library as a whole. The traditional roller chain uses a chain, which has problems such as high noise, easy rusting and rust spots, and pollution to the packaging bags. The company independently developed a rubber roller chain through mold opening. It is mainly produced by vulcanization technology between 7 steel wires and rubber, with the advantages of silent operation, corrosion resistance, no pollution to the packaging bags, and can meet the packaging requirements of different materials. After the packaging machine detects the bags in the bag library, it automatically starts the bag taking and roller bag processes to the feeding port of the packaging machine, and then proceeds with the bag opening, bag stretching, and bag sleeving processes. After the processes are satisfied, the bag is sent and sleeved, and the bag clamping is judged. After the bag clamping is successful, the weighed material is released; In the second step of the bag opening method, a vacuum pump is used as the negative pressure source, and the opening and closing of the vacuum are controlled by the on-off of the solenoid valve. The company independently developed the bag opening suction cup, which has high strength and softness, and greatly improves the sealing performance and durability; In the third step of the bag loading method, an inner support plate is used to fix the bag, which has stronger versatility for the bag and has no requirements for the hardness and softness of the bag. The traditional bag loading requires a 90° rotation, with problems such as high hanging bag rate and complex structure. The company independently developed a bag clamping mechanism that only needs to rotate 45° in cooperation with the bag loading, which improves the bag loading success rate, reduces the labor intensity of workers and the waste of packaging bags caused by unsuccessful bag loading. The overall structure is simple and easy to maintain, and does not require professional maintenance personnel; In the fourth step of the bag clamping method, an integrated connecting rod is used to combine multiple actions into one action. The bag clamping mouth can rotate at a 45° inclination angle to coincide with the 45° inclination angle of the bag loading, which improves the bag loading rate and production efficiency; In the fifth step of the weighing method, the discharging door of the weighing hopper uses a 45° conical shape to open the bottom discharging door, which is controlled by a vertical cylinder. The discharging speed is very fast, and the vibration generated by the cylinder will not affect the weighing accuracy. The electronic scale consists of a weighing system mechanical component, a sensor, and a weighing control instrument system.The combined cylinder and vibration motor control the feeding accuracy. The material is fed from the distributing hopper, enters the feeding mechanism through the flow regulating valve, then passes through the feeding door into the weighing hopper. The weighing instrument connected to the weighing sensor of the weighing hopper sends out a weight change signal, and the feeding door is controlled by the preset value of the weighing instrument. When the weighing is completed, the weighing hopper door opens, and the material enters the empty bag on the bag clamping mechanism through the buffer filling hopper; In the sixth step of the sewing method, the sewing machine adopts a special chain drive to ensure the stability of the bag clamping and conveying and the coordinated operation of each mechanism, thus ensuring the sealing quality. Without manual intervention, it can stop or start at any time to ensure effective and correct thread cutting, avoid manual remedial thread cutting for missed cutting, achieve high-speed hemming of the packaging bag, and can stop or resume startup at any time during the packaging process and continue the previous work process. There is a thread break detection, and the height of the hemming machine and sewing machine can be manually adjusted; Pause at any time during the packaging operation for convenient equipment inspection and processing; There are three mechanical buttons for start, stop, and emergency stop, which are convenient to use; It has an upstream and downstream interlock function;

[0037] S3: Conveying step; After the feeding is completed, it enters the heat-sealing, sewing, and hemming machine for hemming and sewing. The whole line is composed of components such as reverse bag conveying, climbing conveying, pressing bag conveying, grasping conveying, re-selection weighing, and unqualified rejection conveying. After sewing, it enters the horizontal reverse bag, and then enters the on-line weight detection mechanism for weight detection. Unqualified products in terms of weight are rejected, and qualified products enter the subsequent conveying. After pressing and shaping, they are waiting for the code line, waiting for the robot arm to grasp and stack;

[0038] S4: Stacking step; The whole line is equipped with a pallet library, empty pallet conveying, stacking conveying, pallet heavy-load conveying, and fork conveyor. The stacking robot, the robot base, the robot gripper, the safety guardrail. The robot arm uses a single-grip mode to grasp the bagged materials on the waiting-for-stack line and place the bagged materials on the pallet in sequence according to the set formula process. The on-site workers place the pallet in the automatic pallet library, and the conveyor in the library conveys the empty pallet in the pallet library to the set position. The stacking robot places the materials on the empty pallet. When the stacking is completed, the pallet passes through the out-stack conveyor and is automatically conveyed to the designated position, waiting for the forklift to pick up. At the same time, the conveyor in the library automatically replenishes the empty pallet to the set position;

