A mixed nut precision metering and flexible packaging integrated filling device and control method

Abstract

An integrated filling device and control method for precise metering and flexible packaging of mixed nuts includes a film conveying device, a sealing clamp, a product guide tube, a vibration device, a finished product packaging transmission device, a transfer device, a magnetic levitation conveyor, and a pickup device. The vibration device compacts loose nut material. Finished packaging bags are flipped and placed flat on a shifting plate of the magnetic levitation conveyor via the transfer device. The shifting plate incorporates a strain gauge weighing sensor and Hall effect magnetic field correction technology to achieve frictionless, high-precision dynamic weighing, automatically identifying and rejecting overweight, underweight, and damaged packaging bags. The shifting plate can rotate independently to arrange the packaging bags in a 180° reverse arrangement. The pickup device then stacks the reversed packaging bags in an alternating pattern and completes automated boxing. This invention effectively reduces packaging volume, improves sealing quality, and ensures consistent finished product weight. It is suitable for large-scale, continuous, and standardized production of mixed nuts and has promising application prospects.

Description

Technical Field

[0001] This invention relates to the field of nut food packaging and processing technology, and in particular to an integrated filling device and control method for precise metering and flexible packaging of mixed nuts. Background Technology

[0002] Mixed nuts, including nut chips and hard nut kernels, have become a mainstream snack food in the food processing industry due to their rich taste and balanced nutrition. However, existing mixed nut filling and packaging production lines still have many technical shortcomings in actual production and processing, making it difficult to meet the requirements of high-quality, standardized, and automated production.

[0003] Firstly, when existing packaging equipment processes nuts, potato chips, and flaky, fragile nuts, the material particles have large gaps and are loosely packed after feeding, resulting in a high natural bulkiness and excessive voids inside the packaging bag. This leads to a large volume of single-bag packaging and low utilization of film consumables. Traditional compaction methods, such as clamping and squeezing, strong negative pressure suction, or whole-machine shaking compaction, easily cause brittle nuts to break or crack. Simultaneously, the loose material easily causes debris to accumulate at the sealing point, resulting in processing defects such as material trapping at the seal, incomplete sealing, bag wrinkles, and air and material leakage, leading to a low packaging yield. Furthermore, for hard, granular nuts such as pistachios and almonds, conventional packaging methods often result in bags that bulge and become irregularly shaped, making them unsuitable for later stacking and storage.

[0004] Secondly, traditional nut packaging production lines have weak metering and testing capabilities, mostly relying on front-end quantitative feeding for estimated quantities, and lacking a back-end online re-inspection structure for finished products. Feeding errors, material jams, and film damage and leakage can easily cause significant weight deviations in finished packaging bags, resulting in defective products such as overweight, underweight, and empty bags. Traditional checkweighing equipment mostly uses belt-type weighing structures, and mechanical friction and conveyor vibration lead to large dynamic weighing errors, making it impossible to achieve high-precision real-time sorting. This results in poor consistency in the weight of finished products, and manual re-inspection and sorting are costly and inefficient.

[0005] Furthermore, existing filling equipment has a simple finished product conveying structure, and the packaging bags are fixed in posture after forming, making it impossible to adjust their orientation. The arrangement of packaging bags is also limited. During the packing process, manual stacking is the primary method, which results in poor neatness and high labor intensity. In addition, conventional packaging bags have large gaps when stacked in the same direction, resulting in low packing compactness, insufficient utilization of the internal space of the carton, and high transportation and warehousing costs.

[0006] In summary, existing nut packaging technologies suffer from numerous drawbacks, including loose materials, easily damaged products, poor sealing quality, uneven molding appearance, low weighing accuracy, poor yield, messy packing and stacking, low automation, and severe equipment wear. Therefore, there is an urgent need to design an integrated nut filling and packaging device that can accommodate different materials, achieve continuous vibration compaction, high-precision online weighing, and automatic reversing stacking. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides an integrated filling device and control method for precise metering and flexible packaging of mixed nuts, solving the problems of loose materials, easy product damage, poor sealing quality, uneven molding appearance, low weighing accuracy, poor yield, and messy packing and stacking in existing nut packaging technologies.

[0008] To achieve the above objectives, the present invention provides the following technical solution: an integrated filling device for precise metering and flexible packaging of mixed nuts, comprising a film conveying device, a sealing clamp frame, a product guide tube, a vibration device, a pressurized air supply component, a negative pressure suction component, a finished product packaging transmission device, a transfer device, a magnetic levitation conveyor platform, and a pickup device.

[0009] The film conveying device is symmetrically arranged with conveyor belts for clamping and pulling rolled film material to continuously transport it downwards along the outside of the product guide tube; the sealing clamps are symmetrically arranged, and the sealing clamps can sequentially press to form a first end seal and a second end seal, respectively preparing a semi-finished bag and a complete package; the product guide tube is arranged above the sealing clamps for directional transport of mixed nut materials.

