Automatic positioning and packing machine and using method thereof

Abstract

The invention discloses an automatic positioning packaging machine and a using method thereof, and relates to the technical field of packaging machines, the automatic positioning packaging machine comprises a base, a conveying belt and a positioning module, the conveying belt is arranged on the upper side of the outer wall of the base, the conveying belt is connected with a conveying motor arranged on the lower side of the inner wall of the base through a connecting shaft, and a controller is arranged on the front side of the outer wall of the base; a positioning module is installed on the upper side of the outer wall of the conveying belt, a visual sensor is installed on the left side of the outer wall of the positioning module and connected with a controller through a signal line, and the positioning module comprises a lifting rod, a rotating shaft, a spray head, a positioning motor, a laser sensor and a moving assembly. By installing the positioning module, the function of accurately positioning objects in different shapes is achieved, the problems that positioning precision is insufficient, filler filling is uneven and manual operation is relied on are solved, object information can be accurately captured, damage to the objects is reduced, and the packaging quality of the packaging machine is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of baling machines, and in particular to an automatic positioning baling machine and a method for using the same. Background Art

[0002] Early balers achieved basic positioning through mechanical structures, prioritizing precision and flexibility, and only supported the bundling of items of fixed specifications. The introduction of computer control systems has enabled balers to achieve automatic positioning, indexing, and complex bundling, adapting to the needs of packaging of multiple sizes. The integration of sensor technology and the Internet of Things has enabled balers to achieve millimeter-level precision positioning, enabling their application in e-commerce logistics, food and medicine, and heavy industry. When existing balers are faced with irregularly shaped items, the strapping tape is easily left hanging due to the irregular surface of the items, resulting in loss of tightening force and making the items more likely to become loose after being bundled. If there are any irregular edges and corners on the surface of the items, the strapping tape will be scratched, and the strapping rate will be higher than that of conventional items.

[0003] Patent CN113998228B discloses an automatic in-line baler that can be quickly positioned. The above patent improves the baling effect of the baler on items of different specifications.

[0004] The above patent can position and separate the items to be packaged by setting up several adjustment mechanisms, so that several items are arranged in a column, which is convenient for the automatic packaging of subsequent items. In addition, the distance between the several adjustment mechanisms can be adjusted according to the specifications of the items, thereby improving the packaging effect of the packaging machine for items of different specifications. However, there is room for optimization in the packaging stability of special-shaped items.

[0005] To this end, the present application proposes an automatic positioning packaging machine for accurately positioning objects of different shapes and a method for using the same. Summary of the Invention

[0006] The object of the present invention is to provide an automatic positioning packaging machine and a method of using the same, so as to solve the technical problem of difficulty in positioning, fixing and packaging special-shaped objects raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solution: an automatic positioning baler, comprising a base, a conveyor belt, and a positioning module, wherein the conveyor belt is disposed on the upper side of the outer wall of the base, the conveyor belt being connected to a conveying motor mounted on the lower side of the inner wall of the base via a connecting shaft, a controller being mounted on the front side of the outer wall of the base, a positioning module being mounted on the upper side of the outer wall of the conveyor belt, a visual sensor being mounted on the left side of the outer wall of the positioning module, and the visual sensor being connected to the controller via a signal line; The positioning module includes: a lifting rod, a rotating shaft, a nozzle, a positioning motor, a laser sensor and a moving component; A moving component is installed on the upper side of the outer wall of the conveyor belt, a lifting rod is installed on the lower side of the outer wall of the moving component, a rotating shaft is installed on the lower side of the outer wall of the lifting rod, and a nozzle is installed on the right side of the outer wall of the rotating shaft. The moving component, the lifting rod and the rotating shaft are respectively connected to the positioning motor through a connecting shaft, a positioning motor is installed in the middle of the inner wall of the base, a laser sensor is installed on the lower side of the outer wall of the nozzle, and the laser sensor is connected to the controller through a signal line.

[0008] Preferably, the moving assembly includes: a first slide groove and a first slider; A first slide is installed on the upper side of the outer wall of the conveyor belt, and the first slides are arranged in a well shape. A first slider is installed in the middle of the inner wall of the first slide. The first slide is connected to the lifting rod through the first slider, and the first slider is connected to the positioning motor through the connecting shaft.

[0009] Preferably, a strapping module is installed in the middle of the first chute, and the strapping module includes: a rotating table, an angle sensor, a strapper, a guide groove and a belt box; A rotating table is installed in the middle of the outer wall of the first slide, and a strapper is installed on the lower side of the outer wall of the rotating table. The rotating table and the strapper are connected to the positioning motor through a connecting shaft. A belt box is installed on the upper side of the outer wall of the rotating table. The strapping belt in the belt box passes through the rotating table and is connected to the strapper. An angle sensor is installed in the middle of the outer wall of the rotating table. The angle sensor is connected to the controller through a signal line. A guide groove is installed on the lower side of the outer wall of the strapper.

[0010] Preferably, the nozzle is connected to the filling module via a connecting pipe, and the filling module comprises: a stuffing box, a temperature sensor, a rotary valve, a flushing assembly, a delivery pipe and a sleeve; A stuffing box is installed at the lower part of the inner wall of the base, a temperature sensor is installed in the middle of the inner wall of the stuffing box, a rotary valve is installed at the output end on the upper side of the outer wall of the stuffing box, a delivery pipe is installed on the upper side of the outer wall of the rotary valve, the outer wall of the delivery pipe is wrapped with a sleeve, and a flushing assembly is installed on the right side of the outer wall of the stuffing box.