[0039] S5: Dust removal step; The dust removal mainly focuses on dredging to create a negative pressure environment in the entire feeding channel. The dust removal ports are configured as follows: The electronic scale is equipped with a group of dust removal ports, the transition bin is equipped with a group of dust removal ports, there is an interlayer in the feeding channel, and a group of dust removal ports are arranged outside the interlayer. Each device is allocated an independent cabinet-type dust removal air volume of 1000m 3 / hour, installed nearby for convenient dust collection and maintenance;

[0040] S6: Reuse steps; for the factory's two original semi-automatic production lines, 4 sets of curved conveyors, 2 sets of transition conveyors, 2 sets of slope bag conveyors and 2 sets of dust removal systems and pipelines need to be added on the basis of the original reused equipment. The original semi-automatic production line and the newly built fully automatic packaging line can be switched with one button; the original semi-automatic production line and the newly built fully automatic packaging line have corresponding interlocking mechanisms and overall equipment linkage functions.

[0041] It should be noted that the present invention is a highly flexible flexible packaging line and design method, including 1. fully automatic packaging machine A; 2. fully automatic packaging machine B; 3. fully automatic packaging machine C; 4. fully automatic packaging machine D; 5. re-inspection scale; 6. bag-turning conveyor; 7. climbing conveyor; 8. converging roller conveyor A; 801. curved conveyor line; 802. support frame; 803. rotating shaft; 804. upper flap; 805. fixed frame; 806. rotating cylinder; 807. lower flap; 808. belt conveyor line; 809. baffle; 9. iron pallet warehouse; 10. variable pitch gripper A; 1001. robot connecting flange; 1002. side variable pitch gripper A; 10021. slider; 10022. guide rail; 10023. rotating shaft; 10024. oil pressure buffer Punch; 10025, rocker; 10026, gripper; 10027, pressure plate; 10028, motor; 10029, cylinder; 100210, reducer; 100211, gear; 100212, rack; 1003, side variable pitch gripper B; 11, palletizing robot A; 12, bag sewing conveyor; 13, rejection conveyor; 14, converging roller conveyor B; 15, bag sewing and heat sealing conveyor; 16, wooden pallet warehouse; 17, end-stage pressing conveyor A; 18, end-stage pressing conveyor B; 19, palletizing robot B; 20, variable pitch gripper B; 21, turning conveyor. All components are universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0042] The working principle of the present invention is as follows: Material A is conveyed to the front end of the lower belt conveyor through equipment such as a fully automatic packaging machine, a re-inspection scale 5, a sewing and heat-sealing conveyor 15, and an upending conveyor 6. Material B is conveyed to the front end of the upper roller conveyor line through equipment such as a semi-automatic packaging machine, a re-inspection scale 5, an upending conveyor 6, a turning conveyor 21, and a climbing conveyor 7. According to the current production strategy, packaging bags A and B are released and reach the palletizing area through shared square roller conveyors, end pressing conveyors A17 and A18, palletizing conveyors, etc. The turning confluence conveyor line is the key node for the confluence and integration of the two lines. The production beat of this project is fast, and the palletizing speed of a traditional production line equipped with one robot can no longer keep up with the production beat. Equipping two production lines with two robots requires adding a production line, a palletizing pallet library, robots, working sites, etc., which will cause huge waste in terms of economy, space, energy consumption, etc. This solution can improve operation efficiency, flexibility, safety, and economy by confluencing the two lines into one line and sharing a palletizing operation area, and concentrating the materials of the two production lines onto one conveyor line. Due to insufficient production capacity of the front-end production equipment, the palletizing operation at the back end is not saturated, wasting the high-efficiency production capacity of the robots. This equipment can increase the conveying efficiency by 80% under the production strategy of double-line operation. When one of the line bodies stops working, it can be blocked. When the materials of the lower conveyor line are needed, the lower conveyor line is opened for feeding, and the upper conveyor line is blocked from feeding. If one of the production lines fails or the production equipment needs maintenance, the other production line can still independently complete the production task, avoiding the shutdown of the entire production line. Simultaneous construction of the two lines can reduce the fatigue strength of the production equipment, extend the equipment life, and improve production efficiency. The palletizing speed of a traditional robot equipped with one gripper can no longer keep up with the production beat. Equipping two robots requires adding a palletizing pallet library, robots, working sites, etc., which will cause huge waste in terms of economy, space, energy consumption, etc. A robot equipped with double grippers can improve operation efficiency, flexibility, safety, and economy in palletizing operations. The double grippers can simultaneously grab two packaging bags, reducing the number of round trips of the robotic arm and shortening the single palletizing cycle time, especially suitable for high-speed production lines or scenarios of handling high-density goods. In this packaging line, the traditional single gripper can handle 400 pieces per hour, while the double grippers can increase it to 600 - 700 pieces. Both grippers A and B of the double grippers are variable-distance grippers, which can respectively and quantitatively adjust the width of the bag clamping, with a width range of 300mm - 600mm, adapting to most of the packaging bag specifications in the market. The traditional gripper has a fixed clamping width, poor versatility, and a narrow application range. If one of the grippers fails, the other gripper can still independently complete the emergency handling, avoiding the shutdown of the entire production line. The synchronous force application of the double grippers can reduce the load pressure on a single gripper and extend the equipment life.

