A multi-station full-automatic driven rotary bag feeding and packaging machine device

Abstract

The present application relates to the technical field of packaging machinery, and more particularly to a multi-station full-automatic driving rotary bag feeding and packaging machine device, comprising: a packaging machine assembly comprising a filling shaft and a clamping driving assembly; a vibration module comprising a vibration plate and a servo motor; a heat sealing module comprising a heat sealing assembly and a temperature control assembly; a detection module comprising a laser displacement sensor and a force sensor for obtaining sinking uniformity and vibration decay rate; and a control module for adjusting the reciprocating frequency of the filling shaft based on the sinking uniformity, adjusting the vibration frequency based on the vibration decay rate, and adjusting the heat sealing temperature based on a heat sealing compensation value. The present application overcomes the problem that fixed operating parameters cannot adapt to the stress deformation state of the bag bottom, and improves the packaging and sealing quality and production stability.

Description

Technical Field

[0001] This invention relates to the field of packaging machinery technology, and in particular to a multi-station fully automatic rotary bag-feeding packaging machine. Background Technology

[0002] Pre-made bag packaging machines are automated packaging equipment that automatically completes processes such as bag picking, opening, filling, vibration, and heat sealing of pre-made bags. They are widely used in the packaging of granular materials in the food and roasted nuts industries. In existing technologies, fully automatic pre-made bag packaging machines typically employ a rotary multi-station structure, where a rotating disc sequentially feeds the packaging bags into each station to complete the corresponding operations. However, in actual production, bags of different sizes have different bottom surface areas, and the degree of stress deformation in different areas of the bag bottom varies during the filling process. Fixed filling parameters and vibration exhaust parameters cannot accommodate these differences. Deformation of the bag bottom causes the bag to lengthen overall, which in turn affects the accuracy of the sealing position and the sealing quality during subsequent heat sealing.

[0003] Chinese Patent Publication No. CN120589264A discloses a fully automatic bag-feeding packaging machine, including a base, a rotating disk, and a drive unit. The rotating disk is equipped with a clamping component, and the base is arranged around the rotating disk in sequence as a bag-feeding assembly, a bag-opening assembly, a filling assembly, a heat-sealing assembly, and a discharging assembly. The bag-feeding assembly, through the cooperation of a clamping suction cup and a pressing part, presses the upper side of the packaging bag to bend it when clamping it, reducing the possibility of electrostatic adsorption causing two packaging bags to be clamped simultaneously.

[0004] As can be seen from the above, the fully automatic bag-feeding packaging machine solves the electrostatic adsorption problem during bag picking by improving the bag loading mechanism, but its focus is on optimizing the mechanical structure of a single station. In the filling and heat-sealing stages, this solution lacks real-time detection of the bag bottom deformation state during filling, and cannot adjust the vibration exhaust and heat-sealing temperature in conjunction with the actual deformation degree of the bag bottom. Fixed filling and heat-sealing parameters are difficult to adapt to the differences in the deformation degree of bag bottoms of different specifications, affecting packaging sealing quality and production stability. Therefore, there is an urgent need for a bag-feeding packaging machine that can achieve dynamic adaptive adjustment in the three stages of filling, vibration, and heat sealing. Summary of the Invention

[0005] Therefore, the present invention provides a multi-station fully automatic rotary bag-feeding packaging machine to overcome the problem that the fixed operating parameters in the prior art cannot adapt to the stress and deformation state of the bag bottom.

[0006] To achieve the above objectives, the present invention provides a multi-station fully automatic rotary bag-feeding packaging machine device, comprising: A packaging machine assembly, comprising a filling shaft and a clamping drive assembly, wherein the filling shaft is used to drive the hopper to reciprocate based on a reciprocating frequency, and the clamping drive assembly is used to drive a robot arm to grip and rotate pre-made bags from a bag magazine between various workstations via a rotary table. A vibration module for applying vibration to pre-filled bags based on a vibration frequency includes a vibration plate and a servo motor. The vibration plate is used to vibrate and vent the bags after filling. The servo motor is used to drive the vibration plate to vibrate and adjust the vibration frequency. A heat-sealing module for heating and sealing the opening of a prefabricated bag after vibration and degassing, includes a heat-sealing component and a temperature control component. The heat-sealing component is used to heat-seal the prefabricated bag based on the heat-sealing temperature, and the temperature control component is used to control the heat-sealing temperature of the heat-sealing component. The detection module includes a laser displacement sensor located below the bag storage and a force sensor located at the working end of the vibrating plate, for obtaining the uniformity of the sinking of the bag bottom and the vibration attenuation rate of the vibrating plate and the bottom of the prefabricated bag. The control module, connected to the vibration module and the heat sealing module, is used to determine the bag bottom deformation based on the sinking uniformity and adjust the reciprocating frequency of the filling shaft; determine the vibration exhaust state based on the vibration decay rate and adjust the vibration frequency of the vibration module; and determine the heat sealing state based on the heat sealing compensation value and adjust the heat sealing temperature of the heat sealing module.

