Full-automatic ton bag packaging machine

Abstract

The invention relates to the technical field of ton bag packaging machines, and discloses a full-automatic ton bag packaging machine which comprises an equipment rack, a bag preparation station, a filling station, a bag lifting and shaping station and a cache conveying assembly, the bag preparing station is provided with an automatic swing arm bag holding assembly used for taking and placing bag rolls, a conveyor assembly used for conveying single bags, a rope collecting assembly used for collecting bag ropes and a vision and three-coordinate mechanical arm assembly used for grabbing and transferring ton bags. The full-automatic ton bag packaging system is constructed by integrating an automatic swing arm bag holding module, a visual positioning three-coordinate manipulator module, a servo weighing and filling module, a follow-up heat sealing module, a bag lifting and shaping module and the like, whole-process automation from bag taking, bag opening, bag feeding, filling, weighing, sealing to shaping is achieved, and manual dependence and labor intensity are remarkably reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ton bag packaging machines, and in particular to a full-automatic ton bag packaging machine. BACKGROUND

[0002] At present, in many industrial fields such as chemical industry, grain, and mineral, ton bags (also known as flexible bulk bags) are often used for packaging and transporting bulk materials with large specific gravity. However, most of the existing ton bag packaging operations in China still rely on semi-automatic packaging mode. In this mode, key processes such as bagging, bag supporting, and even bag mouth arrangement and sealing need to be completed by manual operation. This not only leads to low packaging efficiency, making it difficult to meet the rhythm requirements of large-scale continuous production, but also faces problems such as high labor cost and difficulty in recruiting workers due to high labor intensity and poor working environment (such as dust pollution). At the same time, the uncertainty of manual operation also directly affects the stability of packaging quality.

[0003] Although a few attempts have been made in the market to realize full-automatic ton bag packaging, these devices generally have technical bottlenecks in actual application. In particular, in the automatic bagging and bag opening process, due to the lack of precise and reliable bag mouth positioning and grabbing mechanism, or the coordination control of the mechanical hand and the vision system is not mature enough, resulting in low success rate of bag opening, inaccurate bagging position, and seriously affecting the stability and reliability of the whole line operation. Frequent breakdown and adjustment of the equipment greatly reduce its expected efficiency advantage, and it cannot truly meet the core needs of industrial production for high efficiency, stability, and continuous operation.

[0004] Therefore, in view of the low automation, high labor dependence, and insufficient stability of existing automatic equipment in bagging and opening in the prior art, it is urgent to develop a full-automatic ton bag packaging machine that can realize efficient, precise, and stable operation. SUMMARY

[0005] To solve the technical problems proposed in the background art, the present application provides a full-automatic ton bag packaging machine.

[0006] The present application adopts the following technical solution: a full-automatic ton bag packaging machine, comprising a device rack and a series of workstations connected in sequence along the process flow, including a bag preparation station, a filling station, a bag lifting and shaping station, and a buffer conveying assembly;

[0007] The bag preparation station is provided with an automatic arm bag holding assembly for taking and placing bag rolls, a conveyor assembly for conveying single bags, a rope collecting assembly for recycling bag ropes, and a vision and three-coordinate mechanical hand assembly for grabbing and transferring ton bags;

[0008] The filling station is provided with a bag clamping assembly for clamping the bag mouth, a discharging and weighing assembly for accurate feeding, a heat sealing assembly for sealing, and an automatic limiting assembly for preventing the bag body from tilting.

[0009] The bag lifting and shaping station is provided with a bag lifting and rotating assembly for lifting and rotating the full bag and a shaping assembly for arranging the bag opening.

[0010] Further, the automatic arm swinging and bag holding assembly comprises a fixed base, a rotatable swinging arm, a bag holding clamp and a bag holding driving mechanism, the fixed base is fixedly connected with the equipment rack, one end of the rotatable swinging arm is rotationally connected with the fixed base, the other end is connected with the bag holding clamp, and the bag holding driving mechanism is used for driving the rotatable swinging arm to rotate.

[0011] The bag holding clamp comprises a clamp block, a clamp block fixing frame and a clamp block driving cylinder, the clamp block fixing frame and the clamp block driving cylinder are installed on the rotatable swinging arm, and the clamp block is installed at one end of the clamp block fixing frame and used for clamping from one end of the bag roll.

