Automatic stacking device for bag making production and control method

Abstract

The invention discloses an automatic stacking device for bag making production and a control method, and relates to the field of automatic stacking, the device comprises a stacking support, a conveying table is arranged on the right side of the lower portion of the stacking support, a qualified product bearing plate and an unqualified product bearing plate are arranged on the front portion and the rear portion of the left side of the lower portion of the stacking support respectively, and a cross rod is fixedly arranged at the top of the stacking support; first guide rails are fixedly arranged on the front side and the rear side of the top of the transverse rod, a transverse moving assembly is arranged on the first guide rails, fixing blocks are arranged on the left side and the right side of the top of the transverse rod, a first belt is arranged between the fixing blocks on the two sides and penetrates through the transverse moving assembly, a square frame supporting pipe is arranged on the side edge of the transverse moving assembly, and multiple sets of second guide rails are arranged on the right side wall of the square frame supporting pipe. A lifting assembly is arranged on the second guide rail, and a clamping assembly is arranged below the lifting assembly. The clamping assembly and the suction cup detection assembly are combined to judge a formula, the extremely high percent of pass of bag-making products is ensured, and the efficiency from detection to classified stacking is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic stacking, in particular to an automatic stacking device for bag production and a control method. BACKGROUND

[0002] In the bag production industry, the post-processing link of bag products needs to be automatically stacked through a stacking device to improve warehouse and transportation efficiency. At present, most existing stacking machines use mechanical arms or fixed rail type clamping structures, and the main function is limited to transferring products on the conveying line to a specified area according to a preset trajectory for stacking, which can only complete the stacking operation of a single specification or a single type of product.

[0003] However, due to differences in material strength, process parameters, etc., there may be unqualified products in the production process of bag products, which need to be classified simultaneously with qualified and unqualified products at the stacking link. The existing equipment lacks integrated detection and classification functions, and usually needs to add independent manual detection or special detection equipment before stacking, and then the stacking machine processes the two types of products respectively, resulting in a complicated production process, large equipment footprint, and subjective errors introduced by manual detection, low classification efficiency. In addition, the clamping and detection mechanisms of the existing stacking device are separated, which cannot meet the needs of efficient and accurate modern production. SUMMARY

[0004] The present application provides an automatic stacking device for bag production and a control method.

[0005] An automatic stacking device for bag production, comprising: a stacking support, a conveying table is arranged below the right side of the stacking support, a qualified support plate and an unqualified support plate are arranged respectively at the front and back of the left side below the stacking support, a horizontal rod is fixedly arranged at the top of the stacking support, guide rails one are fixedly arranged at the top of the horizontal rod on both sides, a horizontal movement assembly is arranged on the guide rails one, fixed blocks are arranged on both sides of the top of the horizontal rod, a belt one is arranged between the two fixed blocks, the belt one passes through the horizontal movement assembly, a square frame support pipe is arranged on the side of the horizontal movement assembly, a plurality of guide rails two are arranged on the right side wall of the square frame support pipe, a lifting assembly is arranged on the guide rails two, and a clamping assembly is arranged below the lifting assembly. A main machine is arranged on the side of the stacking support, the main machine is used for controlling the working of the horizontal movement assembly, the lifting assembly and the clamping assembly, and judging whether the bag product is qualified or not; a belt two is arranged between the horizontal movement assembly and the lifting assembly, the belt two is used for controlling the lifting assembly and the clamping assembly to move forward and backward along the guide rails two; the horizontal movement assembly is used for controlling the square frame support pipe to drive the lifting assembly and the clamping assembly to move left and right on the horizontal rod; the lifting assembly is used for controlling the clamping assembly to move up and down in the vertical direction; the fixed blocks are used for fixing the belt one in the center of the horizontal rod; the qualified support plate and the unqualified support plate are respectively used for placing qualified bag products and unqualified bag products. The clamping assembly comprises a suction cup detection assembly, which is used for clamping a bag product on a conveying table and placing the product on a supporting plate, and detecting physical data of a sample attached to a surface of the bag product and sending the physical data to a host computer. The physical data comprises: : a damage deformation variable; The judgment formula involves: ; Wherein: : a target pressure threshold value; : a total suction force of the suction cup; : a bag mass; : a gravitational acceleration; : an average value of a qualified bag damage tensile force; : a damage tensile force standard deviation; : a first safety factor; : a number of suction cups; The other data comprises: : a maximum allowable deformation variable; : a maximum test time; ; ; ; ; .

