CN110803345B - Full-automatic bagging measurement packaging system based on visual detection - Google Patents

Full-automatic bagging measurement packaging system based on visual detection Download PDF

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Publication number
CN110803345B
CN110803345B CN201911075188.5A CN201911075188A CN110803345B CN 110803345 B CN110803345 B CN 110803345B CN 201911075188 A CN201911075188 A CN 201911075188A CN 110803345 B CN110803345 B CN 110803345B
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China
Prior art keywords
bag
automatic
full
packaging
clamping
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CN110803345A (en
Inventor
张明
王海元
张宏芳
史文超
张亮
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Hefei Weite Electromechanical Equipment Manufacturing Co ltd
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Hefei Weite Electromechanical Equipment Manufacturing Co ltd
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/54Means for supporting containers or receptacles during the filling operation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B1/00Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/30Devices or methods for controlling or determining the quantity or quality or the material fed or filled
    • B65B1/32Devices or methods for controlling or determining the quantity or quality or the material fed or filled by weighing
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B1/00Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/30Devices or methods for controlling or determining the quantity or quality or the material fed or filled
    • B65B1/32Devices or methods for controlling or determining the quantity or quality or the material fed or filled by weighing
    • B65B1/34Adjusting weight by trickle feed

Abstract

The invention discloses a full-automatic bagging measurement packaging system based on visual inspection, which comprises: the full-automatic quantitative metering unit is used for feeding and metering; the full-automatic bagging machine set is used for supplying, replacing and bagging; the full-automatic packaging unit is used for clamping bags, moving packages, conveying and sewing the packages; the electric control device is used for controlling the full-automatic quantitative metering unit, the full-automatic bagging unit and the full-automatic packaging unit; the full-automatic quantitative metering unit is provided with a first visual detection mechanism, the full-automatic bagging unit is provided with a second visual detection mechanism and a third visual detection mechanism respectively, and the first visual detection mechanism, the second visual detection mechanism and the third visual detection mechanism are all in communication connection with the electric control device. The bag sleeving sucker mechanism is matched with visual detection in the bag taking process, can monitor the packaging uniformity and whether messy exist on the bag supporting plate and the opening condition of the bag opening after bag taking, does not need to find abnormality manually, and provides accurate data images for system analysis and use.

Description

Full-automatic bagging measurement packaging system based on visual detection
Technical Field
The invention relates to the technical field of automatic material conveying, quantitative weighing, bagging, packaging and bag sewing, in particular to a full-automatic bagging metering and packaging system based on visual detection.
Background
The process from bulk loading to bagging relates to the operation processes of material conveying, quantitative weighing, bagging, packaging, bag sewing and the like. With the development of economy and the improvement of living standard, stricter requirements are provided for the quality of packaged products, the accuracy of packaging dosage and the like, so that the rapid development of the packaging machinery industry is brought, and the packaging technology is increasingly developed towards automation.
The existing metering units in the current market mostly adopt a point suspension type weighing sensor, a single metering barrel is used for metering, the precision of a feeding mode is 2-3 grades, and the precision deviation is large; the capacity of a bag supplying warehouse mechanism for sleeving the bags by using the mechanical arm is small, the accuracy rate of a bag taking mechanism is not high, and the bags are easy to fall off; when the materials are discharged after metering, the bag opening is inaccurately positioned, and after the bags are sleeved and connected, the bag opening is sealed by moving the bags, so that the bag opening is not sewn. The conventional bagging system supplies the bag machine to hold the quantity of wrapping bag limited, adopts manipulator bagging-off to connect the material back in addition, moves the package and seals and can appear the sack uneven, and what have adds flexible expansion bend in connecting material pipeline, nevertheless in the concertina movement in-process, can appear the problem that the material was revealed from the centre, and the location is inaccurate, easily takes place axial rotation scheduling problem.
Therefore, the existing packaging machine cannot completely meet the requirement of automatic production.
Disclosure of Invention
The invention aims to make up the defects of the prior art, and provides a full-automatic bagging, metering and packaging system based on visual detection, which can realize the operations of automatic conveying, quantitative weighing, bagging, packaging, bag sewing and the like of bulk materials, adopts intelligent control, is matched with visual detection, is accurate in positioning and control, improves the safety and accuracy of the packaging field, further liberates the packaging labor force, and meets the quantitative (conventional 25Kg and 50Kg) packaging requirements of materials in the industries of chemical industry, building materials, mineral products, grains, feeds, environmental protection, new materials and the like.