[0011] Preferably, a cleaning module is installed on the rear side of the outer wall of the conveyor belt, and the cleaning module is connected to the recovery box through a connecting pipe. The cleaning module includes: a second chute, a second slider, an air suction unit and a scraper; A second chute is installed on the rear side of the outer wall of the conveyor belt, a second slider is installed in the middle of the inner wall of the second chute, an air suction unit is installed on the front side of the outer wall of the second slider, the air suction unit is connected to the recovery box through a connecting pipe, a scraper is installed on the left side of the outer wall of the air suction unit, and the second slider and the scraper are connected to the conveying motor through a connecting shaft.

[0012] Preferably, the nozzle includes: a pressure sensor, a feed port, a discharge port, a slag discharge port, a buffer chamber and an adjustment rod; A buffer chamber is installed on the right side of the outer wall of the rotating shaft, a feed port is installed on the upper side of the outer wall of the buffer chamber, a discharge port is installed on the right side of the outer wall of the buffer chamber, a slag discharge port is installed on the lower side of the outer wall of the buffer chamber, and an adjusting rod is installed on the left side of the middle of the inner wall of the buffer chamber. The adjusting rod is connected to the positioning motor through a connecting shaft. Pressure sensors are embedded at the feed port and the discharge port, and the pressure sensors are connected to the controller through signal lines.

[0013] Preferably, the slag discharge port is connected to the recovery tank via a connecting pipe, and the flushing assembly includes: a water tank, a heater, a pressurizer, a flushing port, a recovery tank and a return pipe; A water tank is installed on the right side of the outer wall of the stuffing box, heaters are installed on both sides of the inner wall of the water tank, a pressurizer is installed on the upper side of the outer wall of the water tank, the pressurizer is connected to the flushing port installed on the right side of the outer wall of the rotary valve through a connecting pipe, a return pipe is installed on the upper side of the outer wall of the pressurizer, the pressurizer is connected to the sleeve through the return pipe, a recovery box is installed on the rear side of the outer wall of the water tank, and the recovery box is connected to the stuffing box through the return pipe.

[0014] Preferably, a centrifugal unit is installed on the upper side of the outer wall of the recovery box, and the centrifugal unit is connected to the air suction unit and the slag discharge port through connecting pipes. A filter unit is installed on the lower side of the middle part of the inner wall of the centrifugal unit and the recovery box.

[0015] Preferably, the method of use is: S1: The operator places the items to be packaged on the conveyor belt and starts packaging through the controller; S2: The conveyor motor drives the conveyor belt to transport the items to be packaged. The visual sensor initially collects the item information and transmits the information to the controller. S3: The controller controls the conveyor belt to transport the item to the positioning module based on the item information, and the controller controls the positioning module to process the item; S4: After the positioning module completes the processing of the items, the controller controls the bundling module to complete the bundling of the items; S5: After bundling is completed, the controller controls the positioning motor to drive the conveyor belt to transport the items out of the positioning module.

[0016] Preferably, the S3 is specifically: S31: After the conveyor belt conveys the items into the positioning module, the controller controls the positioning motor to drive the first slider to move on the first chute, and brings the laser sensor close to the items to be packaged; S32: The laser sensor scans the item to be packaged, obtains its shape information and transmits it to the controller. The controller controls the positioning motor to drive the moving component, lifting rod and rotating shaft to adjust the position of the nozzle according to the item information. S33: After completing the nozzle position adjustment, the controller controls the filling module to convey the filler to the nozzle. During the filling conveying process, the temperature of the filler is maintained by the sleeve. When the filler enters the buffer chamber, the pressure of the filler is detected by the pressure sensor. By comparing it with the preset value, when the filler pressure needs to be adjusted, the controller controls the positioning motor to drive the adjustment rod to adjust the filler pressure. After completing the filler pressure adjustment, the pressure sensor located at the discharge port performs a second detection of the filler pressure, and then the nozzle fills the items.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention, by installing a positioning module, realizes the function of accurately positioning objects of different shapes, solves the problems of insufficient positioning accuracy, uneven filling of fillers, and reliance on manual operation, can accurately capture object information, reduce filling dead angles and filler waste, broaden the application scenarios of the baler, reduce damage to objects, and improve the baling quality of the baler; 2. The present invention, by installing a strapping module, realizes the function of strapping items at multiple angles, solving the problems of poor strapping stability for special-shaped items, low efficiency of multi-angle strapping, and complex maintenance. The strapping angle can be adjusted in real time, which improves the strapping stability of the strapping machine for special-shaped items, reduces the time for adjusting the strapping angle, and improves the strapping efficiency and quality of the strapping machine. 3. The present invention, by installing a filler module and a nozzle, realizes the function of accurately switching fillers, solving the problems of low production efficiency, damage to items by fillers, and low flexibility of baler adaptation. The corresponding filler can be switched according to the type of items and flushed during switching, reducing the possibility of filler mixing and the risk of filler damage to items, and improving the baling efficiency and baling effect of the baler; 4. The present invention realizes the function of removing filler residue by installing a cleaning module, a centrifugal unit, a filtering unit and a recovery box, solves the problems of relying on manual cleaning, poor cleaning effect and low resource utilization, can reduce dependence on manual labor, improve the cleaning effect of the conveyor belt, extend the service life of the baler, reduce resource waste and baling costs, and reduce pollution to the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front view structural schematic diagram of the present invention; Figure 2 It is a front structural schematic diagram of the present invention; Figure 3 This is a schematic diagram of the filler module structure of the present invention; Figure 4 This is a schematic structural diagram of the cleaning module of the present invention; Figure 5 Schematic diagram of the nozzle structure of the present invention; Figure 6This is a schematic diagram of the connection structure of the recovery tank, water tank and stuffing box of the present invention; Figure 7 This is a schematic structural diagram of the centrifugal unit, filtration unit and recovery box of the present invention; Figure 8 It is a schematic diagram of the connection structure of the centrifugal unit, the suction unit and the nozzle of the present invention.

