Bag or ton packaging unmanned loading system

Abstract

The utility model discloses bag package or ton package unmanned feeding system belongs to the technical field of feeding, including guardrail, the opening end of guardrail is connected with the identification component for bag package or ton package azimuth photographing, the identification component below is equipped with the grabbing robot for bag package or ton package clamping, and the grabbing robot includes mechanical person, circumferential swing structure and grabbing assembly, and the mechanical person for driving is located below the identification component, and the circumferential swing structure for circumferential swing shaking is fixedly installed in the drive end of mechanical person, and the grabbing assembly for bag package or ton package clamping is fixedly installed in the drive end of circumferential swing structure, and the guardrail is equipped with the waste bag packer for waste bag package or ton package collection, the waste bag conveying structure for waste bag package or ton package conveying, the broken bag device for bag package or ton package cutting and the buffer storehouse for material buffer, and the utility model discloses realize bag package or ton package automatic feeding, and it is beneficial to practical use.

Description

Technical Field

[0001] This utility model relates to the field of material feeding technology, specifically to an unmanned material feeding system for bag packaging or ton packaging. Background Technology

[0002] For bagged or ton-packaged materials, an unmanned feeding system is generally required.

[0003] For example, Chinese patent CN118515094A describes an integrated workstation for depalletizing, bag-breaking, and unloading robots based on powder mixing and processing. This workstation includes a powder stack for storing bagged materials; a hopper for holding the powder; an actuator for gripping, breaking, and unloading the bagged materials; and a robot's movable end connected to the actuator to move it to the powder stack or hopper. The actuator is equipped with a shaking component that shakes the packaging bags to prevent material residue from remaining inside. This integrated workstation for bag-breaking and unloading robots works by using the robot to move the actuator to the powder stack to grip the bagged materials. After lifting the bags to above the hopper, the bags are broken. The shaking component then shakes the bags to accelerate the falling of the powder, while simultaneously preventing material residue from remaining inside the bags, thus improving production efficiency and reducing material waste.

[0004] While the above structure can achieve the effect of shaking for material feeding, the shaking direction is relatively unidirectional. To achieve omnidirectional material feeding, a longer shaking time is required. In addition, the special structure of the bag discharge design increases the difficulty of operation.

[0005] Based on this, this utility model designs an unmanned feeding system for bag packaging or ton packaging. Utility Model Content

[0006] In view of the above-mentioned shortcomings of the existing technology, this utility model provides an unmanned feeding system for bag packaging or ton packaging.

[0007] To achieve the above objectives, this utility model provides the following technical solution: Unmanned material handling system for bagged or ton-packaged goods, including guardrails; The guardrail opening is connected to an identification component for taking pictures of the orientation of bag packaging or ton packaging; Below the identification components is a gripping robot for holding bagged or ton-sized packages; The gripping robot includes a robot, a circular swing structure, and a gripping component. The robot for driving is located below the recognition component. The circular swing structure for circular swinging is fixedly installed at the drive end of the robot. The gripping component for bag or ton packaging is fixedly installed at the drive end of the circular swing structure. The guardrail is equipped with a waste bag baler for collecting waste bags or ton packages, a waste bag conveying structure for conveying waste bags or ton packages, a bag breaking device for tearing bags or ton packages, and a buffer bin for material buffering. The waste bag baler and the bag breaking device are located at the output and input ends of the waste bag conveying structure, respectively. The buffer bin is fixedly connected to the end of the robot closer to the end of the bag breaking device away from the robot. The bag breaking device is located on the rear side of the robot.

[0008] Furthermore, the circular swing structure includes a fixed component and a circular swing component. The fixed component is fixedly connected to the drive end of the robot, the fixed component is connected to the circular swing component, and the circular swing component is fixedly connected to the gripping component.

[0009] Furthermore, the fixed components include a top plate and side plates. The top plate is fixedly installed on the drive end of the robot, and two sets of side plates are symmetrically fixedly installed on the outer edge of the bottom of the top plate. The top plate is fixedly connected to the circumferential swing assembly, and the side plates are rotatably connected to the circumferential swing assembly.