[0006] Preferably, the clamping assembly comprises a top plate, four corners of the top plate are designed in a center-symmetrical manner with respect to a center of the top plate, a lower surface of a rear side of the top plate is provided with small support frame plates and large support frame plates on left and right sides respectively, a lower portion of each of the support frame plates is provided with a bent plate, a connecting portion between the upper portion of the bent plate and the support frame plate is provided with a rotating shaft, and a clamping plate is arranged between the bottom portions of the bent plates on the left and right sides; The clamping plate is provided with a plurality of clamping rods on a side close to a center of the top plate and a vertically downward side; The large support frame plate is fixedly provided with a cylinder one on an inner wall of a side close to the center of the top plate, the top portion of the bent plate on one side of the large support frame plate is provided with a protruding block, and the top portion of the telescopic rod of the cylinder one is movably connected with the protruding block; The top plate is fixedly provided with cylinders two on a lower surface of a front side and a rear side, the base of each of the cylinders two is threadedly connected and fixed with the lower surface of the top plate, and the top portion of the telescopic rod of each of the cylinders two is provided with a suction cup detection assembly; The suction cup detection assembly comprises support plates, the support plates are fixedly connected with each other through four corner supports arranged in the center of each of the support plates, the support plates are threadedly fixed with the telescopic rods of the cylinders two, each of the support plates is fixedly provided with a vacuum generator arranged in the center thereof, the vacuum generator is fixedly connected with the four corner supports, each of the four corner supports is provided with a long-hole through hole, each of the long-hole through holes is provided with a suction cup, the long-hole through hole is used for moving the suction cup on the long-hole through hole, and the vacuum generator is connected with the suction cup pipeline; The bottom of the four-corner support is fixedly provided with a circular chuck, the four corners of the circular chuck are provided with a sleeve ring one, the sleeve ring one is used for fixedly connecting with a suction cup, the surface of the bottom plate of the circular chuck is provided with a gas cylinder three at the four corners, the top of the telescopic rod of the gas cylinder three is fixedly connected with the sleeve ring one, the base of the gas cylinder three is fixedly connected with the bottom plate of the circular chuck, the surface of the bottom plate of the circular chuck is further provided with a short strip through hole, a grating ruler is fixedly arranged at the short strip through hole of the lower surface of the bottom plate of the circular chuck, an encoder is arranged on the grating ruler, the encoder is limited to move on the short strip through hole, a sleeve ring two is fixedly arranged at the top end of the encoder, the sleeve ring two is fixedly sleeved at the bottom of the telescopic rod of the gas cylinder three, the sleeve ring two is used for moving with the telescopic rod to drive the encoder to move, and then the : the damage deformation amount.

[0007] Preferably, the horizontal moving assembly comprises: an L-shaped base, a guide rail recess block is arranged on the bottom surface of the L-shaped base, the guide rail recess block is in sliding fit connection with a guide rail one, a motor one is arranged on the L-shaped base, a roller one is arranged on the rotating shaft of the motor one, two groups of square through holes one are arranged on the L-shaped base, the square through holes one are in the same plane as the roller one, a pulley one is arranged on the square through hole one, a belt one passes through the pulley one and the roller one in sequence, and the motor one is used for rotating to drive the belt one to move, thereby driving the horizontal moving assembly to move. A motor two is fixedly arranged on the side wall of the horizontal moving assembly, a roller two is arranged on the motor two, the roller two is arranged in a square frame support pipe, and a square through hole two is arranged on the top plate of the square frame support pipe.

[0008] Preferably, the lifting assembly comprises: a moving seat, a square moving column and a square column frame, a guide rail groove is arranged on the side plate of the moving seat, the guide rail groove is in sliding fit with a guide rail two on the right side wall of the square frame support pipe, a motor three is fixedly arranged on the moving seat, a roller three is arranged on the rotating shaft of the motor three, the roller three and the roller two are arranged in the square through hole two, and a belt two is arranged around the roller three and the roller two; The motor three and the belt two are used for rotating the motor three to drive the moving seat to move forward and backward on the square frame support pipe; The bottom side wall of the square column frame is threadedly fixed on the moving seat, the pulley two and the pulley three are fixedly arranged on the square column frame in sequence from top to bottom on the side away from the square frame support pipe, and a guide rail groove is arranged on the inner side wall of the square column frame close to the motor three; A guide rail protrusion is vertically arranged on the outer side wall of the square moving column close to the motor three, the guide rail protrusion is in sliding fit with the guide rail groove, and the guide rail protrusion and the guide rail groove are used for realizing the up-down movement of the square moving column in the square column frame; The servo motor is arranged on the top side wall of the square column frame, the rotating shaft of the servo motor is fixedly connected with the rotating shaft of the pulley two, the pulley three is arranged around the pulley two and the pulley three, the fixed connecting block is arranged on the pulley three, the fixed connecting block is fixedly connected with the side wall of the square moving column, and the fixed connecting block is used for driving the pulley three to move when the servo motor is started to rotate, and the fixed connecting block on the pulley three further drives the square column frame to move up and down.

[0009] Preferably, the cross rod and the side wall of the square frame support pipe are respectively provided with cable chains one and two, and the cable chains are used for protecting, guiding and managing cables and hydraulic pipes.

[0010] Preferably, the bottom of the square column frame is provided with a conical connecting block, the conical connecting block is threadedly connected with the top plate, the conical connecting block is used for being fixedly connected with the clamping assembly, and the square column frame moves up and down to drive the clamping assembly to move up and down.

[0011] Preferably, a power cabinet is fixedly arranged on the side of the stacking support, and the power cabinet is used for controlling the starting of the motor.

