Bagging device, packaging machine and control method

Abstract

The present application relates to the technical field of packaging machines, and discloses a bag feeding device, a packaging machine and a control method, the bag feeding device comprising a feeding table, a turnover assembly, a carrying assembly and a bag feeding assembly, the feeding table being provided with a suction position; the turnover assembly comprising a positioning table, a centering positioning mechanism and a pushing positioning mechanism arranged on the positioning table, and a turnover mechanism, the positioning table being provided with a turnover position, the centering positioning mechanism comprising two limiting plates and a positioning driving unit, the pushing positioning mechanism comprising a pushing plate and a pushing driving unit, the turnover mechanism being located at the end of the turnover position, and the turnover mechanism being used for changing the bag opening of the packaging bag located at the turnover position from facing sideways to facing upwards; and the carrying assembly being used for moving the packaging bag located at the suction position to the turnover position. While the carrying assembly takes down one packaging bag, the turnover assembly is feeding another bag, so that the waiting time is reduced, and the bag taking and bag feeding assembly line operation is realized, and meanwhile, the positioning table can be used as an "intermediate calibration position", so that the posture of the bags is ensured to be uniform.

Description

Technical Field

[0001] This invention relates to the technical field of packaging machines, specifically to bag feeding devices, packaging machines, and control methods. Background Technology

[0002] Pre-made bag packaging machines are key automation equipment in the food, daily chemical, and pharmaceutical industries. Their core function is to automatically pick up, open, fill, and seal pre-made bags. As market demand rapidly shifts towards smaller batches, more diverse products, and higher efficiency, existing pre-made bag packaging machines typically employ an integrated robotic arm or swing arm to complete all actions related to bag picking, posture conversion, and transfer to the packaging station. Their advantages lie in their compact structure and smooth, continuous operation. However, this approach has inherent drawbacks: First, the processes are completely sequential in time. The robotic arm must complete the entire transfer cycle before it can begin the next cycle, which means it must pick up the packaging bag, flip the packaging bag, and transfer it to the next gripping structure. Theoretically, there is an upper limit to the cycle time. At the same time, the placement device is fixed to the ground and cannot be adjusted in height. For packaging bags stacked on the placement device, the bags on top are subjected to greater impact from the cylinder and are easily damaged, while the bags on the bottom may not be picked up by the suction device. Usually, people limit the stacking height of the packaging bags to prevent the above situation from occurring. However, if the stacking height of the packaging bags is not high, workers need to frequently add packaging bags, which affects the bag feeding efficiency of the packaging machine. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention provides a bag feeding device, a packaging machine, and a control method.

[0004] According to a first aspect of the present invention, a bag feeding device includes a feeding platform, a flipping assembly, a conveying assembly, and a bag feeding assembly. The feeding platform is provided with a suction position for absorbing packaging bags. The flipping assembly includes a positioning platform, a centering positioning mechanism and a pushing positioning mechanism disposed on the positioning platform, and a flipping mechanism disposed at the end of the centering positioning mechanism. The positioning platform is provided with a position to be flipped. The centering positioning mechanism includes two limiting plates located on both sides of the position to be flipped and a positioning drive unit for driving the two limiting plates to move away from or towards each other. The pushing positioning mechanism includes a push plate located at the front end of the position to be flipped and a pushing drive unit for driving the push plate to move. The flipping mechanism is located at the end of the position to be flipped and is used to change the orientation of the bag opening of the packaging bag located at the position to be flipped from facing sideways to facing upwards. The conveying assembly is used to move the packaging bag located at the suction position to the position to be flipped. The bag feeding assembly includes a gripper for gripping the packaging bag and a bag feeding drive unit for driving the gripper to move the packaging bag flipped by the flipping mechanism to a bagging position.

[0005] A bag-feeding device according to an embodiment of the present invention has at least the following beneficial effects:

[0006] The conveying assembly moves the bag from the suction position to the flipping position. The positioning drive unit controls two limit plates to move closer together to center and position the bag. The pushing drive unit controls a pusher to push the bag to complete the pre-positioning. The flipping mechanism changes the orientation of the bag opening from sideways to upward. The gripper grasps the bag opening. The positioning drive unit controls the two limit plates to move away from each other, while the bag feeding drive unit moves the gripper to move the flipped bag to the filling position, completing the bag feeding process. In this application, the conveying assembly removes one bag while the flipping assembly feeds another, reducing waiting time and realizing a "bag removal-bag feeding" assembly line operation. At the same time, the positioning table can serve as an "intermediate calibration position" to ensure that the bag position is correct and the posture is consistent.