[0010] Furthermore, the circular oscillation assembly includes a rotating motor, a connecting rod, a first connecting shaft, a fixed ring, a straight cylinder, a second connecting shaft, a connecting block, and a connecting base plate. The rotating motor is fixedly installed at the bottom of the top plate, and the connecting block is fixedly installed on the drive end of the rotating motor. The outer end of the connecting block is fixedly connected to the top of the connecting rod, and the central axis of the connecting rod forms a 45-degree angle with the central axis of the rotating motor. The bottom of the connecting rod is fixedly installed at the middle of the top of the straight cylinder. Two sets of second connecting shafts are symmetrically fixedly installed on the outer wall of the straight cylinder, and the outer ends of the second connecting shafts are rotatably connected to the fixed ring. Two sets of first connecting shafts are fixedly installed on the outer ends of the fixed ring, and the outer ends of the first connecting shafts are rotatably connected to the side plate. The first connecting shaft and the second connecting shaft are arranged perpendicularly. The bottom of the straight cylinder is fixedly connected to the top of the connecting base plate.

[0011] Furthermore, the gripping component includes a connecting frame, a second support frame, an abutment component, and an adjustable plug-in component. The bottom of the connecting frame is fixedly connected to the second support frame, and the bottom of the second support frame is fixedly connected to the abutment component. Two adjustable plug-in components are symmetrically arranged on the left and right sides of the second support frame. The adjustable plug-in components are rotatably connected to the second support frame and the abutment component. The connecting frame is fixedly connected to the connecting base plate.

[0012] Furthermore, the abutment component includes a pressing plate and a straight plate. Two sets of straight plates are symmetrically fixedly installed at the bottom of the second support frame, the pressing plate is fixedly installed at the bottom of the straight plate, and the straight plate is rotatably connected to the adjustable plug-in component.

[0013] Furthermore, the adjustable plug-in assembly includes a cylinder, a curved plate, insert teeth, a horizontal shaft, a connecting arm, and a connecting shaft. The end of the cylinder near the second support frame is rotatably connected to the second support frame. The connecting shaft is fixedly installed on the drive end of the cylinder. The upper end of the connecting arm is rotatably connected to the connecting shaft, and the lower end of the connecting arm is fixedly connected to the horizontal shaft. The horizontal shaft is rotatably connected to the straight plate through a bearing. The end of the horizontal shaft is fixedly connected to the curved plate. Multiple sets of insert teeth are fixedly installed at equal intervals on the outer end of the curved plate. The insert teeth move within the movable grooves opened in the pressing plate.

[0014] Furthermore, the waste bag conveying structure includes a drive motor, a frame, a negative pressure hood, a negative pressure hood extraction pipe, a conveyor belt, and rotating rollers. The frame is located between the waste bag baler and the bag breaking device. The drive motor is fixedly installed inside the frame. Two sets of rotating rollers are rotatably connected to both ends of the frame through bearings. The drive end of the drive motor is connected to one of the rotating rollers through a transmission assembly. The inner wall of the conveyor belt is rotatably connected to the outer wall of the rotating rollers. Negative pressure holes are opened at equal intervals on the conveyor belt. The negative pressure hood is fixedly installed at the end of the frame near the bag breaking device. The top of the negative pressure hood is slidably connected to the inner top of the upper end of the conveyor belt. The negative pressure hood is connected and fixedly connected to the negative pressure hood extraction pipe.