[0012] Preferably, a preset clamping area is arranged on the conveying table, and a position sensor is arranged on the preset clamping area, the position sensor is used for stopping conveying when the bag product is conveyed to the preset clamping area and triggers the position sensor. The bag products belong to the same batch of products, and the products in the batch are packed by being bundled with woven bags, and the surface of the woven bags is attached with samples of the products in the batch, and the samples are used for detection by the clamping assembly.

[0013] A control method of the automatic stacking device for bag production, wherein the automatic stacking device for bag production in any one of claims 1-8 is used, and the method comprises the following steps: S1, the power cabinet is started, the main machine is powered on to control the horizontal moving assembly, the lifting assembly and the clamping assembly to reset to the initial position, the horizontal moving assembly is located at the initial point of the conveying table on the right side of the cross rod, the lifting assembly is raised to the highest position, and the clamping assembly is in a loose state; S2, the conveying table conveys the bag product to the preset clamping area, stops conveying after triggering the position sensor, and waits for clamping; S3, the motor one drives the belt one to drive the square frame support pipe, so that the lifting assembly and the clamping assembly move rightwards along the guide rail one to above the conveying table; S4, the main machine controls the motor three to rotate to control the lifting assembly to move forward and backward along the guide rail two through the belt two, and adjusts the clamping assembly to above the product; S5, the servo motor drives the belt three to drive the square moving column to descend along the guide rail groove, so that the clamping assembly approaches the product; S6, the cylinder one drives the bent plate to rotate around the rotating shaft, and drives the clamping rod of the clamping plate to clamp the product; at the same time, the cylinder two drives the suction disc detection assembly to descend, and the suction disc contacts the surface of the sample of the products in the same batch; S7, the vacuum generator is started to make the suction disc adsorb the product, the cylinder three drives the sleeve ring one to apply a target pressure threshold to the suction disc, and the grating ruler detects and records the damage deformation variable through the encoder , data is transmitted to the host in real time; S8 the host receives data, compared with the preset maximum allowable deformation variable: if less than 1.52mm, it is determined as qualified product, otherwise it is unqualified product; S9 the lifting assembly drives the clamping assembly to rise to a safe height; S10 the horizontal moving assembly drives the clamping assembly to move left along the guide rail one: if the product is qualified, it is moved to above the qualified support plate; if it is unqualified, it is moved to above the unqualified support plate; S11 the motor three rotary belt two adjusts the position of the lifting assembly front and back, so that the product is aligned with the preset stacking position of the support plate; S12 the lifting assembly drives the clamping assembly to descend to a suitable height above the support plate, cylinder one resets to release the clamping rod, the suction cup detection assembly stops adsorption, and the product is placed on the support plate; then the lifting assembly drives the clamping assembly to rise; S13 the clamping assembly returns to the initial position under the driving of the horizontal moving assembly and the lifting assembly, and the steps S1-S12 are repeated until there is no product input on the conveying table, the host controls each component to reset and standby.

[0014] Compared with the prior art, the beneficial effects of the present application are: The clamping assembly adopts a center-symmetrically designed top plate structure, cooperates with the clamping rod driven by the bent plate, the shaft and cylinder one, and can realize stable clamping of the bagged product through mechanical linkage, so that the product is not easy to fall off during the moving and transferring process. Meanwhile, the multi-group distributed design of the clamping rod is adapted to the shape characteristics of the woven bag bundled and bagged, can uniformly disperse the clamping force, and avoids product damage caused by excessive local stress. In addition, the clamping assembly is rigidly connected with the lifting assembly through the conical connecting block, and combines the linkage structure of the suction cup detection assembly driven by cylinder two, so that dual fixation of mechanical clamping and vacuum adsorption is realized, which not only ensures the reliability of grabbing, but also provides a stable stress basis for synchronous detection.

[0015] The suction cup detection assembly integrates the functions of vacuum adsorption and physical parameter detection, applies adsorption force to the product surface sample through the vacuum generator, and simultaneously drives the suction cup to move through the sleeve ring one driven by cylinder three, cooperates with the grating ruler and encoder to detect the damage deformation variable Δs in real time, and can complete the product qualification judgment without additional detection equipment.

[0016] The suction cup detection assembly controls the detection process accurately through the preset target pressure threshold , the total adsorption force threshold of the suction cup and the maximum allowable deformation variable and other parameters, and a judgment formula, ensures the consistency and accuracy of the detection data, and improves the efficiency from detection to classification and stacking. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A three-dimensional structure schematic diagram of an automatic stacking device for bag-making production is shown. Figure 2A perspective structural schematic diagram of a horizontal moving assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 3 A perspective structural schematic diagram of a lifting assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 4 A perspective structural schematic diagram of a lifting assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 5 A perspective structural schematic diagram of a clamping assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 6 A front view structural schematic diagram of a clamping assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 7 A left view structural schematic diagram of a clamping assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 8 A bottom view structural schematic diagram of a clamping assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 9 A perspective structural schematic diagram of a suction disc detection assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 10 A bottom view structural schematic diagram of a suction disc detection assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 11 A perspective structural schematic diagram of a suction disc detection assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 12 A perspective structural schematic diagram of a suction disc detection assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 11 A perspective structural schematic diagram of a suction disc detection assembly in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 13 A sample data comparison diagram of sample quality, breaking tension and breaking deformation in an automatic stacking device for bag making production is shown according to an embodiment of the present disclosure; Figure 14 A block diagram of an automatic stacking device for bag making production and a control method is shown according to an embodiment of the present disclosure.