[0007] According to some embodiments of the present invention, the flipping mechanism includes a flipping drive unit, a flipping base, and two flipping arms. The two ends of the flipping arms are a rotating end and a clamping end, respectively. The clamping end is provided with a gripping unit for gripping the side of the packaging bag. The two gripping units are arranged opposite to each other. The rotating end is located on the flipping base. The flipping drive unit drives the flipping base to rotate.

[0008] According to some embodiments of the present invention, the flipping mechanism further includes an interval adjustment unit, wherein the two rotating ends are slidably disposed on the flipping seat, and the interval adjustment unit drives the two rotating ends to move away from or closer to each other.

[0009] According to some embodiments of the present invention, the conveying assembly includes multiple suction cup groups, a first drive mechanism for driving the suction cup groups to rise and fall, and a second drive mechanism for driving the suction cup groups to move laterally.

[0010] According to some embodiments of the present invention, the feeding platform further includes a limiting seat for placing packaging bags and a feeding drive mechanism for driving the limiting seat to rise and fall, wherein the suction position is located above the limiting seat.

[0011] According to some embodiments of the present invention, the feeding platform is provided with multiple limiting rods for limiting the packaging bags, and the limiting seat is provided with multiple elongated limiting holes. The limiting rods pass through the limiting holes, and the multiple limiting rods are arranged one-to-one with the multiple limiting holes. The limiting rods are adjustablely fixed on the feeding platform along the limiting holes to limit packaging bags of different specifications.

[0012] According to some embodiments of the present invention, the flipping mechanism includes two arc-shaped guide rails, the arc-shaped guide rails are provided with limiting grooves for limiting the movement of the side of the packaging bag, the feeding ends of the two arc-shaped guide rails are respectively provided on the two limiting plates, and the bag feeding assembly and the centering positioning mechanism are respectively provided on both sides of the flipping mechanism.

[0013] A packaging machine according to a second aspect of an embodiment of the present invention includes the bag feeding device described in any one of the above embodiments.

[0014] A control method for a bag feeding device according to a third aspect of the present invention, applied to the bag feeding device described above, the control method comprising:

[0015] The control limit seat moves the packaging bag upward to the suction position;

[0016] The control and handling components move the packaging bag from the suction position to the flipping position;

[0017] Control the two limit plates to move closer together to center and position the packaging bag;

[0018] The control pusher pushes the packaging bag to move along the arc-shaped guide rail and guides the bag opening to change from facing to the side to facing upward.

[0019] Control the grippers to grasp the opening of the packaging bag;

[0020] The two limiting plates are controlled to move away from each other, while the bag feeding drive unit is controlled to move the gripper, which drives the flipped packaging bag to the bagging position.

[0021] According to some embodiments of the present invention, the bag feeding device further includes a vision system for monitoring the packaging bag, wherein controlling the gripper to grasp the opening of the packaging bag while simultaneously controlling the two limiting plates to move away from each other includes:

[0022] During the movement of the packaging bag, real-time information of the packaging bag is acquired through a vision system, including the position, posture, and speed information of the packaging bag.

[0023] Based on the acquired real-time information, the motion trajectory of the bag delivery component is planned. The motion trajectory is an interception trajectory that enables the bag delivery component and the packaging bag to converge on the arc-shaped guide rail.

[0024] The gripper is controlled to move according to the interception trajectory and to perform a grasping action when it meets the packaging bag.

[0025] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0027] Figure 1 This is a schematic diagram of the structure of a packaging machine;

[0028] Figure 2 This is a schematic diagram of the structure of a packaging machine;

[0029] Figure 3 This is a side view of a packaging machine;

[0030] Figure 4 A structural diagram of the feeding platform, positioning platform, and conveying components;

[0031] Figure 5 This is a structural diagram of the feeding platform, positioning platform, and conveying components;

[0032] Figure 6 This is a structural diagram of the flipping component and the transport component;

[0033] Figure 7 This is a structural diagram of the flipping component and the transport component;

[0034] Figure 8 This is a side view schematic diagram of a bag-feeding device;

[0035] Figure 9 This is a side view schematic diagram of a bag-feeding device;

[0036] Figure 10 This is a top view schematic diagram of a bag-feeding device;

[0037] Figure 11 This is a side view of an arc-shaped guide rail.