[0015] Beneficial effects This invention places the palletized bag or ton package below the identification component and on either side of the gripping robot. The detection end of the identification component moves to the top of the palletized bag or ton package on one side of the robot, and the identification component takes a picture of the position of the palletized bag or ton package. The gripping component of the gripping robot opens, and the robot moves the circumferential swing structure. The circumferential swing structure moves the gripping component to the outside of the bag or ton package, where the gripping component punctures and clamps the bag or ton package. The robot moves the gripping component, which moves the clamped bag or ton package to the bag-breaking device. The clamped bag or ton package moves along the surface of the bag-breaking device, and the bag-breaking device breaks the clamped bag or ton package. The bottom of the packaging is punctured, and the package continues to move towards the buffer bin. The material inside the punctured bag or ton falls into the buffer bin under gravity. Then, the circumferential oscillating structure drives the gripping component to oscillate, ensuring that the material inside the punctured bag or ton falls completely into the buffer bin. The robot then drives the gripping component to move the empty bag or ton to above the waste bag conveying structure. The gripping component automatically places the empty bag or ton onto the waste bag conveying structure, which then drives the empty bag or ton to the waste bag baler for collection. This automated feeding of bag or ton packages is beneficial for practical use. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a top view of the main structure of this utility model; Figure 2 This is a left view of the main structure of this utility model; Figure 3 The three-dimensional circular swing structure of this utility model Figure 1 ; Figure 4 The three-dimensional circular swing structure of this utility model Figure 2 ; Figure 5 This is a three-dimensional view of the gripping component structure of this utility model; Figure 6 This is a schematic diagram of the conveyor belt and its connecting structure.

[0018] The labels in the diagram represent: 1. Guardrail; 2. Waste bag baler; 3. Waste bag conveying structure; 31. Drive motor; 32. Frame; 32. Rotating roller; 33. Negative pressure hole; 35. Negative pressure cover; 35. Exhaust pipe; 36. Conveyor belt; 4. Identification component; 41. First support frame; 42. Camera; 43. Linear module; 5. Buffer bin; 6. Grabbing robot; 61. Robot; 62. Circular swing structure; 621. Top plate; 622. Rotating motor; 623. Side plate; 624. Connecting rod; 625. First connecting shaft; 626. Fixing ring; 627. Straight cylinder; 628. Second connecting shaft; 629. Connecting block; 6210. Connecting base plate; 63. Gripping assembly; 631. Connecting frame; 632. Cylinder; 633. Second support frame; 634. Curved plate; 635. Inserting tooth; 636. Pressing plate; 637. Horizontal shaft; 638. Straight plate; 639. Connecting arm; 6310. Connecting shaft; 7. Bag breaking device. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0020] The present invention will be further described below with reference to the embodiments.

[0021] In some embodiments: see Appendix Figure 1-6 Unmanned feeding system for bagged or ton-packaged goods, including guardrail 1; The guardrail 1 has an opening end connected to an identification component 4 for taking pictures of the orientation of bag packaging or ton packaging; Below the identification component 4 is a gripping robot 6 for holding bag packaging or ton packaging; The gripping robot 6 includes a robot 61, a circular swing structure 62, and a gripping component 63. The robot 61, which is used for driving, is located below the recognition component 4. The circular swing structure 62, which is used for circular swinging and shaking, is fixedly installed at the driving end of the robot 61. The gripping component 63, which is used for bag packaging or ton packaging clamping, is fixedly installed at the driving end of the circular swing structure 62. The guardrail 1 is equipped with a waste bag baler 2 for collecting waste bags or ton packages, a waste bag conveying structure 3 for conveying waste bags or ton packages, a bag breaking device 7 for tearing bags or ton packages, and a buffer bin 5 for buffering materials. The waste bag baler 2 and the bag breaking device 7 are located at the output end and input end of the waste bag conveying structure 3, respectively. The end of the buffer bin 5 near the robot 61 is fixedly connected to the end of the bag breaking device 7 away from the robot 61. The bag breaking device 7 is located on the rear side of the robot 61.

[0022] The palletized bag or ton package is placed below the identification component 4 and on either side of the robot 61 of the gripping robot 6. The detection end of the identification component 4 moves to the top of the palletized bag or ton package on one side of the robot 61 and takes a picture of the position of the palletized bag or ton package. The gripping component 63 of the gripping robot 6 opens, and the robot 61 drives the circumferential swing structure 62 to move. The circumferential swing structure 62 drives the gripping component 63 to move to the outside of the bag or ton package. The gripping component 63 punctures and clamps the bag or ton package. The robot 61 drives the gripping component 63 to move, and the gripping component 63 moves the clamped bag or ton package to the bag breaking device 7. The clamped bag or ton package moves along the surface of the bag breaking device 7, and the bag breaking device 7 breaks the clamped bag or ton package. The bottom of the ton package is punctured, and it continues to move towards the buffer bin 5. The material inside the punctured bag or ton package falls into the buffer bin 5 under gravity. Then, the circumferential swing structure 62 drives the gripping component 63 to swing circumferentially, which facilitates the complete falling of the material inside the punctured bag or ton package into the buffer bin 5. Then, the robot 61 drives the gripping component 63 to move the empty bag or ton package above the waste bag conveying structure 3. The gripping component 63 automatically places the empty bag or ton package onto the waste bag conveying structure 3. The waste bag conveying structure 3 drives the empty bag or ton package to the waste bag baler 2 for collection, realizing automated feeding of bag or ton packages, which is beneficial for practical use.