[0012] Further, the conveyor assembly comprises a lifting mechanism and a conveying mechanism, the lifting mechanism comprises a lifting cylinder connected with the equipment rack, and the conveying mechanism is a belt conveyor; the lifting cylinder can drive the conveying mechanism to lift to compress the bag roll, increase the friction between the belt and the bag, and then convey the ton bag to a designated bagging station through the conveying mechanism.

[0013] Further, the rope collecting assembly is located below the bagging station and comprises a winding mechanism and a wire arranging mechanism.

[0014] The winding mechanism comprises two rotating discs, a plurality of winding rods arranged circumferentially between the two rotating discs and a winding motor used for driving the rotating discs to rotate.

[0015] The wire arranging mechanism comprises a linear motor and a reciprocating unit driven by the linear motor, and the reciprocating unit is provided with a rope buckle through which the bag rope passes, so that the bag rope is neatly wound on the winding rod.

[0016] Further, the visual and three-coordinate mechanical hand assembly comprises a three-axis mechanical hand, a visual detection mechanism, an opening bag mechanism, a bag supporting mechanism and a PLC control mechanism.

[0017] The visual detection mechanism is used for detecting the position of the ton bag and transmitting a signal to the PLC control mechanism.

[0018] The opening bag mechanism and the bag supporting mechanism are installed at the execution end of the three-axis mechanical hand and are controlled by the PLC control mechanism to perform the opening bag and bag supporting actions.

[0019] The opening bag mechanism adopts a suction cup type structure, the bag supporting mechanism supports the bag opening from the inside after the bag is opened, and transfers the ton bag to the filling station together with the three-axis mechanical hand, so that the bag opening is sleeved on the discharging outer cylinder of the discharging and weighing assembly.

[0020] Further, the bag clamping assembly comprises a servo bag clamping lifting mechanism, a bag clamping lifting frame and a bag clamping mechanism.

[0021] The servo bag clamping and lifting mechanism is installed on the equipment rack, the bag clamping and lifting frame is connected with the output end of the servo bag clamping and lifting mechanism, and the bag clamping mechanism is installed on the bag clamping and lifting frame and used for clamping the bag opening of the ton bag outside the outer cylinder.

[0022] Further, the weighing and discharging assembly comprises a servo discharging mechanism, a weighing and discharging bin, a butterfly valve and an outer cylinder.

[0023] The servo discharging mechanism is arranged at the feeding end of the weighing and discharging bin, the butterfly valve is arranged at the discharging end of the weighing and discharging bin, and the bottom of the outer cylinder is used for sleeving the bag opening of the ton bag.

[0024] Further, the heat sealing assembly comprises a horizontal moving mechanism, a vertical moving mechanism and a heat sealing mechanism.

[0025] The horizontal moving mechanism is fixed on the equipment rack, the vertical moving mechanism is connected with the output end of the horizontal moving mechanism, and the heat sealing mechanism is installed on the output end of the vertical moving mechanism.

[0026] The heat sealing mechanism comprises two heat sealing clamping plates and an electric heating unit installed on the adjacent sides of the heat sealing clamping plates and used for heat sealing and sealing the bag opening of the ton bag, and the horizontal moving mechanism and the vertical moving mechanism can drive the heat sealing mechanism to move with the ton bag while sealing the bag opening.

[0027] Further, the bag lifting assembly comprises a bag lifting hook, a bag lifting cylinder and a rotating adjusting cylinder, which are used for lowering the bag, lifting and rotating the full bag after the full bag arrives.

[0028] The shaping assembly comprises a shaping frame, a shaping cylinder rotatably installed on the shaping frame and a nylon block installed on the output end of the shaping cylinder, which are used for pushing the exposed bag opening into the bag after the full bag is lifted.

[0029] Further, the buffer conveying assembly comprises a buffer conveyor and a terminal blocking mechanism, which are used for receiving and temporarily storing the ton bag after the shaping is completed.