[0010] The vibration device is a single-sided intermittent impact vibration mechanism, including a toggle plate, a controller, a position sensor, an identification block, and a first adjustable mounting base. The toggle plate rotates intermittently, and the toggle plate only impacts a single surface of the semi-finished bag, disturbing the bag body during continuous film conveying, causing loose nuts inside to settle and become dense. The controller can adjust the impact frequency, and the position sensor, in conjunction with the identification block, achieves closed-loop detection of the toggle plate position. The pressurized gas supply assembly includes a pressurized gas source and a nozzle, used to introduce high-pressure gas into the semi-finished bag, opening the bag body and removing debris from the sealing area. The negative pressure suction assembly includes a negative pressure pump and a rigid suction tube that can reciprocate vertically, used to evacuate and reshape the settled packaging bag, making the bag body flat and compact. The finished product packaging transmission device is used for vertically conveying sealed complete packages; the transfer device is located between the finished product packaging transmission device and the magnetic levitation conveyor table to flip the upright packaging bags flat and transfer them to the shifting trays; the magnetic levitation conveyor table is divided into a transfer area, a conveying area, a turning area, a picking area, a waiting area, and a recycling area, and the table surface is equipped with multiple sets of shifting trays that can be independently suspended and rotated. A driven magnet and a strain gauge load cell are embedded in the bottom of each shifting tray, which, together with Hall elements, signal amplification chips, AD conversion chips, and the main controller of the transfer area, constitute an online weighing and detection system; utilizing the frictionless characteristics of magnetic levitation combined with a magnetic field correction method, the system dynamically detects the weight of the packaging bags and automatically distinguishes between qualified products, overweight products, underweight products, and empty shifting trays.

[0011] The picking device adopts a suction cup robotic arm structure, which can pick up multiple sets of packaging bags in the picking area. The shifting plate rotates to make the packaging bags form a 180° reverse posture, and after completing the staggered stacking, they are put into the cartoning machine to realize automated cartoning.

[0012] This invention also discloses an integrated filling process for precise metering and flexible packaging of mixed nuts, including film laying, semi-finished bag preparation, air blowing to expand the bag, material filling, unilateral vibration settling, negative pressure air extraction and shaping, secondary sealing, transfer and flattening, weight sorting, posture reversal, picking, stacking and packing, all of which are continuous and automated operations.

[0013] Compared with the prior art, the beneficial effects of the present invention are: First, this invention features a single-sided intermittent impact vibration device, suitable for continuous and uninterrupted film conveying, eliminating the need for machine shutdowns and effectively avoiding mechanical impacts and wear caused by frequent equipment start-ups and shutdowns. By intermittently tapping the semi-finished bag with a puller on one side, the bag is agitated without squeezing or breaking the nuts, allowing loose materials inside to settle naturally, reducing material accumulation gaps and minimizing the bag's volume. Simultaneously, it increases the sealing space at the top of the bag, effectively solving defects such as material trapping at the seal, bag wrinkles, and incomplete sealing. Furthermore, it exhibits excellent settling effects for brittle nut chips and flake nuts that are not suitable for strong pressure, making it suitable for processing nuts with different physical properties.

[0014] Secondly, this invention employs a composite shaping structure combining pressurized gas supply and negative pressure suction. The pressurized gas can fully expand the semi-finished bag, removing fine debris adhering to the bag wall and ensuring a clean sealing area. The negative pressure suction structure can extract and tighten the settled packaging bag, making the bag flat, tight, and free from bulging or expansion. This structure is tailored to different materials for processing. For hard, granular nuts, negative pressure is used for further compaction and shaping, while for brittle nuts, vibration settling is the primary method, with minor adjustments using negative pressure. This balances packaging regularity and product integrity, significantly improving the appearance quality of the packaging.

[0015] Third, this invention utilizes a magnetic levitation conveyor to transport finished products. The shifting plate has no mechanical friction, precise positioning, and can be independently rotated and adjusted, enabling packaging bags to be arranged in a 180° reverse orientation. Combined with a picking device, it completes staggered stacking and boxing, replacing manual stacking methods, improving boxing neatness, and reducing labor production costs. The magnetic levitation conveyor is divided into multiple functional areas, with smooth process connections, high automation integration, and strong continuous production line capability.

[0016] Fourth, this invention integrates an embedded weighing and detection structure within the shifting tray. Relying on strain gauge load cells combined with Hall effect magnetic field correction technology, and utilizing the frictionless operation characteristics of magnetic levitation, it eliminates the frictional errors of traditional checkweighing machinery, achieving dynamic, high-precision online weight detection. The equipment can automatically identify overweight, underweight, leaking, and broken-bag products and transfer them to the rejection area. Empty shifting trays automatically remain in standby mode, effectively ensuring uniform weight of each batch of nut packaging bags, improving the product qualification rate, and achieving intelligent sorting and control.

