Visual bag warehouse device of bag feeding machine

Abstract

The invention discloses a visual bag warehouse device of a bag feeding machine, and relates to the technical field of packaging mechanical equipment, a bag warehouse rack is provided with a bag storage device, and the bag storage device is used for storing and supporting bags; the position adjusting mechanism is used for adjusting the position of the bag storage device on the bag warehouse rack; the visual identification module comprises at least one visual integration all-in-one machine, and the visual integration all-in-one machine is used for collecting image information of the bags in real time and identifying position coordinates, deflection angles and posture offset of the bags through image processing; the grabbing end of the grabbing device corresponds to the position of the bag storage device, the grabbing device grabs the bags, and the technical problem that in the prior art, due to the fact that bag deviation cannot be sensed in real time and cannot be automatically corrected, the bag taking success rate is low can be solved.

Description

Technical Field

[0001] This invention relates to the field of packaging machinery and equipment technology, and in particular to a visual bag storage device for a bag feeding machine. Background Technology

[0002] Pre-made bag packaging machines are core equipment in modern automated packaging production lines, widely used in pre-made bag packaging operations in the food, pharmaceutical, and daily chemical industries. A typical pre-made bag feeding machine includes a bag storage unit, a bag picking mechanism, a bag opening mechanism, a filling mechanism, and a sealing mechanism. The bag storage unit stores a certain number of pre-made bags and works with the bag picking mechanism to achieve stable separation and conveying of individual bags; its performance directly determines the overall operating efficiency and stability of the machine.

[0003] Existing bag feeding machine bag storage devices typically include a bag storage frame, a bag storage platform, and a limiting component. The bag storage platform is used to stack pre-made bags, and the limiting component uses mechanical adjustment to roughly position and clamp the bag stack to prevent the bags from scattering excessively under gravity. When retrieving bags, the bag retrieval mechanism descends to the preset position of the bag storage platform and uses negative pressure to adsorb and remove the bottommost bag.

[0004] However, in actual production applications, the above-mentioned traditional bag storage devices have the following technical problems: First, due to the soft material of the prefabricated bags, coupled with factors such as gravity compression, vibration, and electrostatic adsorption during stacking, the bag stacks are highly prone to positional shifts during storage. Common forms of shift include: lateral or longitudinal slippage of bags in the horizontal plane, rotational tilting around a vertical axis, and even tilting in the front-to-back direction due to bag warping. These shifts prevent the bag-picking suction cups from accurately hitting the intended pick-up position, resulting in bag retrieval failure, bag stacking, or bag jamming. Existing bag storage limit plates or pushers are mostly manually adjustable or simply tightened by cylinders, which are "static" or "semi-static" mechanical limits. Once the bag stacks dynamically shift during operation, these mechanical structures cannot detect and automatically adjust in real time, requiring manual intervention and readjustment after shutdown, severely impacting the continuous operation capability of the production line.

[0005] Meanwhile, existing bag storage systems lack intelligent sensing capabilities for bag status. For example, they cannot automatically identify abnormalities such as whether bag openings are stuck together, whether bags have invisible internal wrinkles, or whether the remaining height of the bag stack is too low. These abnormalities are often only discovered after a bag jam occurs, increasing downtime for troubleshooting and maintenance costs.

[0006] In summary, due to the lack of real-time perception and automatic correction capabilities for the position, posture, and status of bags, traditional bag feeding machines and bag storage units suffer from bottlenecks in bag retrieval success rate, operational stability, and intelligence level when facing packaging demands for high speed, high precision, and multiple bag sizes. Currently, there is no integrated device on the market capable of real-time detection and automatic, precise alignment of bags within the storage unit using visual recognition technology. Summary of the Invention

[0007] This invention provides a vision bag storage device for a bag feeding machine, which can solve the technical problem in the prior art that bag body deviation cannot be detected in real time and automatically corrected, resulting in a low bag retrieval success rate.