The invention is realized by the following technical scheme:
a full-automatic bagging measurement packaging system based on visual inspection, including:
the full-automatic quantitative metering unit is used for feeding and metering;
the full-automatic bagging machine set is used for supplying, taking and bagging;
the full-automatic packaging unit is used for clamping bags, moving packages, conveying and sewing the packages;
the electric control device is used for controlling the full-automatic quantitative metering unit, the full-automatic bagging unit and the full-automatic packaging unit;
the full-automatic quantitative metering unit is provided with a first visual detection mechanism, the full-automatic bagging unit is provided with a second visual detection mechanism and a third visual detection mechanism respectively, and the first visual detection mechanism, the second visual detection mechanism and the third visual detection mechanism are all in communication connection with the electric control device.
Full-automatic quantitative measurement unit including storage silo, level sensor, feeder and batch meter, storage silo below be equipped with two exports, all install the feeder in every exit, level sensor install the side at the storage silo, visual detection mechanism one install the top at the storage silo, the batch meter in install weighing sensor, two feeder below are equipped with two batch meters respectively.
The two metering tanks are installed in a 180-degree parallel hoisting mode.
The feeder adopts a pneumatic multi-stage controlled feeding mode to carry out multi-stage feeding, and a cylinder rod of the feeder can be steplessly adjusted according to the specific gravity of the feeding.
The full-automatic bagging machine set comprises an automatic bag supplying machine, an automatic bag taking machine and an automatic bagging machine;
the automatic bag supply machine comprises a rack, a pushing mechanism and a jacking mechanism, wherein the pushing mechanism comprises a pushing cylinder, a linear guide rail, a pushing plate, a storage plate and a guide plate, the jacking mechanism comprises a jacking cylinder, a guide pillar, a linear bearing, a bag supporting plate and a baffle plate, the pushing cylinder is transversely arranged at the upper part of the rack, the jacking cylinder is vertically arranged at the bottom of the rack, the bag supporting plate is arranged at the upper end of a piston rod of the jacking cylinder, the guide pillar is arranged on the bottom surface of the bag supporting plate, the linear bearing matched with the guide pillar is arranged in the rack, the bag supporting plate is horizontally connected with the storage plate when the bag supporting plate is located at the lowest position, the pushing plate is slidably arranged on the linear guide rail, the piston rod of the pushing cylinder is connected with the pushing plate, the guide plates are respectively arranged at the two sides of the rack, the baffle plate is arranged at the outer side of, the jacking cylinder drives the bag supporting plate to ascend to the highest position, grooves are formed in one sides of the bag storing plate and the bag supporting plate, the bottom of the packaging bag is sunk in the grooves, and the second visual detection mechanism is installed on the rack; the bag stacking device comprises a bag pre-storage warehouse plate, a pushing cylinder, a bag supporting plate, a lifting cylinder and a bag pushing cylinder, wherein a stack of bags are placed on the bag pre-storage warehouse plate, the pushing cylinder acts, the pushing plate pushes the bags onto the bag supporting plate, the lifting cylinder starts to act, the bag supporting plate slowly rises, the bags are taken away by a bag feeding machine one by one, the bag supporting plate also rises to the highest position, after all the bags are taken away, the lifting cylinder returns, the bag supporting plate rapidly falls to the lowest point under the action of gravity, the pushing cylinder starts to act, and the bags are pushed onto the bag supporting plate in batches. The material storage plate and the bag supporting plate are made into steps, the bottoms of the bags sink into the grooves, and one side of each bag is not too high to influence the bag taking of the bag feeding machine when the bags are stacked in batches, so that more bags can be stacked.
The automatic bag taking machine comprises an automatic bag taking machine frame, a sucker mechanism, a bag taking paw, a moving mechanism and a first supporting plate are arranged below the automatic bag taking machine frame, the sucker mechanism comprises a bag taking sucker and a sucker rotating mechanism, and the moving mechanism can drive the bag taking paw to move;
the bag taking sucker vertically sucks up one side of a packaging bag which is horizontally placed on a bag supporting plate of the automatic bag supply machine, the sucker drives the packaging bag to rotate through a sucker rotating mechanism, a bag taking paw clamps the side edge of the packaging bag, the bag taking paw moves backwards, and the packaging bag is placed on the first supporting plate;
the automatic bagging machine is arranged on the side surface of the automatic bag taking machine frame and comprises a bag sleeving sucker mechanism, a bag sleeving paw and a bag opening rod, and the bag sleeving sucker mechanism comprises a bag sleeving sucker and a bag sleeving sucker rotating mechanism; the bag sleeving sucker sucks two sides of a bag opening of a packaging bag which is horizontally placed on the supporting plate respectively, the packaging bag is opened, the bag opening rod is inserted into the bag opening portion, bag sleeving claws clamp two sides of the bag opening of the packaging bag, the bag opening is sleeved on a bag clamping device on a full-automatic packaging unit through the bag sleeving sucker rotating mechanism, the clamp is replaced, and the third visual detection mechanism is installed on the automatic bag sleeving machine.