[0017] Fifth, the invention features a compact overall structure with each mechanism linked sequentially along the processing flow, achieving fully automated processing of bag making, material feeding, vibration compaction, air blowing dust removal, negative pressure shaping, sealing, transfer, checkweighing, reversing, stacking, and boxing. The equipment is highly modular, easy to disassemble and maintain, adaptable to the upgrading of existing continuous film packaging equipment, and highly versatile. The entire production process is continuous and uninterrupted, reducing film waste, shortening the production time per bag, and significantly improving production efficiency, making it suitable for large-scale, standardized, and continuous industrial production.

[0018] In summary, this invention effectively solves the industry pain points of traditional nut packaging equipment, such as loose materials, material jamming during sealing, easy product damage, bulging bags, large weight deviations, messy packing, high labor costs, and severe equipment wear. It has a reasonable structure, strong stability, and a wide range of applicable materials, and has good economic benefits and market promotion value. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional view of the overall structure of the present invention.

[0020] Figure 2 This is a first perspective view of the overall structure of the product packaged as a complete package according to the present invention.

[0021] Figure 3 This is a second perspective view of the overall structure of the product packaged into a complete package according to the present invention.

[0022] Figure 4 This is a first perspective view of the overall structure of the vibration device in this invention.

[0023] Figure 5 This is a second perspective view of the overall structure of the vibration device in this invention.

[0024] Figure 6 This is a top view of the overall structure of the vibration device in this invention.

[0025] Figure 7 This is a top view of the overall structure of the magnetic levitation conveyor platform in this invention.

[0026] Figure 8 This is a three-dimensional view of the overall structure of the magnetic levitation conveyor platform in this invention.

[0027] Figure 9 This is a diagram showing the overall structural and functional distribution of the magnetic levitation conveyor platform in this invention.

[0028] Figure 10 This is a schematic diagram of the overall structure of the invention in which the vibration device does not start when the product is fed into the semi-finished product bag.

[0029] Figure 11 This is a schematic diagram of the overall structure of the vibration device activated when the product is fed into the semi-finished product bag in this invention.

[0030] Figure 12 This is a schematic diagram of the overall structure of the product settling when the vibration device is activated during product feeding into the semi-finished product bag in this invention.

[0031] Figure 13 This is a schematic diagram of the overall structure of the rigid suction tube position when the product is fed into the semi-finished product bag in this invention.

[0032] Figure 14 This is a schematic diagram of the overall structure of the rigid suction tube used by the two sealing clamps to form a complete package from the semi-finished bag in this invention.

[0033] Figure 15 This is a schematic diagram of the complete packaging structure without negative pressure suction in this invention.

[0034] Figure 16 This is a schematic diagram of the structure after negative pressure suction of the complete packaging in this invention.

[0035] Figure 17 This is a schematic diagram of the structure of the pickup device in this invention for stacking the complete packaging after negative pressure suction.

[0036] Figure 18 This is a three-dimensional view of the structure of the pickup device in this invention, which overlays the complete packaging after negative pressure suction.

[0037] Figure 19 This is a schematic diagram of the structure of the present invention, in which two sealing clamps form a complete package from a semi-finished bag.

[0038] Figure 20 This is a three-dimensional view of the structure of the present invention, showing how two sealing clamps form a complete package from a semi-finished bag.

[0039] Figure 21 A schematic diagram of the bottom structure of the shift disk of the present invention.

[0040] Figure 22 The flowchart of the weighing and detection process of the shifting disk of the present invention.

[0041] In the diagram: 1-Film conveying device, 101-Film material, 2-Sealing clamp frame, 201-Sealing clamp, 202-First end sealing, 203-Semi-finished bag, 204-Second end sealing, 205-Complete packaging, 3-Product conduit, 4-Actuating plate, 401-Actuating plate, 5-Finished packaging transmission device, 6-Magnetic levitation conveyor, 7-Shifting plate, 8-Transfer device, 9-Nozzle, 10-Rigid suction tube, 11-Controller, 12-Position sensor, 13-First adjustable mounting base, 14-Identification block, 15-Conveyor belt, 17-Pickup device, 18-Driven magnet, 19-Weighing sensor. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic diagrams, illustrating only the basic structure of the invention in a schematic manner, and therefore only show the components relevant to the invention.

