A product packaging apparatus and method

Abstract

This invention discloses a product packaging equipment and method, relating to the field of packaging equipment technology. The product packaging equipment includes a packaging bag conveying module, a feeding module, and a control module. The feeding module includes a second conveying unit, which is perpendicular to the packaging bag conveying module and disposed on one side of it. A pushing unit is located between the second conveying unit and the packaging bag conveying module. A bag opening unit is located between the pushing unit and the packaging bag conveying module. The bag opening unit includes a second suction cup assembly and a bag supporting assembly. The bag supporting assembly includes a ninth power device, a movable plate, an eighth power device, and a bag supporting section. The movable plate is connected to the ninth power device, the eighth power device is mounted on the movable plate, and the bag supporting section is positioned corresponding to the opening of the packaging bag and connected to the eighth power device. This invention can reduce subsequent material pushing jams, bag opening damage, or incomplete bag filling caused by insufficient bag opening or inadequate bag supporting.

Description

Technical Field

[0001] This invention relates to the field of packaging equipment technology, and in particular to a product packaging equipment and method. Background Technology

[0002] With the growth of chain restaurants and convenient home consumption, the compound seasoning industry is rapidly transforming towards "small packaging and multiple categories." Currently, the bagging process for compound seasoning products is mostly completed using semi-automatic or fully automated packaging equipment. However, existing packaging equipment still has the following technical shortcomings in practical applications.

[0003] In the bag opening and unpacking process, existing technologies generally employ a combination of suction cups and robotic arms. For example, a suction cup is used to open a slit in the bag opening from both the top and bottom, and then a robotic arm is used to fully open the bag. However, most of these bag opening and unpacking devices use an open-loop control method, meaning the bag-opening component performs the opening action according to a preset trajectory and stroke, lacking real-time perception and feedback of the actual contact state between the bag-opening component and the bag during the opening process. When the bag opening resistance is abnormal due to differences in material properties, stacking adhesion, or positional deviation, existing open-loop bag opening and unpacking systems cannot identify whether the bag-opening component has been correctly inserted into the bag opening, whether the bag opening has been fully opened, or whether there are any abnormal states such as jamming or empty opening. Once insufficient opening or incomplete bag opening occurs, subsequent material pushing processes are prone to failures such as material jamming, bag opening damage, or incomplete filling, affecting packaging quality and production efficiency. Summary of the Invention

[0004] Therefore, in order to address the above-mentioned shortcomings, the present invention provides a product packaging equipment and method to reduce subsequent material pushing jams, bag opening damage, or incomplete bag filling caused by insufficient bag opening or inadequate bag opening. During the bag opening process, the lateral offset of the packaging bag opening caused by initial position deviation or uneven force is dynamically corrected in real time, thereby improving bag filling accuracy and reducing material waste and bag opening damage.

[0005] On one hand, the present invention provides a product packaging device, including a packaging bag conveying module and a feeding module, wherein the feeding module includes: The second conveying unit is disposed perpendicular to the packaging bag conveying module on one side of the packaging bag conveying module; A material pushing unit is located between the second conveying unit and the packaging bag conveying module; The bag opening unit is located between the pushing unit and the packaging bag conveying module. The bag opening unit includes a second suction cup assembly and a bag supporting assembly. The second suction cup assembly is symmetrically arranged with the plane where the packaging bag is located as the reference plane. The bag supporting assembly includes a ninth power device, a movable plate, an eighth power device, and a bag supporting part. The movable plate is connected to the ninth power device and is driven by the ninth power device to move linearly in a direction parallel to the second conveying unit. The eighth power device is mounted on the movable plate. The bag supporting part is set corresponding to the opening of the packaging bag and is connected to the eighth power device. The eighth power device is driven by the eighth power device to move linearly in a direction perpendicular to the second conveying unit. The packaging equipment also includes a control module, which is used to acquire axial reaction force data and expansion displacement data, determine the movement state of the bag-supporting part based on the axial reaction force data, generate bag-supporting control commands based on the movement state determination results, and send them to the bag-supporting assembly so that the bag-supporting assembly performs actions corresponding to the bag-supporting control commands; calculate the left and right expansion displacement difference based on the expansion displacement data, compare the left and right expansion displacement difference with the preset tolerance, and when the absolute value of the displacement difference is greater than the preset tolerance, calculate the centering correction displacement, and drive the bag-supporting part to move horizontally to correct its position based on the centering correction displacement.

[0006] Furthermore, the material pushing unit includes a third power unit, a slide, a lifting assembly, and a pushing assembly. The slide is connected to the third power unit, which drives the slide to move linearly in a direction parallel to the second conveying unit. The lifting assembly and the pushing assembly are both mounted on the slide, with the pushing assembly positioned above the lifting assembly. The lifting component includes: The sixth power unit is fixedly mounted on the carriage; The lifting plate is connected to the sixth power device, which drives the lifting plate to move vertically.

[0007] Furthermore, the control module calculates the single descent step distance to control the sixth power unit to perform a descent action of the single descent step distance after one product is in place; it acquires stacked product quantity data, determines stacking completion based on the stacked product quantity data, and calculates the remaining time for the carriage to reach the bagging station based on the remaining travel data and the current instantaneous speed data of the carriage; it calculates the pre-rise height based on the remaining time and the current height of the lifting plate; the control module issues a rise command to the sixth power unit based on the pre-rise height, so that the sixth power unit performs the action corresponding to the rise command.

[0008] Furthermore, the push component includes: The fourth power unit is fixedly mounted on the carriage; A fifth power unit, which is connected to the fourth power unit; The push plate is connected to the fifth power unit. The fourth power unit drives the push plate to move vertically, and the fifth power unit drives the push plate to move linearly in a direction parallel to the second conveying unit.

[0009] Furthermore, the second suction cup assembly includes: Tenth power unit; The second vacuum suction cup is connected to the vacuum pump through a pipeline, and the tenth power unit drives the second vacuum suction cup to move vertically.