[0023] The identification component 4 includes a first support frame 41, a camera 42, and a linear module 43. The top of the first support frame 41 is connected to the linear module 43, and the camera 42 is fixedly installed on the drive end of the linear module 43. The palletized bag or ton package is placed under the first support frame 41 of the identification component 4 and located on both sides of the robot 61 of the grasping robot 6. The linear module 43 drives the camera 42 to move. The detection end of the camera 42 moves to the top of the palletized bag or ton package on one side of the robot 61 and the camera 42 takes a picture of the position of the palletized bag or ton package. After the palletized bag or ton package on one side of the robot 61 is removed, the linear module 43 drives the camera 42 to move. The detection end of the camera 42 moves to the top of the palletized bag or ton package on the other side of the robot 61 and the camera 42 takes a picture of the position of the palletized bag or ton package, thus determining the position of the bag or ton package on both sides of the robot 61. In some embodiments: see Appendix Figure 3-5 The circular swing structure 62 includes a fixed component and a circular swing component. The fixed component is fixedly connected to the drive end of the robot 61, the fixed component is connected to the circular swing component, and the circular swing component is fixedly connected to the gripping component 63. The fixed assembly includes a top plate 621 and a side plate 623. The top plate 621 is fixedly installed on the drive end of the robot 61. Two sets of side plates 623 are symmetrically fixedly installed on the outer edge of the bottom of the top plate 621. The top plate 621 is fixedly connected to the circumferential swing assembly, and the side plates 623 are rotatably connected to the circumferential swing assembly. The circular oscillating assembly includes a rotating motor 622, a connecting rod 624, a first connecting shaft 625, a fixing ring 626, a straight cylinder 627, a second connecting shaft 628, a connecting block 629, and a connecting base plate 6210. The rotating motor 622 is fixedly installed at the bottom of the top plate 6210, and the connecting block 629 is fixedly installed on the drive end of the rotating motor 622. The outer end of the connecting block 629 is fixedly connected to the top of the connecting rod 624, and the central axis of the connecting rod 624 forms a 40° angle with the central axis of the rotating motor 622. Fifthly, the bottom of the connecting rod 624 is fixedly installed at the middle of the top of the straight cylinder 627. Two sets of second connecting shafts 628 are symmetrically fixedly installed on the outer wall of the straight cylinder 627. The outer ends of the second connecting shafts 628 are rotatably connected to the fixing ring 626. Two sets of first connecting shafts 625 are fixedly installed on the outer ends of the fixing ring 626. The outer ends of the first connecting shafts 625 are rotatably connected to the side plate 623. The first connecting shafts 625 and the second connecting shafts 628 are set perpendicularly. The bottom of the straight cylinder 627 is fixedly connected to the top of the connecting base plate 6210. The gripping component 63 includes a connecting frame 631, a second support frame 633, an abutment component, and an adjustable plug-in component. The bottom of the connecting frame 631 is fixedly connected to the second support frame 633, and the bottom of the second support frame 633 is fixedly connected to the abutment component. Two adjustable plug-in components are symmetrically arranged on the left and right sides of the second support frame 633. The adjustable plug-in components are rotatably connected to the second support frame 633 and the abutment component. The connecting frame 631 is fixedly connected to the connecting base plate 6210. The abutment assembly includes a pressing plate 636 and a straight plate 638. Two sets of straight plates 638 are symmetrically fixedly installed at the bottom of the second support frame 633. The pressing plate 636 is fixedly installed at the bottom of the straight plate 638. The straight plate 638 is rotatably connected to the adjustable plug-in assembly. The adjustable plug-in assembly includes a cylinder 632, a curved plate 634, insert teeth 635, a horizontal shaft 637, a connecting arm 639, and a connecting shaft 6310. The end of the cylinder 632 near the second support frame 633 is rotatably connected to the second support frame 633. The connecting shaft 6310 is fixedly installed on the drive end of the cylinder 632. The upper end of the connecting arm 639 is rotatably connected to the connecting shaft 6310, and the lower end of the connecting arm 639 is fixedly connected to the horizontal shaft 637. The horizontal shaft 637 is rotatably connected to the straight plate 638 through a bearing. The end of the horizontal shaft 637 is fixedly connected to the curved plate 634. Multiple sets of insert teeth 635 are fixedly installed at equal intervals on the outer end of the curved plate 634. The insert teeth 635 move within the movable grooves opened in the pressing plate 636. The palletized bag or ton package is placed under the first support frame 41 and located on both sides of the robot 61 of the gripping robot 6. The detection end of the camera 42 moves to the top of the palletized bag or ton package on one side of the robot 61 