[0043] This embodiment specifically discloses an integrated filling device for precise metering and flexible packaging of mixed nuts. It is suitable for continuous bag making, filling, vibration compaction, negative pressure shaping, transfer and reversing, weight sorting, and reverse stacking cartoning of mixed nuts, irregular granules, and flaky nuts, forming an integrated automated production line. The device has a compact overall structure and is compatible with continuous film conveying and forming packaging equipment. It solves industry pain points such as loose material, large gaps, easy material jamming during sealing, bag bulging, monotonous carton arrangement, inability to eliminate weight deviations, and high costs associated with manual stacking in traditional nut packaging bags. (Appendix: This invention...) Figure 1 To be continued Figure 22The diagram sequentially displays the overall structure of the device, the packaging and forming process, the structure of the vibration device, the layout of the magnetic levitation conveyor, the material feeding vibration process, the negative pressure air extraction process, and the picking and stacking process. The same labels in the attached diagrams represent the same structural components.

[0044] Depend on Figure 1-9 As shown, this filling device mainly includes a film conveying device 1, a sealing clamp 2, a product guide tube 3, a vibration device, a pressurized air supply component, a negative pressure suction component, a finished product packaging transmission device 5, a transfer device 8, a magnetic levitation conveyor 6, and a pickup device 17. These mechanisms are arranged sequentially along the material processing flow, forming a continuous and uninterrupted automated processing line. The entire machine uses continuously conveyed film material 101 as the packaging carrier, sequentially completing the entire process of bag making, feeding, vibration compaction, gas pretreatment, negative pressure shaping, sealing, discharging, transfer and leveling, weight detection, posture reversal, reverse stacking, and boxing. All structures are interconnected and work together to achieve flexible and standardized packaging production of mixed nuts.

[0045] Depend on Figure 1-3 As shown, the film conveying device 1 is used to continuously unfold, tension, and directionally convey the rolled film material 101, serving as the basic conveying mechanism for continuous bag making and packaging. The film conveying device 1 has two symmetrically arranged conveyor belts 15, positioned on the left and right sides of the product guide tube 3, respectively. The inner side of the conveyor belts 15 adheres to the outer surface of the film material 101, ensuring the film material 101 wraps around the outside of the product guide tube 3. During operation, the conveyor belts 15 uniformly pull the film material 101 downwards in a vertical direction, providing a continuous film substrate for subsequent sealing, bag making, and feeding. Simultaneously, the conveyor belts 15 have a tensioning and limiting function to prevent the film material 101 from shifting, wrinkling, or deviating, ensuring consistent bag dimensions.

[0046] Depend on Figure 3 , Figure 9 , Figure 10 Two sealing clamp frames 2 are provided, arranged symmetrically from left to right. Multiple sets of sealing clamps 201 are fixedly installed on each sealing clamp frame 2. The paired sealing clamps 201 open and close relative to each other, performing heat-sealing and pressing on the film material 101 at the clamping position. The sealing process is divided into two stages: the first stage is the first end seal 202, where the film material is pressed and sealed at the bottom, while the top remains open, forming a semi-finished bag 203 with an open top, used to receive nuts; the second stage is the second end seal 204, where, after material filling, vibration compaction, and negative pressure treatment, the top of the semi-finished bag 203 is pressed and sealed, forming a completely sealed package 205. The two sets of sealing clamp frames are independently fixed and operate synchronously, adapting to continuous film conveying conditions, allowing continuous sealing processing to be completed without stopping the machine.

[0047] like Figure 10-14As shown, the product conduit 3 is fixedly installed above the sealing clamp frame 2. It is a rigid hollow guide pipe used to directionally and vertically convey the externally metered mixed nut material into the lower semi-finished product bag 203. The lower end of the product conduit 3 extends into the opening area of ​​the semi-finished product bag 203, which can restrain the material scattering range during the feeding process and prevent the material from spilling to the sealing position. At the same time, the product conduit 3 provides installation clearance for the introduction of pressurized gas and the vertical insertion of the rigid suction pipe 10, realizing the coaxial synchronous operation of multiple processes such as feeding, blowing, and suction.

[0048] The vibration device is the core compaction mechanism of this invention, used to impact and agitate the loose, fluffy mixed nuts that have entered the semi-finished product bag 203, thereby reducing the porosity of the material. The vibration device mainly includes a toggle plate 4, a toggle plate 401, a controller 11, a position sensor 12, an identification block 14, and a first adjustable mounting base 13.

[0049] At least one actuating piece 401 is fixed to the outside of the actuating piece 4. The actuating piece 4 adopts intermittent rotation control logic, performing an intermittent action of "rotate-stop-rotate again". During operation, the actuating piece 401 only adheres to the outer wall of the semi-finished bag 203 on one side. The impact force only acts on a single surface of the semi-finished bag 203, and will not cause bidirectional compression of the packaging bag, thus avoiding film damage and material crushing. The unilateral impact can disturb the shape of the bag, causing the messy and gap-filled nuts inside to shift, roll, and settle, falling from a loose height back to a stable stacked height, reducing the volume occupied by the packaging bag, increasing the reserved sealing space at the top of the bag, and preventing material from being trapped at the seal. It is suitable for packaging nut and potato chip products, because after nut and potato chip products fall, the gaps between the products are large and the products are relatively brittle. Negative pressure suction cannot be over-compacted to prevent product damage.