[0007] Furthermore, the clamping drive assembly includes a robotic arm and a rotary disk, wherein the robotic arm is used to clamp the pre-made bag, and the rotary disk is used to drive the robotic arm to rotate between each workstation; The heat-sealing assembly includes a heat-sealing knife holder and a heating tube. The heat-sealing knife holder provides heat through the heating tube to clamp and heat-seal the opening of the pre-made bag.

[0008] Furthermore, the control module also includes: The sinking state determination module is used to determine whether the bag bottom deformation state does not meet the requirements based on the sinking uniformity being greater than or equal to the uniformity threshold. A filling adjustment module is used to reduce the reciprocating frequency of the filling shaft based on the bag bottom deformation state not meeting the requirements.

[0009] Furthermore, the detection module determines the uniformity of sinking based on the average sinking rate collected by the laser displacement sensor at several points. The sinking rate is the difference between the sinking displacement values ​​collected by the laser displacement sensor at various points on the bottom of the bag, divided by the time interval between the collections. The reciprocating frequency of the filling shaft is negatively correlated with the sinking uniformity.

[0010] Furthermore, the control module also includes: The vibration state determination module is used to determine whether the vibration exhaust state does not meet the requirements based on the vibration decay rate being greater than or equal to the vibration decay rate threshold. The vibration adjustment module increases the vibration frequency of the vibration module if the vibration exhaust state does not meet the requirements.

[0011] Furthermore, the detection module determines the vibration attenuation rate by dividing the difference in contact force values ​​collected by the force sensor by the corresponding time interval.

[0012] Furthermore, the vibration frequency of the vibration module is positively correlated with the vibration attenuation rate.

[0013] Furthermore, the control module also includes: The heat sealing status determination module determines that the heat sealing status does not meet the requirements if the heat sealing compensation value is greater than or equal to the heat sealing compensation value threshold. The heat sealing adjustment module adjusts the heat sealing temperature of the heat sealing module if the heat sealing state does not meet the requirements.

[0014] Furthermore, the heat-sealing compensation value is determined by the control module based on the ratio of the sinking uniformity to the unloaded residual force value; The unloaded residual force value is the unloaded residual force value collected by the force sensor after the vibration stops.

[0015] Furthermore, the temperature controller adjusts the heat sealing temperature of the heat sealing knife holder based on the ratio of the heat sealing compensation value to the heat sealing compensation value threshold.

[0016] Compared with existing technologies, the advantages of this invention lie in its ability to achieve further dynamic adaptive adjustment in the three stages of filling, vibration, and heat sealing, based on the initial adjustment of the spacing between the left and right baffles and the height of the bag storage frame. This is achieved through the coordinated use of laser displacement sensors and force sensors. The initial adjustment of the bag storage determines the lateral position and sealing height of the bags. However, due to the different bottom surface areas of bags of different sizes, the degree of deformation under stress in different areas of the bag bottom varies during the filling process. Fixed filling and heat sealing parameters cannot adapt to these differences. This invention further precisely matches the actual deformation state of the bags based on the initial adjustment of the bag storage, overcoming the problems of sealing position offset caused by bag bottom deformation and mismatched heat sealing temperatures, thus improving packaging sealing quality and production stability.

[0017] Furthermore, compared to single-point rate which only reflects the local sinking speed, sinking uniformity directly corresponds to the risk of overall stress concentration and tensile deformation of the bag bottom through the degree of difference in rates at each point, avoiding misjudgment and omission of single-point detection. On the basis of manual adjustment of the bag warehouse, the actual sinking uniformity of the bag bottom is detected and the reciprocating frequency of the filling shaft is automatically adjusted, compensating for the lack of consistency of manual adjustment. At the same time, sinking uniformity transmits the deformation state of the bag bottom to the vibration station, so that the vibration parameters can be dynamically adapted according to the actual execution results of the preceding filling station. This breaks down the barrier between the independent operation of the filling and vibration stations, avoiding the problem of insufficient compaction or excessive vibration caused by the vibration station vibrating according to fixed parameters when the bag has already deformed.