[0010] Furthermore, the control module acquires real-time pressure data, calculates the vacuum change rate based on the real-time pressure data, and judges the adsorption of the packaging bag based on the vacuum change rate. When the absolute value of the vacuum change rate is greater than the preset pressure change threshold, it is determined that the second vacuum suction cup has adhered to the surface of the packaging bag, and the second suction cup assembly is controlled to stop descending and the vacuum pump is started to the first negative pressure threshold.

[0011] Furthermore, the packaging bag conveying module includes a first conveying unit, which has a conveyor belt with mesh openings on its surface. A wind box is provided between the carrying section and the transition section of the conveyor belt. The air inlet of the wind box faces the carrying section of the conveyor belt. The wind box is connected to the fan module through an air duct.

[0012] Furthermore, the bag opening unit also includes a fixing component, which is disposed above the first conveying unit, and the fixing component includes: Seventh power unit; The pressure pad is positioned corresponding to the edge of the packaging bag and is driven to move vertically by a seventh power device.

[0013] On the other hand, the present invention also provides a product packaging method using the above-mentioned product packaging equipment, comprising the following steps: The packaging bag conveying module transports packaging bags to the bag opening station; The second suction cup assembly adheres to both sides of the packaging bag and moves in the opposite direction to open the bag opening; The ninth power unit drives the bag support part to move towards the opening of the packaging bag and insert it into the bag opening; The control module acquires axial reaction force data and expansion displacement data, judges the motion state of the bag-supporting part based on the axial reaction force data, and generates a bag-supporting control command based on the judgment result of the motion state of the bag-supporting part and sends it to the bag-supporting assembly so that the bag-supporting assembly can perform the action corresponding to the bag-supporting control command. Once the bag support part is inserted into the bag opening to a preset depth, the eighth power unit drives the bag support part to expand outward. During the expansion process, the control module calculates the difference in expansion displacement between the left and right sides based on the expansion displacement data. When the absolute value of the displacement difference is greater than the preset tolerance, the control module calculates the centering correction displacement and drives the support bag to move horizontally to correct the position. The second conveying unit transports the product to be packaged to the pushing station, and pushes the product into the already opened packaging bag through the pushing unit; Control the bag-supporting part to retract inward and exit from the packaging bag to complete the bagging.

[0014] The present invention has the following advantages: This invention acquires axial reaction force data of the bag-supporting part during the opening action to judge the movement state of the bag-supporting part in real time. It can determine whether the bag-supporting part is correctly inserted into the bag opening, whether the bag opening is fully opened, and whether there are abnormal states such as jamming or empty support. When abnormal opening resistance is detected, corresponding bag-supporting control commands can be generated immediately to adjust the bag-supporting action, reducing subsequent material pushing jamming, bag opening damage, or incomplete bag filling caused by insufficient bag opening or inadequate bag support. This improves the continuous operation stability and packaging quality of multi-bag compound seasoning packaging. By acquiring the left and right opening displacement data, the left and right opening displacement difference is calculated and compared with a preset tolerance. When the absolute value of the displacement difference exceeds the tolerance range, the centering correction displacement is automatically calculated and the bag-supporting part is driven to move horizontally for position correction. This enables real-time dynamic correction of left and right offsets of the packaging bag opening caused by initial position deviation or uneven force during the bag-supporting process, improving bag filling accuracy and reducing material waste and bag opening damage. Attached Figure Description

[0015] Figure 1 This is a structural diagram of the packaging equipment; Figure 2 yes Figure 1 A schematic diagram of the packaging bag conveying module in the packaging equipment shown; Figure 3 yes Figure 2 A cross-sectional schematic diagram of the packaging bag conveying module shown; Figure 4 yes Figure 1 A schematic diagram of the packaging bag supply module in the packaging equipment shown; Figure 5 yes Figure 4 A front view of the packaging bag supply module shown; Figure 6 yes Figure 1 The diagram shows the structure of the feeding module in the packaging equipment shown. Figure 7 yes Figure 6 The diagram shows the first structural schematic of the bag opening unit in the feeding module. Figure 8 yes Figure 7 The diagram shows the second structure of the bag opening unit; Figure 9 yes Figure 6 The diagram shows the structure of the pushing unit in the feeding module. Figure 10 yes Figure 9 A front view of the pusher unit shown; Figure 11 yes Figure 1 The diagram shows the structure of the sealing module in the packaging equipment shown. Figure 12 yes Figure 11 A schematic diagram of the back of the sealing module shown; Figure 13 yes Figure 1 The diagram shows the control logic of the packaging equipment. In the picture: 100. Packaging bag supply module; 110. First frame; 120. Packaging bag storage compartment; 130. Base; 140. Rotating shaft; 150. First power unit; 160. First vacuum suction cup; 170. Lead screw; 180. Second power unit; 200. Packaging bag conveying module; 210. First conveying unit; 220. Air duct; 230. Air box; 300. Feeding module; 310. Second conveying unit; 320. Pushing unit; 321. Third power unit; 322. Slide; 323. Fourth power unit; 324. Fifth power unit; 325. Pushing plate; 326. Lifting plate; 327. Sixth power unit; 330. Bag opening unit; 331. Second frame; 332. Seventh power unit; 333. Eighth power unit; 334. Bag supporting part; 335. Bag pressing pad; 336. Second vacuum suction cup; 337. Ninth power unit; 338. Tenth power unit; 339. Movable plate; 400. Sealing module; 410. Third frame; 420. Eleventh power unit; 430. Movable frame; 440. Pressing block; 450. Twelfth power unit; 460. Movable heat sealing block; 470. Fixed heat sealing block; 500. Sensing module; 600. Control module; 700. Vacuum pump. Detailed Implementation

[0016] The embodiments of this application 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 intended to explain this application, and should not be construed as limiting this application.