[0019] In the figure: 1. Base; 2. Conveyor belt; 3. Conveying motor; 4. Controller; 5. Vision sensor; 6. Lifting rod; 7. Rotating shaft; 8. Nozzle; 9. Positioning motor; 10. Laser sensor; 11. First chute; 12. First slider; 13. Rotating table; 14. Angle sensor; 15. Strapping device; 16. Guide groove; 17. Belt box; 18. Temperature sensor; 19. Rotary valve; 20. Conveying pipe; 21. Casing; 22. Recovery box; 23. Second chute; 24. Second slider; 25. Suction unit; 26. Scraper; 27. Pressure sensor; 28. Feed port; 29. ​​Discharge port; 30. Slag discharge port; 31. Buffer chamber; 32. Adjusting rod; 33. Water tank; 34. Heater; 35. Pressurizer; 36. Flushing port; 37. Return pipe; 38. Centrifugal unit; 39. Filter unit; 40. Stuffing box. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0023] Example 1: Please refer to Figure 1 and Figure 2 An automatic positioning baler includes a base 1, a conveyor belt 2 and a positioning module. The conveyor belt 2 is on the upper side of the outer wall of the base 1, and the conveyor belt 2 is connected to a conveying motor 3 installed on the lower side of the inner wall of the base 1 through a connecting shaft. A controller 4 is installed on the front side of the outer wall of the base 1, and a positioning module is installed on the upper side of the outer wall of the conveyor belt 2. A visual sensor 5 is installed on the left side of the outer wall of the positioning module, and the visual sensor 5 is connected to the controller 4 through a signal line. The positioning module includes: a lifting rod 6, a rotating shaft 7, a nozzle 8, a positioning motor 9, a laser sensor 10 and a moving component; A moving assembly is installed on the upper side of the outer wall of the conveyor belt 2, a lifting rod 6 is installed on the lower side of the outer wall of the moving assembly, a rotating shaft 7 is installed on the lower side of the outer wall of the lifting rod 6, and a nozzle 8 is installed on the right side of the outer wall of the rotating shaft 7. The moving assembly, the lifting rod 6 and the rotating shaft 7 are respectively connected to the positioning motor 9 through a connecting shaft, and a positioning motor 9 is installed in the middle of the inner wall of the base 1. A laser sensor 10 is installed on the lower side of the outer wall of the nozzle 8, and the laser sensor 10 is connected to the controller 4 through a signal line; The moving assembly includes: a first slide groove 11 and a first slider 12; A first chute 11 is installed on the upper side of the outer wall of the conveyor belt 2. The first chute 11 is arranged in a well shape. A first slider 12 is installed in the middle of the inner wall of the first chute 11. The first chute 11 is connected to the lifting rod 6 through the first slider 12. The first slider 12 is connected to the positioning motor 9 through a connecting shaft; Furthermore, the operator places the items to be packaged on the conveyor belt 2, and controls the conveying motor 3 through the touch controller 4 to drive the conveyor belt 2 to move, and transports the items to be packaged into the positioning module. When the conveyor belt 2 transports the items to the left side of the positioning module, the visual sensor 5 located on the left side of the positioning module collects information about the items and transmits the information to the controller 4. The controller 4 analyzes information such as the shape and type of the items based on the information transmitted by the visual sensor 5. After the conveyor belt 2 transports the items to the interior of the positioning module, the controller 4 controls the positioning motor 9 to drive the first slider 12 to move on the first slide 11, and moves the lifting rod 6, rotating shaft 7, nozzle 8 and laser sensor 10 connected to the first slider 12. The laser sensor 10 further collects the position information and shape information of the items and transmits the information to the controller 4. When the shape of the items is regular, according to the position information of the items collected by the laser sensor 10, when the conveyor belt 2 transports the items to the packaging position, the controller 4 controls the positioning motor 9 to drive the lifting rod 6 to descend. During the descent, the laser sensor 10 located at the bottom is prevented from contacting the conveyor belt 2, and the height of the lifting rod 6 and the components below it are lowered. Then, through the positioning The motor 9 drives the first slider 12 to move in the first chute 11, and moves the positions of the four first sliders 12 in the well-shaped first chute 11 to position and fix the regular-shaped items on the conveyor belt 2. Then the controller 4 controls the strapping module to strap the items. When the shape information of the items collected by the visual sensor 5 and the laser sensor 10 indicates that the shape of the items is irregular, the controller 4 adjusts the horizontal position, height and angle of the nozzle 8 in turn, controls the positioning motor 9 to drive the first slider 12 to move in the first chute 11 to adjust the horizontal position of the nozzle 8, and controls the positioning The motor 9 drives the lifting rod 6 to adjust the height of the nozzle 8, and controls the positioning motor 9 to drive the rotating shaft 7 to adjust the angle of the nozzle 8. After the adjustment is completed, the controller 4 selects appropriate fillers according to the types of objects collected by the visual sensor 5 and sprays them from the nozzle 8 to fill the objects, thereby realizing the function of accurately positioning objects of different shapes, solving the problems of insufficient positioning accuracy, uneven filling of fillers and dependence on manual operation, being able to accurately capture object information, reducing filling dead angles and waste of fillers, broadening the application scenarios of the baler, reducing damage to objects, and improving the packaging quality of the baler.