The full-automatic packaging unit comprises a rigid telescopic bag clamping device, a bag moving and conveying mechanism, a bag opening supporting mechanism and an automatic bag sewing mechanism;
the rigid telescopic bag clamping device comprises a rigid telescopic device and a bag clamping device, the rigid telescopic device comprises an inner cylinder and an outer cylinder which are mutually sleeved, the lower end of the outer cylinder is fixedly connected with a lower flange, the upper end of the inner cylinder is fixedly connected with an upper flange, two telescopic cylinders are connected between the edges of the upper flange and the lower flange, the cylinder bodies of the telescopic cylinders are fixedly arranged on the upper flange, and the piston rods of the telescopic cylinders are fixedly connected to the lower flange; the upper flange is connected with outlets of the two metering buckets, and the lower flange is connected with a feed inlet of the bag clamping device;
the bag clamping device comprises a feeding cylinder, a bag opening mechanism and a bag clamping arm, wherein the upper end of the feeding cylinder is connected with the lower flange, the bag opening mechanism comprises a bag opening side plate, a baffle plate and a rotating member, the bag clamping arm comprises a bag clamping finger, an arm rotating shaft member and a cross arm, and the bag clamping arm is fixedly connected to the upper end of the feeding cylinder through the cross arm;
the packaging bag is sleeved on the bag clamping device, two ends of the bag opening are clamped by bag clamping fingers, two sides of the bag opening are respectively inserted into the notches of the bag opening side plates on two sides of the bag clamping device, the baffle plate rotates along with the rotating component, the packaging bag is clamped and supported, the bag opening is always clamped by imitating hands in the packaging and material discharging process, the tidiness of the bag opening is ensured, and the stability of the bag opening is kept; the bag moving and conveying mechanism comprises a supporting plate II, a supporting plate driving mechanism, a driving part I and a bag clamping port part, and the bag clamping port part comprises a clamping plate and a driving mechanism II;
the bag opening supporting mechanism comprises a transmission part, an opening and closing device, a left bag clamp and a right bag clamp;
the wrapping bag bottom during the blowing is placed on layer board two, the sack is cliied by the clamp bag device, prop, the blowing is accomplished the back, under actuating mechanism effect, it removes to press from both sides bag oral area spare, this moment, two actuating mechanism two drive left clamp bag and right clamp bag respectively, the mutual movement is close to, clip wrapping bag sack department, the sack is loosened to the clamp bag device, the wrapping bag removes to pressing from both sides bag support mechanism department along with layer board two at layer board actuating mechanism, at this moment, the sack is cliied to left clamp bag and right clamp bag, the wrapping bag is removed to the conveyer by the layer board, continue to move ahead to automatic sack closer department, accomplish the operation of sack closer.
Quantitative metering unit
According to the quantitative metering unit, 2 high-precision weighing sensors are adopted to hoist the metering barrel in a 180-degree parallel manner, the barrel body and materials are uniformly stressed, the sensor signal deviation caused by a single-point type unbalance loading phenomenon is overcome, and metering inaccuracy is caused after a/d conversion. The feeding mode adopts a pneumatic multistage controlled mode to ensure accurate precision, the air cylinder rod can adapt to the specific gravity of the feeding to be subjected to stepless adjustment, and the material control plate of the feeder adopts a double-rhombus design and is adjustable in size to adapt to different materials. The material is conveyed to a closed stock bin, the start and stop of the conveyor are controlled through the feedback of the material level device, the feeder feeds the metering cylinder, and the start and stop of the feeder are controlled through the feedback of the sensor so as to control the metering precision. The condition of here cooperation vision, the sensation feed directly perceived provides the parameter and supplies control system analysis, looks over unusually, and the analysis material characteristic gives the most reasonable feed signal, observes the persistence position of blowing in-process material, gives the signal, and accurate processing persists the material, ensures that the bagging-off weight after the measurement is accurate.
Automatic bagging machine set
The patent of the invention discloses an automatic packaging unit: the automatic bag supply machine can be used for containing a certain number of packaging bags at one time, and the height can be automatically adjusted to be used for the automatic bag taking mechanism to take the bags. Because the bottom of the bag is provided with the hems, the bag can be stacked to be higher when being stacked in batches, the bag can not be stacked to be higher, the material storage plate and the bag supporting plate are made into steps, the bottom side of the bag sinks into the groove, and the bag can not be taken out because one side of the bag is too high when the bags are stacked in batches, so that more bags can be stacked. And the bag can be added without stopping, the bag width can be adjusted, and the bag can be suitable for packaging bags with different sizes.