[0018] Wherein: 1, conveying table; 2, clamping assembly; 3, stacking support; 301, power cabinet; 6, transverse moving assembly; 7, lifting assembly; 201, top plate; 202, bent plate; 203, clamping plate; 204, cylinder one; 205, rotating shaft; 206, clamping rod; 207, protruding block; 208, suction cup detection assembly; 209, large support frame plate; 210, small support frame plate; 211, cylinder two; 401, unqualified support plate; 402, qualified support plate; 501, cross rod; 502, guide rail one; 601, square frame support tube; 602, ; 603, cable chain one; 604, L-shaped base; 605, motor one; 606, motor two; 607, pulley one; 608, moving seat; 609, cable chain two; 610, motor three; 611, square through hole two; 701, square column frame; 702, conical connecting block; 703, pulley three; 704, servo motor; 705, pulley two; 706, square moving column; 707, fixed block; 708, guide rail groove; 2081, suction cup; 2082, support plate; 2083, vacuum generator; 2085, circular chuck; 2086, sleeve ring one; 2087, cylinder three; 2088, base; 2089, encoder; 20810, telescopic rod; 20811, sleeve ring two; 20812, grating ruler. DETAILED DESCRIPTION

[0019] Various exemplary embodiments, features, and aspects of the present disclosure will be described below in detail with reference to the accompanying drawings. The same reference numbers in the drawings represent the same elements or similar elements. Although various aspects of the embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0020] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0021] In addition, for the purpose of convenience and brevity, detailed descriptions of well-known methods, apparatuses, circuits, and circuit elements are omitted so as not to obscure the concepts of the present disclosure. It should be noted that the use of particular

[0022] Reference Figures 1-12 As shown in the drawings, the automatic stacking device for bag production of the embodiment includes a stacking support 3, which serves as the load-bearing basis of the entire device and provides stable support for each component. A conveying table 1 is arranged on the lower right side of the stacking support 3, which is used to convey the bag products to be stacked to the designated position; a qualified support plate 402 and an unqualified support plate 401 are arranged on the lower left side of the stacking support 3, respectively, for placing products of different qualities.

[0023] The top of the stacking support 3 is fixedly provided with a cross bar 501, the top of the cross bar 501 is fixedly provided with guide rails one 502 on the front and back sides, the guide rails one 502 are provided with a horizontal moving assembly 6, a belt one is connected between the fixed blocks on the left and right sides of the top of the cross bar 501, the belt one passes through the horizontal moving assembly 6, and the horizontal moving assembly 6 is driven to move left and right along the guide rails one 502 by the motor one 605. A square frame support pipe 601 is fixed on the side of the horizontal moving assembly 6, a plurality of guide rails two are arranged on the right side wall of the square frame support pipe 601, the guide rails two are provided with a lifting assembly 7 which is installed in cooperation, the lifting assembly 7 is connected with the clamping assembly 2 through a conical connecting block 702 below, and three-dimensional space movement of the clamping assembly 2 is realized.

[0024] The side of the stacking support 3 is provided with a main machine which serves as a control core and is used for coordinating the actions of the horizontal moving assembly 6, the lifting assembly 7 and the clamping assembly 2 and judging product eligibility according to detection data. The clamping assembly 2 comprises a suction cup detection assembly 208, a clamping rod 206 is driven by a cylinder one 204 to realize mechanical clamping, a suction cup detection assembly 208 is pushed down by a cylinder two 211 at the same time, a vacuum generator 2083 is used to control a suction cup 2081 to adsorb a product, and a cylinder three 2087 and a grating ruler 20812 are used to detect a damage deformation amount , and the operation of product quality detection and grabbing is completed.

[0025] In some examples, the side walls of the cross bar 501 and the square frame support pipe 601 are respectively provided with a cable chain one 603 and a cable chain two 609. The cable chain adopts wear-resistant nylon material, the cables of each motor, cylinder and air pipe of the vacuum generator are arranged inside, the chain link structure can flexibly bend along with the movement of the horizontal moving assembly 6 and the lifting assembly 7, line entanglement or pulling damage is avoided, dust and oil pollution is prevented, the safety and service life of the equipment circuit are improved.

[0026] In some examples, a power supply cabinet 301 is fixedly arranged on the side of the stacking support 3, the power supply cabinet 301 is internally integrated with a circuit breaker, a relay and a PLC control module, and is connected with the motor one 605, the motor two 606, the motor three 610 and the servo motor 704 through cables. The power supply cabinet 301 can monitor the working current of each motor in real time, automatically cut off the power when overload or short circuit occurs, receive the instructions of the main machine through the PLC module, accurately control the motor speed and direction, and ensure the stability of the horizontal moving and lifting actions.