[0017] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0018] As described in the background section, existing technologies generally employ a combination of suction cups and robotic arms in the bag opening and unpacking process. For example, a suction cup is used to open a slit in the bag opening from both the top and bottom, and then a robotic arm is used to open the bag completely. However, most of these bag opening and unpacking devices use an open-loop control method, meaning the unpacking component performs the unpacking action according to a preset trajectory and stroke, lacking real-time perception and feedback of the actual contact state between the unpacking component and the bag during the unpacking process. When the bag opening resistance is abnormal due to differences in material characteristics (such as uneven thickness or different surface friction), stacking adhesion, or positional deviation, existing open-loop unpacking systems cannot identify whether the unpacking component has been correctly inserted into the bag opening, whether the bag opening has been fully opened, or whether there are any abnormal states such as jamming or empty unpacking. If insufficient opening or inadequate unpacking occurs, subsequent material feeding processes are prone to malfunctions such as material jamming, bag opening damage, or incomplete filling, affecting packaging quality and production efficiency.

[0019] Example 1: Therefore, in order to solve the above-mentioned technical problems existing in the prior art, this embodiment provides a product packaging device, such as... Figure 1 As shown, the packaging equipment includes a packaging bag conveying module 200 and a feeding module 300, such as... Figure 6 As shown, the feeding module includes: The second conveying unit 310 is disposed perpendicular to the packaging bag conveying module on one side of the first conveying unit; The material pushing unit 320 is located between the second conveying unit and the packaging bag conveying module; Bag opening unit 330, which is located between the material pushing unit and the packaging bag conveying module, such as Figure 7 , Figure 8As shown, the bag opening unit includes a second suction cup assembly and a bag supporting assembly. The second suction cup assembly is arranged symmetrically with the plane of the packaging bag as the reference surface. The bag supporting assembly includes a ninth power device 337, a movable plate 339, an eighth power device 333, and a bag supporting part 334. The movable plate is connected to the ninth power device, which drives the movable plate to move linearly in a direction parallel to the second conveying unit. The eighth power device is mounted on the movable plate. The bag supporting part is set corresponding to the opening of the packaging bag and is connected to the eighth power device. The eighth power device drives the bag supporting part to move linearly in a direction perpendicular to the second conveying unit. like Figure 13 As shown, the packaging equipment also includes a control module 600. This control module is used to acquire axial reaction force data and expansion displacement data, determine the movement state of the bag-supporting part based on the axial reaction force data, generate a bag-supporting control command based on the movement state determination result of the bag-supporting part, and send it to the bag-supporting assembly so that the bag-supporting assembly performs the action corresponding to the bag-supporting control command; calculate the left and right expansion displacement difference based on the expansion displacement data, compare the left and right expansion displacement difference with the preset tolerance, and when the absolute value of the displacement difference is greater than the preset tolerance, calculate the centering correction displacement, and drive the bag-supporting part to move horizontally to correct the position based on the centering correction displacement.

[0020] Specifically, the second conveying unit can be a belt conveyor, and centering guide plates can be set on both sides of the second conveying unit to regulate the product posture and ensure that the product enters the pushing unit in a preset direction. The ninth power unit can be a pneumatic cylinder or an electric cylinder, and its movable end is fixedly connected to the movable plate. The eighth power unit can be a pneumatic cylinder or an electric cylinder. The bag-supporting part is in the shape of a thin plate, and the front end is provided with an arc-shaped guide surface. The material can be stainless steel or aluminum alloy with a diamond-like coating. The bag-opening unit may also include a second frame 331, on which the ninth power unit is fixedly installed. The movable plate can be slidably connected to the second frame through a guide rod, and the second suction cup assembly is installed on the second frame.

[0021] In this embodiment, a sensing module 500 may also be included, which may include: At least one force sensor is used to collect in real time the axial reaction force data of the bag-supporting part during the process of extending into the opening of the packaging bag and opening the bag opening in a direction perpendicular to the second conveying unit, and transmit the axial reaction force data to the control module. At least one displacement sensor, such as a magnetostrictive displacement sensor or a grating ruler, is used to collect the actual opening displacement data of the left and right bag-supporting parts during the opening action, and transmit the opening displacement data to the control module. In addition, at least one through-beam photoelectric sensor can be installed at the discharge end of the second conveying unit or the front end of the pushing unit to detect whether the product has reached the preset pushing position.

[0022] In this embodiment, the control module can be a programmable logic controller (PLC) or an embedded motion controller, installed in the equipment's electrical control cabinet. The control module is connected to the sensing module and various power units via a fieldbus (such as EtherCAT or Profinet).

[0023] During operation, when the product is conveyed from the second conveying unit to the pushing unit, and the packaging bag is conveyed from the packaging bag conveying module to the corresponding position of the opening unit and the bag opening is initially opened by the second suction cup assembly, the control module sends a bag-opening control command to the eighth power unit, driving the bag-opening part to extend into the bag opening and open outwards. During this process, the control module acquires axial reaction force data from the force sensor in real time, judges the movement state of the bag-opening part based on the axial reaction force data, and generates a bag-opening control command based on the judgment result, sending it to the bag-opening assembly to cause the bag-opening assembly to perform actions corresponding to the bag-opening control command. Simultaneously, the control module acquires the actual opening displacement of the left and right bag-opening parts in the direction perpendicular to the second conveying unit through displacement sensors, and calculates the difference in left and right opening displacement. The absolute value of this difference in left and right opening displacement is compared with a preset tolerance (e.g., ±1). mm The system compares the displacement difference with the product's center. When the absolute value of the displacement difference is within the preset tolerance range, it indicates that the center of the opened bag opening is well aligned with the center of the product to be packaged, and the subsequent pushing and bagging process can be directly executed. When the absolute value of the displacement difference is greater than the preset tolerance, it indicates that the left and right openings are asymmetrical, and the center of the bag opening is offset relative to the center of the product. At this time, the control module calculates the centering correction displacement based on the positive and negative directions and the magnitude of the displacement difference, and sends a correction command to the ninth power unit. This drives the movable plate to move the eighth power unit and the bag-supporting part horizontally in a direction parallel to the second conveying unit by the centering correction displacement, thereby completing the automatic centering correction between the center of the bag opening and the center of the product. After the position correction is completed and the bag is stable, the control module controls the pushing unit to push the product smoothly into the packaging bag through the opened bag opening. Then, the bag-supporting part is reset and exited from the bag opening under the drive of the eighth power unit, and the packaging bag conveying module transports the packaging bag containing the product to the next process.