[0030] Compared with the prior art, the present application has the following beneficial effects:

[0031] The application integrates automatic swing arm bag holding, visual positioning three-coordinate mechanical hand, servo weighing and filling, follow-up heat sealing and bag shaping and other modules, constructs a full-automatic ton bag packaging system, realizes full-automatic from bag taking, bag opening, bag loading, filling, weighing, sealing to shaping, significantly reduces labor dependence and labor intensity; the visual positioning and PLC cooperative control are adopted, the accuracy of the bag loading position and the bag opening success rate are ensured, the high-precision servo weighing and follow-up heat sealing technology are combined, not only the packaging efficiency and continuous operation capacity are greatly improved, but also the stability of the packaging quality and the sealing reliability are effectively guaranteed; meanwhile, the equipment has automatic limiting, bag rope recycling and bag opening arrangement functions, the adaptability and safety of the system operation are enhanced, the modular design of the overall structure is convenient for maintenance and expansion, and the application has outstanding practicability, high efficiency and economy in the chemical industry, grain and other industrial fields. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 A perspective view of the full-automatic ton bag packaging machine is provided.

[0033] Figure 2 A front view of the full-automatic ton bag packaging machine is provided.

[0034] Figure 3 A structure diagram of the automatic swing arm bag holding assembly in the full-automatic ton bag packaging machine is provided.

[0035] Figure 4 A structure diagram of the conveyor assembly in the full-automatic ton bag packaging machine is provided.

[0036] Figure 5 A structure diagram of the rope collecting assembly in the full-automatic ton bag packaging machine is provided.

[0037] Figure 6 A perspective structure diagram of the visual+three-coordinate mechanical hand assembly in the full-automatic ton bag packaging machine is provided.

[0038] Figure 7 A front view of the visual+three-coordinate mechanical hand assembly in the full-automatic ton bag packaging machine is provided.

[0039] Figure 8 A structure diagram of the bag clamping assembly in the full-automatic ton bag packaging machine is provided.

[0040] Figure 9 A structure diagram of the discharging and weighing assembly in the full-automatic ton bag packaging machine is provided.

[0041] Figure 10 A structure diagram of the heat sealing assembly in the full-automatic ton bag packaging machine is provided.

[0042] Figure 11 The whole structure schematic view of the bag lifting assembly in the full-automatic ton bag packaging machine is provided by the application.

[0043] Figure 12 The partial structure schematic view of the bag lifting assembly in the full-automatic ton bag packaging machine is provided by the application.

[0044] Figure 13 The structure schematic view of the shaping assembly in the full-automatic ton bag packaging machine is provided by the application.

[0045] Figure 14 The structure schematic view of the buffer conveying assembly in the full-automatic ton bag packaging machine is provided by the application.

[0046] Figure 15 The structure schematic view of the automatic limiting assembly in the full-automatic ton bag packaging machine is provided by the application.

[0047] Main symbol explanation:

[0048] Device rack 1;

[0049] Automatic arm swinging bag holding assembly 2, fixed base 201, rotatable swinging arm 202, bag holding clamp 203, bag holding driving mechanism 204, clamp block 205, clamp block fixing frame 206, clamp block driving cylinder 207;

[0050] Conveying machine assembly 3, lifting mechanism 301, conveying mechanism 302;

[0051] Rope collecting assembly 4, rotating disc 401, winding rod 402, winding motor 403, reciprocating unit 404, rope buckle 405;

[0052] Vision + three-coordinate mechanical hand assembly 5, three-axis mechanical hand 501, vision detection mechanism 502, bag opening mechanism 503, bag supporting mechanism 504;

[0053] Bag clamping assembly 6, bag clamping lifting mechanism 601, bag clamping lifting frame 602, bag clamping mechanism 603;

[0054] Blanking and weighing assembly 7, servo discharging mechanism 701, weighing and blanking bin 702, butterfly valve 703, blanking outer cylinder 704;

[0055] Heat sealing assembly 8, horizontal moving mechanism 801, vertical moving mechanism 802, heat sealing mechanism 803, heat sealing clamp plate 804;

[0056] Bag lifting assembly 9; bag lifting hook 901, bag lifting lifting cylinder 902, rotation adjusting cylinder 903;

[0057] Shaping assembly 10, shaping frame 1001, shaping cylinder 1002, nylon block 1003;

[0058] The buffer conveying assembly 11, the buffer conveyor 1101, and the end blocking mechanism 1102;

[0059] The automatic limiting assembly 12, the limiting driving cylinder 1201, the fixed limiting frame 1202, the movable limiting frame 1203, and the limiting plate 1204. DETAILED DESCRIPTION

[0060] The application will be further described below in conjunction with the drawings and the specific embodiments. It should be noted that the embodiments described below or the technical features thereof can be combined with each other to form new embodiments without conflict.