[0027] In some examples, the preset clamping area surface of the conveying table 1 is embedded with a position sensor, which adopts an infrared reflection design. When the bag product is conveyed to the area, the infrared beam is blocked to trigger a signal, and the main machine controls the conveying table 1 to stop running after receiving the signal. This design can avoid manual alignment of the product, ensure the consistency of the clamping position each time, and reduce the failure rate of grabbing due to position deviation.

[0028] In some examples, the tapered connecting block 702 between the square column frame 701 and the top plate 201 is forged from 45 steel. The top is bolted to the square column frame 701 through a flange, and the bottom is fixed through an internal thread matched with a threaded rod of the top plate 201. The tapered structure can disperse the gravity load of the clamping assembly 2, reduce stress concentration of the square column frame 701, and the threaded connection facilitates disassembly and maintenance, allowing quick replacement when the clamping assembly 2 fails.

[0029] In some examples, the four-corner support has a scale line (not shown) inside the long strip through hole, and the mounting seat of the suction cup 2081 is provided with a positioning bolt. Loosening the bolt can slide the suction cup 2081 along the through hole, and after adjusting to the appropriate position, tighten and fix it. This design allows the spacing of the suction cup 2081 to be flexibly adjusted according to the size of the bag product, adapting to different specifications of products with a width of 50-150 cm, and improving the versatility of the equipment.

[0030] In some examples, the short strip through hole of the circular chuck 2085 is inlaid with a copper sliding block, and the bottom of the encoder 2089 is fixedly connected with the sliding block. The surface of the copper sliding block is lubricated to reduce the friction resistance of the encoder 2089 when moving with the telescopic rod 20810, ensuring the accuracy of the detection data, so that the deformation measurement error is controlled within 0.02 mm.

[0031] In some examples, referring to Figure 13 , we get , Other calculations: 1. Calculation of target pressure threshold: ; : Target pressure threshold; : Average value of qualified bag breaking tension (N); : First safety factor; : Standard deviation of breaking tension (N); 2. Calculation of maximum allowable deformation: ; : Maximum allowable deformation 3. Calculation of upper limit of test time: ; : Maximum test time : Pulling speed (mm / s) : System buffer time (recommended value 0.1-0.3s) 4. Suction cup suction force requirements: ; : Total suction force of suction cup (N) : Number of suction cups Bag mass (kg) Gravity acceleration (9.81 m / s²) In some examples, : Safety factor derivation , Basic assumption: qualified bag breaking tension, subject to normal distribution , According to the normal distribution characteristics, 99.7% of the data is located in the interval (μ-3σ, μ+3σ): , In order to ensure that 99.7% of qualified bags are not misjudged, the target tension is set at μ-3σ: , Introducing adjustable safety factor k: , In the standard normal distribution: σ = 1, get k = 2 → 95% qualified bags pass k = 3 → 99.7% qualified bags pass k = 4 → 99.99% qualified bags pass In some examples, Maximum threshold calculation , Maximum allowable deformation: , Maximum test time: , Total suction force of suction cup: , The working principle of the present application is: In use, the automatic stacking device for bag production is first installed and debugged. The stacking support 3 is fixed on the flat ground, and its stable structure provides support for the entire device. The conveying table 1 is fixed below the right side of the stacking support 3 by bolts, and the qualified support plate 402 and the unqualified support plate 401 are placed in the pre-set positions on the left side of the stacking support 3. The horizontal rod 501 is fixed on the top of the stacking support 3 by welding, the guide rail one 502 is connected with the horizontal rod 501 by bolts, the L-shaped base 604 of the horizontal moving assembly is installed in sliding fit with the guide rail one 502 through the guide rail recess block, and the belt one passes through the pulley one 607 and the roller one, and the two ends are fixed by the fixed block on the top of the horizontal rod 501, so that the horizontal moving assembly 6 can move stably along the guide rail one 502.

[0032] The square frame support pipe 601 is fixed with the side wall of the horizontal moving assembly 6 by welding, the guide rail two on the right side wall is in sliding fit with the guide rail recess groove of the moving seat 608 of the lifting assembly, the motor two 606 penetrates through the side wall of the horizontal moving assembly 6, the roller two is connected with the roller three of the motor three 610 through the belt two, and is placed in the square through hole two 611 of the square frame support pipe 601, so that the lifting assembly 7 can move forward and backward along the guide rail two. The square column frame 701 is fixed with the moving seat 608 by screwing, the square moving column 706 is in sliding fit with the guide rail recess groove 708 of the square column frame 701 through the guide rail protrusion, the servo motor 704 drives the pulley two 705 to rotate, drives the square moving column 706 to rise and fall through the belt three and the fixed connection block 707, and the bottom tapered connection block 702 is screwed with the top plate 201 of the clamping assembly, so as to realize the vertical movement of the clamping assembly 2.

[0033] The cable chain one 603 and the cable chain two 609 are respectively installed on the side wall of the horizontal rod 501 and the square frame support pipe 601, and the cables of the motors and the air cylinders and the air pipe of the vacuum generator 2083 are arranged inside to guide the line layout and provide protection. The power cabinet 301 is fixed on the side of the stacking support 3, and the motors are connected with the main machine through cables to complete the installation of the entire device.