[0008] To address the above problems, the present invention provides a visual bag storage device for a bag feeding machine, comprising: The bag storage rack is equipped with a bag storage device, which is used to store and support bags; A position adjustment mechanism is connected to the bag storage device, and the position adjustment mechanism is used to adjust the position of the bag storage device on the bag storage machine frame; A visual recognition module is fixedly installed on the bag storage rack. The visual recognition module includes at least one integrated visual machine. The visual acquisition end of the integrated visual machine is set towards the bag storage device and is used to acquire image information of the bag in real time. The position coordinates, deflection angle and attitude offset of the bag are identified through image processing. A gripping device is installed on one side of the bag storage machine frame. The gripping end of the gripping device is positioned corresponding to the position of the bag storage device, and the gripping device grips the bag.

[0009] The present invention provides a visual bag storage device for a bag feeding machine, which, compared with the prior art, has the following beneficial effects, but is not limited to: This invention utilizes the coordinated operation of a bag storage frame, a bag storage device, a position adjustment mechanism, a vision recognition module, and a gripping device. The vision recognition module acquires real-time images of the bags and identifies their position coordinates, deflection angle, and attitude offset. The position adjustment mechanism automatically adjusts the position of the bag storage device based on the vision recognition results, ensuring that the bags are always precisely aligned with the gripping end of the gripping device. This achieves high-precision bag positioning and automatic correction, significantly improving the bag retrieval success rate and packaging efficiency. It avoids frequent manual adjustments, reduces equipment failure rate, and can adapt to various bag sizes, enhancing the intelligence level and operational stability of the bag feeder.

[0010] Preferably, the storage bag device includes: A storage bag platform, wherein the storage bag platform is configured as a hollow structure; A movable support is provided below the storage bag platform to support the bag. A limiting plate is vertically installed on both sides of the bag storage platform, and the limiting plate limits the position of the bag; A pusher is movably mounted on the bag storage platform. The pusher moves horizontally on the bag storage platform and works with the limiting plate to limit the position of the bag.

[0011] Preferably, the position adjustment mechanism includes: A vertical adjustment device is located below the movable support member, and the vertical adjustment device performs vertical adjustment on the movable support member; A horizontal adjustment device is located below the movable support member. The output end of the horizontal adjustment device is provided with the vertical adjustment device. The horizontal adjustment device pushes the vertical adjustment device and the movable support member to perform horizontal adjustment.

[0012] Preferably, the movable support includes: The first support bar and the second support bar are located below the storage bag platform. The first support bar and the second support bar are perpendicular to each other and are integrally connected. A support cushioning element is disposed on the first support strip and the second support strip, and the support cushioning element is used to support the bag; The first support bar and the second support bar are fixedly installed at the output end of the vertical adjustment device.

[0013] Preferably, the visual recognition module is configured as a visual integrated machine, installed below the bag storage rack. The visual acquisition end of the visual integrated machine acquires image information of the bottom surface of the bag, which is used to identify the lateral, longitudinal and angular offset of the bag in the horizontal plane.

[0014] Preferably, the visual recognition module is configured as two integrated visual units, one of which is installed below the bag storage rack and the other is installed on the side of the bag storage rack. The two integrated visual units are used to collect bottom and side images of the bags, respectively, to identify the bag's horizontal offset, angular offset, and vertical tilt posture.

[0015] Preferably, the visual recognition module includes an image processor, which is used to extract features from the acquired bag image. The extracted features include the bottom seal, side edges, or preset positioning marks of the bag. The current position coordinates and deflection angle of the bag are calculated based on the extracted features. The results are then compared with preset standard position coordinates and standard deflection angles to generate lateral offset, longitudinal offset, and angular offset, which are then transmitted to the control system.