After the bag opening of the automatic bagging machine is automatically opened, the bag is conveyed to the telescopic bag clamping device through the mechanical arm. The manipulator is adjustable according to different specifications of bags to be suitable for multiple bags, and the positioning is accurate, stable and reliable. The bag is checked according to the visual cooperation of the bag opening inspection device, the bag is taken in the bag opening inspection device, whether the bag is messy or not is observed, the opening condition of the bag opening is observed, abnormality is not required to be found manually, and accurate data images are provided for system analysis and use.
Automatic packaging unit
The automatic packaging unit adopts a rigid telescopic bag clamping device which comprises an inner barrel and an outer barrel which are mutually sleeved, wherein the lower end of the inner barrel is fixedly connected with a lower flange, the upper end of the outer barrel is fixedly connected with an upper flange, a telescopic cylinder is connected between the edges of the upper flange and the lower flange, the cylinder body of the telescopic cylinder is fixedly arranged on the lower flange, and the piston rod of the telescopic cylinder is fixedly connected to the upper flange. The bag is not easy to store materials when packaged and discharged, and the bag opening can be clamped all the time to keep the stability of the bag opening.
After the bag mouth supporting mechanism changes the clamp of the telescopic bag clamp, the bag mouth is supported all the time, so that the bag mouth is kept neat and disorderly in the moving process.
The bag moving and conveying mechanism clamps bags to move, supports the bag openings and conveys the bags to the upper seam of the bag sewing and conveying machine. The automatic bag sewing mechanism automatically sews the sent bags and then conveys the bags out.
The bag sleeving, discharging and sealing conditions are monitored by matching with vision, and the bag sleeving position is automatically corrected, so that the bag sleeving is accurate, images are provided, and the system can automatically process the abnormal conditions.
The working principle of the full-automatic bagging measurement packaging system is as follows:
when a material is conveyed to a closed stock bin, the material level device feeds back to control the start and stop of the conveyor, the feeder feeds the metering cylinder, and the sensor feeds back to control the start and stop of the feeder so as to control the metering precision. The feeder adopts a multi-stage feeding mode to ensure speed and precision. The high-capacity bag supply machine ensures the quantity of disposable bags, and does not need to add bags frequently. And because the bottom of the bag is provided with the hem, the bag can be stacked in batches to have a side height, so that the bag can not be stacked very high.
Automatic bagging-off adopts photoelectric positioning cooperation visual detection to correct, opens the sack accurate cover to the bag holder on, accomplish and trade the clamp.
The rigid telescopic bag clamping device pushes the inner cylinder and the outer cylinder to reciprocate up and down through the triaxial cylinder, and the inner cylinder and the outer cylinder are respectively connected with material pipelines through the lower flange and the upper flange, so that rigid telescopic butt joint between the material pipelines is realized. The telescopic movement of the connected part between the two fixed positions can be realized, no material leakage from the middle is caused in the whole process, and the telescopic movement device has the advantages of accurate positioning, no axial rotation and the like.
The invention has the advantages that: 1. the feeder adopts a pneumatic multi-stage controlled feeding mode, can perform multi-stage feeding, the cylinder rod can be subjected to stepless adjustment according to the specific gravity of the feeding so as to meet the requirements of speed and precision, and the material control plate of the feeder adopts a double-rhombus design and is adjustable in size and suitable for different materials. Two metering tanks with high-precision weighing sensors adopt a 180-degree parallel hoisting mode, the tank body and materials are uniformly stressed, and the problems of inaccurate metering and the like caused by a/d conversion due to sensor signal deviation caused by a single-point type unbalance loading phenomenon are solved.
2. The feeder feeds materials to the metering cylinder, the start and stop of the feeder are controlled through sensor feedback to control the metering precision, and meanwhile, the feeding condition can be intuitively sensed by matching visual detection, parameters are provided for a control system to analyze, material characteristics are analyzed, the most reasonable feeding signal is given, the remaining position of the materials in the discharging process can be observed, the signal is given, the remaining materials are accurately processed, and the accurate bagging weight after the metering is accurate is ensured.
3. The automatic bag supply machine can be used for containing a certain number of packaging bags at one time, and the height of the automatic bag supply machine is automatically adjusted to be supplied to the automatic bag taking mechanism for bag taking. Because the bottom of the packaging bag is provided with the hem, one side of the packaging bag is high when the packaging bags are stacked in batches, and the packaging bags cannot be stacked very high.