[0018] Furthermore, by using force sensors to detect the contact force between the vibrating plate and the bottom of the bag in real time, the vibration exhaust effect is quantified into a physical quantity that can be monitored in real time using the vibration decay rate. This allows the device to autonomously determine whether the vibration is sufficient and automatically adjust the vibration frequency, eliminating reliance on operator experience and transforming it from open-loop operation to closed-loop feedback. It also overcomes the problem of manually readjusting vibration parameters after switching between different bag sizes. Regardless of changes in bag size, the vibration frequency always matches the degree of deformation and contact state of the bag bottom, improving production efficiency and packaging consistency.

[0019] Furthermore, by constructing a heat-sealing compensation value using the ratio of sinking uniformity to the unloaded residual force value, the deformation process of the bag from filling to heat sealing is quantified into a traceable physical quantity. This allows the heat sealing process to perceive the cumulative impact of previous processes and perform unified compensation. At the same time, it provides a feedforward basis for heat sealing temperature adjustment, calculating the required temperature based on the actual state of the bag opening before heat sealing begins, eliminating the need for feedback adjustment after temperature deviation occurs. In addition, the unloaded residual force value collected by the force sensor over a long period can indirectly reflect the attenuation trend of the vibration plate amplitude. The heat sealing compensation value dynamically corrects the heat sealing parameters accordingly, enabling the equipment to maintain stable sealing quality without manual intervention after long-term operation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of a multi-station fully automatic rotary bag-feeding packaging machine according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the adjustment of the reciprocating frequency of the filling shaft according to an embodiment of the present invention. Figure 3 This is a flowchart illustrating the adjustment of vibration frequency according to an embodiment of the present invention; Figure 4 This is a flowchart illustrating the process of adjusting the heat sealing temperature according to an embodiment of the present invention.

[0021] In the diagram: 1. Filling shaft; 2. Vibrating plate; 3. Servo motor; 4. Robotic arm; 5. Rotary disk; 6. Heat sealing knife holder; 7. Heating tube. Detailed Implementation

[0022] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0023] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0024] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

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

[0026] Please see Figure 1 The diagram shown is a schematic representation of the overall structure of a multi-station fully automatic rotary bag-feeding packaging machine according to an embodiment of the present invention. The multi-station fully automatic rotary bag-feeding packaging machine according to an embodiment of the present invention includes: A packaging machine assembly includes a filling shaft 1 and a clamping drive assembly. The filling shaft is used to drive the hopper to reciprocate based on a reciprocating frequency. The clamping drive assembly is used to drive a robot arm to clamp and rotate pre-made bags from the bag magazine between various workstations via a rotary table. A vibration module, which is used to apply vibration to the pre-filled bag based on the vibration frequency, includes a vibration plate 2 and a servo motor 3. The vibration plate is used to vibrate and vent the bag after filling. The servo motor is used to drive the vibration plate to vibrate and adjust the vibration frequency. A heat-sealing module for heating and sealing the opening of a prefabricated bag after vibration and degassing, includes a heat-sealing component and a temperature control component. The heat-sealing component is used to heat-seal the prefabricated bag based on the heat-sealing temperature, and the temperature control component is used to control the heat-sealing temperature of the heat-sealing component. The detection module includes a laser displacement sensor located below the bag storage and a force sensor located at the working end of the vibrating plate, for obtaining the uniformity of the sinking of the bag bottom and the vibration attenuation rate of the vibrating plate and the bottom of the prefabricated bag. The control module, connected to the vibration module and the heat sealing module, is used to determine the bag bottom deformation based on the sinking uniformity and adjust the reciprocating frequency of the filling shaft; determine the vibration exhaust state based on the vibration decay rate and adjust the vibration frequency of the vibration module; and determine the heat sealing state based on the heat sealing compensation value and adjust the heat sealing temperature of the heat sealing module.

[0027] The clamping drive assembly includes a robotic arm 4 and a rotary disk 5. The robotic arm is used to clamp the pre-made bag, and the rotary disk is used to drive the robotic arm to rotate between each workstation. The heat sealing assembly includes a heat sealing blade holder 6 and a heating tube 7. The heat sealing blade holder provides heat through the heating tube to clamp and heat seal the opening of the pre-made bag.