[0016] Preferably, the gripping device includes: A control box, wherein an adjusting component is provided on the control box, and the output end of the adjusting component is rotatably connected to a gripping base plate; The limiting component is rotatably connected at one end to the control box and at the other end to the gripping base plate. The position of the gripping base plate is moved by the adjusting component and the limiting component. A gripping component is disposed on the gripping substrate, and the gripping component grips the bag.

[0017] Preferably, the grasping component includes: The first gripper and the second gripper are rotatably mounted on the gripping substrate. The first gripper and the second gripper are rotatably connected by a rotating member. When the first gripper rotates, the first gripper drives the second gripper to rotate through the rotating member, thereby realizing the gripping and separation of the first gripper and the second gripper. The driving component has a fixed end disposed on the gripping substrate and a movable end connected to the first gripper or the second gripper. The driving component drives the first gripper and the second gripper to open and close.

[0018] Preferably, the rotating component includes two gears, which are respectively disposed on the first gripper and the second gripper, and the two gears mesh with each other to rotate. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of a bag-feeding machine vision bag storage device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of the storage bag device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of the movable support component according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the overall structure of the gripping device according to an embodiment of the present invention; Figure 5 for Figure 4 Enlarged structural diagram at point A in the middle.

[0021] Explanation of reference numerals in the attached figures: 100. Bag storage frame; 110. Bag storage device; 111. Bag storage platform; 112. Movable support component; 1121. First support bar; 1122. Second support bar; 1123. Support buffer component; 113. Limiting plate; 114. Pushing component; 200. Position adjustment mechanism; 210. Vertical adjustment device; 220. Horizontal adjustment device; 300. Vision recognition module; 400. Gripping device; 410. Control box; 420. Adjusting component; 430. Gripping base plate; 440. Limiting component; 450. Gripping assembly; 451. First gripper; 452. Second gripper; 453. Rotating component; 454. Driving component. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings showing multiple embodiments according to this application. It should be understood that the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments described in this application without creative effort will fall within the scope of protection of this application.

[0023] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is for the purpose of describing specific embodiments only and is not intended to limit this application; the terms "comprising," "including," "having," "containing," etc., in the specification, claims, and accompanying drawings of this application are open-ended terms. Therefore, "comprising," "including," or "having" refers to, for example, a method or apparatus having one or more steps or elements, but is not limited to having only these one or more elements. The terms "first," "second," etc., in the specification, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0024] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship 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 limitations on this invention.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0026] It should be emphasized that when the term "including / comprises" is used in this specification, it is used to expressly indicate the presence of a feature, integer, step, or component, but does not exclude the presence or addition of one or more other features, integers, steps, parts, or groups of features, integers, steps, or parts.

[0027] like Figures 1 to 5 As shown in the figure, an embodiment of the present invention provides a visual bag storage device for a bag feeding machine, including a bag storage frame 100, a position adjustment mechanism 200, a visual recognition module 300, and a gripping device 400. The bag storage frame 100 is provided with a bag storage device 110, which is used to store and support bags. The position adjustment mechanism 200 is connected to the bag storage device 110 and is used to adjust the position of the bag storage device 110 on the bag storage frame 100. The visual recognition module 300 is fixedly installed on the bag storage frame 100 and includes at least one integrated vision unit. The vision acquisition end of the integrated vision unit is set towards the bag storage device 110 and is used to acquire image information of the bags in real time. The position coordinates, deflection angle, and attitude offset of the bags are identified through image processing. The gripping device 400 is set on one side of the bag storage frame 100, and the gripping end of the gripping device 400 is set corresponding to the position of the bag storage device 110. The gripping device 400 grips the bags.

[0028] The bag storage frame 100, serving as the supporting base for the entire device, is constructed from welded or assembled metal profiles, possessing sufficient structural strength and stability. The bag storage device 110, mounted on the bag storage frame 100, stores and supports multiple pre-made bags, ensuring they are neatly stacked.