[0038] Figure 12 This is a flowchart of a control method for a bag feeding device.

[0039] Icon labels:

[0040] Feeding platform 100, limiting seat 110, limiting hole 111, feeding drive mechanism 120, limiting rod 130;

[0041] The components include: a flipping component 200, a positioning stage 210, a centering and positioning mechanism 220, a limiting plate 221, a positioning drive unit 222, a pushing and positioning mechanism 230, a push plate 231, and a pushing drive unit 232.

[0042] Flipping mechanism 240, flipping drive unit 241, flipping seat 242, flipping arm 243, gripping unit 244, interval adjustment unit 245, arc-shaped guide rail 246, limiting groove 2461, lead screw 247;

[0043] The conveying assembly 300, the lifting seat 310, the mounting bracket 311, the suction cup 320, the transverse moving seat 330, the second drive unit 340, and the first drive unit 350 are included.

[0044] Bag feeding assembly 400, gripper 410, bag feeding drive unit 420;

[0045] Bag opening component 500, feeding component 600, sealing component 700, bag lowering component 800, and discharge component 900. Detailed Implementation

[0046] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0047] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0048] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or the order in which the indicated technical features are presented.

[0049] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0050] The following will be combined with the appendix Figures 1 to 12 The technical solution of the present invention will be clearly and completely described. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.

[0051] The purpose of the bag feeding device is to change the packaging bag from a horizontal storage position to a vertical position with the opening facing upwards, so that the subsequent packaging machine can automatically open the packaging bag and automatically fill it. A bag feeding device includes a feeding platform 100, a flipping component 200, a conveying component 300, and a bag feeding component 400.

[0052] Reference Figure 2 and Figure 3The feeding platform 100 includes a limiting seat 110 for placing packaging bags and a feeding drive mechanism 120 for driving the limiting seat 110 to rise and fall. A suction position for picking up packaging bags is provided above the limiting seat 110. Before the bag feeding device starts operating, packaging bags placed horizontally and tightly stacked vertically are added to the limiting seat 110. This stacking method provides structural stability and occupies little space. After operation begins, the feeding drive mechanism 120 controls the limiting seat 110 to move upwards by a certain height, moving the topmost packaging bag of the limiting seat 110 upwards to the suction position. When the previous packaging bag is removed, the topmost packaging bag of the limiting seat 110 is repeatedly moved upwards by a certain height to the suction position, facilitating the picking up of the packaging bags by the handling component 300. This application automatically raises the limiting seat 110 so that the handling component 300 picks up packaging bags at the same height each time, generating the same suction force on the limited bag at the suction position, resulting in more stable bag picking. In some other embodiments, the feeding table 100 is directly provided with a limit seat 110, which has no additional driving structure.

[0053] The flipping assembly 200 includes a positioning platform 210, a centering positioning mechanism 220 and a pushing positioning mechanism 230 disposed on the positioning platform 210, and a flipping mechanism 240 disposed at the end of the centering positioning mechanism 220. The positioning platform 210 has a flipping position. The conveying assembly 300 is used to move the packaging bag located at the suction position to the flipping position. After the packaging bag is positioned at the flipping position on the positioning platform 210, it is ready for subsequent flipping. The centering and positioning mechanism 220 includes two limiting plates 221 located on both sides of the position to be flipped and a positioning drive unit 222 that drives the two limiting plates 221 to move away from or closer to each other. The positioning drive unit 222 drives the two limiting plates 221 to move towards the packaging bag in the front-back direction, pushing the packaging bag in the position to be flipped to complete the centering and positioning adjustment. The pushing and positioning mechanism 230 includes a push plate 231 located at the front end of the position to be flipped and a pushing drive unit 232 that drives the push plate 231 to move. The pushing drive unit 232 drives the push plate 231 to move and pushes the packaging bag a preset distance in the left-right direction, so that the subsequent flipping mechanism 240 can flip the packaging bag. The flipping mechanism 240 is located at the end of the position to be flipped. The flipping mechanism 240 is used to change the orientation of the bag opening of the packaging bag in the position to be flipped from sideways to upward. After passing through the flipping mechanism 240, the opening of the packaging bag faces upward. The bag feeding assembly 400 includes a gripper 410 for gripping the packaging bag and a bag feeding drive unit 420. The bag feeding drive unit 420 drives the gripper 410 to move back and forth. The gripper 410 grips the opening of the flipped packaging bag. The bag feeding drive unit 420 is used to drive the gripper 410 to move the packaging bag flipped by the flipping mechanism 240 to the bagging position. The bag feeding drive unit 420 only drives the gripper 410 to move, which can move the packaging bag to the bagging position. The driving method is simple and can reduce the cumulative error to a certain extent.