[0028] The bag storage unit includes a bag width adjustment handwheel, a bag length adjustment lever, left and right bag storage baffles, and bag storage frame adjustment bolts. The distance between the left and right baffles is adjusted by the bag width adjustment handwheel to adapt to the bag width. The front and rear positions of the bag storage frame are adjusted by the bag storage frame adjustment bolts to control the sealing height. The bag's lateral position in the bag storage unit is defined by the left and right baffles. After the robot arm takes the bag from the bag storage unit, it sequentially sends the bag to the bag opening station, filling station, vibration station, and heat sealing station via a rotary table.

[0029] Specifically, after the operator adjusts the distance between the left and right baffles and the frame height according to the bag specifications, the robotic arm 4 retrieves a bag from the bag storage, and the rotary table 5 delivers the bag to the bag opening station. The bag opening air pipe generates suction on both sides of the bag opening to open it. After opening, the rotary table delivers the bag to the filling station, where the hopper reciprocates up and down under the drive of the filling shaft. During the filling process, a laser displacement sensor monitors the uniformity of the bag bottom sinking. When the uniformity of sinking exceeds the uniformity threshold, the control module automatically reduces the reciprocating frequency of the filling shaft to reduce the stretching of the bag bottom by the material impact. After filling, the bag enters the vibration station, where a force sensor detects the contact force between the vibrating plate and the bag bottom. When the vibration decay rate exceeds the threshold, the control module automatically increases the vibration frequency to ensure that the material is fully compacted. After vibration, the bag enters the heat sealing station. The control module calculates the heat sealing compensation value based on the ratio of the uniformity of sinking to the residual force value after vibration stops, and automatically adjusts the heat sealing temperature to match the current tightness of the bag opening.

[0030] Specifically, compared with existing technologies, the advantages of this invention lie in its ability to achieve further dynamic adaptive adjustment in the three stages of filling, vibration, and heat sealing, based on the initial adjustment of the spacing between the left and right baffles and the height of the bag storage frame. This is achieved through the coordinated use of laser displacement sensors and force sensors. The initial adjustment of the bag storage determines the lateral position and sealing height of the bags. However, due to the different bottom surface areas of bags of different sizes, the degree of stress deformation in different areas of the bag bottom varies during the filling process. Fixed filling and heat sealing parameters cannot accommodate these differences. This invention further precisely matches the actual deformation state of the bags based on the initial adjustment of the bag storage, overcoming the problems of sealing position offset caused by bag bottom deformation and mismatched heat sealing temperatures, thus improving packaging sealing quality and production stability.

[0031] Please see Figure 2 As shown, it is a flowchart of adjusting the reciprocating frequency of the filling shaft according to an embodiment of the present invention; the control module further includes: The sinking state determination module is used to determine whether the bag bottom deformation state does not meet the requirements based on the sinking uniformity being greater than or equal to the uniformity threshold. A filling adjustment module is used to reduce the reciprocating frequency of the filling shaft based on the bag bottom deformation state not meeting the requirements.

[0032] In this embodiment, by reducing the frequency of the filling shaft to slow down the movement speed of the hopper, the impact force of the material falling into the bag is reduced, thus reducing the stretching of the bag bottom by the impact force and ensuring that the bag bottom remains flat during the filling process. When the distance between the left and right baffles of the bag chamber is fixed, the bottom surface area of ​​the narrow bag is small, and the weight of the material is concentrated on a small area of ​​the bag bottom, resulting in a large tension per unit area of ​​the bag bottom. During filling, the material falls and impacts the bag bottom, causing the bag bottom to be stretched and deformed downwards. The sinking rate of different areas of the bag bottom is inconsistent. When the sinking uniformity exceeds the uniformity threshold, it indicates that a local area of ​​the bag bottom is overstretched, the bag as a whole becomes longer, and this affects the accuracy of the subsequent vibration frequency.

[0033] In this embodiment, the sinking state determination module uses distance data collected by the laser displacement sensor at multiple points on the bottom of the bag to calculate the sinking rate of each point by dividing the difference between two adjacent distance measurements at each point by the collection time. The average value of the sinking rate at each point is taken as the sinking uniformity and compared with the uniformity threshold. When the sinking uniformity is greater than or equal to the uniformity threshold, it is determined that the sinking is uneven in different areas of the bottom of the bag and the deformation state of the bottom of the bag does not meet the requirements. As a result, the reciprocating frequency of the filling shaft is reduced, allowing the material to enter the bag with less impact force, making the force on different areas of the bottom of the bag more uniform and avoiding local stretching of the bottom of the bag due to concentrated impact force.