4. The bag sleeving sucker mechanism is matched with visual detection in the bag taking process, can monitor the uniformity and disorder of the packaging bags on the bag supporting plate and the opening condition of the bag opening after bag taking, does not need to find abnormality manually, and provides accurate data images for system analysis and use.
5. The bag taking and sleeving manipulator disclosed by the invention is adjustable in size, applicable to packaging bags of different specifications, accurate in positioning, stable and reliable, and in the bag sleeving process, the bag opening is opened and accurately sleeved on the bag clamping device by adopting photoelectric positioning matched with visual detection correction, so that clamp replacement is completed.
6. The rigid telescopic bag clamping device is adopted in the invention, rigid telescopic butt joint between material pipelines can be realized, so that the connected part can move telescopically between two fixed positions, and the rigid telescopic bag clamping device has the advantages of accurate positioning, no axial rotation and the like. The bag clamping position is not easy to store materials in the packaging and material discharging process, no materials are leaked from the middle, the bag opening can be clamped by imitating hands all the time, and the tidiness of the bag opening and the stability of the bag opening can be guaranteed.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a top view of the present invention.
Fig. 4 is a schematic view of the structure of the automatic bag feeder of the present invention.
Fig. 5 is a schematic structural view of an automatic bag taking machine and an automatic bag sleeving machine.
Fig. 6 is a structural view of a rigid telescopic bag holder.
FIG. 7 is a structural diagram of the position relationship of the bag moving and conveying mechanism, the bag opening supporting mechanism and the automatic bag sewing mechanism.
Fig. 8 is a schematic structural view of a transfer packet conveying mechanism.
Fig. 9 is a structural schematic diagram of a bag opening supporting mechanism.
Detailed Description
As shown in fig. 1, 2 and 3, a fully automatic bagging measurement packaging system based on visual inspection comprises:
the full-automatic quantitative metering unit 1 is used for feeding and metering;
a full-automatic bagging machine set 2 for supplying, taking and bagging;
a full-automatic packaging unit 3 for clamping bags, moving bags, conveying and sewing bags;
the electric control device 4 is used for controlling the full-automatic quantitative metering unit 1, the full-automatic bagging unit 2 and the full-automatic packaging unit 3;
the full-automatic quantitative metering unit 1 is provided with a first visual detection mechanism 5, the full-automatic bagging unit 2 is provided with a second visual detection mechanism 6 and a third visual detection mechanism 7, and the first visual detection mechanism 5, the second visual detection mechanism 6 and the third visual detection mechanism 7 are all in communication connection with the electric control device 4.
Full-automatic quantitative measurement unit including storage silo 8, level sensor 9, feeder 10 and batch meter 11, 8 below in storage silo be equipped with two exports, all install feeder 10 in every exit, level sensor 9 install the side at storage silo 8, visual detection mechanism 5 install the top at storage silo 8, batch meter 11 in install weighing sensor, two feeder 10 below are equipped with two batch meters 11 respectively.
The two metering buckets 11 are installed in a 180-degree parallel hoisting mode.
The feeder 10 adopts a pneumatic multi-stage controlled feeding mode to carry out multi-stage feeding, and a cylinder rod 58 of the feeder can be steplessly adjusted according to the specific gravity of the feeding.