[0024] Example 2: Please refer to Figure 1 and Figure 2 , an automatic positioning baler, a strapping module is installed in the middle of the first chute 11, and the strapping module includes: a rotating table 13, an angle sensor 14, a strapper 15, a guide groove 16 and a belt box 17; A rotating table 13 is installed in the middle of the outer wall of the first chute 11, and a strapper 15 is installed on the lower side of the outer wall of the rotating table 13. The rotating table 13 and the strapper 15 are connected to the positioning motor 9 through a connecting shaft. A tape box 17 is installed on the upper side of the outer wall of the rotating table 13. The strapping tape in the tape box 17 passes through the rotating table 13 and is connected to the strapper 15. An angle sensor 14 is installed in the middle of the outer wall of the rotating table 13. The angle sensor 14 is connected to the controller 4 through a signal line. A guide groove 16 is installed on the lower side of the outer wall of the strapper 15; Furthermore, after the conveying motor 3 drives the conveyor belt 2 to transport the items to the packaging position, the controller 4 controls the positioning motor 9 to drive the rotating table 13 to rotate, and adjusts the strapper 15 located below the rotating table 13 to a preset angle to ensure that the winding direction of the strapping tape matches the shape of the item. Then the tape box 17 releases the strapping tape, and the strapping tape passes through the inside of the rotating table 13 and enters the strapper 15. The guide groove 16 constrains the movement trajectory of the strapping tape. Then the strapper 15 clamps the two ends of the strapping tape, tightens the strapping tape with world tension, fixes it through high-temperature fusion, and automatically cuts off the excess strapping tape to complete the first strapping. Then the controller 4 controls the positioning motor 9 to drive the rotating table 13 to rotate. During the rotation process The angle sensor 14 collects the rotation angle of the rotating table 13 and transmits the rotation information to the controller 4. After completing the angle adjustment, the controller 4 controls the belt box 17 and the strapper 15 to perform secondary packaging of the items. The controller 4 adjusts the rotation angle of the rotating table 13 according to the item information transmitted by the visual sensor 5 and the laser sensor 10, realizing the function of bundling items at multiple angles, solving the problems of poor bundling stability of special-shaped items, low efficiency of multi-angle bundling and complex maintenance, and being able to adjust the bundling angle in real time, thereby improving the bundling stability of the baler for special-shaped items, reducing the time for adjusting the bundling angle, and improving the packaging efficiency and quality of the baler.

[0025] Example 3: Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 and Figure 6 , an automatic positioning baler, the nozzle 8 is connected to the filling module through a connecting pipe, and the filling module includes: a stuffing box 40, a temperature sensor 18, a rotary valve 19, a flushing component, a delivery pipe 20 and a sleeve 21; A stuffing box 40 is installed at the lower part of the inner wall of the base 1, a temperature sensor 18 is installed in the middle of the inner wall of the stuffing box 40, a rotary valve 19 is installed at the output end on the upper side of the outer wall of the stuffing box 40, a delivery pipe 20 is installed on the upper side of the outer wall of the rotary valve 19, and the outer wall of the delivery pipe 20 is wrapped with a sleeve 21. A flushing assembly is installed on the right side of the outer wall of the stuffing box 40; The nozzle 8 includes: a pressure sensor 27, a feed port 28, a discharge port 29, a slag discharge port 30, a buffer chamber 31 and an adjustment rod 32; A buffer chamber 31 is installed on the right side of the outer wall of the rotating shaft 7, a feed port 28 is installed on the upper side of the outer wall of the buffer chamber 31, a discharge port 29 is installed on the right side of the outer wall of the buffer chamber 31, and a slag discharge port 30 is installed on the lower side of the outer wall of the buffer chamber 31. An adjusting rod 32 is installed on the left side of the middle of the inner wall of the buffer chamber 31, and the adjusting rod 32 is connected to the positioning motor 9 through a connecting shaft. Pressure sensors 27 are embedded at the feed port 28 and the discharge port 29, and the pressure sensor 27 is connected to the controller 4 through a signal line; The slag discharge port 30 is connected to the recovery tank 22 through a connecting pipe. The flushing assembly includes: a water tank 33, a heater 34, a pressurizer 35, a flushing port 36, the recovery tank 22 and a return pipe 37; A water tank 33 is installed on the right side of the outer wall of the stuffing box 40, and heaters 34 are installed on both sides of the inner wall of the water tank 33. A pressurizer 35 is installed on the upper side of the outer wall of the water tank 33. The pressurizer 35 is connected to a flushing port 36 installed on the right side of the outer wall of the rotary valve 19 through a connecting pipe. A return pipe 37 is installed on the upper side of the outer wall of the pressurizer 35. The pressurizer 35 is connected to the sleeve 21 through the return pipe 37. A recovery box 22 is installed on the rear side of the outer wall of the water tank 33. The recovery box 22 is connected to the stuffing box 40 through the return pipe 37. Furthermore, after the controller 4 adjusts the position of the nozzle 8, the controller 4 selects appropriate filler for filling according to the item type information collected by the visual sensor 5. The controller 4 controls the rotary valve 19 to connect the compartments storing the corresponding filler in the stuffing box 40, and connects the stuffing box 40 and the feed port 28 through the delivery pipe 20. After the filler is delivered from the stuffing box 40 to the feed port 28, the pressure sensor 27 located at the feed port 28 detects the pressure information of the filler and transmits the information to the controller 4. The controller 4 obtains the corresponding filling pressure according to different types of items to avoid damage to the items during the filling process. When it is necessary to reduce the filling pressure, the controller 4 controls the positioning motor 9 to drive the adjusting rod 32 to move to the left to expand the space of the buffer chamber 31. When it is necessary to increase the filling pressure, the controller 4 controls the positioning motor 9 to drive the adjusting rod 32 to move to the right to reduce the space of the buffer chamber 31. When the filler is sprayed toward the item through the discharge port 29, the pressure sensor 27 located at the discharge port 29 performs a secondary detection on the pressure of the filler to ensure that the adjusted filling pressure meets the preset value. When the type of filler needs to be adjusted, in order to avoid the last filler from affecting the next filler, before filling, the controller 4 controls the discharge port 29 to be closed, and opens the slag discharge port 30 to connect the recovery box 22 and the buffer chamber 31. Then the controller 4 controls the rotary valve 19 to connect the flushing port 36. The controller 4 controls the pressurizer 35 to pressurize the water in the water tank 33 and then pass the water through the connecting pipe from the flushing port 36 to the rotary valve 19 from the feed port 28 into the buffer chamber 31 to flush the remaining filler in the connecting pipe and the buffer chamber 31. To ensure the flushing effect, During the process, the heater 34 can be controlled to heat the water flow in the water tank 33, so that the filler is softened by the heated water flow. After the flushing of the connecting pipe and the buffer chamber 31 is completed, the mixture flows into the recovery box 22 from the slag discharge port 30, realizing the function of accurately switching the filler, solving the problems of low production efficiency, filler damage to items and low adaptability of the baler, and being able to switch the corresponding filler according to the type of item and flush it when switching, reducing the possibility of filler mixing and the risk of filler damage to items, and improving the packaging efficiency and packaging effect of the baler.