[0034] Specifically, the highest frequency of the filling shaft reciprocating frequency is determined by the maximum frequency at which the difference in the sinking rate of different areas of the bag bottom does not cause local tensile deformation of the bag bottom, and the lowest frequency at which the filling time does not significantly affect production is determined by the minimum frequency of the filling shaft reciprocating frequency. Those skilled in the art can make adaptive adjustments based on the bag material, material type, and filling amount.

[0035] It should be noted that when the reciprocating frequency of the filling shaft is too high, the single drop speed of the hopper is fast, the impact force of the material is large, the stress on the bottom of the bag is concentrated, the uniformity of sinking increases, and the risk of bag bottom deformation increases. When the reciprocating frequency of the filling shaft is too low, the filling time is prolonged, which affects packaging efficiency. Therefore, when the bag bottom deformation is determined to be unacceptable, the reciprocating frequency of the filling shaft should be reduced to decrease the impact force, while taking into account the filling efficiency, avoiding excessive reduction in frequency that would lead to a significant decrease in packaging efficiency.

[0036] It is understood that reducing the reciprocating frequency of the filling shaft can be achieved by adjusting the speed of the servo motor connected to the filling shaft. Those skilled in the art can select the corresponding adjustment scheme according to the actual driving method, and no further limitations are made here.

[0037] In this embodiment, the uniformity threshold is determined based on the differences in the sinking rates of different areas of the bag bottom during normal filling, ensuring that deformation caused by localized stress concentration at the bag bottom can be effectively distinguished from normal rate fluctuations. If the uniformity threshold is set too low, normal rate differences in different areas of the bag bottom can easily be misjudged as bag bottom deformation, leading to an unnecessary reduction in the reciprocating frequency of the filling shaft and affecting packaging efficiency. If the uniformity threshold is set too high, deformation caused by localized stress concentration at the bag bottom is difficult to identify in a timely manner, reducing the bag bottom deformation screening effect. Therefore, this embodiment sets the uniformity threshold in the transition range between normal rate fluctuations and differences in bag bottom deformation rates, ensuring that the adjustment of the reciprocating frequency of the filling shaft is based on effective control of bag bottom deformation, while simultaneously considering both judgment accuracy and packaging efficiency.

[0038] Specifically, compared to single-point rate which only reflects the local sinking speed, this method directly corresponds to the risk of overall stress concentration and tensile deformation of the bag bottom through the degree of difference in rate at each point, avoiding misjudgment and omission of single-point detection. On the basis of manual adjustment of the bag chamber, the method compensates for the lack of consistency of manual adjustment by detecting the actual sinking uniformity of the bag bottom and automatically adjusting the reciprocating frequency of the filling shaft. At the same time, the sinking uniformity transmits the deformation state of the bag bottom to the vibration station, so that the vibration parameters can be dynamically adapted according to the actual execution results of the preceding filling station. This breaks down the barrier between the independent operation of the filling and vibration stations, and avoids the problem of insufficient compaction or excessive vibration caused by the vibration station vibrating according to fixed parameters when the bag has been deformed.

[0039] Please see Figure 3As shown, it is a flowchart of adjusting the vibration frequency according to an embodiment of the present invention; the control module further includes: The vibration state determination module is used to determine whether the vibration exhaust state does not meet the requirements based on the vibration decay rate being greater than or equal to the vibration decay rate threshold. The vibration adjustment module increases the vibration frequency of the vibration module when the vibration exhaust status does not meet the requirements. In this embodiment, the vibration frequency is increased to enhance the force of the vibrating plate on the bottom of the bag. The deformation of the bag bottom causes the bag to become longer overall. When the bag enters the vibration station, the distance between the bottom of the bag and the vibrating plate increases. At the normal frequency, the force of the vibrating plate on the bottom of the bag is insufficient, the material cannot be fully compacted, and there is still material residue near the bag opening, which affects the quality of subsequent heat sealing.