[0061] Embodiment 1

[0062] Reference Figures 1-15 The automatic ton bag packaging machine provided in the embodiment includes a device rack 1 and a bag preparation station, a filling station, a bag lifting and shaping station, and a buffer conveying assembly 11 connected in sequence.

[0063] The bag preparation station is provided with an automatic arm swinging and bag holding assembly 2, a conveyor assembly 3, a rope collecting assembly 4, and a vision + three-coordinate mechanical hand assembly 5.

[0064] The filling station is provided with a bag clamping assembly 6, a discharging and weighing assembly 7, a heat sealing assembly 8, and an automatic limiting assembly.

[0065] The bag lifting and shaping station is provided with a bag lifting assembly 9 and a shaping assembly 10.

[0066] The automatic arm swinging and bag holding assembly 2 includes a fixed base 201, a rotatable swinging arm 202, a bag holding clamp 203, and a bag holding driving mechanism 204. The fixed base 201 is used to support the entire assembly and is fixedly connected with the device rack 1 to ensure the stability during operation. One end of the rotatable swinging arm 202 is rotationally connected with the fixed base 201, and the other end of the rotatable swinging arm 202 is connected with the bag holding clamp 203. The bag holding driving mechanism 204 is used to drive the rotatable swinging arm 202 to rotate.

[0067] The bag holding clamp 203 includes a clamping block 205, a clamping block fixing frame 206, and a clamping block driving cylinder 207. The clamping block fixing frame 206 and the clamping block driving cylinder 207 are installed on the rotatable swinging arm 202. The clamping block 205 is installed at one end of the clamping block fixing frame 206 to clamp the end of the bag roll.

[0068] The conveyor assembly 3 includes a lifting mechanism 301 and a conveying mechanism 302, the lifting mechanism 301 includes a lifting cylinder connected with the equipment rack 1, and the conveying mechanism 302 is a belt conveyor, the conveying mechanism 302 is lifted by the lifting cylinder to increase the friction between the belt and the bag in the conveying mechanism 302 from below, and the bag is conveyed to the position of the bagging station by the conveying belt of the conveying mechanism 302;

[0069] The rope collecting assembly 4 is located below the bagging station on the equipment rack 1, and the rope collecting assembly 4 includes a winding mechanism and a winding arrangement mechanism, the winding mechanism includes two rotating discs 401 and a plurality of winding rods 402 arranged circumferentially between the two rotating discs 401, the winding mechanism further includes a winding motor 403 for driving one of the rotating discs 401 to rotate, the winding arrangement mechanism includes a linear motor and a reciprocating unit 404 driven by the linear motor, and the reciprocating unit 404 includes a rope buckle 405 for the bag rope to pass through, so that the bag rope is neatly and orderly wound outside the plurality of winding rods 402 between the two rotating discs 401;

[0070] The visual + three-coordinate mechanical hand assembly 5 includes a three-axis mechanical hand 501, a PLC control mechanism, a visual detection mechanism 502, a bag opening mechanism 503, and a bag supporting mechanism 504, the visual detection mechanism 502 is used to detect whether the ton bag reaches the bagging station and transmit a signal to the PLC control mechanism, the bag opening mechanism 503 and the bag supporting mechanism 504 are installed at the execution end of the three-axis mechanical hand 501, and the PLC control mechanism controls the bag opening mechanism 503 and the bag supporting mechanism 504 to open and support the bag respectively. The bag opening mechanism 503 adopts a suction cup type bag opening structure, the bag supporting mechanism 504 can open the bag opening from the inside after the bag is opened and can transfer the ton bag to the filling station following the three-axis mechanical hand 501, and the three-axis mechanical hand 501 can sleeve the bag opening from below outside the discharge port of the outer cylinder 704 in cooperation with the bag supporting mechanism 504.