[0050] The controller 11 is the core of the vibration device control. It allows manual setting of the number of impacts per minute by the agitator 4, precisely controlling the vibration frequency. The agitator 4 is coaxially fixed with the identification block 14. The position sensor 12 and the identification block 14 work together to collect the rotation angle and stop position of the agitator 4 in real time, achieving closed-loop precise control. The first adjustable mounting base 13 is a sliding adjustment base that can drive the entire vibration device to make linear displacement adjustments, adapting to the impact position adjustment of semi-finished bags of different lengths and specifications, making it more versatile.

[0051] The pressurized gas supply assembly includes a pressurized gas source and a nozzle 9. The nozzle 9 is fixedly installed above the product conduit 3 and connected to the pressurized gas source. In the initial stage of material feeding, high-pressure gas is directionally introduced into the interior of the semi-finished bag 203 through the nozzle 9, which fully expands and widens the bag wall of the semi-finished bag 203, preventing the film from sticking together. At the same time, the high-pressure airflow can blow away the fine nut fragments adhering to the inner side of the bag wall, preventing the fragments from adhering to the sealing position and causing poor sealing, air leakage, and material leakage, thus providing a good bag shape for subsequent negative pressure shaping and compaction processing.

[0052] The negative pressure suction assembly consists of a negative pressure pump and a rigid suction tube 10, which can perform vertical reciprocating lifting and lowering movements. After the material is fed and the vibration settling is complete, the rigid suction tube 10 is inserted downwards into the depth of the semi-finished product bag 203 along the inside of the product guide tube 3. The negative pressure pump is activated to extract excess air from the bag. After the air extraction is completed, the rigid suction tube 10 retracts upwards and detaches from the bag body, and then the sealing clamps complete the second end sealing. Negative pressure suction can tighten and shape the fluffy bag body, reduce the packaging volume, and make the bag surface flat and compact. Compared with the expanded packaging without air extraction, the packaging after negative pressure treatment has a regular shape and no bulges, which is convenient for subsequent stacking and boxing. This method is suitable for granular and hard nut products such as pistachios and almonds, and negative pressure compaction will not damage the product.

[0053] After the complete package 205 is sealed, it falls vertically onto the finished product packaging transmission device 5, which then conveys it backward at a uniform speed, maintaining an upright conveying state. The transfer device 8 is installed between the finished product packaging transmission device 5 and the magnetic levitation conveyor 6. It is a mechanical reversing transfer mechanism. When the upright packaging bag passes through the transfer device 8, it is smoothly converted into a flat position through mechanical limiting and flipping lifting actions, and is placed smoothly on the shifting plate 7 of the magnetic levitation conveyor 6, completing the posture conversion and meeting the requirements for subsequent stacking and boxing.

[0054] like Figure 7-9 As shown, the magnetic levitation conveyor 6 is existing technology and serves as a platform for sorting, reversing, and temporarily storing finished packaging bags. The platform is equipped with multiple independently controllable shifting trays 7, which can levitate, slide, and rotate independently without mechanical friction, ensuring precise positioning. The magnetic levitation conveyor 6 is functionally divided into a transfer area, a conveying area, a turning area, a picking area, a waiting area, and a recycling area. The transfer area receives flat packaging bags conveyed by the transfer device 8, with all shifting trays 7 receiving the bags in a uniform initial direction. The conveying area ensures smooth transport of the packaging bags. The turning area is used for adjusting the orientation of the packaging bags. The picking area is the working station for the picking device 17. The waiting area stores packaging bags to be stacked. The recycling area retrieves empty shifting trays 7 from the picking area, and the picking area is equipped with the product picking device 17.

[0055] The transfer tray 7 can rotate independently. During the transfer process, it can selectively rotate to a specified angle according to the packing process requirements, so that the packaging bags in the picking area and the packaging bags in the waiting area are arranged 180° in opposite directions. This facilitates subsequent reverse staggered stacking and improves the compactness of the packing. At the same time, the transfer area has a weight detection function to determine the weight of the packaging bags on each transfer tray 7. Packaging bags that exceed the tolerance are sent to the rejection area for rework. Empty transfer trays 7 that have not received packaging bags automatically stay in the transfer area to wait for the next loading, improving the equipment utilization rate.