[0029] The position adjustment mechanism 200 is mechanically connected to the bag storage device 110, and its function is to adjust the spatial position of the bag storage device 110 on the bag storage frame 100 according to control commands. Specifically, the position adjustment mechanism 200 can drive the bag storage device 110 to move in the horizontal and / or vertical direction, and rotate about the vertical axis, thereby achieving precise adjustment of the position of the bag stack.

[0030] A vision recognition module 300 is fixedly mounted on the bag storage rack 100 and includes at least one integrated vision unit. This integrated vision unit integrates an industrial camera, lens, light source, and image processor, with its vision acquisition end facing the bag storage device 110. During operation, the vision recognition module 300 acquires image information of the bags inside the bag storage device 110 in real time and identifies the bag's position coordinates, deflection angle, and attitude offset using a built-in image processing algorithm. These recognition results are transmitted to the control system in real time.

[0031] The gripping device 400 is located on one side of the bag storage machine frame 100, with its gripping end positioned corresponding to the position of the bag storage device 110. It is used to grip bags one by one from the bag storage device 110 and transfer them to the next work station.

[0032] The aforementioned mechanisms coordinate their operations: the visual recognition module 300 monitors the bag's status in real time. When it detects a bag shift or abnormal posture, the control system drives the position adjustment mechanism 200 to automatically correct the deviation based on the visual data, ensuring the bag remains in the preset, precise pick-up position. The gripping device 400 then precisely picks up the bag based on the visual positioning signal. This structure achieves high-precision bag positioning and automatic correction, effectively improving the bag-picking success rate and packaging efficiency.

[0033] In this embodiment, the bag storage device 110 includes a bag storage platform 111, a movable support member 112, a limiting plate 113, and a pusher member 114. The bag storage platform 111 is configured as a hollow structure. The movable support member 112 is disposed below the bag storage platform 111 and supports the bag. The limiting plate 113 is vertically disposed on both sides of the bag storage platform 111 and limits the bag. The pusher member 114 is movably disposed on the bag storage platform 111 and moves horizontally on the bag storage platform 111, cooperating with the limiting plate 113 to limit the bag.

[0034] In the above structure, the bag storage platform 111 is fixedly installed on the bag storage frame 100, and its middle part is set as a hollow structure so that the visual acquisition end of the visual recognition module 300 below can acquire image information of the bottom surface of the bag through the hollow area.

[0035] The movable support 112 is positioned below the bag storage platform 111 to support the stacked bags from the bottom. The movable support 112 is connected to the output end of the position adjustment mechanism 200 and can move with the drive of the position adjustment mechanism 200, thereby adjusting the position of the entire bag stack.

[0036] Two limiting plates 113 are vertically installed on both sides of the bag storage platform 111 to restrict the lateral movement of the bags and prevent them from scattering to the sides during stacking. The position of the limiting plates 113 is adjustable to accommodate bags of different widths.

[0037] The pusher 114 is movably mounted on the bag storage platform 111, typically located behind the bag stack. The pusher 114 can move horizontally on the bag storage platform 111, pushing the bags towards the limiting plate 113 to keep the bag stack tight and neat, preventing the bag stack from becoming loose due to a decrease in the number of bags. At the same time, the pusher 114 can also act as a limiter, effectively limiting the bag.

[0038] The combination of the aforementioned bag storage platform 111, movable support 112, limiting plate 113, and pusher 114 enables stable storage and multi-directional limiting of the bags, providing a foundation for accurate bag retrieval in the future.

[0039] In this embodiment, the position adjustment mechanism 200 includes a vertical adjustment device 210 and a horizontal adjustment device 220. The vertical adjustment device 210 is located below the movable support member 112 and performs vertical adjustment on the movable support member 112. The horizontal adjustment device 220 is located below the movable support member 112, and the output end of the horizontal adjustment device 220 is provided with the vertical adjustment device 210. The horizontal adjustment device 220 pushes the vertical adjustment device 210 and the movable support member 112 to perform horizontal adjustment.