[0043] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, making equivalent substitutions or changes should be covered within the protection scope of the present invention.

Claims

1. A highly flexible flexible packaging line, comprising a full-automatic packaging machine A (1), a full-automatic packaging machine B (2), a full-automatic packaging machine C (3), a full-automatic packaging machine D (4), a curved conveyor line (801), a robot connection flange (1001), and a slider (10021), a guide rail (10022), and a gripper (10026), characterized in that, At the bottom of the fully automatic packaging machine B(2), there is a re-inspection scale (5). At one end of the re-inspection scale (5), there is an inverted bag conveyor (6). At one end of the inverted bag conveyor (6), there is a turning conveyor (21). At one end of the turning conveyor (21), there is a climbing conveyor (7). At one end of the climbing conveyor (7), there is a confluence roller conveyor A(8). On one side of the confluence roller conveyor A(8), there is a fully automatic packaging machine A(1). At one end of the confluence roller conveyor A(8), there is an iron pallet warehouse (9). At the top side of the iron pallet warehouse (9), there is a variable pitch gripper A(10). At one end of the variable pitch gripper A(10), there is a palletizing robot A(11). At one end of the fully automatic packaging machine C(3), there is a sewing bag conveyor (12). At one end of the sewing bag conveyor (12), there is an ejection conveyor (13). At one end of the ejection conveyor (13), there is a confluence roller conveyor B(14). At one end of the fully automatic packaging machine D(4), there is a sewing bag heat-sealing conveyor (15). At one end of the sewing bag heat-sealing conveyor (15), there is a confluence roller conveyor B(14). At one end of the confluence roller conveyor B(14), there is a wooden pallet warehouse (16). At the top of the wooden pallet warehouse (16), there are an end pressing bag conveyor A(17) and an end pressing bag conveyor B(18). At the top of the end pressing bag conveyor A(17) and the end pressing bag conveyor B(18), there is a variable pitch gripper B(20). At one end of the variable pitch gripper B(20), there is a palletizing robot B(19). At one end of the curved conveyor line (801), there is a rotating shaft (803). At one end of the rotating shaft (803), there is a support frame (802). One end of the rotating shaft (803) is rotatably connected to a rotating cylinder (806). On the outer wall of the rotating cylinder (806), there is a fixed frame (805). The outer wall of the rotating shaft (803) is sleeved with an upper turning plate (804). The outer wall of the upper turning plate (804) is fixedly connected to a lower turning plate (807). At the top surface of one end of the fixed frame (805), there is a belt conveyor line (808). On both sides of the belt conveyor line (808), there are baffles (809). On one side of the robot connection flange (1001), there is a side variable pitch gripper A(1002). On the other side of the robot connection flange (1001), there is a side variable pitch gripper B(1003). At the top of the gripper (10026), there is a rocker (10025). At the top end of the gripper (10026), there is a rotating shaft (10023). At one end of the rotating shaft (10023), there is a cylinder (10029). At the top side of the gripper (10026), there is an oil pressure buffer (10024). At the top of the gripper (10026), there are a guide rail (10022) and a slider (10021). Inside the guide rail (10022), there is a rack (100212). Inside the rack (100212), there is a gear (100211).The bottom of the gear (100211) is provided with a speed reducer (100210), one end of the speed reducer (100210) is provided with a motor (10028), and one side of the top end of the jaw (10026) is provided with a pressing plate (10027).