As shown in fig. 3, the fully automatic bagging machine set 2 comprises an automatic bag supplying machine 12, an automatic bag taking machine 13 and an automatic bagging machine 14;
the automatic bag supplying machine 12 comprises a frame 15, a pushing mechanism and a jacking mechanism, the pushing mechanism comprises a pushing cylinder, a linear guide rail, a push plate 22, a material storage plate 16 and a guide plate 17, the jacking mechanism comprises a jacking cylinder 18, a guide pillar 19, a linear bearing, a bag supporting plate 20 and a baffle plate 21, the pushing cylinder is transversely arranged at the upper part of the frame 15, the jacking cylinder 18 is vertically arranged at the bottom of the frame 15, the bag supporting plate 20 is arranged at the upper end of a piston rod of the jacking cylinder 18, the guide pillar 19 is arranged at the bottom surface of the bag supporting plate 20, the linear bearing matched with the guide pillar is arranged in the frame 15, the bag supporting plate 20 is horizontally connected with the material storage plate 16 when the bag supporting plate 20 is located at the lowest position, the push plate 22 is slidably arranged on the linear guide rail, the piston rod of the pushing cylinder is connected with the push plate, the guide plates 17 are respectively arranged at two sides of the, pushing the packaging bags stored on the material storage plate 16 onto the bag supporting plate 20, driving the bag supporting plate 20 to ascend to the highest position by the jacking cylinder, arranging a groove on one side of the material storage plate 16 and one side of the bag supporting plate 20, sinking the bottom of the packaging bags into the groove, and installing the second visual detection mechanism 6 on the rack 15;
as shown in fig. 5, the automatic bag taking machine 13 includes an automatic bag taking machine frame 23, a suction cup mechanism 24, a bag taking gripper 25, a moving mechanism 26 and a first supporting plate 27 are installed below the automatic bag taking machine frame 23, the suction cup mechanism 24 includes a bag taking suction cup 28 and a suction cup rotating mechanism, and the moving mechanism 26 can drive the bag taking gripper 25 to move;
the bag taking sucker 28 vertically sucks up one side of a packaging bag which is horizontally placed on the bag supporting plate 20 of the automatic bag supply machine, the sucker 28 drives the packaging bag to rotate through the sucker rotating mechanism, the bag taking paw clamps the side edge of the packaging bag, the bag taking paw moves backwards, and the packaging bag is placed on the first supporting plate 27;
the automatic bagging machine 14 is arranged on the side surface of the automatic bag taking machine frame 23 and comprises a bagging suction cup mechanism, a bagging claw 29 and a bag opening rod 30, wherein the bagging suction cup mechanism comprises a bagging suction cup 31 and a bagging suction cup rotating mechanism;
the bag sleeving sucker 31 sucks two sides of a bag opening of a packaging bag which is horizontally placed on the supporting plate I27 respectively, the packaging bag is opened, the bag opening rod 30 is inserted into the bag opening, the bag sleeving paw 29 clamps two sides of the bag opening of the packaging bag, the bag clamping device on the full-automatic packaging unit is sleeved with the packaging bag with the opened bag opening through the bag sleeving sucker rotating mechanism, the clamp replacement is completed, and the visual detection mechanism III 7 is installed on the automatic bag sleeving machine 14.
The full-automatic packaging unit 3 comprises a rigid telescopic bag clamping device 32, a bag moving and conveying mechanism 33, a bag opening supporting mechanism 34 and an automatic bag sewing mechanism 35;
as shown in fig. 6, the rigid telescopic bag holder 32 includes a rigid telescopic device and a bag holding device, the rigid telescopic device includes an inner cylinder 36 and an outer cylinder 37 which are mutually sleeved, a lower flange 38 is fixedly connected to the lower end of the outer cylinder 37, an upper flange 39 is fixedly connected to the upper end of the inner cylinder 36, two telescopic cylinders 40 are connected between the upper flange 39 and the edge of the lower flange 38, the cylinder bodies of the telescopic cylinders 40 are fixedly mounted on the upper flange 39, and the piston rods of the telescopic cylinders 40 are fixedly connected to the lower flange 38; the upper flange 39 is connected with the outlets of the two metering buckets, and the lower flange 38 is connected with the feed inlet of the bag clamping device;
the bag clamping device comprises a feeding cylinder 59, a bag opening mechanism 41 and a bag clamping arm 60, the upper end of the feeding cylinder is connected with the lower flange 38, the bag opening mechanism 41 comprises a bag opening side plate 42, a baffle 43 and a rotating member 44, the bag clamping arm comprises a bag clamping finger 45, an arm rotating shaft member 46 and a cross arm 47, and the bag clamping arm is fixedly connected to the upper end of the feeding cylinder through the cross arm 47;
the packaging bag is sleeved on the bag clamping device, two ends of the bag opening are clamped by bag clamping fingers, two surfaces of the bag opening are respectively inserted into the bag opening side plate recesses at two sides of the bag clamping device, the baffle plate rotates along with the rotating component, and the packaging bag is clamped and supported;
as shown in fig. 7 and 8, the transfer bag conveying mechanism 33 comprises a second supporting plate 48, a supporting plate driving mechanism 49, a first driving part 50 and a bag clamping mouth part 51, wherein the bag clamping mouth part 51 comprises a clamping plate 52 and a second driving mechanism 53;
as shown in fig. 9, the pocket mouth supporting mechanism 34 includes a transmission part 54, an opening and closing device 55, a left clamping pocket 56 and a right clamping pocket 57;
the wrapping bag bottom during the blowing is placed on layer board two 48, the sack is cliied by the clamp bag device, prop, the blowing is accomplished the back, under actuating mechanism 50 effect, it removes to press from both sides bag oral area spare, at this moment, two actuating mechanism two 53 drive left clamp bag 56 and right clamp bag 57 respectively, the mutual movement is close to, clip wrapping bag sack department, the sack is loosened to the clamp bag device, the wrapping bag removes to press from both sides bag support mechanism department along with layer board two 48 at layer board actuating mechanism, at this moment, the sack is cliied to left clamp bag and right clamp bag, the wrapping bag is removed to conveyer 61 by the layer board, continue to move ahead to automatic sack closer department, accomplish the operation of sack closer.