[0054] The specific workflow is as follows: the feeding drive mechanism 120 controls the limit seat 110 to move the packaging bag upward to the suction position; the conveying component 300 moves the packaging bag from the suction position to the flipping position; the positioning drive unit 222 controls the two limit plates 221 to move closer together to center and position the packaging bag; the pushing drive unit 232 controls the push plate 231 to push the packaging bag to complete the pre-positioning of the packaging bag; the flipping mechanism 240 changes the orientation of the bag opening from sideways to upward; the gripper 410 grabs the bag opening; the positioning drive unit 222 controls the two limit plates 221 to move away from each other, and at the same time, the bag feeding drive unit 420 moves the gripper 410 to move the flipped packaging bag to the bagging position, completing the bag feeding process. In this application, while the conveying component 300 is removing a packaging bag, the flipping component 200 is feeding a bag, reducing waiting time and realizing a "bag removal-bag feeding" assembly line operation. At the same time, the positioning table 210 can serve as an "intermediate calibration position" to ensure that the bag position is correct and the posture is uniform.

[0055] Reference Figure 6 and Figure 8 In some embodiments, the flipping mechanism 240 includes a flipping drive unit 241, a flipping base 242, and two flipping arms 243. The flipping drive unit 241 uses a flipping motor; to improve control accuracy, a servo motor can be used. The flipping motor is mounted on the frame and located above the positioning table 210. The two ends of the flipping arms 243 are a rotating end and a clamping end, respectively. The clamping end is equipped with a gripping unit 244 for gripping the sides of the packaging bag. The gripping unit 244 is a short-arm gripper or a parallel opening and closing gripper, controlled pneumatically. The two gripping units 244 are arranged opposite each other, clamping the left and right sides of the packaging bag respectively. The rotating end is located on the flipping base 242. The flipping drive unit 241 drives the flipping base 242 to rotate, and the flipping arms 243 flip accordingly. The flipping motor drives the flipping arm 243 to rotate via the flipping base 242. The flipping arm 243 is connected to the gripping unit 244, flipping the packaging bag from the waiting position to the bag clamping position inside the frame. At this time, the gripper 410 of the bag feeding assembly 400 is ready to receive the packaging bag. The suction cup 320 of the handling assembly 300 picks up the bag and the flipping arm 243 feeds the bag simultaneously, reducing waiting time and realizing a "bag picking-bag feeding" assembly line operation. The movement trajectories of the two are separated to avoid mechanical collisions. If one component fails, the other can still continue to work, facilitating maintenance and replacement and improving system stability. The flipping arm 243 is only responsible for receiving the bag from the positioning table 210 and feeding it into the frame.

[0056] Furthermore, since the packaging bag is pre-positioned and pre-clamped on the positioning stage 210, the flipping arm 243 only needs to move it over a short distance and at a small angle. The center of gravity of the packaging bag is closer to the flipping seat 242, and the lever arm is significantly shortened. A shorter lever arm means less torque and less stress on the mechanism. The flipping arm 243 can adopt a lighter and more rigid structural design, such as aluminum alloy profiles or carbon fiber composite parts. Moreover, there is less vibration and sway during the movement, and the posture of the packaging bag is more stable. The required driving torque is reduced, so a smaller power motor, such as a servo motor or stepper motor, can be selected, resulting in lower energy consumption, less heat generation, and a more energy-efficient system. The short lever arm mechanism has high rigidity and small deformation, and higher end-position repeatability. Because it is a short lever arm mechanism, the positional deviation of the packaging bag into the clamping position is small, which is beneficial to subsequent bag opening and filling processes. From another perspective, the short lever arm also has the advantages of small inertia, increased acceleration, faster flipping cycle, and further improved speed.

[0057] In some embodiments, the flipping mechanism 240 further includes an interval adjustment unit 245, which may also be a servo motor. The flipping base 242 is provided with a sliding rod, and two rotating ends are slidably disposed on the sliding rod. The interval adjustment unit 245 drives the two rotating ends to move away from or closer to each other to adapt to packaging bags of different sizes. By using a servo motor, the flipping arm 243 can be automatically controlled to adapt to packaging bags of different sizes, improving automation and eliminating the need for manual adjustment.