[0056] Each shifting plate 7 has a miniature high-precision strain gauge load cell 19 fixedly installed at its bottom. The upper end of the sensor is attached to the support surface of the shifting plate 7, and the lower end is fixed to the magnetic levitation driven magnet 18. It is an embedded integrated installation that does not occupy external space. The magnetic levitation conveyor 6 has an internal energized coil and permanent magnet, and the shifting plate 7 has a driven magnet 18 at its bottom. When the packaging bag is pressed on the shifting plate 7, it changes the levitation gap and magnetic field reaction force. The Hall element collects the magnetic field change in real time to help correct the weight data. The shifting plate 7 has a built-in micro-signal amplification chip and an AD conversion chip on its side to convert the weak deformation and magnetic field changes of the sensor into standard digital electrical signals. The transfer area of ​​the magnetic levitation conveyor 6 is equipped with a central controller. The standard weight range (upper limit weight and lower limit weight) of the mixed nut packaging bags is manually entered in advance to form the judgment threshold.

[0057] When the transfer device places the flat, intact package onto the upper surface of the shifting tray, the weight of the package presses vertically downwards onto the tray. The bottom strain gauge load cell 19 experiences a slight elastic deformation under this pressure; the degree of deformation is proportional to the weight of the package. The internal resistance of the sensor changes with the deformation, outputting a continuously varying analog voltage signal under a constant excitation voltage. The greater the pressure, the greater the deformation, and the higher the output voltage.

[0058] This equipment differs from ordinary belt checkweighers by utilizing magnetic levitation reaction force to assist weighing: the shifting disc is suspended without mechanical hard contact, resulting in almost no friction error. The downward pressure of the packaging bag causes a very slight sinking and shifting of the suspended disc; a Hall sensor captures this change in magnetic gap, compensating in real time for weighing errors caused by friction, vibration, and shifting, thus improving weighing accuracy during dynamic conveying processes.

[0059] The analog voltage signal collected by the sensor is amplified, filtered, and converted from analog to digital (AD) to a recognizable digital weight signal, which is then transmitted to the main controller in the transfer area. The controller performs a logical comparison between the real-time collected weight and an internally preset standard weight range. 1. If the measured weight is greater than or equal to the set upper limit weight: it is judged as overweight (too much filler); 2. If the measured weight is less than or equal to the set lower limit weight, it is judged as underweight (insufficient material, leakage, or broken bag); 3. Lower limit weight < actual measured weight < upper limit weight: the product is deemed qualified.

[0060] The picking device 17 is installed on the side of the recycling area of ​​the magnetic levitation conveyor 6. It is an automated gripping and stacking mechanism, such as a suction cup robotic arm. The picking device 17 picks up multiple sets of packaging bags at once in the picking area to form product groups. It uses the 180° opposite posture of the packaging bags in the picking area and the waiting area to complete the staggered stacking arrangement. After stacking, they are uniformly put into the cartoning bin inside the cartoning machine, and finally sent into the carton to complete the whole carton sealing. This realizes automated and neat cartoning, replaces manual stacking, and improves the neatness of cartoning and production efficiency.

[0061] When in use, this invention completes the processing according to a continuous automated process, the specific steps of which are as follows: S1. Film laying and feeding: Start the equipment, the film conveying device 1 continuously unfolds the rolled film material 101, and the two side conveyor belts 15 clamp the film material 101 and convey it downward along the outside of the product guide tube 3 to complete the directional laying of the film. S2. Preparation of semi-finished bag: The two sealing clamps 2 are brought closer together, and the sealing clamps 201 press the lower end of the film material 101 to form the first end seal 202, thus preparing the semi-finished bag 203 with the upper end open. S3, Material filling and air blowing to expand the bag: The external metering mechanism feeds the mixed nuts into the semi-finished bag 203 through the product conduit 3. At the same time as feeding, the nozzle 9 introduces pressurized gas to expand the bag wall of the semi-finished bag 203 and remove the debris from the inner wall. S4, Unilateral Vibration Settling: Under the condition that the membrane material 101 is continuously conveyed without stopping, the vibration device is started, the agitator 4 rotates intermittently, and the agitator 401 periodically impacts the outer wall of the semi-finished bag 203 on one side, disturbing the bag body to allow the loose nuts inside to settle fully and reduce the gap between materials; the position sensor 12, together with the identification block 14, monitors the position of the agitator in real time, and the controller 11 precisely controls the impact frequency. S5. Negative pressure suction shaping: After the material is discharged and settled, the rigid suction pipe 10 is inserted vertically downward into the semi-finished product bag 203. The negative pressure pump extracts the air in the bag, making the bag body tight and flat. After the suction is completed, the rigid suction pipe 10 moves upward to reset. S6. Secondary sealing and forming: The sealing pliers 201 closes again, pressing the upper end of the semi-finished bag 203 to form a second end seal 204, and the semi-finished bag 203 is processed into a sealed and complete package 205. S7. Finished product transfer and flattening: The sealed complete package 205 is placed vertically on the finished product packaging transmission device 5 and conveyed backward to the transfer device 8. The transfer device 8 flips the upright packaging bag flat and transfers it to the transfer area of ​​the magnetic levitation conveyor 6. The shifting plate 7 receives the packaging bag in a uniform direction. S8. Weight Inspection and Sorting: The transfer area performs weight inspection on each package bag. Unqualified products whose weight exceeds the preset range are transferred to the rejection area for rework. Empty transfer trays 7 without packaging bags remain in the transfer area waiting for the next loading. S9. Posture reversal adjustment: The shifting disk 7 floats and moves, conveying the bags from the transfer area through the conveying area and the turning area to the picking area. The shifting disk 7 is rotated according to the packing requirements, so that the packaging bags in the picking area and the packaging bags in the waiting area are in a 180° opposite posture. S10, Picking, stacking and packing: Picking device 17 picks up the packaging bag groups arranged in opposite directions in batches in the picking area, completes the staggered stacking, puts the packaging bag groups into the cartoning machine's cartoning barrel, and finally puts them into cartons to complete the entire packaging process.