[0026] Example 4: Please refer to Figure 1 、 Figure 2 、 Figure 4 、 Figure 7 and Figure 8 , an automatic positioning baler, a cleaning module is installed on the rear side of the outer wall of the conveyor belt 2, the cleaning module is connected to the recovery box 22 through a connecting pipe, and the cleaning module includes: a second chute 23, a second slider 24, an air suction unit 25 and a scraper 26; A second chute 23 is installed on the rear side of the outer wall of the conveyor belt 2, a second slider 24 is installed in the middle of the inner wall of the second chute 23, an air suction unit 25 is installed on the front side of the outer wall of the second slider 24, the air suction unit 25 is connected to the recovery box 22 through a connecting pipe, a scraper 26 is installed on the left side of the outer wall of the air suction unit 25, and the second slider 24 and the scraper 26 are connected to the conveying motor 3 through a connecting shaft; The recovery box 22 is provided with a centrifugal unit 38 mounted on the upper side of the outer wall thereof. The centrifugal unit 38 is connected to the air suction unit 25 and the slag discharge port 30 via connecting pipes. The centrifugal unit 38 and the recovery box 22 are provided with a filter unit 39 mounted on the lower side of the middle portion of the inner wall thereof. Furthermore, after completing the packing of the items, the controller 4 controls the conveying motor 3 to drive the second slider 24 located at the rear side of the outer wall of the conveyor belt 2 to move in the second chute 23, and at the same time controls the conveying motor 3 to drive the suction unit 25 to absorb the filler dropped on the conveyor belt 2. When processing sticky fillers, the controller 4 controls the conveying motor 3 to drive the scraper 26 to scrape back and forth on the conveyor belt 2, scraping the filler to the front side of the suction unit 25, and cleaning the filler on the conveyor belt 2. The filler is transported to the centrifugal unit 38 through the connecting pipe, and the filler is centrifugally processed by the centrifugal unit 38. After being filtered by the filter unit 39, the filler flows back into the corresponding filler compartment in the filler box 40 through the reflux pipe 37, and the filler flushed by the flushing component is returned to the filler in the same way. In the material box 40, during the filler processing, it should be noted that if filler switching occurs, the cleaning module needs to clean the filler on the conveyor belt 2 before the filler switching is completed, that is, when the second filler is not filled, to avoid the mixing of fillers and thus increase the difficulty of filler processing. When flushing is required, the flushing port 36 can be connected to the rotary valve 19 to spray water through the discharge port 29. By adjusting the horizontal position, height and angle of the nozzle 8, the conveyor belt 2 is flushed to realize the function of removing filler residues, solve the problems of relying on manual cleaning, poor cleaning effect and low resource utilization, reduce dependence on manpower, improve the cleaning effect of the conveyor belt, extend the service life of the baler, reduce resource waste and packaging costs, and reduce pollution to the environment.

[0027] Example 5: Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 5 , an automatic positioning baler, the nozzle 8 is connected to the filling module through a connecting pipe, and the filling module includes: a stuffing box 40, a temperature sensor 18, a rotary valve 19, a flushing component, a delivery pipe 20 and a sleeve 21; A stuffing box 40 is installed at the lower part of the inner wall of the base 1, a temperature sensor 18 is installed in the middle of the inner wall of the stuffing box 40, a rotary valve 19 is installed at the output end on the upper side of the outer wall of the stuffing box 40, a delivery pipe 20 is installed on the upper side of the outer wall of the rotary valve 19, and the outer wall of the delivery pipe 20 is wrapped with a sleeve 21. A flushing assembly is installed on the right side of the outer wall of the stuffing box 40; The slag discharge port 30 is connected to the recovery tank 22 through a connecting pipe. The flushing assembly includes: a water tank 33, a heater 34, a pressurizer 35, a flushing port 36, the recovery tank 22 and a return pipe 37; A water tank 33 is installed on the right side of the outer wall of the stuffing box 40, and heaters 34 are installed on both sides of the inner wall of the water tank 33. A pressurizer 35 is installed on the upper side of the outer wall of the water tank 33. The pressurizer 35 is connected to a flushing port 36 installed on the right side of the outer wall of the rotary valve 19 through a connecting pipe. A return pipe 37 is installed on the upper side of the outer wall of the pressurizer 35. The pressurizer 35 is connected to the sleeve 21 through the return pipe 37. A recovery box 22 is installed on the rear side of the outer wall of the water tank 33. The recovery box 22 is connected to the stuffing box 40 through the return pipe 37. Furthermore, the temperature sensor 18 located in each compartment of the stuffing box 40 detects the temperature of the stuffing and transmits the information to the controller 4. After selecting the stuffing according to the type of stuffing required by the article, the controller 4 obtains the temperature of the required stuffing at the same time. When the existing stuffing temperature is inconsistent with the required stuffing temperature, the controller 4 controls the heater 34 to heat the water flow in the water tank 33, and heats the water flow temperature to the same as the stuffing temperature. Then, the pressurizer 35 is controlled to connect with the sleeve 21, and the heated water flow is pressurized and sent into the sleeve 21. When the stuffing is transported to the feed port 28 through the delivery pipe 20, the constant temperature water flow in the sleeve 21 is heated. The filler is insulated to ensure that the temperature of the filler remains unchanged when the items are filled through the discharge port 29. When the required filler temperature is higher than the filler temperature in the filler box 40, the controller 4 controls the heater 34 to heat the water flow in the water tank 33 to a temperature consistent with the filler temperature, so that the filler can be heated to the required temperature during the transportation process, realizing the function of dynamically adjusting the filler temperature, solving the problem of difficulty in matching the temperature requirements of different fillers in real time and quality defects caused by the filling temperature difference, and being able to dynamically adapt to the temperature requirements of a variety of fillers, thereby improving the filling effect of the filler, reducing the damage to the items to be packaged, and broadening the application scenarios of the baler.