Bulk materials are conveyed into a bin through a lifting device, a material level sensor is arranged in the bin, and the feeding start and stop of the materials are controlled. The materials in the storage bin are fed to the metering scale through the feeder, and the feeder can feed in multiple stages to meet the requirements of speed and precision.
The metering mechanism adopts a double-sensor parallel installation mode, and feeds back signals to the feeding mechanism, so that the metering precision is effectively controlled. The door is opened by adopting an arc mechanism, the material is discharged quickly and cleanly, and the door is closed without leaking materials.
The bag feeding machine is used for manually placing the packaging bags, and the height of the bag feeding machine is controlled by photoelectric automatic control to feed the bags to the bag taking mechanism for bag taking. The wrapping bag is delivered to division bagging-off mechanism department by sending a bag mechanism, is opened the sack by the sucking disc, uses the manipulator to correct through photoelectricity location fit visual detection, opens the sack accurate cover to flexible bag holder, accomplishes and trades the clamp.
The telescopic bag clamping device is provided with a detection device, so that clamping is ensured to be completed, after the bag opening is ensured to be intact, a signal is sent to drive the metering device to discharge, and after discharging is completed, the telescopic bag clamping device stably places the bag to the bag moving mechanism to complete clamping. The bag moving mechanism conveys the bags filled with the materials to a bag sewing conveyor through the supporting mechanism for a bag sewing machine to sew the bags, and the bags are conveyed out.
The whole process of the system is based on visual detection, and the whole process is unmanned operation.

Claims (3)

1. The utility model provides a full-automatic cover bag measurement packaging system based on visual detection which characterized in that: comprises the following steps: the full-automatic quantitative metering unit is used for feeding and metering; the full-automatic bagging machine set is used for supplying, taking and bagging; the full-automatic packaging unit is used for clamping bags, moving packages, conveying and sewing the packages; the electric control device is used for controlling the full-automatic quantitative metering unit, the full-automatic bagging unit and the full-automatic packaging unit; the full-automatic quantitative metering unit is provided with a first visual detection mechanism, the full-automatic bagging unit is respectively provided with a second visual detection mechanism and a third visual detection mechanism, and the first visual detection mechanism, the second visual detection mechanism and the third visual detection mechanism are all in communication connection with the electric control device;
the full-automatic quantitative metering unit comprises a storage bin, a material level sensor, feeders and metering buckets, wherein two outlets are arranged below the storage bin, the feeder is arranged at each outlet, the material level sensor is arranged on the side surface of the storage bin, the first visual detection mechanism is arranged above the storage bin, a weighing sensor is arranged in the metering buckets, and two metering buckets are respectively arranged below the two feeders;
the full-automatic bagging machine set comprises an automatic bag supplying machine, an automatic bag taking machine and an automatic bagging machine; the automatic bag supply machine comprises a rack, a pushing mechanism and a jacking mechanism, wherein the pushing mechanism comprises a pushing cylinder, a linear guide rail, a pushing plate, a storage plate and a guide plate, the jacking mechanism comprises a jacking cylinder, a guide pillar, a linear bearing, a bag supporting plate and a baffle plate, the pushing cylinder is transversely installed at the upper part of the rack, the jacking cylinder is vertically installed at the bottom of the rack, the bag supporting plate is installed at the upper end of a piston rod of the jacking cylinder, the guide pillar is installed on the bottom surface of the bag supporting plate, the linear bearing matched with the guide pillar is arranged in the rack, the bag supporting plate is horizontally connected with the storage plate when the bag supporting plate is located at the lowest position, the pushing plate is slidably installed on the linear guide rail, the piston rod of the pushing cylinder is connected with the pushing plate, the guide plates are respectively arranged at the two sides of the rack, the baffle plate is arranged at the outer side of, the jacking cylinder drives the bag supporting plate to ascend to the highest position, grooves are formed in one sides of the bag storing plate and the bag supporting plate, the bottom of the packaging bag is sunk in the grooves, and the second visual detection mechanism is installed on the rack; the automatic bag taking machine comprises an automatic bag taking machine frame, a sucker mechanism, a bag taking paw, a moving mechanism and a first supporting plate are arranged below the automatic bag taking machine frame, the sucker mechanism comprises a bag taking sucker and a sucker