[0024] In this embodiment, the step of determining the motion state of the support bag based on axial reaction force data includes: like F t ≤ F 1. In this case, the bag support section is in an unloaded or initial contact state, and the packaging bag has not yet been effectively tightened. At this time, the control module generates a control command to continue expanding, and the eighth power unit maintains the current speed to expand outward.

[0025] like F 1 < F t ≤ F2. The bag opening has been stretched by the bag-supporting part and has reached the preset opening shape, and the bag film is within the elastic deformation range. At this time, the control module generates a control command to stop the bag-supporting and maintain the opening, and the eighth power unit stops feeding.

[0026] like F t > F 2 and If the bag-supporting part encounters unexpected movement resistance (e.g., the bag opening is not fully open, the bag-supporting part accidentally hits the side wall of the bag, or the bag material is abnormally adhered), the control module generates an "abnormal retraction" command, controlling the eighth power unit to retract the preset fine-tuning distance in the opposite direction to avoid tearing the bag due to forced opening.

[0027] like and F t < F If step 3 occurs, it is determined that the packaging bag has been damaged and leaking force, or the bag opening has slipped off the bag support. At this time, the control module immediately generates an alarm command and stops the pushing action of the pushing unit, waiting for manual intervention or automatic waste removal.

[0028] In this embodiment, F t for t Axial reaction force at time; F 1 is the threshold for determining the idle stroke, which is usually slightly greater than the no-load friction force; F 2 represents the preset upper limit of the target force value for normal bag support; F 3 represents the preset upper limit threshold force for damage / slippage judgment; The instantaneous rate of change of the axial reaction force with respect to time reflects the real-time rate of change of the force. Axial reaction force at time interval Δt The average rate of change within the range is used to monitor a rapid decline in force. k 1 The threshold for the rate of positive change; k 2 The threshold value for the absolute value of the negative rate of change; Axial reaction force at time interval Δt The change within. Among them, F 3< F 1 < F 2.

[0029] This embodiment classifies the force range by using axial reaction force and its rate of change to determine the force value range as no-load ( F t ≤ F 1) Normal elastic expansion ( F 1 < F t ≤F 2) Overload obstruction ( F t > F 2 and instantaneous rate of change exceeds the threshold) and breakage slippage (force value drops rapidly to) F The system has four states (3 and below) and generates corresponding instructions such as continue expansion, maintain stop, abnormal retreat and alarm stop pushing, which realizes real-time identification and adaptive control of the movement state of the bag support. This can reduce waste and pollution caused by tearing of the bag opening due to hard collision or excessive stretching or blindly pushing material when the bag is damaged, reduce the bag breakage rate and the risk of material jamming, and improve the continuous operation stability and packaging quality of multi-bag compound seasoning packaging process.

[0030] In this embodiment, the specific method for calculating the difference in left and right expansion displacements based on the expansion displacement data is as follows: ; in, Δd To create a difference in displacement between the left and right sides, d 1 This represents the current displacement of the left support bag. d 2 This represents the current displacement of the right support bag.

[0031] when Δd When the value is greater than 0, it indicates that the actual displacement of the left support bag is greater than that of the right support bag, and the center of the bag opening is biased to the left. when Δd When <0, it means that the actual displacement of the right support bag part is greater than that of the left support bag part, and the center of the bag opening is biased to the right. when Δd =0 indicates that the left and right sides are symmetrically spread out.

[0032] When | Δd |≤ ε At that time, the bag support and the bag opening were basically aligned. ε This is the preset centering deviation threshold; When | Δd |> ε At that time, the centering fine adjustment is initiated to calculate the centering correction displacement that the ninth power unit needs to drive the support bag part to move horizontally. The specific method for calculating the centering correction displacement is as follows: ; in, X 1 represents the centering correction displacement. X If 1 > 0, then the ninth power device will drive the entire support bag section to move horizontally to the right. X 1. At this distance, the bag opening is slightly to the left. Moving it to the right will bring the center back to the center, making the left and right supporting parts symmetrical with respect to the bag opening. Similarly, if... XIf 1 < 0, then the ninth power device will drive the entire support bag section to move horizontally to the left. X 1|Distance.

[0033] This embodiment acquires axial reaction force data of the bag-supporting part during the opening action to judge the movement state of the bag-supporting part in real time. It can determine whether the bag-supporting part has been correctly inserted into the bag opening, whether the bag opening is fully opened, and whether there are abnormal states such as jamming or empty support. When abnormal opening resistance is detected, corresponding bag-supporting control commands can be generated immediately to adjust the bag-supporting action, reducing subsequent failures such as material pushing jamming, bag opening damage, or incomplete bag filling caused by insufficient bag opening or inadequate bag support. This improves the continuous operation stability and packaging quality of multi-bag compound seasoning packaging process. By acquiring the left and right opening displacement data, the left and right opening displacement difference is calculated and compared with the preset tolerance. When the absolute value of the displacement difference exceeds the tolerance range, the centering correction displacement is automatically calculated and the bag-supporting part is driven to move horizontally for position correction. It can dynamically correct the left and right offset of the packaging bag opening caused by initial position deviation or uneven force during the bag-supporting process in real time, improve bag filling accuracy, and reduce material waste and bag opening damage.

[0034] In this embodiment, as Figure 9 , Figure 10 As shown, the material pushing unit includes a third power device 321, a slide 322, a lifting assembly, and a pushing assembly. The slide is connected to the third power device, which drives the slide to move linearly in a direction parallel to the second conveying unit. The lifting assembly and the pushing assembly are both mounted on the slide, and the pushing assembly is located above the lifting assembly. The lifting component includes: The sixth power unit 327 is fixedly mounted on the carriage; Lifting plate 326 is connected to the sixth power device, which drives the lifting plate to move vertically.

[0035] Specifically, the third power unit can be a servo motor with a ball screw module, a linear motor, or a stepper motor with an encoder and a synchronous belt drive mechanism. The sixth power unit can be a cylinder, an electric push rod, a servo electric cylinder, or a pneumatic slide. The lifting plate can slide with the carriage through a guide mechanism. The sensing module may also include a pressure sensor or proximity switch installed below the lifting plate to detect whether the stacked products are in place.