2. The flexible packaging line with high flexibility according to claim 1, characterized in that, The structures of the full-automatic packaging machine A(1) and the full-automatic packaging machine B(2) are the same, and the structures of the full-automatic packaging machine C(3) and the full-automatic packaging machine D(4) are the same.

3. A highly flexible flexible packaging line according to claim 1, characterized in that, The structures of the confluence roller conveyor A(8) and the confluence roller conveyor B(14) are the same, and they are symmetrically arranged relative to each other.

4. A highly flexible flexible packaging line according to claim 1, characterized in that, The structures of the variable pitch gripper A(10) and the variable pitch gripper B(20) are the same, and the structures of the palletizing robot A(11) and the palletizing robot B(19) are the same.

5. A highly flexible flexible packaging line according to claim 1, characterized in that, The confluence roller conveyor A(8) includes a curved conveyor line(801), a support frame(802), a rotating shaft(803), an upper flap(804), a fixed frame(805), a rotating cylinder(806), a lower flap(807), a belt conveyor line(808) and a baffle(809).

6. The flexible packaging line with high flexibility according to claim 1, characterized in that, The rotating shaft(803) and the rotating cylinder(806) are located on the same vertical central axis, and the included angle between the upper flap(804) and the lower flap(807) is 90°.

7. A highly flexible flexible packaging line according to claim 1, characterized in that, The variable pitch gripper A(10) includes a robot connection flange(1001), a side variable pitch gripper A(1002) and a side variable pitch gripper B(1003). The structures of the side variable pitch gripper A(1002) and the side variable pitch gripper B(1003) are the same, and they are arranged opposite to each other.

8. A highly flexible flexible packaging line according to claim 1, characterized in that, The side variable pitch gripper A(1002) includes a slider(10021), a guide rail(10022), a rotating shaft(10023), an oil buffer(10024), a rocker(10025), a gripper(10026), a pressing plate(10027), a motor(10028), a cylinder(10029), a reducer(100210), a gear(100211) and a rack(100212).