[0062] This invention has significant advantages over traditional nut packaging equipment: it adopts a single-sided intermittent impact vibration structure, which is suitable for continuous film conveying, eliminating the need for machine stoppage and vibration, and preventing damage to the nut materials; it features a pressurized air blowing + negative pressure air extraction combination structure, resulting in flat bag formation without debris or bulges; it uses a magnetic levitation shifting plate for independent control, enabling 180° reverse reversal and staggered stacking of packaging bags; it has a weight detection and rejection function to ensure the accuracy of finished product measurement; the whole machine is modularly integrated, with a compact structure and high degree of automation, solving industry problems such as loose mixed nut packaging, material clamping at the seal, messy boxing, and high labor costs, and is suitable for large-scale standardized continuous production.

[0063] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An integrated filling device for precise metering and flexible packaging of mixed nuts, characterized in that, include: A film conveying device (1) is used to unroll a roll of film material (101) and continuously convey the film material (101) during the packaging process; A sealing clamp frame (2) is provided in two, and multiple sealing clamps (201) are fixed on each sealing clamp frame (2); the paired sealing clamps (201) can press the film material (101) to form a first end seal (202) to prepare a semi-finished bag (203), and can press to form a second end seal (204) to process the semi-finished bag (203) into a complete package (205); Product conduit (3), which is arranged above the sealing clamp (2) for conveying the mixed nut product into the semi-finished product bag (203); A vibration device for vibrating loose products entering a semi-finished bag (203), the vibration device including a toggle plate (4); the toggle plate (4) includes at least one toggle plate (401), the toggle plate (401) being positioned to impact the semi-finished bag (203) to cause the products inside the packaging to settle from a loose height to a stable height; The finished product packaging transmission device (5) is used to orderly convey the complete package (205); A magnetic levitation conveyor (6) is provided with multiple shifting disks (7) for receiving packaging bags, used for conveying, weighing and rotating finished packaging (205); the magnetic levitation conveyor (6) includes a magnetic levitation conveyor body, an energized coil, a permanent magnet, a Hall element and a main controller; the shifting disk (7) has a driven magnet (18) and a miniature high-precision strain gauge load cell (19) embedded and fixed at its bottom, the upper end of the load cell (19) is attached to the bearing surface of the shifting disk (7) and the lower end is fixed to the driven magnet (18); the energized coil and permanent magnet are arranged inside the track of the magnetic levitation conveyor (6), and the energized coil, permanent magnet and driven magnet 18 cooperate to realize the levitation motion of the shifting disk (7) without mechanical hard contact; The transfer device (8) is located between the finished product packaging transmission device (5) and the magnetic levitation conveyor (6). When the complete package (205) standing on the finished product packaging transmission device (5) is transferred to the magnetic levitation conveyor (6), the product package (205) is laid flat.

2. The integrated filling device for precise metering and flexible packaging of mixed nuts according to claim 1, characterized in that, It also includes a pressurized gas source and a nozzle (9), which is connected to the pressurized gas source and is located above the product conduit (3) for introducing pressurized gas into the interior of the semi-finished product bag.

3. The integrated filling device for precise metering and flexible packaging of mixed nuts according to claim 1, characterized in that, It also includes a negative pressure pump and a rigid suction tube (10) that can move vertically back and forth. The rigid suction tube (10) is connected to the negative pressure pump and is inserted downward into the semi-finished product bag (203) through the product conduit (3).

4. The integrated filling device for precise metering and flexible packaging of mixed nuts according to claim 1, characterized in that, The actuating piece (401) is configured to rotate intermittently, sequentially performing the actions of rotating, stopping, and rotating again; the impact force is applied only to a single surface of part of the molded packaging.