[0036] In this embodiment, the control module calculates the single descent step distance to control the sixth power unit to perform a descent action of the single descent step distance after one product is in place; it acquires stacked product quantity data, determines stacking completion based on the stacked product quantity data, and calculates the remaining time for the carriage to reach the bagging station based on the remaining travel data and the current instantaneous speed data of the carriage; it calculates the pre-rise height based on the remaining time and the current height of the lifting plate; and the control module issues a rise command to the sixth power unit based on the pre-rise height, so that the sixth power unit performs the action corresponding to the rise command.

[0037] Specifically, the calculation method for a single descent step size is as follows: ; in, D For the thickness of a single product; σ This is the stacking compaction coefficient; N Preset the quantity of products per package; H 1 represents the step size for a single descent.

[0038] For each product that arrives, the sixth power unit drives the lifting plate to descend. H 1. Create stacking space to make room for the next product until the stack is complete.

[0039] The specific method for calculating the remaining time for the carriage to reach the bagging station based on the remaining travel data and the carriage's current instantaneous speed data is as follows: ; in, S This represents the remaining travel distance from the current position of the carriage to the bagging station; v This represents the current instantaneous speed of the carriage; t 1 represents the estimated remaining time for the carriage to reach the bagging station.

[0040] The specific method for calculating the pre-lift height based on the remaining time and the current height of the lifting platform is as follows: ; in, H 2 represents the pre-ascent height; H 3 represents the current height of the lifting platform; H 0 represents the target bagging height of the lifting platform; K g This refers to the dynamic gain coefficient. The dynamic gain coefficient is determined in the following way: ; in, A A preset upper limit threshold is used to prevent overcompensation from causing overshoot or collision. μFor safety factor; t 0 represents the standard time required for the sixth power unit to complete the entire ascent.

[0041] The control module calculates... H 2. Send a command to the sixth power unit to drive the lifting plate to rise; when the carriage actually reaches the bagging station, the lifting plate is close to the target height, and only the remaining stroke needs to be slightly adjusted to reach the position.

[0042] This embodiment calculates the pre-lifting height immediately after stacking based on the remaining travel and speed of the carriage, ensuring the lifting plate rises synchronously during carriage movement. When the carriage reaches the bagging station, the lifting plate is already close to the target height, thus achieving parallel operation of multiple mechanisms and shortening the single packaging cycle.

[0043] In this embodiment, the sensing module may also include a laser displacement sensor or an ultrasonic sensor installed on the side of the support plate for real-time detection of the height of the top layer of the stacked products.

[0044] In this embodiment, as Figure 9 As shown, the push component includes: The fourth power unit 323 is fixedly mounted on the carriage; The fifth power unit 324 is connected to the fourth power unit; Push plate 325 is connected to the fifth power device. The fourth power device drives the push plate to move vertically, and the fifth power device drives the push plate to move linearly in a direction parallel to the second conveying unit.

[0045] Specifically, the fourth power unit can be a servo electric cylinder or a pneumatic cylinder; when pushing materials is required, the fourth power unit first lowers the pusher plate to a position matching the height of the product stack on the support plate. The fifth power unit can be a pneumatic cylinder, whose piston rod can be directly connected to the pusher plate; the fifth power unit drives the pusher plate to perform a pushing action in the horizontal direction (i.e., the direction of the carriage movement), pushing the stacked product group into the opened packaging bag. The front end of the pusher plate can be designed to be made of flexible silicone or polyurethane. A buffer spring or damper can also be installed between the back of the pusher plate and the fifth power unit to absorb the impact energy at the beginning of the pushing process.

[0046] For example, such as Figure 8 As shown, the second suction cup assembly includes: Tenth power unit 338; The second vacuum suction cup 336 is connected to the vacuum pump 700 through a pipeline, and the tenth power device drives the second vacuum suction cup to move vertically.

[0047] Specifically, the tenth power unit can be a servo electric cylinder, linear module, or pneumatic cylinder, with a built-in encoder for real-time feedback of the suction cup's descent displacement; alternatively, a rodless pneumatic cylinder with a proportional valve can be used, with a pressure sensor controlling the descent speed and contact force. The tenth power unit is vertically mounted on the frame, and its movable end can be connected to the second vacuum suction cup via a floating connector. The second vacuum suction cup can be a flat silicone suction cup with multiple corrugated grooves on its surface to accommodate the surface adsorption requirements of packaging bags of different materials (such as composite films and aluminum foil bags). A miniature vacuum pressure sensor can be installed inside the suction cup to monitor the pressure change rate within the adsorption chamber in real time. A vacuum switch and a filter pressure regulating valve can be installed on the pipeline connecting the suction cup and the vacuum pump. The vacuum switch detects whether the vacuum level has reached the first negative pressure threshold, and the filter pressure regulating valve prevents dust from entering the vacuum system. Magnetic induction limit switches can be installed at both ends of the stroke of the tenth power unit for upper limit (safe return position) and lower limit (maximum descent position in contact with the bag surface) protection; a laser rangefinder is also installed to detect the distance to the bag opening, serving as the starting trigger signal for the rapid descent of the tenth power unit.

[0048] In this embodiment, the control module acquires real-time pressure data, calculates the vacuum change rate based on the real-time pressure data, and judges the adsorption of the packaging bag based on the vacuum change rate. When the absolute value of the vacuum change rate is greater than the preset pressure change threshold, it is determined that the second vacuum suction cup has adhered to the surface of the packaging bag, and the second suction cup assembly is controlled to stop descending and the vacuum pump is started to the first negative pressure threshold.

[0049] Specifically, the control module reads the real-time pressure in the second vacuum suction cup pipeline at a fixed sampling period and calculates the rate of change of vacuum using the backward differential method: ; in, The vacuum degree change rate represents the amount of pressure change per unit time. P t Current sampling time t Pressure value; P t-T The previous sampling time The pressure value, i.e., the pressure data obtained from the last sampling; T The sampling time interval is the time difference between two consecutive pressure samples, which is usually a fixed control cycle.