[0034] In normal operation, the power cabinet 301 supplies power, and the main machine controls each assembly to reset to the initial position: the horizontal moving assembly 6 is located on the right side of the horizontal rod 501 corresponding to the conveying table 1, the lifting assembly 7 is lifted to the highest position, and the clamping assembly 2 is in a loose state. The conveying table 1 conveys the bag products to the pre-set clamping area, stops after triggering the position sensor, and the main machine starts the horizontal moving assembly 6 after receiving the signal. The motor one 605 drives the belt one to drive the square frame support pipe 601, so that the clamping assembly 2 moves above the conveying table 1.

[0035] The main engine controls the rotation of motor 3 610, which, via belt 2, drives the movable base 608 forward and backward along guide rail 2, adjusting the clamping assembly 2 to be directly above the product. Servo motor 704 drives belt 3, driving the square movable column 706 downward along guide rail groove 708, bringing the clamping assembly 2 closer to the product. At this point, cylinder 1 204 pushes the bending plate 202 to rotate around axis 205, clamping the clamping rod 206 of the clamping plate 203 firmly onto the product. Simultaneously, cylinder 211 pushes the suction cup detection assembly 208 downward, causing the suction cup 2081 to contact the product surface sample. The vacuum generator 2083 activates, causing the suction cup to adhere to the product, ensuring a secure grip.

[0036] The suction cup detection component 208 starts working. The telescopic rod 20810 of the cylinder 3 2087 drives the ring 1 2086 to move. The suction cup 2081 moves accordingly. The ring 20811 drives the encoder 2089 to slide on the grating ruler 20812 to detect the damage deformation in real time. The host calculates the target pressure threshold according to the preset formula. , combined with the total suction force of the suction cup Conditions, judgment Is it less than the maximum allowable value of 1.52mm, and the detection time does not exceed .

[0037] If the product is qualified, the lifting component 7 drives the clamping component 2 to rise to a safe height, and the transverse movement component 6 drives it to move along the guide rail 502 to the top of the qualified support plate 402. The motor 3 610 adjusts the front and rear positions so that the product is aligned with the stacking point. The servo motor 704 drives the clamping component 2 to descend, the cylinder 1 204 resets and releases the clamping rod 206, the suction cup stops adsorption, and the product is placed on the qualified support plate 402; unqualified products are transferred to the unqualified support plate 401, and the process is the same.

[0038] After placement, clamping assembly 2 returns to its initial position, driven by the traverse and lift components, and the process repeats. Throughout this process, the cable chain protects the line, and power cabinet 301 monitors the motor's operating condition in real time, improving production efficiency and quality control accuracy.

[0039] Having described above several embodiments of the disclosure, any modifications and variations that fall within the scope of the described embodiments are also intended to be within the scope of the disclosure. As will be apparent to those skilled in the art, some modifications and variations to the embodiments described above can be practiced while staying within the scope and spirit of the described embodiments. The foregoing description of the described embodiments has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the described embodiments to the precise form disclosed. Many modifications and variations are possible in light of the above teachings. It is intended that the disclosed embodiments be limited only by the claims.