[0028] Working principle: The operator places the items to be packaged on the conveyor belt 2, and controls the conveying motor 3 through the touch controller 4 to drive the conveyor belt 2 to move, and transports the items to be packaged into the positioning module. When the conveyor belt 2 transports the items to the left side of the positioning module, the visual sensor 5 located on the left side of the positioning module collects information about the items and transmits the information to the controller 4. The controller 4 analyzes information such as the shape and type of the items based on the information transmitted by the visual sensor 5. After the conveyor belt 2 transports the items to the inside of the positioning module, the controller 4 controls the positioning motor 9 to drive the first slider 12 to move on the first slide 11, and moves the lifting rod 6, rotating shaft 7, nozzle 8 and laser sensor 10 connected to the first slider 12. The laser sensor 10 further collects the position information and shape information of the items and transmits the information to the controller 4. When the shape of the items is regular, according to the position information of the items collected by the laser sensor 10, the conveyor belt 2 transports the items to the packaging position, and the controller 4 controls the positioning motor 9 to drive the lifting rod 6 down Descending, during the descent process, the laser sensor 10 at the bottom is prevented from contacting the conveyor belt 2, and the height of the lifting rod 6 and the components under it are lowered. Then, the first slider 12 is moved in the first chute 11 by the positioning motor 9, and the positions of the four first sliders 12 in the well-shaped first chute 11 are moved to position and fix the regular-shaped items on the conveyor belt 2. Then, the controller 4 controls the strapping module to strap the items. When the shape information of the items collected by the visual sensor 5 and the laser sensor 10 both indicate that the shape of the items is irregular, the controller 4 adjusts the horizontal position, height and angle of the nozzle 8 in turn, controls the positioning motor 9 to drive the first slider 12 to move in the first chute 11 to adjust the horizontal position of the nozzle 8, controls the positioning motor 9 to drive the lifting rod 6 to adjust the height of the nozzle 8, and controls the positioning motor 9 to drive the rotating shaft 7 to adjust the angle of the nozzle 8. After the adjustment is completed, the controller 4 selects appropriate fillers according to the types of items collected by the visual sensor 5 and sprays them from the nozzle 8 to fill the items. After the controller 4 adjusts the position of the nozzle 8, the controller 4 selects appropriate filler for filling according to the information of the type of items collected by the visual sensor 5. The controller 4 controls the rotary valve 19 to connect the compartments storing the corresponding filler in the stuffing box 40, and connects the stuffing box 40 and the feed port 28 through the delivery pipe 20. After the filler is delivered from the stuffing box 40 to the feed port 28, the pressure sensor 27 at the feed port 28 detects the pressure information of the filler and transmits the information to the controller 4. The controller 4 obtains the corresponding filling pressure according to different types of items to avoid damage to the items during the filling process. When it is necessary to reduce the filling pressure, the controller 4 controls the positioning motor 9 to drive the adjusting rod 32 to the left. Move to expand the space of the buffer chamber 31. When it is necessary to increase the filling pressure, the controller 4 controls the positioning motor 9 to drive the adjusting rod 32 to move to the right to reduce the space of the buffer chamber 31. When the filling is sprayed toward the object through the discharge port 29, the pressure sensor 27 at the discharge port 29 performs a secondary detection on the pressure of the filling to ensure that the adjusted filling pressure meets the preset value. When the type of object changes and the type of filling needs to be adjusted, in order to avoid the last filling affecting the next filling, the temperature sensor 18 in each compartment of the filling box 40 detects the temperature of the filling and transmits the information to the controller 4. After the controller 4 selects the filling according to the type of filling required by the object, it obtains the required filling at the same time. When the existing filler temperature is inconsistent with the required filler temperature, the controller 4 controls the heater 34 to heat the water flow in the water tank 33, and heats the water flow temperature to the same as the filler temperature. Then the pressurizer 35 is controlled to be connected to the sleeve 21, and the heated water flow is pressurized and sent into the sleeve 21. When the filler is transported into the feed port 28 through the conveying pipe 20, the constant temperature water flow in the sleeve 21 keeps the filler warm, ensuring that the temperature of the filler remains unchanged when the filler is filled with items through the discharge port 29. When the required filler temperature is higher than the filler temperature in the filler box 40, the controller 4 controls the heater 34 to heat the water flow in the water tank 33 to the same as the filler temperature, so that the filler can be heated to the required temperature during transportation. Temperature, before filling, the controller 4 controls the discharge port 29 to be closed, and opens the slag discharge port 30 to connect the recovery box 22 and the buffer chamber 31, and then the controller 4 controls the rotary valve 19 to connect the flushing port 36, and the controller 4 controls the pressurizer 35 to pressurize the water in the water tank 33 and then pass the water through the connecting pipe from the flushing port 36 through the rotary valve 19 and the feed port 28 into the buffer chamber 31, so as to flush the residual filler in the connecting pipe and the buffer chamber 31. To ensure the flushing effect, the heater 34 can be controlled to heat the water flow in the water tank 33 during the flushing process, so that the filler is softened by the heated water flow. After completing the flushing of the connecting pipe and the buffer chamber 31, the mixture flows into the recovery box 22 from the slag discharge port 30; After the conveying motor 3 drives the conveyor belt 2 to transport the items to the packaging position, the controller 4 controls the positioning motor 9 to drive the rotating table 13 to rotate, and adjusts the strapper 15 located below the rotating table 13 to a preset angle to ensure that the winding direction of the strapping tape matches the shape of the items. Then the tape box 17 releases the strapping tape, and the strapping tape passes through the inside of the rotating table 13 and enters the strapper 15. The guide groove 16 constrains the movement trajectory of the strapping tape. Then the strapper 15 clamps the two ends of the strapping tape, tightens the strapping tape with world tension, fixes it through high-temperature fusion, and automatically cuts off the excess strapping tape to complete the first strapping. Then the controller 4 controls the positioning motor 9 to drive the rotating table 13 to rotate. During the rotation process, the angle sensor 14 collects the rotation angle of the rotating table 13 and transmits the rotation information to the controller 4. After the angle adjustment is completed, the controller 4 controls the tape box 17 and the strapper 15 to perform secondary packaging on the items. The controller 4 adjusts the rotation angle of the rotating table 13 according to the item information transmitted by the visual sensor 5 and the laser sensor 10. After the items are packed, the controller 4 controls the conveying motor 3 to drive the second slider 24 located at the rear side of the outer wall of the conveyor belt 2 to move in the second chute 23, and at the same time controls the conveying motor 3 to drive the suction unit 25 to absorb the filler dropped on the conveyor belt 2. When processing sticky fillers, the controller 4 controls the conveying motor 3 to drive the scraper 26 to scrape back and forth on the conveyor belt 2, scraping the filler to the front side of the suction unit 25, cleaning the filler on the conveyor belt 2, and conveying the filler to the centrifugal unit 38 through the connecting pipe. The filler is centrifuged by the centrifugal unit 38 and then filtered by the filter unit 39. The water flows back into the corresponding filling compartment in the filling box 40 through the return pipe 37, and the filling flushed by the flushing component flows back into the filling box 40 in the same way. During the filling processing, it should be noted that if filling switching occurs, the cleaning module needs to clean the filling on the conveyor belt 2 before the filling switching is completed, that is, when the second filling is not filled, to avoid the mixing of fillings and increase the difficulty of filling processing. When flushing is required, the flushing port 36 can be connected to the rotary valve 19 to spray water through the discharge port 29, and the conveyor belt 2 can be flushed by adjusting the horizontal position, height and angle of the nozzle 8.