[0050] Take the absolute value of the calculated vacuum change rate and compare it with the preset pressure change threshold. ΔP When comparing, > ΔPAt this moment, it indicates that the second vacuum suction cup contacts the bag surface, the volume of the sealed cavity is compressed, and the pressure value changes (the negative pressure increases rapidly). At this time, it is determined that the suction cup has adhered to the surface of the packaging bag. The control module sends a stop descent command to the tenth power unit, starts the vacuum pump and opens the vacuum solenoid valve of the suction cup branch, draws the negative pressure in the pipeline to the first negative pressure threshold, and then executes the lifting and opening action of the bag.

[0051] This embodiment calculates the vacuum change rate in real time and uses the sudden pressure change caused by the compression of the sealed cavity volume at the moment of contact between the suction cup and the bag surface to determine whether the second vacuum suction cup is in contact. Compared with absolute value judgment, the change rate threshold is more sensitive to the pressure jump at the moment of contact, which can improve the excessive pressure caused by relying on timing or mechanical limits in traditional solutions, and reduce the occurrence of packaging bags being crushed or wrinkled due to excessive suction cup impact force. By using the backward differential method to calculate the pressure change rate with a fixed sampling period, detection and stop command output can be completed within one control cycle after contact occurs, which can reduce response delay.

[0052] In this embodiment, as Figure 2 , Figure 3 As shown, the packaging bag conveying module includes a first conveying unit 210, which has a conveyor belt with mesh openings on its surface. A wind box 230 is provided between the carrying section and the transition section of the conveyor belt. The air inlet of the wind box faces the carrying section of the conveyor belt. The wind box is connected to the fan module through the air duct 220.

[0053] Specifically, the blower module can use a high-speed centrifugal fan or a regenerative blower. An air filter can be installed at the air inlet, and the air outlet is connected to the air box via a duct. The air box is a sealed cavity structure with multiple strip-shaped or circular air vents on its top (the side facing the conveyor belt's carrying section), aligned with the mesh openings on the conveyor belt. A guide plate can be installed inside the air box to evenly distribute negative pressure within the carrying section area. The mesh opening diameter of the conveyor belt is generally 3–8 mm. When the first conveying unit operates, the blower module starts synchronously, creating negative pressure inside the air box. This suctions the packaging bags on the conveyor belt to the surface of the carrying section, reducing the likelihood of the bags sliding, floating, or shifting during transport.

[0054] like Figure 8 As shown, the bag opening unit further includes a fixing component, which is disposed above the first conveying unit. The fixing component includes: Seventh power unit 332; The pressure pad 335 is positioned corresponding to the edge of the packaging bag and is driven to move vertically by the seventh power device.

[0055] Specifically, the seventh power unit can employ a single-acting or double-acting compact cylinder (such as a thin cylinder or a guide cylinder). Its cylinder body is fixed to the second frame via a bracket, and the piston rod end is connected to the pressure pad via a floating joint. The pressure pad can be made of silicone or polyurethane, and its surface can be designed with anti-slip textures or wavy teeth. Before the second vacuum suction cup adheres to the upper surface of the bag opening and begins to lift, the seventh power unit drives the pressure pad downwards, pressing down on the lower or side edges of the packaging bag to improve its securing effect.

[0056] In addition, the packaging equipment may also include a packaging bag supply module 100 and a sealing module 400, wherein the packaging bag supply module is located at the beginning of the packaging bag conveying module and the sealing module is located at the discharge end of the packaging bag conveying module. like Figure 4 , Figure 5 As shown, the packaging bag supply module may include: First frame 110; Packaging bag storage compartment 120, which is fixed on the first frame; The first suction cup assembly is rotatably mounted on the first frame via a rotating shaft 140, and is located above the first conveying unit and below the packaging bag storage compartment. The second power unit 180 is fixedly installed on the first frame and is connected to the rotating shaft. The second power unit drives the first suction cup assembly to rotate.

[0057] The first suction cup assembly may include: A first power unit 150 is fixedly mounted on a rotating shaft; The first vacuum suction cup 160 is driven to move linearly by the first power device.

[0058] The packaging bag supply module may also include: Base 130, the first frame is vertically slidably fitted with the base; Lead screw 170 is rotatably mounted on the base and threadedly engaged with the first frame.

[0059] like Figure 11 , Figure 12 As shown, the sealing module includes: Third frame 410; The movable heat-sealing block 460 slides with the third frame via the movable frame 430. Eleventh power unit 420, which is fixedly installed on the third frame and connected to the movable frame, drives the movable heat sealing block to move vertically. A fixed heat sealing block 470 is located below the movable heat sealing block.

[0060] The sealing module may further include: The twelfth power unit 450 is fixedly installed on the third frame; The pressure block 440 is located above the first conveying unit and is connected to the twelfth power device. The twelfth power device drives the pressure block to slide vertically.

[0061] Specifically, a guide rod can be installed on the base, and the first frame can slide up and down along the guide rod. A handwheel or servo motor can be installed at the top of the lead screw for manual or automatic adjustment of the height of the first frame. The second power unit can be a rotary cylinder or a servo swing motor, whose output shaft is connected to the rotating shaft through a coupling or key, driving the first suction cup assembly to swing between the bag picking position and the bag placing position. The first power unit can be a double-acting cylinder or an electric push rod, with a first vacuum suction cup installed at the end of its piston rod; when the first suction cup assembly rotates to above the storage compartment, the first power unit extends the suction cup to pick up the packaging bag, then retracts and rotates to above the first conveying unit to release the bag. The first vacuum suction cup can be a corrugated silicone suction cup. A heating rod can be installed inside the movable heat sealing block. The surface of the fixed heat sealing block can be covered with high-temperature resistant Teflon cloth or silicone pad. The eleventh power unit can be a cylinder or a servo electric cylinder, which drives the movable heat sealing block to press down through the movable frame, cooperating with the fixed heat sealing block to complete the sealing. The pressure block, located above the first conveying unit, is used to press down on the area below the bag opening before sealing, preventing the product inside the bag from shifting upwards or the bag opening from wrinkling during sealing. The twelfth power unit can be a guide cylinder, and a polyurethane cushioning pad can be attached to the bottom surface of the pressure block to gently compress the bag body. The pressure block first presses down to flatten the bag, then the movable heat-sealing block presses down to seal it. After sealing, the movable heat-sealing block and the pressure block are raised in sequence.