[0058] Specifically, the interval adjustment unit 245 is driven by a lead screw 247 having a positive thread section and a negative thread end. The lead screw 247 is rotatably mounted on the flipping seat 242. The sliding rod is arranged parallel to the lead screw 247. The rotating ends of the two flipping arms 243 are threadedly connected to the positive thread section and the negative thread end, respectively, to achieve synchronous driving of the two flipping arms 243 to move away from or towards each other, ensuring the clamping and centering effect during the interval adjustment process. In some embodiments, one of the flipping arms 243 can also be driven to move to adjust the interval between the two flipping arms 243. In other embodiments, the interval adjustment unit 245 can also adopt a manual adjustment structure, such as adjusting the interval between the two flipping arms 243 by rotating the lead screw 247 through a handwheel.

[0059] The above embodiments require multiple "drop-position-grab" processes during bag feeding, significantly increasing auxiliary time and limiting further improvement in overall speed. Secondly, the handover of packaging bags between multiple independent mechanisms can easily generate cumulative positioning errors, affecting the final success rate of bag opening. Finally, the system consists of more drivers and sensors, making control and synchronization more complex, increasing costs, and requiring more physical space.

[0060] Therefore, refer to Figure 9 , Figure 10 , Figure 11In some embodiments, the flipping mechanism 240 includes two spaced-apart arc-shaped guide rails 246. Each arc-shaped guide rail 246 has a limiting groove 2461 for restricting the movement of the packaging bag's sides. The two sides of the packaging bag slide within the two limiting grooves. The feed ends of the two arc-shaped guide rails 246 are respectively located on two limiting plates 221. The positioning drive unit 222 drives the two limiting plates 221 to move closer together in the front-back direction, simultaneously causing the two arc-shaped guide rails 246 to move closer together and open, facilitating the removal of the packaging bag. Furthermore, opening the two arc-shaped guide rails 246 also opens the two limiting plates 221, facilitating the movement of the next packaging bag between the two limiting plates 221, preparing for the next packaging bag alignment and simplifying the control structure. The push drive unit 232 controls the push plate 231 to directly push the packaging bag through the arc-shaped guide rail 246, completing the positioning and flipping continuously without the need for two separate steps: positioning and flipping. This results in a more continuous cycle, improved accuracy, and a simpler structure. Meanwhile, the bag feeding assembly 400 and the centering positioning mechanism 220 are respectively located on both sides of the flipping mechanism 240. These three components are arranged sequentially without interference, facilitating subsequent bag opening and filling mechanisms. Furthermore, the bag feeding assembly 400, through translational movement, can drive the packaging bag from the flipping mechanism 240 to the filling position. Using this flipping mechanism 240 eliminates the need to change the original path of the bag feeding drive unit 420 driving the gripper 410 for translation, avoiding the addition of complex structures.

[0061] The workflow of this embodiment is as follows: The conveying component 300 moves the packaging bag from the suction position to the flipping position on the positioning table 210. The positioning drive unit 222 controls the two limit plates 221 to move closer together to center and position the packaging bag. The push drive unit 232 controls the push plate 231 to push the packaging bag along the arc-shaped guide rail 246, causing the bag opening to change from facing sideways to facing upwards, completing the flipping. The gripper 410 grabs the bag opening. The positioning drive unit 222 controls the two limit plates 221 to move away from each other, while the bag feeding drive unit 420 moves the gripper 410 to move the flipped packaging bag to the bagging position, completing the bag feeding process. During this process, the bag on the positioning table 210 naturally completes the posture transformation from horizontal to vertical through the arc-shaped guide rail 246. The bag feeding component 400 dynamically grabs the flipped and positioned bag from the arc-shaped guide rail 246 and directly feeds it into the bag opening station. The arc-shaped guide rail 246 is a passive flipping structure, which does not require drive components, simplifying the structure, shortening the cycle time, and improving reliability. Furthermore, the push plate 231 can be controlled to pause its movement, allowing the bag to "wait" there for the bag feeding assembly 400 to clamp it. The bag feeding assembly 400 can retrieve the bag at any suitable time, decoupling the two in terms of time and action, thus improving the system's reliability and cycle time potential.