5. The integrated filling device for precise metering and flexible packaging of mixed nuts according to claim 1, characterized in that, The vibration device further includes a controller (11), a position sensor (12), and a first adjustable mounting base (13); the controller (11) is configured to set the number of impacts per minute of the agitator (401) on the semi-finished bag (203); the agitator (401) is coaxially fixedly connected to an identification block (14) corresponding to the position sensor (12), and the position sensor (12) detects the position of the agitator (401) by cooperating with the identification block (14); the first adjustable mounting base (13) is used to drive the vibration device to move in one direction.

6. The integrated filling device for precise metering and flexible packaging of mixed nuts according to claim 1, characterized in that, The film conveying device (1) includes two symmetrically arranged conveyor belts (15), which are disposed on the side of the product conduit (3) to support and transfer the film material (101) wrapped around the outside of the product conduit (3).

7. The integrated filling device for precise metering and flexible packaging of mixed nuts according to claim 1, characterized in that, The magnetic levitation conveyor (6) includes a transfer area, a conveying area, a turning area, a picking area, a waiting area and a recycling area; the recycling area is equipped with a product picking device (17), which is configured to pick up a group of products consisting of multiple products in the picking area, wherein the direction of the product group in the picking area is opposite to the direction of the product group in the waiting area.

8. The integrated filling device for precise metering and flexible packaging of mixed nuts according to claim 1, characterized in that, The shift disk (7) has a built-in signal amplification chip and an AD conversion chip on its side, which are used to collect, amplify and convert the sensor signal; the main controller has a pre-stored threshold for judging the weight of the packaging bag; when the packaging bag is placed on the surface of the shift disk (7), its own weight presses the shift disk, causing the weighing sensor to produce elastic deformation and output an analog voltage signal. At the same time, the packaging bag presses the shift disk to change the suspension gap and the magnetic field reaction force. The Hall element collects the change in magnetic field to correct the weighing data. The analog signal is amplified, filtered and converted from analog to digital and then transmitted to the main controller to complete the weight judgment.

9. The integrated filling device for precise metering and flexible packaging of mixed nuts according to claim 8, characterized in that, The main controller is equipped with a logic judgment program. The controller compares the real-time collected weight of the packaging bags with a preset weight threshold. When the measured weight is greater than or equal to the set upper limit weight, it is judged as overweight. When the measured weight is less than or equal to the set lower limit weight, it is judged as underweight. When the measured weight is between the upper limit weight and the lower limit weight, it is judged as qualified. The magnetic levitation conveyor controls the movement path of the transfer plate according to the judgment result, and transfers the unqualified packaging bags to the rejection area. The empty transfer plate stays in the transfer area, and the qualified packaging bags are transferred normally.

10. The method for integrated filling control of precise metering and flexible packaging of mixed nuts according to claim 1, characterized in that, The filling apparatus according to any one of claims 1-9 comprises the following processing steps: S1. Film deployment: The rolled film material is unrolled by the film conveying device, so that the film material wraps around the outside of the product guide tube and is continuously conveyed along the preset conveying path. S2. Bag forming: Using sealing pliers to process the first end seal on the packaging material to prepare a partially formed package; S3. Filler pretreatment: Fill the partially formed packaging with mixed nut products through the product conduit; at the same time, pressurized gas is introduced into the semi-finished bag using a nozzle; S4. Vibration settling: During the continuous conveying of packaging materials, the product vibration device is activated, causing the agitator with agitator to intermittently abut against the partially formed packaging and rotate, impacting one side of the packaging, agitating the packaging material, and causing the internal nuts to settle to a stable height. S5. Sealing and molding: Pressurized gas intake stops, and the rigid suction tube descends to perform negative pressure suction. At this time, sealing pliers are used to process the second end seal. After the suction is completed, the rigid suction tube rises back to its original position, sealing the semi-finished bag into a complete package and completing the filling process. S6. Transfer and Reversal: The complete package is conveyed by the finished product packaging transmission device. The transfer device lays the upright packaging bag flat and transfers it to the transfer area of ​​the magnetic levitation conveyor. Each transfer plate receives a single packaging bag in a preset uniform direction. S7. Posture Adjustment: The moving tray is suspended on the surface of the magnetic levitation conveyor and is transferred from the transfer area to the pickup area. The rotation of the moving tray is controlled according to the packing requirements so that the packaging bags in the pickup area and the waiting area are arranged in opposite directions at 180°. S8 Sorting Inspection: Detects the weight of the packaging bags received by each transfer tray in the transfer area. If the weight of the packaging bag exceeds the preset weight range, it is transferred to the rejection area for rework. Empty transfer trays that have not received packaging bags remain in the transfer area to wait for further processing. S9. Picking and Packaging: The packaging bag picking device picks up the packaging bag group in the picking area, stores it in the cartoning bin of the cartoning machine, and finally puts it into a carton to complete the packing.

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