[0029] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An automatic positioning baler, comprising a base (1), a conveyor belt (2) and a positioning module, characterized in that: A conveyor belt (2) is provided on the upper side of the outer wall of the base (1), and the conveyor belt (2) is connected to a conveying motor (3) installed on the lower side of the inner wall of the base (1) via a connecting shaft. A controller (4) is installed on the front side of the outer wall of the base (1). A positioning module is installed on the upper side of the outer wall of the conveyor belt (2). A visual sensor (5) is installed on the left side of the outer wall of the positioning module. The visual sensor (5) is connected to the controller (4) via a signal line. The positioning module comprises: a lifting rod (6), a rotating shaft (7), a nozzle (8), a positioning motor (9), a laser sensor (10) and a moving component; A moving assembly is installed on the upper side of the outer wall of the conveyor belt (2), a lifting rod (6) is installed on the lower side of the outer wall of the moving assembly, a rotating shaft (7) is installed on the lower side of the outer wall of the lifting rod (6), a nozzle (8) is installed on the right side of the outer wall of the rotating shaft (7), the moving assembly, the lifting rod (6) and the rotating shaft (7) are respectively connected to the positioning motor (9) through a connecting shaft, a positioning motor (9) is installed in the middle of the inner wall of the base (1), a laser sensor (10) is installed on the lower side of the outer wall of the nozzle (8), and the laser sensor (10) is connected to the controller (4) through a signal line.

2. The automatic positioning baler according to claim 1, characterized in that: The moving assembly comprises: a first sliding groove (11) and a first sliding block (12); A first chute (11) is installed on the upper side of the outer wall of the conveyor belt (2), and the first chute (11) is arranged in a well shape. A first slider (12) is installed in the middle of the inner wall of the first chute (11). The first chute (11) is connected to the lifting rod (6) through the first slider (12), and the first slider (12) is connected to the positioning motor (9) through a connecting shaft.

3. The automatic positioning baler according to claim 2, characterized in that: A strapping module is installed in the middle of the first chute (11), and the strapping module includes: a rotating table (13), an angle sensor (14), a strapping device (15), a guide groove (16) and a belt box (17); A rotating table (13) is installed in the middle of the outer wall of the first slide (11), a strapping device (15) is installed on the lower side of the outer wall of the rotating table (13), the rotating table (13) and the strapping device (15) are connected to the positioning motor (9) through a connecting shaft, a tape box (17) is installed on the upper side of the outer wall of the rotating table (13), the strapping tape in the tape box (17) passes through the rotating table (13) and is connected to the strapping device (15), an angle sensor (14) is installed in the middle of the outer wall of the rotating table (13), the angle sensor (14) is connected to the controller (4) through a signal line, and a guide groove (16) is installed on the lower side of the outer wall of the strapping device (15).