Claims

1. An automatic palletizing device for bag production, characterized in that: include: A stacking bracket (3) is provided with a conveying platform (1) on the right side below the stacking bracket (3), and a qualified supporting plate (402) and an unqualified supporting plate (401) are respectively provided on the front and back sides of the left side below the stacking bracket (3). A crossbar (501) is fixedly provided on the top of the stacking bracket (3), and a guide rail (502) is fixedly provided on both the front and back sides of the top of the crossbar (501). A transverse movement component (6) is provided on the guide rail (502). Fixed blocks are provided on both the left and right sides of the top of the crossbar (501), and a belt (1) is provided between the fixed blocks on both sides. The belt (1) passes through the transverse movement component (6), and a square frame support tube (601) is provided on the side of the transverse movement component (6). A plurality of guide rails (2) are provided on the right side wall of the square frame support tube (601), and a lifting component (7) is provided on the guide rail (2). A clamping component (2) is provided below the lifting component (7); A main machine is provided on the side of the stacking support (3), and the main machine is used to control the operation of the transverse moving component (6), the lifting component (7) and the clamping component (2), and to judge whether the bagged products are qualified; a second belt is provided between the transverse moving component (6) and the lifting component (7), and the second belt is used for the transverse moving component (6) to control the lifting component (7) and the clamping component (2) to move forward and backward along the second guide rail; the transverse moving component (6) is used to control the square frame support tube (601) to drive the lifting component (7) and the clamping component (2) to move left and right on the crossbar (501); the lifting component (7) is used to control the clamping component (2) to move up and down in the vertical direction; the fixing block is used to fix the first belt at the center of the crossbar (501); the qualified support plate (402) and the unqualified support plate (401) are used to place qualified bagged products and unqualified bagged products respectively; The clamping assembly (2) includes: a suction cup detection assembly (208), the clamping assembly (2) is used to clamp the bagged product on the conveying platform (1) and place the product on the supporting plate; the suction cup detection assembly (208) is used to detect physical data of a sample attached to the surface of the bagged product and send the physical data to the host; Physical data includes: :Destruction deformation; The judgment formula involves: ； in: : target pressure threshold; : total suction force of the suction cup; :Bag quality; : acceleration due to gravity; : Average breaking force of qualified bags; : standard deviation of failure tensile force; : first safety factor; : Number of suction cups; Other data includes: : Maximum allowable deformation; : Maximum test time; ； ； ； ； 。 2. The automatic palletizing device for bag production according to claim 1, characterized in that: The clamping assembly (2) comprises: a top plate (201); the front and rear sides of the four corners of the top plate (201) are designed to be centrally symmetrical according to the center of the top plate (201); a small support frame plate (210) and a large support frame plate (209) are respectively provided on the left and right sides of the lower surface of the rear side of the top plate (201); a bent plate (202) is provided below each of the support frames; a rotating shaft (205) is provided at the connection between the upper part of the bent plate (202) and the support frame; and a clamping plate (203) is provided between the bottoms of the left and right bent plates (202); The clamping plate (203) is provided with a plurality of clamping rods (206) on one side close to the center of the top plate (201) and on one side facing vertically downward; A cylinder 1 (204) is fixedly provided on the inner wall of one side of the large support frame plate (209) near the center of the top plate, a protruding block (207) is provided on the top of the bent plate (202) on one side of the large support frame plate (209), and the top of the telescopic rod of the cylinder 1 (204) is movably connected to the protruding block (207); Cylinder 2 (211) is fixedly provided on the front and rear sides of the lower surface of the top plate (201), the base of cylinder 2 (211) is fixedly connected to the lower surface of the top plate (201) by threaded connection, and a suction cup detection assembly (208) is provided on the top of the telescopic rod of cylinder 2 (211); The suction cup detection assembly (208) comprises: a support plate (2082), the support plates (2082) on both sides are connected and fixed in the center by four corner brackets, the support plates (2082) are fixedly connected to the telescopic rod of the second cylinder (211) by threads, a vacuum generator (2083) is fixedly provided in the center of the support plates (2082) on both sides, the vacuum generator (2083) is fixedly connected to the four corner brackets, the four corner brackets are provided with long through holes, the long through holes are provided with suction cups (2081), the long through holes are used for the suction cups (2081) to move on the long through holes, and the vacuum generator (2083) is connected to the suction cups (2081) by pipes; A circular chuck (2085) is fixedly provided at the bottom of the four-corner bracket, and a collar (2086) is provided at each of the four corners of the circular chuck (2085), and the collar (2086) is used to be fixedly connected to the suction cup (2081). Cylinders (2087) are provided at the four corners of the surface of the bottom plate of the circular chuck (2085), and the top of the telescopic rod (20810) of the cylinder (2087) is fixedly connected to the collar (2086). The base (2088) of the cylinder (2087) is fixedly connected to the bottom plate of the circular chuck (2085). A short through hole is also provided, and a grating ruler (20812) is fixedly provided at the short through hole on the lower surface of the bottom plate of the circular chuck (2085), and an encoder (2089) is provided on the grating ruler (20812). The encoder (2089) is limited to move on the short through hole, and a second collar (20811) is fixedly provided on the top of the encoder (2089). The second collar (20811) is fixedly sleeved on the bottom of the telescopic rod (20810) of the cylinder three (2087). The second collar (20811) is used to follow the movement of the telescopic rod (20810) to drive the encoder (2089) to move and thereby obtain : Destruction deformation.

3. The automatic palletizing device for bag production according to claim 1, characterized in that: The transverse movement assembly (6) comprises: an L-shaped base (604), a guide rail concave block is provided on the bottom surface of the L-shaped base (604), the guide rail concave block is slidably connected to the guide rail 1 (502), a motor 1 (605) is provided on the L-shaped base (604), a roller 1 is provided on the rotating shaft of the motor 1 (605), two groups of square through holes 1 are provided on the L-shaped base (604), the square through holes 1 and the roller 1 are in the same plane, and a pulley 1 (607) is provided on each of the square through holes 1, a belt 1 passes through the pulley 1 (607) and the roller 1 in sequence, and the motor 1 (605) is used to rotate and drive the belt 1 to move, thereby driving the transverse movement assembly (6) to move; A second motor (606) is fixedly provided on the side wall of the transverse moving component (6), a second roller is provided on the second motor (606), the second roller is provided in the square frame support tube (601), and a second square through hole (611) is provided on the top plate of the square frame support tube (601).