[0071] The bag clamping assembly 6 includes a servo bag clamping lifting mechanism 601, a bag clamping lifting frame 602, and a bag clamping mechanism 603, the servo lifting mechanism is installed on the equipment rack 1, the lifting frame is connected with the output end of the servo lifting mechanism, and the bag clamping mechanism 603 is installed on the lifting frame and used to clamp the ton bag conveyed by the three-axis mechanical hand 501 outside the outer cylinder 704.

[0072] The discharging and weighing assembly 7 includes a servo discharging mechanism 701, a weighing discharging bin 702, a butterfly valve 703, and an outer cylinder 704 for discharging, the servo discharging mechanism 701 is installed at the feeding end of the weighing discharging bin 702, the butterfly valve 703 is installed at the discharging end of the weighing discharging bin 702, and the bottom of the outer cylinder 704 for discharging is used to sleeve the ton bag;

[0073] The heat sealing assembly 8 comprises a horizontal moving mechanism 801, a vertical moving mechanism 802 and a heat sealing mechanism 803, wherein the horizontal moving mechanism 801 is fixed on the equipment rack 1, the output end of the vertical moving mechanism 802 is connected with the horizontal moving mechanism 801, and the heat sealing mechanism 803 is installed on the output section of the vertical moving mechanism 802. The horizontal moving mechanism 801 can adopt a synchronous belt and a servo motor and a sliding fit sliding rail block mechanism, the vertical moving mechanism 802 adopts a screw lifting mechanism, and the heat sealing mechanism 803 comprises two heat sealing clamping plates 804 and two groups of electric heating units installed on the adjacent sides of the two heat sealing clamping plates 804 and used for heat sealing a ton bag bag opening. After the ton bag is filled, the position of the heat sealing mechanism 803 is adjusted by the vertical moving mechanism 802 cooperating with the horizontal moving mechanism 801, and the heat sealing mechanism 803 can just clamp the top position of the bag opening of the ton bag from two sides. At this time, the heat sealing mechanism 803 heat seals the bag opening, and meanwhile the horizontal moving mechanism 801 works to discharge the ton bag, thereby improving the production efficiency, and the completed ton bag is conveyed to a bag lifting shaping station.

[0074] The automatic limiting assembly comprises a limiting driving cylinder 1201, a fixed limiting frame 1202, a movable limiting frame 1203 and a limiting plate 1204, wherein the limiting driving cylinder 1201 and the fixed limiting frame 1202 are connected with the equipment rack 1, one end of the movable limiting frame 1203 is connected with the fixed limiting frame 1202, and the other end is connected with the limiting plate 1204, and the limiting plate 1204 is used for abutting against the side of the ton bag.

[0075] The bag lifting assembly 9 comprises a bag lifting hook 901, a bag lifting lifting cylinder 902 and a rotating adjusting cylinder 903. When the full bag ton bag enters the bag lifting shaping station, the bag lifting assembly 9 is lowered to a suitable position by the lifting driving mechanism, then the bag lifting assembly 9 hangs the full bag ton bag by the hook and lifts it up, and the full bag ton bag is rotated by 90° by the rotating adjusting cylinder 903.

[0076] The shaping assembly 10 comprises a shaping frame 1001, a shaping cylinder 1002 rotatably installed on the shaping frame 1001 and a nylon block 1003 installed on the output end of the shaping cylinder 1002. After the bag lifting assembly 9 lifts the ton bag filled with materials, the shaping cylinder 1002 drives the nylon block 1003 to push the bag opening exposed outside into the ton bag, so that the shaping effect is achieved.

[0077] The buffer conveying assembly 11 is further installed behind the shaping assembly 10, and the buffer conveyor comprises a buffer conveyor 1101 and a terminal blocking mechanism 1102. After the ton bag is heat sealed and shaped, the ton bag is buffered on the buffer conveyor 1101.

[0078] The automatic ton bag packaging machine has the working procedures of bag preparation, filling, bag lifting shaping and buffering in sequence, and realizes the full automation of ton bag packaging.