9. A design method for a highly flexible flexible packaging line according to claims 1-8, characterized in that, It includes the following steps: S1: Raw material supplement step; The product to be packaged this time is granular compound fertilizer, which has certain corrosiveness. Therefore, in this solution, except for plastic parts, proximity switches, photoelectric switches, etc. that cannot use stainless steel, stainless steel products are used for production. The silo is a device for storing raw materials. It is necessary to detect the material level to ensure that the liquid level in the silo is sufficient. If the silo is emptied, the unit will automatically stop. The silo is equipped with a low material level. When the material in the silo is lower than the low material level, the material level sensor outputs a low material level signal, and the touch screen of the packaging machine alarms and displays a low material level alarm to prevent inaccurate metering caused by too little material; If it is necessary to empty the silo, open the emptying button on the touch screen, and the equipment will automatically ignore the signal of the material level sensor; S2: Packaging step; An automatic bag supply solution is adopted, with two bag warehouses. Workers only need to place the packaging bags in the bag warehouses. When the bag supply mechanism detects that there are no packaging bags in the current bag warehouse, it will execute the warehouse change action through the warehouse change lever to move the packaging bags in the spare warehouse to the bag library. And an alarm will be given to prompt the worker to place new packaging bags in the spare warehouse; In the first step of the bag supply method, the method of taking bags from the bottom of the bag is adopted to prevent the bags from sticking together and affecting the extraction of the next bag. After the bag is taken out, the roller bag is used to take the bag out of the bag library as a whole. The traditional roller chain uses a chain, which has problems such as high noise, easy rusting and rust spots, and pollution to the packaging bags. The company independently developed a rubber roller chain through mold opening, which is mainly produced by vulcanization technology between 7 steel wires and rubber. It has the advantages of silent operation, corrosion resistance, no pollution to the packaging bags, and can meet the packaging requirements of different materials. After the packaging machine detects the bags in the bag library, it automatically starts the bag taking and roller bag processes to the material discharging port of the packaging machine, and then performs the bag opening, bag stretching, and bag sleeving processes. After the processes are satisfied, bag feeding and bag sleeving are carried out, and the bag clamping is judged. After successful bag clamping, the weighed material is released; In the second step of the bag opening method, a vacuum pump is used as the negative pressure source, and the opening and closing of the vacuum are controlled by the on-off of the solenoid valve; The company independently developed the bag opening suction cup, which has high strength and softness, and greatly improved the sealing performance and durability; In the third step of the bag loading method, an inner support plate is used to fix the bag, which has stronger versatility for the bag and has no requirements for the hardness and softness of the bag. The traditional bag loading requires a 90° rotation, with problems such as high hanging bag rate and complex structure. The company independently developed a bag clamping mechanism that only needs to rotate 45° in cooperation with the bag loading, which improves the bag loading success rate, reduces the labor intensity of workers and the waste of packaging bags caused by unsuccessful bag loading. The overall structure is simple and easy to maintain, and does not require professional maintenance personnel; In the fourth step of the bag clamping method, an integrated connecting rod is used to combine multiple actions into one action. The bag clamping opening can rotate at a 45° inclination angle to match the 45° inclination angle of the bag loading, which improves the bag loading rate and production efficiency; In the fifth step of the weighing method, the discharging door of the weighing hopper adopts a 45° conical pair to open the bottom discharging door, which is controlled by a vertical cylinder. The discharging speed is very fast, and the vibration generated by the cylinder will not affect the weighing accuracy. The electronic scale is composed of a weighing system mechanical component, a sensor, and a weighing control instrument system.The combined cylinder and vibration motor control the feeding accuracy. The material is fed from the distributing hopper, enters the feeding mechanism through the flow regulating valve, then passes through the feeding door into the weighing hopper. The weighing instrument of the weighing sensor connected to the weighing hopper sends out a weight change signal, and the feeding door is controlled by the preset value of the weighing instrument. When the weighing is completed, the weighing hopper door opens, and the material enters the empty bag on the bag clamping mechanism through the buffer filling hopper; In the sixth step, the sewing method is adopted. The sewing machine uses a special chain drive to ensure the stability of the material bag clamping and conveying and the coordinated movement of each mechanism, thus ensuring the sealing quality. Without manual intervention, it can be stopped or started at any time to ensure effective and correct thread cutting, avoiding manual remedial thread cutting for missed cutting. The packaging bag realizes high-speed hemming. During the packaging process, it can be stopped or restarted at any time and continue the previous work process. The thread break detection function allows manual adjustment of the height of the hemming machine and the sewing machine; Pausing at any time during the packaging operation facilitates equipment inspection and processing; Three mechanical buttons for start, stop, and emergency stop are independently set for convenient use; It has the function of upstream and downstream interlocking; S3: Conveying step; After the feeding is completed, it enters the heat-sealing and edge-folding machine for edge-folding and sewing. The whole line is equipped with components such as inverted bag conveying, climbing conveying, pressing bag conveying, grasping conveying, re-selection weighing, and unqualified rejection conveying. After sewing, it enters the horizontal inverted bag, and then enters the online weight detection mechanism for weight detection. Products with unqualified weight are rejected, and qualified products enter the subsequent conveying. After pressing and shaping, they enter the waiting line for the robot to grasp and palletize; S4: Palletizing step; The whole line is equipped with a pallet warehouse, empty pallet conveyor, palletizing conveyor, pallet heavy-load conveyor, and fork conveyor. The palletizing robot, robot base, robot gripper, safety guardrail. The robotic arm uses a single-grip mode to grab the bagged materials on the line to be palletized and place the bagged materials on the pallet in sequence according to the set formula process. The on-site workers place the pallet in the automatic pallet warehouse. The conveyor in the warehouse transports the empty pallets in the pallet warehouse to the set position. The palletizing robot places the materials on the empty pallet. When the palletizing is completed, the pallet passes through the out-pallet conveyor and is automatically transported to the designated position, waiting for the forklift to pick it up. At the same time, the conveyor in the warehouse automatically replenishes the empty pallets to the set position; S5: Dust removal step; the dust removal mainly focuses on dredging to create a negative pressure environment in the entire material discharging channel. The dust removal ports are configured as follows: there is a set of dust removal ports on the electronic scale, a set of dust removal ports in the transition bin, there is a sandwich in the material discharging channel, and a set of dust removal ports is provided outside the sandwich. Each device is allocated an independent cabinet-type dust removal air volume of 1000 m 3 / hour, installed nearby for convenient dust collection and maintenance; S6: Reuse step; For the original two semi-automatic production lines in the factory, 4 sets of bend conveyors, 2 sets of transition conveyors, 2 sets of slope bag conveyors, and 2 sets of dust removal systems and pipelines need to be added on the basis of the original reused equipment. The original semi-automatic production line and the newly built fully automatic packaging line can be switched with one key; The original semi-automatic production line and the newly built fully automatic packaging line have corresponding interlock mechanisms and overall equipment linkage functions.

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