and takes a picture of the position of the palletized bag or ton package. The cylinder 632 of the adjustable plug-in component of the gripping component 63 of the gripping robot 6 drives the connecting shaft 6310 to move downward. The connecting shaft 6310 drives the connecting arm 639 to rotate. The connecting arm 639 drives the horizontal shaft 637 to rotate. The horizontal shaft 637 drives the curved plate 634 to rotate. The curved plate 634 drives the insert tooth 635 to rotate outward and the insert tooth 635 opens. The robot 61 drives the circumferential swing structure 62 to move, and the circumferential swing structure 62 drives the pressing plate 636 of the gripping component 63 to contact the top of the bag or ton packaging. The cylinder 632 drives the connecting shaft 6310 to move upward, the connecting shaft 6310 drives the connecting arm 639 to rotate, the connecting arm 639 drives the horizontal shaft 637 to rotate, the horizontal shaft 637 drives the curved plate 634 to rotate, the curved plate 634 drives the inserting tooth 635 to rotate inward, and the inserting tooth 635 punctures and clamps the bag or ton packaging. Robot 61 drives the inserter 635 to move, and the inserter 635 drives the clamped bag or ton package to move to the bag breaking device 7. The clamped bag or ton package moves along the surface of the bag breaking device 7 and the bag breaking device 7 cuts the bottom of the clamped bag or ton package. Then it continues to move to the buffer bin 5. The material inside the cut bag or ton package falls into the buffer bin 5 under the action of gravity. Then, the rotating motor 622 of the circumferential oscillation component of the circumferential oscillation structure 62 drives the connecting block 629 to rotate, the connecting block 629 drives the connecting rod 624 to rotate, and then the first connecting shaft 625, the fixing ring 626 and the second connecting shaft 628 cooperate to drive the straight cylinder 627 to oscillate, the straight cylinder 627 drives the connecting base plate 6210 to oscillate, the connecting base plate 6210 drives the gripping component 63 to oscillate, and the gripping component 63 drives the ripped bag or ton package to oscillate, so that the material inside the ripped bag or ton package falls completely into the buffer bin 5. Then, the robot 61 drives the gripping component 63 to move the empty bag or ton package to the top of the waste bag conveying structure 3, and the gripping component 63 automatically places the empty bag or ton package on the waste bag conveying structure 3. In some embodiments: see Appendix Figure 1 , 2The waste bag conveying structure 3 includes a drive motor 31, a frame 32, a negative pressure hood 34, a negative pressure hood extraction pipe 35, a conveyor belt 36, and rotating rollers 37. The frame 32 is located between the waste bag baler 2 and the bag breaking device 7. The drive motor 31 is fixedly installed inside the frame 32. Two sets of rotating rollers 37 are rotatably connected to both ends of the frame 32 through bearings. The drive end of the drive motor 31 is connected to one of the sets of rotating rollers 37 through a transmission assembly. The inner wall of the conveyor belt 36 is rotatably connected to the outer wall of the rotating rollers 37. The conveyor belt 36 is provided with negative pressure holes 33 at equal intervals. The negative pressure hood 34 is fixedly installed at the end of the frame 32 near the bag breaking device 7. The top of the negative pressure hood 34 is slidably connected to the inner top of the upper end of the conveyor belt 36. The negative pressure hood 34 is connected to the negative pressure hood extraction pipe 35. The negative pressure hood's exhaust pipe 35 is fixedly connected to the input end of an external negative pressure fan; The transmission assembly is either a pulley assembly or a timing belt assembly; Robot 61 drives empty bags or ton packages to move to the end of the frame 32 of the waste bag conveying structure 3 near the end of the bag breaking device 7. An external negative pressure fan draws air from the negative pressure hood 34 to a negative pressure state through the negative pressure hood exhaust pipe 35. The negative pressure hood 34 sucks air from the end of the conveyor belt 36 near the negative pressure hole 33, thus negatively adsorbing the empty bags or ton packages onto the conveyor belt 36. Then, the cylinder 632 of the adjustable plug-in component of the gripping component 63 of the gripping robot 6 drives the connecting shaft 6310 to move downward. The connecting shaft 6310 drives the connecting arm 639 to rotate, and the connecting arm 639 drives the horizontal shaft 63. 7. The horizontal shaft 637 drives the curved plate 634 to rotate, and the curved plate 634 drives the insert tooth 635 to rotate outward. The insert tooth 635 opens, and the pressing plate 636 separates the empty bag or ton package connected to the insert tooth 635 from the insert tooth 635. Then, it is sucked by the negative pressure hole 33 above the negative pressure cover 34. The drive motor 31 drives the rotating roller 37 to rotate, and the rotating roller 37 drives the conveyor belt 36 to rotate. The conveyor belt 36 transports the empty bag or ton package to the waste bag baler 2, realizing the rapid separation of the empty bag or ton package from the insert tooth 635, and facilitating the transport of the empty bag or ton package to the waste bag baler 2 for collection.