[0062] According to some embodiments of the present invention, the feeding platform 100 is provided with sixteen limiting rods 130 for limiting the packaging bags. The sixteen limiting rods 130 extend vertically and limit the four sides of the packaging bags. The limiting seat 110 is provided with sixteen elongated limiting holes 111, of which eight limiting holes 111 extend horizontally and eight limit holes 111 extend vertically. Each side of the rectangular limiting seat 110 is provided with two limiting holes 111. The limiting rods 130 pass through the limiting holes 111. The sixteen limiting rods 130 correspond one-to-one with the sixteen limiting holes 111. The limiting rods 130 slide along the limiting holes 111, and the bottom of the limiting rods 130 is adjustablely fixed to the feeding platform 100. By moving the limiting rods 130, packaging bags of different sizes can be limited. The adjustment of the limiting rods 130 can adopt a structure similar to adjusting the interval between the two flipping arms 243, and can be adjusted manually or electrically.

[0063] According to some embodiments of the present invention, the conveying assembly 300 includes multiple sets of suction cups 320, a first drive mechanism for driving the suction cups 320 to move vertically, and a second drive mechanism for driving the suction cups 320 to move laterally. The first drive mechanism includes a first drive unit 350, and the second drive mechanism includes a laterally movable transverse base 330 and a second drive unit 340 for driving the transverse base 330 to move. The multiple sets of suction cups 320 and the first drive mechanism are all disposed on the transverse base 330. Through the operation of the second drive unit 340, the transverse base 330 carrying the suction cups 320 and the first drive mechanism can be driven to move as a whole, thereby transferring the suction cups 320 with the packaging bag attached from a suction station to a preset flipping station.

[0064] According to other embodiments of the present invention, the conveying assembly 300 further includes a plurality of independent lifting seats 310. Each set of suction cups 320 is mounted on a corresponding lifting seat 310. The set of suction cups 320 includes a plurality of suction cups 320 for generating negative pressure, and the mounting positions of these suction cups 320 on the lifting seat 310 are adjustable. In this embodiment, the suction cups 320 are disposed on mounting brackets 311, which are fixed to the lifting seat 310 by screws. When adjusting the interval, the mounting brackets 311 are loosened by rotating the screws, moved, and then fixed by rotating the screws again. A first drive mechanism is drivenly connected to all lifting seats 310 to drive them to move up and down synchronously or independently. A second drive mechanism is drivenly connected to the first drive mechanism, thereby indirectly driving all lifting seats 310 and suction cup sets 320 to move laterally by driving the first drive mechanism.

[0065] The working process of the handling assembly 300 is as follows: First, multiple sets of suction cups 320 descend at the suction station, firmly adhering to the packaging bag through the negative pressure generated by the suction cups 320. Then, the first drive mechanism activates, driving each lifting seat 310 to rise synchronously, smoothly lifting the packaging bag away from its original position. Next, the second drive mechanism starts, driving the transverse seat 330 and the first drive mechanism, lifting seats 310, suction cups 320, and the packaging bag as a whole to move laterally until they reach the preset flipping station. At the flipping station, the suction cups 320 release the packaging bag, completing one handling operation. Afterwards, each mechanism resets in reverse order, preparing for the next handling operation. Throughout the entire process, the lifting and transverse movements are performed sequentially, ensuring smooth and reliable operation.

[0066] The handling component 300 provided in this embodiment has several advantages. First, the use of multiple sets of independently adjustable suction cups 320 allows for reliable adsorption of packaging bags of different sizes and specifications by adjusting the position and spacing of the suction cups 320, resulting in greater versatility and adaptability. Second, the lifting and lowering mechanism, coupled with the lateral movement mechanism, ensures a clear handling path and stable operation for the packaging bags, improving positioning accuracy. Furthermore, the integrated layout of the suction cups 320 and the first drive mechanism on the lateral movement base 330 results in a compact structure and a rational power transmission path for the entire handling module, helping to reduce the overall space occupied by the equipment. Finally, the separate drive and control of the lifting and lateral movement ensures clear motion logic, facilitating automated operation and improving handling efficiency.

[0067] Furthermore, both the gripping unit 244 and the gripper 410 have integrated thin-film sensors on their gripping surfaces to sense the contact status in real time. This sensor system is mainly used to detect whether the gripping surface is in effective contact with the packaging bag and to identify "missing grip" anomalies during the gripping process. Once a packaging bag is detected as not being successfully gripped, the system will immediately send a feedback signal to avoid a situation where there is no packaging bag to receive the material in the subsequent unloading process.