[0040] In this embodiment, the vibration state determination module collects the contact force between the vibrating plate and the bottom of the bag in real time during the vibration process by the force sensor, calculates the difference between two adjacent collections of contact force values ​​and divides it by the collection time to determine the vibration attenuation rate, and compares it with the vibration attenuation rate threshold. When the vibration attenuation rate is greater than or equal to the vibration attenuation rate threshold, it is determined that the contact between the vibrating plate and the bottom of the bag is insufficient and the vibration exhaust state does not meet the requirements. In this way, the vibration frequency is increased to enhance the effect of vibration on the bottom of the bag, ensure that the material is fully compacted, and avoid bag mouth residue caused by insufficient vibration.

[0041] Specifically, the increase in vibration frequency is determined by the ratio of vibration decay rate to vibration decay rate threshold; the larger the ratio, the greater the increase in vibration frequency.

[0042] Understandably, the ratio of vibration decay rate to vibration decay rate threshold reflects the severity of the attenuation of the contact force between the vibrating plate and the bottom of the bag. The larger the ratio, the more severe the attenuation of the contact force between the vibrating plate and the bottom of the bag, the worse the vibration exhaust effect, and the greater the increase in vibration frequency required for compensation, so as to match the vibration frequency with the actual contact state of the bottom of the bag and ensure that the material is fully compacted.

[0043] It should be noted that when the vibration frequency is too low, the force exerted by the vibrating plate on the bottom of the bag is insufficient, increasing the risk of residual material at the bag opening and affecting the heat-sealing quality. When the vibration frequency is too high, the bag opening is excessively loosened, requiring a higher temperature to ensure a secure seal during subsequent heat sealing. Therefore, when the vibration and venting conditions are deemed unsatisfactory, the vibration frequency should be appropriately increased to ensure effective compaction while avoiding excessive loosening of the bag opening due to excessive vibration.

[0044] It is understood that increasing the vibration frequency can be achieved by adjusting the speed of the servo motor connected to the vibrating plate. Those skilled in the art can select the corresponding adjustment scheme according to the actual driving method, and no further limitations are made here.

[0045] In this embodiment, the vibration attenuation rate threshold is determined based on the contact force attenuation law under normal contact conditions between the bag bottom and the vibration plate, to ensure that insufficient vibration contact can be effectively distinguished from normal contact force fluctuations. When the threshold is set too low, normal contact force fluctuations are easily misjudged as insufficient contact, leading to an unnecessary increase in vibration frequency and excessive loosening of the bag opening. When the threshold is set too high, insufficient vibration contact is difficult to identify in a timely manner, reducing the vibration exhaust effect. Therefore, this embodiment sets the vibration attenuation rate threshold in the transition range between normal contact force fluctuations and attenuation due to insufficient contact, so that the adjustment of vibration frequency is based on the premise that vibration contact is indeed insufficient, while taking into account both the accuracy of judgment and the need for bag opening protection.

[0046] Specifically, this method uses a force sensor to detect the contact force between the vibrating plate and the bottom of the bag in real time. The vibration decay rate is used to quantify the vibration exhaust effect into a physical quantity that can be monitored in real time. This allows the device to autonomously determine whether the vibration is sufficient and automatically adjust the vibration frequency, eliminating reliance on the operator's experience. It transforms from open-loop operation to closed-loop feedback and overcomes the problem of manually readjusting vibration parameters after switching between different bag sizes. Regardless of the bag size, the vibration frequency always matches the degree of deformation and contact state of the bag bottom, improving production efficiency and packaging consistency.

[0047] Please see Figure 4 The diagram shown is a flowchart illustrating the adjustment of the heat-sealing temperature according to an embodiment of the present invention; the control module further includes: The heat sealing status determination module determines that the heat sealing status does not meet the requirements if the heat sealing compensation value is greater than or equal to the heat sealing compensation value threshold. The heat-sealing adjustment module adjusts the heat-sealing temperature of the heat-sealing module based on whether the heat-sealing state meets the requirements. In this embodiment, the heat-sealing temperature is adjusted to adapt to changes in the tightness of the bag opening. Stretching and deformation of the bag bottom causes the bag to lengthen, the bag opening to shift downwards, and the bag opening to become too tight; during vibration exhaust, the vibration frequency increases, and the bag opening is loosened. The stretching of the bag bottom and vibration exhaust together determine the final tightness of the bag opening, requiring adjustment of the heat-sealing temperature. When the heat-sealing compensation value exceeds the heat-sealing compensation threshold, it indicates that the bag opening state deviates from the normal range, the heat-sealing state does not meet the requirements, and the heat-sealing temperature needs to be adjusted. When the bag opening is too tight, the heat-sealing temperature is reduced to prevent excessive heat from damaging the bag opening; when the bag opening is too loose, the heat-sealing temperature is increased to ensure a secure seal.