4. The automatic palletizing device for bag production according to claim 3, characterized in that: The lifting assembly (7) includes: a moving seat (608), a square moving column (706) and a square column frame (701); a guide rail groove is provided on the side plate of the moving seat (608); the guide rail groove is slidably matched with the guide rail 2 on the right side wall of the square frame support tube (601); a motor 3 (610) is fixedly provided on the moving seat (608); a roller 3 is provided on the rotating shaft of the motor 3 (610); the roller 3 and the roller 2 are provided in the square through hole 2 (611), and a belt 2 is provided around the roller 3 and the roller 2; The motor 3 (610) and the belt 2 are used for the motor 3 (610) to rotate and drive the movable seat (608) to move forward and backward on the square frame support tube (601); The bottom side wall of the square column frame (701) is screwed on the movable seat (608), and a pulley 2 (705) and a pulley 3 (703) are fixedly provided on the upper and lower sides of the square column frame (701) away from the square frame support tube (601), and a guide rail groove (708) is provided on the inner side wall of the square column frame (701) close to the motor 3 (610); A guide rail protrusion is vertically provided on the outer side wall of the square movable column (706) near the motor three (610), and the guide rail protrusion and the guide rail groove (708) are slidably matched. The guide rail protrusion and the guide rail groove (708) are used to realize the up and down movement of the square movable column (706) in the square column frame (701); A servo motor (704) is provided on the top side wall of the square column frame (701), the rotating shaft of the servo motor (704) is fixedly connected to the rotating shaft of the second pulley (705), a belt three is arranged around the second pulley (705) and the third pulley (703), a fixed connection block (707) is provided on the third belt, and the fixed connection block (707) is fixedly connected to the side wall of the square movable column (706), and the fixed connection block (707) is used to drive the pulley to rotate when the servo motor (704) is started, thereby realizing the movement of the third belt, and the fixed connection block (707) on the third belt further drives the square column frame (701) to move up and down.

5. The automatic palletizing device for bag production according to claim 1, characterized in that: A cable chain 1 (603) and a cable chain 2 (609) are respectively provided on the side walls of the crossbar (501) and the frame support tube (601). The cable chains are used to protect, guide and manage cables and hydraulic pipes.

6. The automatic palletizing device for bag production according to claim 1, characterized in that: A conical connecting block (702) is provided at the bottom of the square column frame (701), and the conical connecting block (702) is threadedly connected to the top plate (201). The conical connecting block (702) is used to be fixedly connected to the clamping assembly (2), and the square column frame (701) moves up and down, driving the clamping assembly (2) to move up and down.

7. The automatic palletizing device for bag production according to claim 1, characterized in that: A power supply cabinet (301) is fixedly provided on the side of the stacking bracket (3), and the power supply cabinet (301) is used to control the start-up of the motor.

8. The automatic palletizing device for bag production according to claim 1, characterized in that: A preset clamping area is provided on the conveying platform (1), and a position sensor is provided on the preset clamping area. The position sensor is used to stop conveying when the bagged product is conveyed to the preset clamping area and the position sensor is triggered; The bagged products belong to products produced in the same batch and the products in the batch are bundled and packed in woven bags, and samples of the products in the batch are attached to the surface of the woven bags, and the samples are used for the clamping component (3) to detect.

9. A method for controlling an automatic palletizing device for bag production, wherein the method uses the automatic palletizing device for bag production according to any one of claims 1 to 8, characterized in that: include: The S1 power cabinet is started, and the host is powered on to control the transverse moving component, the lifting component and the clamping component to reset to the initial position. The transverse moving component is located at the initial point of the conveyor platform on the right side of the crossbar, the lifting component is raised to the highest position, and the clamping component is in a loose state; the S2 conveyor platform conveys the bagged product to the preset clamping area, and stops conveying after triggering the position sensor, waiting for clamping; the S3 motor drives the belt to drive the frame support pipe, so that the lifting component and the clamping component move to the right along the guide rail to the top of the conveyor platform; the S4 host controls the rotation of the motor three and controls the belt two The lifting assembly moves back and forth along guide rail 2, adjusting the clamping assembly to be directly above the product; the S5 servo motor drives belt 3 to drive the square moving column to descend along the guide rail groove, bringing the clamping assembly close to the product; S6 cylinder 1 pushes the bending plate to rotate around the rotating axis, driving the clamping rod of the clamping plate to clamp the product; at the same time, cylinder 2 pushes the suction cup detection assembly down, and the suction cup contacts the sample surface of the same batch of products; S7 vacuum generator starts to make the suction cup absorb the product, and cylinder 3 drives the ring pair to apply the target pressure threshold to the suction cup, and the grating ruler detects and records the destructive deformation through the encoder. , data is transmitted to the host in real time; S8 host receives Data, compared with the preset maximum allowable deformation: If If the product is smaller than 1.52mm, it is judged as a qualified product, otherwise it is an unqualified product; the S9 lifting component drives the clamping component to rise to a safe height; the S10 transverse movement component drives the clamping component to move to the left along the guide rail: if the product is qualified, it moves to above the qualified support plate; if it is unqualified, it moves to above the unqualified support plate; the S11 motor three rotates the belt two to adjust the front and rear positions of the lifting component so that the product is aligned with the preset stacking position of the support plate; the S12 lifting component drives the clamping component to descend to the appropriate height above the support plate, the cylinder one resets to release the clamping rod, the suction cup detection component stops adsorption, and the product is placed on the support plate; then the lifting component drives the clamping component to rise; the S13 clamping component returns to the initial position driven by the transverse movement component and the lifting component, and repeats the S1-S12 steps until there is no product input on the conveyor table, and the host controls each component to reset and standby.

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