rotating mechanism, and the moving mechanism can drive the bag taking paw to move; the bag taking sucker vertically sucks up one side of a packaging bag which is horizontally placed on a bag supporting plate of the automatic bag supply machine, the sucker drives the packaging bag to rotate through a sucker rotating mechanism, a bag taking paw clamps the side edge of the packaging bag, the bag taking paw moves backwards, and the packaging bag is placed on the first supporting plate; the automatic bagging machine is arranged on the side surface of the automatic bag taking machine frame and comprises a bag sleeving sucker mechanism, a bag sleeving paw and a bag opening rod, and the bag sleeving sucker mechanism comprises a bag sleeving sucker and a bag sleeving sucker rotating mechanism; the bag sleeving sucker respectively sucks two surfaces of the bag opening of a packaging bag horizontally placed on the first supporting plate, the packaging bag is opened, the bag opening rod is inserted into the bag opening, the bag sleeving paw clamps two side edges of the bag opening of the packaging bag, the packaging bag with the opened bag opening is sleeved on a bag clamping device on a full-automatic packaging unit through the bag sleeving sucker rotating mechanism to complete clamp replacement, and the third visual detection mechanism is installed on the automatic bag sleeving machine;
the full-automatic packaging unit comprises a rigid telescopic bag clamping device, a bag moving and conveying mechanism, a bag opening supporting mechanism and an automatic bag sewing mechanism; the rigid telescopic bag clamping device comprises a rigid telescopic device and a bag clamping device, the rigid telescopic device comprises an inner cylinder and an outer cylinder which are mutually sleeved, the lower end of the outer cylinder is fixedly connected with a lower flange, the upper end of the inner cylinder is fixedly connected with an upper flange, two telescopic cylinders are connected between the edges of the upper flange and the lower flange, the cylinder bodies of the telescopic cylinders are fixedly arranged on the upper flange, and the piston rods of the telescopic cylinders are fixedly connected to the lower flange; the upper flange is connected with outlets of the two metering buckets, and the lower flange is connected with a feed inlet of the bag clamping device; the bag clamping device comprises a feeding cylinder, a bag opening mechanism and a bag clamping arm, wherein the upper end of the feeding cylinder is connected with the lower flange, the bag opening mechanism comprises a bag opening side plate, a baffle plate and a rotating member, the bag clamping arm comprises a bag clamping finger, an arm rotating shaft member and a cross arm, and the bag clamping arm is fixedly connected to the upper end of the feeding cylinder through the cross arm; the packaging bag is sleeved on the bag clamping device, two ends of the bag opening are clamped by bag clamping fingers, two surfaces of the bag opening are respectively inserted into the bag opening side plate recesses at two sides of the bag clamping device, the baffle plate rotates along with the rotating component, and the packaging bag is clamped and supported; the bag moving and conveying mechanism comprises a supporting plate II, a supporting plate driving mechanism, a driving part I and a bag clamping port part, and the bag clamping port part comprises a clamping plate and a driving mechanism II; the bag opening supporting mechanism comprises a transmission part, an opening and closing device, a left bag clamp and a right bag clamp; the wrapping bag bottom during the blowing is placed on layer board two, the sack is cliied by the clamp bag device, prop, the blowing is accomplished the back, under actuating mechanism effect, it removes to press from both sides bag oral area spare, this moment, two actuating mechanism two drive left clamp bag and right clamp bag respectively, the mutual movement is close to, clip wrapping bag sack department, the sack is loosened to the clamp bag device, the wrapping bag removes to pressing from both sides bag support mechanism department along with layer board two at layer board actuating mechanism, at this moment, the sack is cliied to left clamp bag and right clamp bag, the wrapping bag is removed to the conveyer by the layer board, continue to move ahead to automatic sack closer department, accomplish the operation of sack closer.
2. The fully automatic bagging, metering and packaging system based on visual inspection as claimed in claim 1, wherein: the two metering tanks are installed in a 180-degree parallel hoisting mode.
3. The fully automatic bagging, metering and packaging system based on visual inspection as claimed in claim 2, wherein: the feeder adopts a pneumatic multi-stage controlled feeding mode to carry out multi-stage feeding, and a cylinder rod of the feeder can be steplessly adjusted according to the specific gravity of the feeding.
CN201911075188.5A 2019-11-06 2019-11-06 Full-automatic bagging measurement packaging system based on visual detection Active CN110803345B (en)

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CN112109933B (en) * 2020-09-09 2021-05-28 江苏汤姆智能装备有限公司 Automatic weighing and packaging machine

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