[0048] In this embodiment, the heat-sealing state determination module calculates the heat-sealing compensation value based on the ratio of sinking uniformity to the unloaded residual force value. The unloaded residual force value is the output value collected by the force sensor after vibration stops, reflecting the magnitude of the residual force after vibration ends. The calculated heat-sealing compensation value is compared with a heat-sealing compensation threshold. When the heat-sealing compensation value is greater than or equal to the threshold, it is determined that the bag opening state deviates from the normal range, and the heat-sealing state does not meet the requirements. This triggers the heat-sealing adjustment module to adjust the heat-sealing temperature. If the bag opening is too tight, the heat-sealing temperature is reduced to prevent damage; if the bag opening is too loose, the heat-sealing temperature is increased to ensure a secure seal.

[0049] Specifically, the adjustment range of the heat sealing temperature is determined by the ratio of the heat sealing compensation value to the heat sealing compensation threshold value. The larger the ratio, the larger the adjustment range of the heat sealing temperature.

[0050] Understandably, the ratio of the heat seal compensation value to the heat seal compensation value threshold reflects the extent to which the current state of the bag opening deviates from the normal tightness. The larger the ratio, the more significant the deviation of the bag opening from the normal tightness, and the greater the adjustment range required. Therefore, the adjustment range of the heat seal temperature is positively correlated with this ratio to match the actual state of the bag opening and ensure the sealing quality.

[0051] It should be noted that the heat-sealing temperature should be adjusted within a range where the upper limit is that the bag opening material will not be damaged by the heat, and the lower limit is that the seal is secure. If the heat-sealing temperature exceeds the upper limit, the bag opening material will be damaged or excessively shrink, affecting the packaging's appearance and sealing effect; if the heat-sealing temperature is below the lower limit, the bag opening will not seal securely, and the packaging's airtightness will not meet standards. Therefore, the heat-sealing temperature needs to be adjusted within this range according to the relationship between the heat-sealing compensation value and the heat-sealing compensation value threshold to ensure both sealing quality and bag opening protection.

[0052] It is understood that the heat sealing temperature can be adjusted by setting a target temperature value using a temperature controller. Those skilled in the art can select the corresponding adjustment scheme according to the actual temperature control method, without further limitations.

[0053] In this embodiment, the heat-sealing compensation threshold is determined based on the ratio of the uniformity of sinking to the residual force under no-load conditions when the bag opening is in normal tightness, ensuring that deviations from the normal range in bag opening tightness can be accurately identified. If the threshold is set too low, normal fluctuations in bag opening tightness can easily be misjudged as deviations, leading to unnecessary adjustments to the heat-sealing temperature, increasing energy consumption and affecting sealing consistency. If the threshold is set too high, deviations in bag opening tightness are difficult to identify in a timely manner, reducing the timeliness of heat-sealing temperature adjustment. Therefore, this embodiment sets the heat-sealing compensation threshold in the transition range between normal bag opening tightness fluctuations and deviations from the normal range, ensuring that heat-sealing temperature adjustments are based on the premise that the bag opening condition does indeed deviate from the normal range, while simultaneously considering both accuracy of judgment and sealing consistency.

[0054] Specifically, the heat-sealing compensation value is determined by the ratio of sinking uniformity to the unloaded residual force value. This quantifies the deformation process of the bag from filling to heat sealing into a traceable physical quantity, enabling the heat sealing process to perceive the cumulative effects of previous processes and perform unified compensation. It also provides a feedforward basis for heat sealing temperature adjustment, calculating the required temperature based on the actual state of the bag opening before heat sealing begins, eliminating the need for feedback adjustments after temperature deviations occur. Furthermore, the unloaded residual force value collected by the force sensor over a long period can indirectly reflect the attenuation trend of the vibration plate amplitude. The heat sealing compensation value dynamically corrects the heat sealing parameters accordingly, allowing the equipment to maintain stable sealing quality without manual intervention after long-term operation.