[0024] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An unmanned feeding system for bag or ton packaging, including guardrails (1), characterized in that... ； The guardrail (1) has an open end connected to an identification component (4) for taking pictures of the orientation of bag packaging or ton packaging. Below the identification component (4) is a gripping robot (6) for holding bag packaging or ton packaging; The gripping robot (6) includes a robot (61), a circumferential swing structure (62), and a gripping component (63). The robot (61) for driving is located below the recognition component (4). The circumferential swing structure (62) for circumferential swinging is fixedly installed at the drive end of the robot (61). The gripping component (63) for bag packaging or ton packaging clamping is fixedly installed at the drive end of the circumferential swing structure (62). The guardrail (1) is equipped with a waste bag baler (2) for collecting waste bags or ton packages, a waste bag conveying structure (3) for conveying waste bags or ton packages, a bag breaking device (7) for tearing bags or ton packages, and a buffer bin (5) for buffering materials. The waste bag baler (2) and the bag breaking device (7) are located at the output end and input end of the waste bag conveying structure (3), and the end of the buffer bin (5) near the robot (61) is fixedly connected to the end of the bag breaking device (7) away from the robot (61). The bag breaking device (7) is located on the rear side of the robot (61).

2. The unmanned feeding system for bag packaging or ton packaging according to claim 1, characterized in that, The circular swing structure (62) includes a fixed component and a circular swing component. The fixed component is fixedly connected to the drive end of the robot (61), the fixed component is connected to the circular swing component, and the circular swing component is fixedly connected to the gripping component (63).

3. The unmanned feeding system for bag packaging or ton packaging according to claim 2, characterized in that, The fixed components include a top plate (621) and side plates (623). The top plate (621) is fixedly installed on the drive end of the robot (61). Two sets of side plates (623) are symmetrically fixedly installed on the outer edge of the bottom of the top plate (621). The top plate (621) is fixedly connected to the circumferential swing assembly, and the side plates (623) are rotatably connected to the circumferential swing assembly.