[0068] According to an embodiment of a packaging machine based on a second aspect of the present invention, the machine includes a bag feeding device, a bag opening component 500, a material feeding component 600, a sealing component 700, and a bag lowering component 800, as described above. The bag feeding device includes a bag feeding component 400, which moves the packaging bag to the bag opening position. The bag feeding component 400 and the bag opening component 500 work together to open the packaging bag. The material feeding component 600 feeds the material into the packaging bag, which is then moved to the sealing position by the bag lowering component 800 and sealed. Multiple components work together, while the bag feeding component 400 and the bag lowering component 800 can move independently without being affected by preceding or following processes. The packaging process operates at high speed, greatly improving work efficiency. Each device has a simple and compact structure, significantly reducing space occupation and cost. Furthermore, a material discharge component 900 is provided, located below the material feeding component 600, the sealing component 700, and the bag lowering component 800. The material discharge component 900 moves the packaging bag to the sealing component 700 and the outlet, respectively, assisting in material discharge and movement.

[0069] It should be noted that all the drive units and drive mechanisms of this invention are existing technologies, and the aforementioned rotary motion, lifting motion, and moving motion can all be driven by cylinders, electric push rods, or motor lead screw drives. Corresponding slide rails are provided for linear motion to improve motion accuracy, while corresponding rotational shafts are provided for rotary motion to improve rotational accuracy and stability.

[0070] Reference Figure 12 According to an embodiment of a control method for a bag feeding device based on a third aspect of the present invention, applied to the aforementioned bag feeding device, the control method includes:

[0071] Step S100: Control the limit seat 110 to move the packaging bag upward to the suction position;

[0072] Step S100: Control the conveying component 300 to move the packaging bag from the suction position to the flipping position;

[0073] Step S300: Control the two limiting plates 221 to move closer together to center and position the packaging bag;

[0074] Step S400: Control push plate 231 to push the packaging bag along the arc guide rail 246 and guide the opening of the packaging bag from the side to the top through the arc guide rail 246;

[0075] Step S500: Control the gripper 410 to grasp the opening of the packaging bag;

[0076] Step S600: Control the two limit plates 221 to move away from each other, and simultaneously control the bag feeding drive unit 420 to move the gripper 410 to drive the flipped packaging bag to the bagging position.

[0077] This method eliminates the need for an active flipping cylinder and instead designs an arc-shaped guide rail 246 with a limiting groove 2461. As the bag is pushed towards the packaging position by the pushing and positioning mechanism 230, the bag ear or the limiting groove 2461 moves, forcing it to complete a 90-degree flip from horizontal to vertical, simplifying the structure, shortening the cycle time, and improving reliability.

[0078] According to some embodiments of the present invention, the bag feeding device further includes a vision system for monitoring the packaging bag, controlling the gripper 410 to grasp the opening of the packaging bag, and simultaneously controlling the two limiting plates 221 to move away from each other, including:

[0079] During the movement of the packaging bag, the vision system acquires real-time information about the packaging bag, including its position, posture, and speed.

[0080] Based on the acquired real-time information, the motion trajectory of the bag feeding component 400 is planned. The motion trajectory is an interception trajectory that enables the bag feeding component 400 and the packaging bag to converge on the arc guide rail 246.

[0081] The gripper 410 moves according to the interception trajectory and performs a gripping action when it meets the packaging bag.

[0082] This method utilizes vision sensors placed at key junctions, such as the positioning platform 210 and the bag-gripping position. The system detects the actual position and posture of the bag in real time and dynamically corrects the endpoints of the motion trajectories of all subsequent actuators, achieving "what you see is what you grab." The vision system identifies the precise position and speed of the bag on the motion platform in real time. Based on the above information, the motion controller of the gripper 410 used to grasp the packaging bag calculates the interception trajectory in real time, achieving "precise grasping while moving," much like the baton exchange in a relay race. This process avoids the cycle time loss of traditional solutions involving "putting down - stopping - grabbing again."