[0055] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0056] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-station fully automatic rotary bag-feeding packaging machine, characterized in that, include: A packaging machine assembly, comprising a filling shaft and a clamping drive assembly, wherein the filling shaft is used to drive the hopper to reciprocate based on a reciprocating frequency, and the clamping drive assembly is used to drive a robot arm to grip and rotate pre-made bags from a bag magazine between various workstations via a rotary table. A vibration module for applying vibration to pre-filled bags based on a vibration frequency includes a vibration plate and a servo motor. The vibration plate is used to vibrate and vent the bags after filling. The servo motor is used to drive the vibration plate to vibrate and adjust the vibration frequency. A heat-sealing module for heating and sealing the opening of a prefabricated bag after vibration and degassing, includes a heat-sealing component and a temperature control component. The heat-sealing component is used to heat-seal the prefabricated bag based on the heat-sealing temperature, and the temperature control component is used to control the heat-sealing temperature of the heat-sealing component. The detection module includes a laser displacement sensor located below the bag storage and a force sensor located at the working end of the vibrating plate, for obtaining the uniformity of the sinking of the bag bottom and the vibration attenuation rate of the vibrating plate and the bottom of the prefabricated bag. The control module, connected to the vibration module and the heat sealing module, is used to determine the bag bottom deformation based on the sinking uniformity and adjust the reciprocating frequency of the filling shaft; determine the vibration exhaust state based on the vibration decay rate and adjust the vibration frequency of the vibration module; and determine the heat sealing state based on the heat sealing compensation value and adjust the heat sealing temperature of the heat sealing module.

2. The multi-station fully automatic rotary bag-feeding packaging machine according to claim 1, characterized in that, The clamping drive assembly includes a robotic arm and a rotary table. The robotic arm is used to clamp the pre-made bags, and the rotary table is used to drive the robotic arm to rotate between each workstation. The heat-sealing assembly includes a heat-sealing knife holder and a heating tube. The heat-sealing knife holder provides heat through the heating tube to clamp and heat-seal the opening of the pre-made bag.

3. The multi-station fully automatic rotary bag-feeding packaging machine according to claim 1, characterized in that, The control module also includes: The sinking state determination module is used to determine whether the bag bottom deformation state does not meet the requirements based on the sinking uniformity being greater than or equal to the uniformity threshold. A filling adjustment module is used to reduce the reciprocating frequency of the filling shaft based on the bag bottom deformation state not meeting the requirements.

4. The multi-station fully automatic rotary bag-feeding packaging machine according to claim 3, characterized in that, The detection module determines the uniformity of sinking based on the average sinking rate collected by the laser displacement sensor at several points. The sinking rate is the difference between the sinking displacement values ​​collected by the laser displacement sensor at various points on the bottom of the bag, divided by the time interval between the collections. The reciprocating frequency of the filling shaft is negatively correlated with the sinking uniformity.

5. The multi-station fully automatic rotary bag-feeding packaging machine according to claim 4, characterized in that, The control module also includes: The vibration state determination module is used to determine whether the vibration exhaust state does not meet the requirements based on the vibration decay rate being greater than or equal to the vibration decay rate threshold. The vibration adjustment module increases the vibration frequency of the vibration module if the vibration exhaust state does not meet the requirements.

6. The multi-station fully automatic rotary bag-feeding packaging machine according to claim 5, characterized in that, The detection module determines the vibration decay rate by dividing the difference in contact force values ​​collected by the force sensor by the corresponding time interval.

7. The multi-station fully automatic rotary bag-feeding packaging machine according to claim 6, characterized in that, The vibration frequency of the vibration module is positively correlated with the vibration attenuation rate.

8. The multi-station fully automatic rotary bag-feeding packaging machine according to claim 7, characterized in that, The control module also includes: The heat sealing status determination module determines that the heat sealing status does not meet the requirements if the heat sealing compensation value is greater than or equal to the heat sealing compensation value threshold. The heat sealing adjustment module adjusts the heat sealing temperature of the heat sealing module if the heat sealing state does not meet the requirements.

9. The multi-station fully automatic rotary bag-feeding packaging machine according to claim 8, characterized in that, The heat-sealing compensation value is determined by the control module based on the ratio of the sinking uniformity to the unloaded residual force value; The unloaded residual force value is the unloaded residual force value collected by the force sensor after the vibration stops.

10. The multi-station fully automatic rotary bag-feeding packaging machine according to claim 9, characterized in that, The temperature controller adjusts the heat sealing temperature of the heat sealing knife holder according to the ratio of the heat sealing compensation value to the heat sealing compensation value threshold.

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