[0062] Example 2: This embodiment also provides a product packaging method using the aforementioned product packaging equipment, comprising the following steps: S100: Packaging bag conveying module conveys packaging bags to the bag opening station; Specifically, the second power unit drives the first suction cup assembly to rotate around the shaft to the bottom of the packaging bag storage compartment; then the first power unit drives the first vacuum suction cup to extend upward, contact and adsorb the packaging bag at the bottom of the storage compartment (the bottom of the storage compartment has an opening for the suction cup to pass through); after successful adsorption, the first power unit retracts, removing the packaging bag from the bottom of the storage compartment; the second power unit rotates in the opposite direction, turning the first suction cup assembly above the first conveying unit; the first power unit extends again, the first vacuum suction cup releases the packaging bag, and places the bag on the first conveying unit. The first conveying unit carries the packaging bag through a conveyor belt with mesh openings on its surface. The fan module provides negative pressure to the air box through the air duct, adsorbing the packaging bag onto the surface of the conveyor belt and conveying the packaging bag to the bag opening station.

[0063] S200: The second suction cup assembly adheres to both sides of the packaging bag and moves in the opposite direction to open the bag opening; Specifically, the second suction cup assembly in the bag opening unit includes a tenth power unit and a second vacuum suction cup. The control module acquires real-time pressure data, reads the pressure value in the vacuum pipeline at a fixed sampling period, and calculates the vacuum degree change rate using the backward differential method. When the absolute value of the vacuum degree change rate is greater than a preset pressure change threshold, it is determined that the suction cup has adhered to the surface of the packaging bag, the tenth power unit is stopped from descending, and the vacuum pump is started to draw the pressure to the first negative pressure threshold. Subsequently, the second vacuum suction cups on the upper and lower sides move in opposite directions to open the bag opening.

[0064] S300: The ninth power unit drives the bag support part to move toward the opening of the packaging bag and inserts it into the bag opening; Specifically, the control module controls the ninth power unit to drive the movable plate, causing the bag-supporting part to move in a direction parallel to the second conveying unit, so that the front end of the bag-supporting part extends into the already opened bag opening. During the insertion process, the control module collects the axial reaction force fed back by the force sensor installed on the bag-supporting part in real time. F t .

[0065] S400: The control module acquires axial reaction force data and expansion displacement data, judges the motion state of the bag-supporting part based on the axial reaction force data, and generates a bag-supporting control command based on the judgment result of the motion state of the bag-supporting part and sends it to the bag-supporting assembly so that the bag-supporting assembly can perform the action corresponding to the bag-supporting control command. Specifically, the control module makes graded judgments based on the axial reaction force and its rate of change. F t ≤ F 1. If the bag-supporting section is in an unloaded or initial contact state, the packaging bag has not yet been effectively tightened. At this time, the control module generates a control command to continue expanding, and the eighth power unit maintains the current speed of outward expansion. If F 1 < F t ≤F 2. The bag opening has been stretched by the bag-supporting section and reached the preset opening shape, with the bag film within its elastic deformation range. At this point, the control module generates a control command to stop the bag-supporting process and maintain it, and the eighth power unit stops feeding. If F t > F 2 and If the bag-supporting part encounters unexpected resistance (e.g., the bag opening is not fully open, the supporting part accidentally hits the side wall of the bag, or the bag material is abnormally adhered), the control module generates an "abnormal retraction" command, controlling the eighth power unit to retract a preset fine-tuning distance in the opposite direction to prevent the bag from tearing due to forced opening. and F t < F If step 3 occurs, it is determined that the packaging bag has been damaged and leaking force, or the bag opening has slipped off the bag support. At this time, the control module immediately generates an alarm command and stops the pushing action of the pushing unit, waiting for manual intervention or automatic waste removal.

[0066] S500: When the bag support part is inserted into the bag opening to a preset depth, the eighth power unit drives the bag support part to expand outward; Specifically, once the bag-supporting part is inserted into the bag opening to a preset depth, the eighth power unit drives the left and right bag-supporting parts to expand outward in a direction perpendicular to the second conveying unit (i.e., laterally).

[0067] S600: During the expansion process, the control module calculates the difference in expansion displacement between the left and right sides based on the expansion displacement data. When the absolute value of the displacement difference is greater than the preset tolerance, the centering correction displacement is calculated and the support bag part is driven to move horizontally to correct the position. Specifically, the control module uses displacement sensors to collect the displacement of the left and right support pockets in real time, and calculates the difference in displacement between the left and right sides. Δd If | Δd |≤ ε When the alignment is good, it is judged to be well-aligned; if | Δd |> ε Then calculate the centering correction displacement. X 1. When X 1>0, controlling the ninth power unit to drive the entire support bag assembly to move horizontally to the right. X 1 distance; when X When 1 < 0, move to the left | X 1|Distance, until| Δd |≤ ε This enables automatic alignment between the bag opening center and the product center.

[0068] S700: The second conveying unit conveys the product to be packaged to the pushing station, and pushes the product to be packaged into the opened packaging bag through the pushing unit; Specifically, the second conveying unit transports the stacked product groups (such as multi-bag compound seasonings) to the pushing station. The control module calculates the single descent step distance based on the thickness of each product, the compaction coefficient, and the preset number of bags per unit. It then lowers the product by the height of this single descent step distance each time a product arrives, until the stacking is complete. After stacking, the control module calculates the remaining time to reach the bagging station based on the remaining travel of the carriage and its instantaneous speed, and then calculates the pre-rise height based on the remaining time. The lifting plate is controlled to rise synchronously during the carriage movement based on the pre-rise height. When the carriage reaches the bagging station, the lifting plate is close to the target height. Subsequently, the fourth power unit lowers the pushing plate to a position matching the product stack height, and the fifth power unit drives the pushing plate to move horizontally, pushing the product group into the already opened and aligned packaging bags.

[0069] S800: Control the bag support to retract inward and exit from the packaging bag to complete the bagging.