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0084] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A bag-feeding device, characterized in that, include: The feeding table (100) is equipped with a suction position for picking up packaging bags; The flipping assembly (200) includes a positioning platform (210), a centering positioning mechanism (220) and a pushing positioning mechanism (230) disposed on the positioning platform (210), and a flipping mechanism (240) disposed at the end of the centering positioning mechanism (220). The positioning platform (210) has a position to be flipped. The centering positioning mechanism (220) includes two limiting plates (221) located on both sides of the position to be flipped and a positioning driving unit (222) that drives the two limiting plates (221) to move away from or close to each other. The pushing positioning mechanism (230) includes a push plate (231) located at the front end of the position to be flipped and a pushing driving unit (232) that drives the push plate (231) to move. The flipping mechanism (240) is located at the end of the position to be flipped. The flipping mechanism (240) is used to change the orientation of the bag opening of the packaging bag located in the position to be flipped from facing to the side to facing upward. A conveying assembly (300) is used to move the packaging bag located at the suction position to the flipping position; The bag feeding assembly (400) includes a gripper (410) for gripping a packaging bag and a bag feeding drive unit (420) for driving the gripper (410) to move the packaging bag after being flipped by the flipping mechanism (240) to the bag filling position. The flipping mechanism (240) includes two arc-shaped guide rails (246). The arc-shaped guide rails (246) are provided with limiting grooves (2461) for limiting the movement of the side of the packaging bag. The feeding ends of the two arc-shaped guide rails (246) are respectively located on the two limiting plates (221). The bag feeding assembly (400) and the centering positioning mechanism (220) are respectively located on both sides of the flipping mechanism (240). The push driving unit (232) is used to drive the push plate (231) to push the packaging bag along the arc-shaped guide rails (246) and guide the bag opening of the packaging bag to change from facing to the side to facing upward through the arc-shaped guide rails (246). The positioning driving unit (222) controls the two limiting plates (221) to move away from each other and controls the bag feeding driving unit (420) to move the gripper (410) to drive the flipped packaging bag to move from between the two arc-shaped guide rails (246) to the bagging position.

2. The bag feeding device according to claim 1, characterized in that, include: The transport assembly (300) includes multiple sets of suction cups (320), a first drive mechanism for driving the suction cups (320) to rise and fall, and a second drive mechanism for driving the suction cups (320) to move laterally.

3. The bag feeding device according to claim 1, characterized in that, include: The feeding platform (100) also includes a limiting seat (110) for placing packaging bags and a feeding drive mechanism (120) for driving the limiting seat (110) to rise and fall. The suction position is located above the limiting seat (110).

4. The bag feeding device according to claim 3, characterized in that, include: The feeding platform (100) is provided with multiple limiting rods (130) for limiting the packaging bags. The limiting seat (110) is provided with multiple elongated limiting holes (111). The limiting rods (130) pass through the limiting holes (111). The multiple limiting rods (130) are arranged one-to-one with the multiple limiting holes (111). The limiting rods (130) are adjustablely fixed on the feeding platform (100) along the limiting holes (111) to limit packaging bags of different specifications.

5. A packaging machine, characterized in that, Includes the bag feeding device according to any one of claims 1 to 4.

6. A control method for a bag feeding device, characterized in that, The control method, applied to the bag-feeding device of claim 4, includes: The control limit seat (110) moves the packaging bag upward to the suction position; The control conveying assembly (300) moves the bag from the suction position to the flipping position; Control the two limiting plates (221) to move closer together to center and position the packaging bag; The control push plate (231) pushes the packaging bag to move along the arc guide rail (246) and guides the opening of the packaging bag to change from facing to the side to facing upward through the arc guide rail (246); Control the gripper (410) to grasp the opening of the packaging bag; Control the two limit plates (221) to move away from each other, and simultaneously control the bag feeding drive unit (420) to move the gripper (410) to move the flipped packaging bag to the bagging position.

7. The control method for a bag feeding device according to claim 6, characterized in that, The bag feeding device also includes a vision system for monitoring the packaging bags, which controls the gripper (410) to grasp the opening of the packaging bag and simultaneously controls the two limiting plates (221) to move away from each other, including: During the movement of the packaging bag, real-time information of the packaging bag is acquired through a vision system, including the position, posture, and speed information of the packaging bag. Based on the acquired real-time information, the motion trajectory of the bag delivery component (400) is planned. The motion trajectory is an interception trajectory that causes the bag delivery component (400) and the packaging bag to converge on the arc-shaped guide rail (246). The gripper (410) is controlled to move according to the interception trajectory and to perform a grasping action when it intersects with the packaging bag.

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