4. The automatic positioning baler according to claim 1, characterized in that: The nozzle (8) is connected to a filling module via a connecting pipe, and the filling module comprises: a stuffing box (40), a temperature sensor (18), a rotary valve (19), a flushing assembly, a delivery pipe (20), and a sleeve (21); A stuffing box (40) is installed at the lower part of the inner wall of the base (1), a temperature sensor (18) is installed at the middle part of the inner wall of the stuffing box (40), a rotary valve (19) is installed at the output end on the upper side of the outer wall of the stuffing box (40), a delivery pipe (20) is installed on the upper side of the outer wall of the rotary valve (19), the outer wall of the delivery pipe (20) is wrapped with a sleeve (21), and a flushing component is installed on the right side of the outer wall of the stuffing box (40).

5. The automatic positioning baler according to claim 1, characterized in that: A cleaning module is installed on the rear side of the outer wall of the conveyor belt (2), and the cleaning module is connected to the recovery box (22) through a connecting pipe. The cleaning module includes: a second chute (23), a second slider (24), an air suction unit (25) and a scraper (26); A second chute (23) is installed on the rear side of the outer wall of the conveyor belt (2), a second slider (24) is installed in the middle of the inner wall of the second chute (23), an air suction unit (25) is installed on the front side of the outer wall of the second slider (24), the air suction unit (25) is connected to the recovery box (22) through a connecting pipe, a scraper (26) is installed on the left side of the outer wall of the air suction unit (25), and the second slider (24) and the scraper (26) are connected to the conveying motor (3) through a connecting shaft.

6. The automatic positioning baler according to claim 1, characterized in that: The nozzle (8) includes: a pressure sensor (27), a feed port (28), a discharge port (29), a slag discharge port (30), a buffer chamber (31) and an adjustment rod (32); A buffer chamber (31) is installed on the right side of the outer wall of the rotating shaft (7), a feed port (28) is installed on the upper side of the outer wall of the buffer chamber (31), a discharge port (29) is installed on the right side of the outer wall of the buffer chamber (31), a slag discharge port (30) is installed on the lower side of the outer wall of the buffer chamber (31), an adjusting rod (32) is installed on the left side of the middle part of the inner wall of the buffer chamber (31), the adjusting rod (32) is connected to the positioning motor (9) through a connecting shaft, and pressure sensors (27) are embedded in the feed port (28) and the discharge port (29), and the pressure sensor (27) is connected to the controller (4) through a signal line.

7. The automatic positioning baler according to claim 6, characterized in that: The slag discharge port (30) is connected to the recovery tank (22) via a connecting pipe, and the flushing assembly includes: a water tank (33), a heater (34), a pressurizer (35), a flushing port (36), a recovery tank (22) and a return pipe (37); A water tank (33) is installed on the right side of the outer wall of the stuffing box (40), heaters (34) are installed on both sides of the inner wall of the water tank (33), a pressurizer (35) is installed on the upper side of the outer wall of the water tank (33), the pressurizer (35) is connected to the flushing port (36) installed on the right side of the outer wall of the rotary valve (19) through a connecting pipe, a return pipe (37) is installed on the upper side of the outer wall of the pressurizer (35), the pressurizer (35) is connected to the sleeve (21) through the return pipe (37), a recovery box (22) is installed on the rear side of the outer wall of the water tank (33), and the recovery box (22) is connected to the stuffing box (40) through the return pipe (37).

8. The automatic positioning baler according to claim 7, characterized in that: A centrifugal unit (38) is installed on the upper side of the outer wall of the recovery box (22). The centrifugal unit (38) is connected to the air suction unit (25) and the slag discharge port (30) through connecting pipes. A filter unit (39) is installed on the lower side of the middle portion of the inner wall of the centrifugal unit (38) and the recovery box (22).

9. A method for using an automatic positioning baler, applicable to the automatic positioning baler according to any one of claims 1 to 8, characterized in that: The method of use is: S1: The operator places the items to be packaged on the conveyor belt (2) and starts packaging through the controller (4); S2: The conveying motor (3) drives the conveyor belt (2) to convey the items to be packaged, and the visual sensor (5) preliminarily collects information about the items and transmits the information to the controller (4); S3: The controller (4) controls the conveyor belt (2) to convey the item to the interior of the positioning module according to the item information, and the controller (4) controls the positioning module to process the item; S4: After the positioning module completes the processing of the items, the controller (4) controls the bundling module to complete the bundling of the items; S5: After the bundling is completed, the controller (4) controls the positioning motor (9) to drive the conveyor belt (2) to transport the items out of the positioning module.

10. The method for using the automatic positioning baler according to claim 9, characterized in that: The S3 is specifically: S31: After the conveyor belt (2) conveys the items into the positioning module, the controller (4) controls the positioning motor (9) to drive the first slider (12) to move on the first chute (11), and moves the laser sensor (10) close to the items to be packaged; S32: The laser sensor (10) scans the item to be packaged, obtains its shape information and transmits it to the controller (4). The controller (4) controls the positioning motor (9) to drive the moving component, the lifting rod (6) and the rotating shaft (7) to adjust the position of the nozzle (8) according to the item information; S33: After the nozzle (8) position adjustment is completed, the controller (4) controls the filling module to convey the filling to the nozzle (8). During the filling conveying process, the temperature of the filling is maintained by the sleeve (21). When the filling enters the buffer chamber (31), the pressure of the filling is detected by the pressure sensor (27). By comparing it with the preset value, when it is necessary to adjust the filling pressure, the controller (4) controls the positioning motor (9) to drive the adjustment rod (32) to adjust the filling pressure. After the filling pressure adjustment is completed, the pressure sensor (27) located at the discharge port (29) performs a second detection on the filling pressure, and then the nozzle (8) fills the object.

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