[0040] In the above structure, the vertical adjustment device 210 is located directly below the movable support 112, and its output end is fixedly connected to the movable support 112. The vertical adjustment device 210 is used to adjust the movable support 112 in the vertical direction, that is, to control the raising and lowering of the bag stack. In practical applications, as the bags are removed one by one, the height of the bag stack gradually decreases. The vertical adjustment device 210 can drive the movable support 112 to rise or fall, so that when the number of bags decreases, the bags are pushed upward, which facilitates the continuous limiting plate 113 to limit the bags and prevent the bags from slipping off the limiting plate 113.

[0041] The output end of the horizontal adjustment device 220 is fixedly connected to the vertical adjustment device 210. The horizontal adjustment device 220 is used to push the vertical adjustment device 210 and the movable support 112 installed thereon to move horizontally, thereby adjusting the front and rear position of the bag stack in the horizontal plane.

[0042] The combination of vertical adjustment device 210 and horizontal adjustment device 220 enables dual-axis adjustment of the bag stack in both vertical and horizontal directions, providing a mechanical basis for precise alignment.

[0043] In this embodiment, the movable support 112 includes a first support bar 1121, a second support bar 1122, and a support buffer 1123. The first support bar 1121 and the second support bar 1122 are located below the storage platform 111. The first support bar 1121 and the second support bar 1122 are perpendicular to each other and integrally connected. The support buffer 1123 is disposed on the first support bar 1121 and the second support bar 1122 and is used to support the bag. The first support bar 1121 and the second support bar 1122 are fixedly installed at the output end of the vertical adjustment device 210.

[0044] In the above structure, the first support bar 1121 and the second support bar 1122 are both located below the storage bag platform 111. They are perpendicular to each other and are integrally connected to form a support frame similar to a "T". This T-shaped structure can minimize obstruction of visual acquisition below while ensuring sufficient support strength.

[0045] Preferably, its shape can be set as a cross-shaped structure to achieve the maximum support effect.

[0046] The support buffer 1123 is disposed on the upper surface of the first support bar 1121 and the second support bar 1122. The support buffer 1123 is in direct contact with the bottom of the bag. The support buffer 1123 is made of elastic material, such as rubber pad, spring sheet or polyurethane pad, etc., to provide flexible support for the bag, avoid damage to the bag caused by rigid contact, prevent the bag from forming wrinkles and tears, and also play a certain role in shock absorption.

[0047] In the above structure, the first support bar 1121 and the second support bar 1122 are fixedly installed at the output end of the vertical adjustment device 210, so that the vertical adjustment device 210 can drive the entire movable support member 112 to rise and fall, thereby driving the bag stack to rise and fall.

[0048] In this embodiment, the visual recognition module 300 is configured as a visual integrated machine, installed below the bag storage rack 100. The visual acquisition end of the visual integrated machine acquires image information of the bottom surface of the bag, which is used to identify the lateral, longitudinal and angular offset of the bag in the horizontal plane.

[0049] By analyzing the features of the bottom edge of the bag or the preset positioning marks in the bottom image, the deviation of the bag center from the standard position in the X and Y axes is calculated. At the same time, by identifying the angular changes of the bag edge, the rotation angle offset around the Z axis is determined, providing data support for the precise alignment of the subsequent gripping device 400.

[0050] The X-axis represents the horizontal direction, the Y-axis represents the vertical direction, and the Z-axis represents the direction perpendicular to the plane where the storage bag platform 111 is located.

[0051] In this embodiment, the visual recognition module 300 is configured as two integrated visual machines, one of which is installed below the bag storage rack 100 and the other is installed on the side of the bag storage rack 100. The two integrated visual machines are used to collect bottom and side images of the bags, respectively, to identify the bag's offset in the horizontal plane, angular offset, and vertical tilt posture.