[0079] The working process starts from the bag preparation station: the automatic arm bag holding assembly 2 holds the bag roll to the working position, the conveyor assembly 3 then conveys a single ton bag to the bag loading station, and the rope collecting assembly 4 automatically and neatly collects the unwound bag rope. Then, the visual + three-coordinate mechanical hand assembly 5 accurately positions the bag opening through the visual detection mechanism 502, and the bag opening and bag supporting actions are completed by the bag opening mechanism 503 and the bag supporting mechanism 504, and the three-axis mechanical hand 501 accurately transfers the supported ton bag to the filling station, and the bag opening is sleeved on the outer cylinder 704.

[0080] Then enter the filling station: the bag clamping assembly 6 acts to clamp the bag opening outside the outer cylinder 704. The weighing assembly 7 accurately pours the material into the ton bag according to the preset weight. After filling, the heat sealing assembly 8 is accurately positioned under the drive of the horizontal moving mechanism 801 and the vertical moving mechanism 802, and the bag opening is heat sealed by the heat sealing mechanism 803. This process can realize sealing while moving, and seamlessly connect with the conveying process, effectively improving the production efficiency.

[0081] The full bag ton bag after sealing enters the bag lifting shaping station: the bag lifting assembly 9 lifts and rotates the ton bag by a certain angle such as 90° through the bag lifting hook 901, so as to facilitate subsequent shaping. Then, the shaping cylinder 1002 of the shaping assembly 10 drives the nylon block 1003 to push the exposed bag opening part into the bag, and the shaping is completed.

[0082] Finally, the shaped ton bag is conveyed to the buffer conveying assembly 11, temporarily stored by the buffer conveyor 1101, and positioned by the end blocking mechanism 1102, waiting for the forklift and other equipment to be taken away.

[0083] The whole process is coordinated and controlled by the PLC control system, and the components of each station act sequentially and closely, so as to realize the whole process automation from bag taking, bag opening, bag loading, filling, weighing, sealing to shaping and buffering, which has the advantages of high efficiency, high precision and high stability.

[0084] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0085] Finally: the above only for the preferred embodiments of the present application, and not for limiting the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the scope of protection of the present application.

Claims

1. A fully automatic ton bag packaging machine, characterized in that, It includes the equipment frame (1) and the bag preparation station, filling station, bag shaping station and buffer conveying assembly (11) connected in sequence along the process flow. The bag preparation station is equipped with an automatic swing arm bag holding assembly (2) for picking up and putting in bag rolls, a conveyor assembly (3) for conveying single bags, a rope gathering assembly (4) for recycling bag ropes, and a vision and three-coordinate robot assembly (5) for grabbing and transferring ton bags. The filling station is equipped with a bag clamping assembly (6) for clamping the bag opening, a feeding and weighing assembly (7) for precise feeding, a heat sealing assembly (8) for sealing, and an automatic limiting assembly for preventing the bag from tilting. The bag shaping station is equipped with a bag-lifting component (9) for lifting and rotating full bags and a shaping component (10) for tidying up the bag opening.

2. The fully automatic ton bag packaging machine as described in claim 1, characterized in that, The automatic swing arm bag-holding assembly (2) includes a fixed base (201), a rotatable swing arm (202), a bag-holding clamp (203), and a bag-holding drive mechanism (204). The fixed base (201) is fixedly connected to the equipment frame (1). One end of the rotatable swing arm (202) is rotatably connected to the fixed base (201), and the other end is connected to the bag-holding clamp (203). The bag-holding drive mechanism (204) is used to drive the rotatable swing arm (202) to rotate. The bag clamp (203) includes a clamping block (205), a clamping block fixing frame (206), and a clamping block driving cylinder (207). The clamping block fixing frame (206) and the clamping block driving cylinder (207) are mounted on a rotatable swing arm (202). The clamping block (205) is mounted on one end of the clamping block fixing frame (206) and is used to clamp the bag roll from one end.

3. The fully automatic ton bag packaging machine as described in claim 1, characterized in that, The conveyor assembly (3) includes a lifting mechanism (301) and a conveying mechanism (302). The lifting mechanism (301) includes a lifting cylinder connected to the equipment frame (1), and the conveying mechanism (302) is a belt conveyor. The lifting cylinder can drive the conveying mechanism (302) to lift and press the bag roll, increase the friction between the belt and the bag, and thus transport the ton bag to the designated bag loading station through the conveying mechanism (302).