[0070] Specifically, after the push plate triggers the front limit (indicating that the material has been pushed into the bottom of the bag), the control module initiates a retraction delay. After the delay ends, the control unit drives the bag-supporting part to retract inward, while the ninth power unit drives the bag-supporting part to horizontally exit the bag opening. Finally, the second suction cup assembly releases the bag opening, and the packaging bag containing the product is conveyed by the first conveying unit to the sealing module for heat sealing, completing the entire bagging process.

[0071] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A product packaging equipment, characterized in that, It includes a packaging bag conveying module and a feeding module, wherein the feeding module includes: The second conveying unit is disposed perpendicular to the packaging bag conveying module on one side of the packaging bag conveying module; A material pushing unit is located between the second conveying unit and the packaging bag conveying module; The bag opening unit is located between the pushing unit and the packaging bag conveying module. The bag opening unit includes a second suction cup assembly and a bag supporting assembly. The second suction cup assembly is symmetrically arranged with the plane where the packaging bag is located as the reference plane. The bag supporting assembly includes a ninth power device, a movable plate, an eighth power device, and a bag supporting part. The movable plate is connected to the ninth power device and is driven by the ninth power device to move linearly in a direction parallel to the second conveying unit. The eighth power device is mounted on the movable plate. The bag supporting part is set corresponding to the opening of the packaging bag and is connected to the eighth power device. The eighth power device is driven by the eighth power device to move linearly in a direction perpendicular to the second conveying unit. The packaging equipment also includes a control module, which is used to acquire axial reaction force data and expansion displacement data, determine the movement state of the bag-supporting part based on the axial reaction force data, generate bag-supporting control commands based on the movement state determination results, and send them to the bag-supporting assembly so that the bag-supporting assembly performs actions corresponding to the bag-supporting control commands; calculate the left and right expansion displacement difference based on the expansion displacement data, compare the left and right expansion displacement difference with the preset tolerance, and when the absolute value of the displacement difference is greater than the preset tolerance, calculate the centering correction displacement, and drive the bag-supporting part to move horizontally to correct its position based on the centering correction displacement.

2. The product packaging equipment according to claim 1, characterized in that, The material pushing unit includes a third power unit, a slide, a lifting assembly, and a pushing assembly. The slide is connected to the third power unit, which drives the slide to move linearly in a direction parallel to the second conveying unit. The lifting assembly and the pushing assembly are both mounted on the slide, with the pushing assembly positioned above the lifting assembly. The lifting component includes: The sixth power unit is fixedly mounted on the carriage; The lifting plate is connected to the sixth power device, which drives the lifting plate to move vertically.

3. The product packaging equipment according to claim 2, characterized in that, The control module calculates the single descent step distance to control the sixth power unit to perform a descent action of the single descent step distance after one product is in place; it acquires the stacked product quantity data, determines whether stacking is complete based on the stacked product quantity data, and calculates the remaining time for the carriage to reach the bagging station based on the remaining travel data and the current instantaneous speed data of the carriage; it calculates the pre-rise height based on the remaining time and the current height of the lifting plate; the control module issues a rise command to the sixth power unit based on the pre-rise height, so that the sixth power unit performs the action corresponding to the rise command.

4. The product packaging equipment according to claim 2, characterized in that, The push component includes: The fourth power unit is fixedly mounted on the carriage; A fifth power unit, which is connected to the fourth power unit; The push plate is connected to the fifth power unit. The fourth power unit drives the push plate to move vertically, and the fifth power unit drives the push plate to move linearly in a direction parallel to the second conveying unit.

5. The product packaging equipment according to claim 1, characterized in that, The second suction cup assembly includes: Tenth power unit; The second vacuum suction cup is connected to the vacuum pump through a pipeline, and the tenth power unit drives the second vacuum suction cup to move vertically.

6. The product packaging equipment according to claim 5, characterized in that, The control module acquires real-time pressure data, calculates the vacuum change rate based on the real-time pressure data, and judges the adsorption of the packaging bag based on the vacuum change rate. When the absolute value of the vacuum change rate is greater than the preset pressure change threshold, it is determined that the second vacuum suction cup has adhered to the surface of the packaging bag, and the second suction cup assembly is controlled to stop descending and the vacuum pump is started to the first negative pressure threshold.

7. The product packaging equipment according to claim 1, characterized in that, The packaging bag conveying module includes a first conveying unit, which has a conveyor belt with mesh openings on its surface. A wind box is provided between the carrying section and the transition section of the conveyor belt. The air inlet of the wind box faces the carrying section of the conveyor belt. The wind box is connected to the fan module through an air duct.

8. The product packaging equipment according to claim 1, characterized in that, The bag opening unit further includes a fixing component, which is disposed above the first conveying unit, and the fixing component includes: Seventh power unit; The pressure pad is positioned corresponding to the edge of the packaging bag and is driven to move vertically by a seventh power device.

9. A product packaging method, implemented using a product packaging device as described in any one of claims 1 to 8, characterized in that, Includes the following steps: The packaging bag conveying module transports packaging bags to the bag opening station; The second suction cup assembly adheres to both sides of the packaging bag and moves in the opposite direction to open the bag opening; The ninth power unit drives the bag support part to move towards the opening of the packaging bag and insert it into the bag opening; The control module acquires axial reaction force data and expansion displacement data, judges the motion state of the bag-supporting part based on the axial reaction force data, and generates a bag-supporting control command based on the judgment result of the motion state of the bag-supporting part and sends it to the bag-supporting assembly so that the bag-supporting assembly can perform the action corresponding to the bag-supporting control command. Once the bag support part is inserted into the bag opening to a preset depth, the eighth power unit drives the bag support part to expand outward. During the expansion process, the control module calculates the difference in expansion displacement between the left and right sides based on the expansion displacement data. When the absolute value of the displacement difference is greater than the preset tolerance, the control module calculates the centering correction displacement and drives the support bag to move horizontally to correct the position. The second conveying unit transports the product to be packaged to the pushing station, and pushes the product into the already opened packaging bag through the pushing unit; Control the bag-supporting part to retract inward and exit from the packaging bag to complete the bagging.

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