[0052] In the above structure, by acquiring images from two different perspectives—the bottom and the side—the spatial posture of the bag can be captured more comprehensively. The lower integrated vision unit can accurately acquire the bag's positional parameters in the XY plane, such as the lateral and longitudinal displacements, as well as the deflection angle around the Z-axis. The side integrated vision unit can determine whether the bag is tilted in the front-to-back direction by detecting the height difference of the bag's side edges or the vertical positional deviation of the preset positioning marks. For example, when the front of the bag is tilted up, the relative position of the bag opening edge and the bottom edge in its side image will change. By analyzing these features, the image processor can calculate the tilt angle and tilt direction, providing richer judgment basis for subsequent grasping posture adjustment.

[0053] In this embodiment of the application, the visual recognition module 300 includes an image processor. The image processor is used to extract features from the acquired bag image. The extracted features include the bottom seal of the bag, the side edge, or a preset positioning mark. Based on the extracted features, the current position coordinates and deflection angle of the bag are calculated and compared with the preset standard position coordinates and standard deflection angle to generate lateral offset, longitudinal offset, and angular offset, which are then transmitted to the control system.

[0054] In the above structure, the image processor is used to extract features from the acquired bag image. The extracted features include, but are not limited to: the bottom sealing line of the bag, the side edge line of the bag, the preset positioning marks on the bag, such as color marks, QR codes, or other patterns with identification features.

[0055] Its image processor feature extraction uses pre-stored standard bags, storing the image feature parameters of the standard bags as templates. These image feature parameters include the straight line parameters of the bottom seal, the contour coordinates of the side edges, and the center point coordinates of the positioning marks. During actual detection, the image processor extracts the edge contour of the current bag image using an edge detection algorithm, and then uses a template matching algorithm to compare the extracted edge features with the pre-stored template, thereby determining the actual position coordinates and deflection coordinates of the current bag. The actual coordinates include the X-axis and Y-axis coordinates with the preset origin of the bag storage rack 100 as the reference, and the deflection angle includes the angle between the long or short side of the bag and the preset baseline. When there is a difference between the calculated actual position coordinates and the standard position coordinates, the lateral offset and longitudinal offset are obtained; the difference between the actual deflection angle and the standard deflection angle is the angular offset. These offset data are transmitted in real time to the bag feeding machine's control system, providing accurate parameter basis for subsequent position adjustment of the gripping device 400 or posture correction of the bag storage device 110.

[0056] In the above, the edge detection algorithm can be the Canny operator, and the template matching algorithm includes gray-scale-based template matching or feature point-based SIFT matching.

[0057] In this embodiment, the gripping device 400 includes a control box 410, a limiting member 440, and a gripping assembly 450. An adjusting member 420 is provided on the control box 410, and the output end of the adjusting member 420 is rotatably connected to the gripping base plate 430. One end of the limiting member 440 is rotatably connected to the control box 410, and the other end is rotatably connected to the gripping base plate 430. The position of the gripping base plate 430 is moved by the adjusting member 420 and the limiting member 440. The gripping assembly 450 is provided on the gripping base plate 430, and the gripping assembly 450 grips the bag.

[0058] In the above structure, the control box 410 serves as the mounting base for the gripping device 400 and is fixedly mounted on one side of the bag storage frame 100. The control box 410 can house drive components, pneumatic components, and control circuits.

[0059] The adjusting component 420 is mounted on the control box 410, and its output end is rotatably connected to the gripping base plate 430. The adjusting component 420 can be a cylinder, an electric push rod, or a lead screw mechanism driven by a servo motor, used to drive the gripping base plate 430 to move in position.

[0060] One end of the limiting member 440 is rotatably connected to the control box 410, and the other end is rotatably connected to the gripping base plate 430. The adjusting member 420 and the limiting member 440 together form a linkage mechanism. Through the extension and retraction drive of the adjusting member 420, combined with the guiding and limiting function of the limiting member 440, precise control of the position and attitude of the gripping base plate 430 can be achieved.