4. The fully automatic ton bag packaging machine as described in claim 1, characterized in that, The rope winding assembly (4) is located below the upper bag station and includes a winding mechanism and a rope laying mechanism; The winding mechanism includes two turntables (401), a plurality of winding rods (402) arranged circumferentially between the two turntables (401), and a winding motor (403) for driving the turntables (401) to rotate. The cable winding mechanism includes a linear motor and a reciprocating unit (404) driven by it. The reciprocating unit (404) is provided with a rope buckle (405) for the bag rope to pass through, so that the bag rope is neatly wound on the winding rod (402).

5. The fully automatic ton bag packaging machine as described in claim 1, characterized in that, The vision and three-axis robotic arm assembly (5) includes a three-axis robotic arm (501), a vision inspection mechanism (502), a bag opening mechanism (503), a bag supporting mechanism (504), and a PLC control mechanism; The visual inspection mechanism (502) is used to detect the position of the ton bag and transmit the signal to the PLC control mechanism; The bag opening mechanism (503) and the bag opening mechanism (504) are installed on the execution end of the three-axis robot (501) and are controlled by the PLC control mechanism to perform bag opening and bag opening actions. The bag opening mechanism (503) adopts a suction cup structure. The bag supporting mechanism (504) opens the bag opening from the inside after the bag is opened, and the ton bag is transferred to the filling station by the three-axis robot (501), so that the bag opening is fitted onto the outer cylinder (704) of the feeding weighing component (7).

6. The fully automatic ton bag packaging machine as described in claim 1 or 5, characterized in that, The bag clamping assembly (6) includes a servo bag clamping lifting mechanism (601), a bag clamping lifting frame (602), and a bag clamping mechanism (603). The servo bag clamping and lifting mechanism (601) is installed on the equipment frame (1). The bag clamping and lifting frame (602) is connected to the output end of the servo bag clamping and lifting mechanism (601). The bag clamping mechanism (603) is installed on the bag clamping and lifting frame (602) and is used to clamp the bag mouth of the ton bag on the outside of the material discharge outer cylinder (704).

7. The fully automatic ton bag packaging machine as described in claim 1 or 5, characterized in that, The material feeding and weighing assembly (7) includes a servo feeding mechanism (701), a weighing and feeding bin (702), a butterfly valve (703), and a feeding outer cylinder (704). The servo feeding mechanism (701) is located at the feeding end of the weighing and feeding bin (702), the butterfly valve (703) is located at the feeding end of the weighing and feeding bin (702), and the bottom of the feeding outer cylinder (704) is used to fit the opening of the ton bag.

8. The fully automatic ton bag packaging machine as described in claim 1, characterized in that, The heat sealing component (8) includes a horizontal moving mechanism (801), a vertical moving mechanism (802), and a heat sealing mechanism (803). The horizontal moving mechanism (801) is fixed on the equipment frame (1), the vertical moving mechanism (802) is connected to the output end of the horizontal moving mechanism (801), and the heat sealing mechanism (803) is installed on the output end of the vertical moving mechanism (802); The heat sealing mechanism (803) includes two heat sealing plates (804) and an electric heating unit installed on their adjacent sides for heat sealing the opening of the ton bag; the horizontal moving mechanism (801) and the vertical moving mechanism (802) can drive the heat sealing mechanism (803) to move with the ton bag while sealing.

9. The fully automatic ton bag packaging machine as described in claim 1, characterized in that, The bag-carrying assembly (9) includes a bag-carrying hook (901), a bag-carrying lifting cylinder (902), and a rotation adjustment cylinder (903), which are used to lower the hanging bag, lift and rotate the full bag after it arrives at its full position. The shaping assembly (10) includes a shaping frame (1001), a shaping cylinder (1002) rotatably mounted on the shaping frame (1001), and a nylon block (1003) mounted on the output end of the shaping cylinder (1002) for pushing the exposed bag opening into the bag after the bag is fully lifted.

10. The fully automatic ton bag packaging machine as described in claim 1, characterized in that, The buffer conveying assembly (11) includes a buffer conveyor (1101) and an end blocking mechanism (1102) for receiving and temporarily storing the shaped ton bags.

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