4. The unmanned feeding system for bag packaging or ton packaging according to claim 3, characterized in that, The circular oscillation assembly includes a rotary motor (622), a connecting rod (624), a first connecting shaft (625), a fixing ring (626), a straight cylinder (627), a second connecting shaft (628), a connecting block (629), and a connecting base plate (6210). The rotary motor (622) is fixedly installed at the bottom of the top plate (621), and the connecting block (629) is fixedly installed on the drive end of the rotary motor (622). The outer end of the connecting block (629) is fixedly connected to the top of the connecting rod (624), and the central axis of the connecting rod (624) forms an angle with the central axis of the rotary motor (622). At a 45-degree angle, the bottom of the connecting rod (624) is fixedly installed at the middle of the top of the straight cylinder (627). Two sets of second connecting shafts (628) are symmetrically fixedly installed on the outer wall of the straight cylinder (627). The outer end of the second connecting shaft (628) is rotatably connected to the fixing ring (626). Two sets of first connecting shafts (625) are fixedly installed on the outer end of the fixing ring (626). The outer end of the first connecting shaft (625) is rotatably connected to the side plate (623). The first connecting shaft (625) and the second connecting shaft (628) are set perpendicularly. The bottom of the straight cylinder (627) is fixedly connected to the top of the connecting base plate (6210).

5. The unmanned feeding system for bag packaging or ton packaging according to claim 4, characterized in that, The gripping component (63) includes a connecting frame (631), a second support frame (633), an abutment component, and an adjustable plug-in component. The bottom of the connecting frame (631) is fixedly connected to the second support frame (633), and the bottom of the second support frame (633) is fixedly connected to the abutment component. Two adjustable plug-in components are symmetrically arranged on the left and right sides of the second support frame (633). The adjustable plug-in components are rotatably connected to the second support frame (633) and the abutment component. The connecting frame (631) is fixedly connected to the connecting base plate (6210).

6. The unmanned feeding system for bag packaging or ton packaging according to claim 5, characterized in that, The abutment assembly includes a pressing plate (636) and a straight plate (638). Two sets of straight plates (638) are symmetrically fixedly installed at the bottom of the second support frame (633). The pressing plate (636) is fixedly installed at the bottom of the straight plate (638). The straight plate (638) is rotatably connected to the adjustable plug-in assembly.

7. The unmanned feeding system for bag packaging or ton packaging according to claim 6, characterized in that, The adjustable plug assembly includes a cylinder (632), a curved plate (634), insert teeth (635), a horizontal shaft (637), a connecting arm (639), and a connecting shaft (6310). The end of the cylinder (632) near the second support frame (633) is rotatably connected to the second support frame (633). The connecting shaft (6310) is fixedly installed on the drive end of the cylinder (632). The upper end of the connecting arm (639) is rotatably connected to the connecting shaft (6310). The lower end of the connecting arm (639) is fixedly connected to the horizontal shaft (637). The horizontal shaft (637) is rotatably connected to the straight plate (638) through a bearing. The end of the horizontal shaft (637) is fixedly connected to the curved plate (634). Multiple sets of insert teeth (635) are fixedly installed at equal intervals on the outer end of the curved plate (634). The insert teeth (635) move in the movable groove opened in the pressing plate (636).

8. The unmanned feeding system for bag packaging or ton packaging according to any one of claims 1-7, characterized in that, The waste bag conveying structure (3) includes a drive motor (31), a frame (32), a negative pressure hood (34), a negative pressure hood extraction pipe (35), a conveyor belt (36), and rotating rollers (37). The frame (32) is located between the waste bag baler (2) and the bag breaking device (7). The drive motor (31) is fixedly installed inside the frame (32). Two sets of rotating rollers (37) are rotatably connected to both ends of the frame (32) through bearings. The drive end of the drive motor (31) is connected to the frame (32) through a drive motor (31). The transmission assembly is connected to one of the rotating rollers (37) for transmission. The inner wall of the conveyor belt (36) is rotatably connected to the outer wall of the rotating roller (37). The conveyor belt (36) is provided with negative pressure holes (33) at equal intervals. The negative pressure cover (34) is fixedly installed at the end of the frame (32) near the bag breaking device (7). The top of the negative pressure cover (34) is slidably connected to the inner top of the upper end of the conveyor belt (36). The negative pressure cover (34) is connected and fixedly connected to the negative pressure cover suction pipe (35).

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