[0061] The gripping component 450 is mounted on the gripping base plate 430 and is used to perform the actual gripping operation on the bag. With the above structure, the gripping device 400 can accurately move the gripping component 450 to the gripping position of the bag under the command of the control system and according to the positioning signal provided by the vision recognition module 300.

[0062] In this embodiment, the gripping component 450 includes a first gripper 451, a second gripper 452, and a driving member 454. The first gripper 451 and the second gripper 452 are rotatably mounted on the gripping substrate 430. The first gripper 451 and the second gripper 452 are rotatably connected by a rotating member 453. When the first gripper 451 rotates, it drives the second gripper 452 to rotate through the rotating member 453, thereby achieving the gripping and separating of the first gripper 451 and the second gripper 452. The fixed end of the driving member 454 is mounted on the gripping substrate 430, and the movable end is connected to the first gripper 451 or the second gripper 452. The driving member 454 drives the first gripper 451 and the second gripper 452 to open and close.

[0063] In the above structure, the first gripper 451 and the second gripper 452 are rotatably mounted on the gripping substrate 430, and are positioned opposite each other to form a gripping structure similar to jaws. The first gripper 451 and the second gripper 452 are rotatably connected by a rotating member 453, so that the two can move synchronously towards or away from each other.

[0064] The fixed end of the driving component 454 is mounted on the gripping base plate 430, and the movable end is connected to the first gripper 451 or the second gripper 452. The driving component 454 can be a cylinder, an electric push rod, or a motor, used to drive the first gripper 451 and the second gripper 452 to perform opening and closing movements. When the driving component 454 pushes the first gripper 451, the first gripper 451 drives the second gripper 452 to rotate synchronously through the rotating component 453, realizing the gripping and separating of the first gripper 451 and the second gripper 452, thereby clamping or releasing the bag.

[0065] In this embodiment, the rotating member 453 includes two gears, which are respectively disposed on the first gripper 451 and the second gripper 452, and the two gears mesh with each other and rotate.

[0066] In the above structure, when the driving member 454 pushes the first gripper 451 to rotate, the gear on the first gripper 451 rotates accordingly, and drives the gear on the second gripper 452 to rotate in the opposite direction through gear meshing transmission, so that the second gripper 452 and the first gripper 451 move synchronously in opposite directions, realizing the opening and closing of the grippers.

[0067] It should be noted that the rotating component 453 is not limited to the gear meshing form. In other embodiments, the rotating component 453 may also adopt a linkage mechanism, a synchronous belt pulley mechanism, or other transmission mechanisms that can achieve synchronous reverse motion. These equivalent substitutions all fall within the protection scope of this invention.

[0068] The above-disclosed embodiments are merely a few specific examples of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A visual bag storage device for a bag feeding machine, characterized in that, include: The bag storage rack (100) is equipped with a bag storage device (110), which is used to store and support bags; A position adjustment mechanism (200) is connected to the bag storage device (110), and the position adjustment mechanism (200) is used to adjust the position of the bag storage device (110) on the bag storage rack (100); A visual recognition module (300) is fixedly installed on the bag storage rack (100). The visual recognition module (300) includes at least one visual integrated machine. The visual acquisition end of the visual integrated machine is set towards the bag storage device (110) for real-time acquisition of image information of the bag and recognition of the bag's position coordinates, deflection angle and attitude offset through image processing. A gripping device (400) is located on one side of the bag storage frame (100). The gripping end of the gripping device (400) is located corresponding to the position of the bag storage device (110). The gripping device (400) grips the bag.

2. The visual bag storage device for a bag feeding machine according to claim 1, characterized in that, The storage bag device (110) includes: Storage bag platform (111), wherein the storage bag platform (111) is configured as a hollow structure; A movable support (112) is disposed below the storage bag platform (111) to support the bag; A limiting plate (113) is vertically installed on both sides of the storage bag platform (111), and the limiting plate (113) limits the bag. The pusher (114) is movably mounted on the storage bag platform (111). The pusher (114) moves horizontally on the storage bag platform (111) and works with the limiting plate (113) to limit the bag.

3. The visual bag storage device for a bag feeding machine according to claim 2, characterized in that, The position adjustment mechanism (200) includes: A vertical adjustment device (210) is provided below the movable support (112) to perform vertical adjustment on the movable support (112); A horizontal adjustment device (220) is located below the movable support (112). The output end of the horizontal adjustment device (220) is provided with the vertical adjustment device (210). The horizontal adjustment device (220) pushes the vertical adjustment device (210) and the movable support (112) to perform horizontal adjustment.

4. The visual bag storage device for a bag feeding machine according to claim 3, characterized in that, The movable support (112) includes: The first support bar (1121) and the second support bar (1122) are located below the storage bag platform (111). The first support bar (1121) and the second support bar (1122) are perpendicular to each other and are integrally connected. A support buffer (1123) is disposed on the first support bar (1121) and the second support bar (1122), and the support buffer (1123) is used to support the bag; The first support bar (1121) and the second support bar (1122) are fixedly installed at the output end of the vertical adjustment device (210).

5. The visual bag storage device for a bag feeding machine according to claim 1, characterized in that, The visual recognition module (300) is configured as a visual integrated machine and installed below the bag storage rack (100). The visual acquisition end of the visual integrated machine acquires image information of the bottom surface of the bag and is used to identify the horizontal offset, vertical offset and angular offset of the bag in the horizontal plane.

6. The visual bag storage device for a bag feeding machine according to claim 1, characterized in that, The visual recognition module (300) is configured as two integrated visual machines, one of which is installed below the bag storage rack (100) and the other is installed on the side of the bag storage rack (100). The two integrated visual machines are used to collect bottom and side images of the bag to identify the bag's offset, angular offset and vertical tilt posture in the horizontal plane.

7. A visual bag storage device for a bag feeding machine according to any one of claims 5 or 6, characterized in that, The visual recognition module (300) includes an image processor, which is used to extract features from the acquired bag image. The extracted features include the bottom seal, side edge, or preset positioning mark of the bag. The current position coordinates and deflection angle of the bag are calculated based on the extracted features. The results are then compared with the preset standard position coordinates and standard deflection angle to generate lateral offset, longitudinal offset, and angular offset, which are then transmitted to the control system.

8. The visual bag storage device for a bag feeding machine according to claim 1, characterized in that, The gripping device (400) includes: A control box (410) is provided with an adjusting member (420), and the output end of the adjusting member (420) is rotatably connected to a gripping base plate (430). The limiting member (440) is rotatably connected at one end to the control box (410) and at the other end to the gripping base plate (430). The position of the gripping base plate (430) is moved by the adjusting member (420) and the limiting member (440). A gripping component (450) is disposed on the gripping substrate (430) and grips the bag.

9. A visual bag storage device for a bag feeding machine according to claim 8, characterized in that, The grasping component (450) includes: The first gripper (451) and the second gripper (452) are rotatably mounted on the gripping substrate (430). The first gripper (451) and the second gripper (452) are rotatably connected by a rotating member (453). When the first gripper (451) rotates, the first gripper (451) drives the second gripper (452) to rotate through the rotating member (453), thereby realizing the gripping and separation of the first gripper (451) and the second gripper (452). The driving component (454) has a fixed end disposed on the gripping substrate (430) and a movable end connected to the first gripper (451) or the second gripper (452). The driving component (454) drives the first gripper (451) and the second gripper (452) to open and close.

10. A visual bag storage device for a bag feeding machine according to claim 9, characterized in that, The rotating component (453) includes two gears, which are respectively disposed on the first gripper (451) and the second gripper (452), and the two gears mesh with each other to rotate.

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