CN114789805A

CN114789805A - Automatic packaging system for flexible container bag

Info

Publication number: CN114789805A
Application number: CN202210359368.1A
Authority: CN
Inventors: 张东升; 马振中; 裴农; 郭衍臣; 熊辉; 李建峰; 王鹏宇; 刘占斌
Original assignee: Beijing Aerospace Petrochemical Technology and Equipment Engineering Corp Ltd
Current assignee: Beijing Aerospace Petrochemical Technology and Equipment Engineering Corp Ltd
Priority date: 2022-04-06
Filing date: 2022-04-06
Publication date: 2022-07-26
Anticipated expiration: 2042-04-06
Also published as: CN114789805B

Abstract

The invention discloses an automatic packaging system for flexible freight bags, wherein a buffer bin is used for buffering materials; the feeding mechanism is arranged below the buffer bin and is used for controlling the blanking speed of the material according to a control instruction transmitted by the weighing mechanism; the automatic bagging machine completes automatic sorting, automatic bag feeding, automatic opening and automatic bagging of stacked flexible freight bags, the automatic filling device completes automatic bag bulging of the flexible freight bags and automatic filling and full bag output of materials, the weighing mechanism completes metering of the materials, and the feeding mechanism controls flow rate of the materials according to instructions of the weighing mechanism. The automatic packaging system of the flexible container bag has reasonable design and reliable work, and can meet the automatic packaging requirement of the flexible container bag.

Description

Automatic packaging system for flexible container bag

Technical Field

The invention belongs to the technical field of packaging equipment, and particularly relates to an automatic packaging system for a flexible container bag.

Background

The flexible container bag is used as a container for transporting bulk powder materials, and is widely applied to the packaging of various articles such as cement, chemical fertilizer, chemical raw materials, ore and the like.

The four corners of a bag opening of a domestic common flexible container bag are generally provided with four small hanging rings, an inner film bag with better sealing performance needs to be sleeved inside a conventional container bag for packaging materials with sealing requirements, and when the container bag leaves a factory, a bag making factory manually stacks a plurality of bags according to a specific stacking method and compacts and transports the stacked bags through hydraulic equipment. When carrying out material package, need pick the flexible freight bag one by the manual work to overlap the flexible freight bag sack on packagine machine's unloading pipe, and hang four little rings respectively on four couples of packagine machine, wait to weigh the filling and accomplish the back, four couples are automatic to be opened and are released little rings.

Therefore, in order to meet the packaging requirements of domestic flexible freight bags, an automatic packaging system for stacking bulk bags into a pile of flexible freight bags is urgently needed to be developed.

Disclosure of Invention

The invention aims to overcome the defects and provides an automatic packaging system for flexible freight bags, wherein an automatic bagging machine is used for completing automatic sorting, automatic bag feeding, automatic opening and automatic bag sleeving of stacked flexible freight bags, an automatic filling device is used for completing automatic bag blowing of the flexible freight bags and automatic filling and full bag output of materials, a weighing mechanism is used for completing metering of the materials, and a feeding mechanism is used for controlling the flow rate of the materials according to instructions of the weighing mechanism. The automatic packaging system of the flexible container bag has reasonable design and reliable work, and can meet the automatic packaging requirement of the flexible container bag.

In order to achieve the purpose of the invention, the invention provides the following technical scheme:

an automatic packaging system for flexible freight bags comprises an automatic bagging machine, an automatic filling device, a weighing mechanism, a feeding mechanism and a buffer bin;

the buffer bin is used for buffering materials;

the feeding mechanism is arranged below the buffer bin, and a feeding hole of the feeding mechanism is connected with a discharging hole of the buffer bin (5) and used for controlling the discharging speed of the material according to a control command transmitted by the weighing mechanism;

the automatic bagging machine comprises a bag warehouse mechanism, a bag feeding mechanism, a bag opening recognition mechanism, a bag taking gripper, a bag placing opening platform and a bagging mechanism;

the bag warehouse mechanism is used for storing piled flexible freight bags;

the bag opening identification mechanism is arranged above the bag warehouse mechanism and is used for identifying the bag opening of the flexible freight bag positioned at the top in the stacked flexible freight bag;

the bag feeding mechanism is positioned above the bag warehouse mechanism and the bag placing opening platform, and the lower end of the bag feeding mechanism is connected with the bag taking gripper; the bag conveying mechanism drives the bag taking grippers to move to the upper part of the bag warehouse mechanism, and the bag taking grippers grab bag openings of flexible freight bags positioned at the top of the stacked flexible freight bags; the bag feeding mechanism drives the bag taking gripper to move to the bag placing opening platform, and the bag taking gripper places the gripped flexible freight bag on the bag placing opening platform;

the bag placing opening platform is positioned in front of the bag warehouse mechanism to realize opening of the flexible freight bag;

the bagging mechanism is used for opening and clamping the opened flexible freight bag, and conveying the opened flexible freight bag to the automatic filling device to complete bagging;

the automatic filling device is positioned on one side of the automatic bagging machine and positioned below the feeding mechanism, receives the materials output by the feeding mechanism after the flexible freight bags are subjected to bag bulging by the automatic filling device, fills the materials into the flexible freight bags, shapes the mouths of the flexible freight bags after filling, and outputs the flexible freight bags after shaping to a subsequent sealing station;

the weighing mechanism is used for obtaining the actual material amount in the filling process, generating a control instruction according to the difference value of the filling target material amount and the filling actual material amount, and sending the control instruction to the feeding mechanism.

Further, the feeding mechanism is one of a gravity arc plate feeding mechanism, a spiral conveying feeding mechanism or a gravity and spiral conveying combined feeding mechanism;

the material inlet of the weighing mechanism is connected with the material outlet of the feeding mechanism, the material outlet of the weighing mechanism is connected with the material inlet of the automatic material filling device, and the weighing mechanism fills the materials into the flexible freight bag after acquiring the actual material quantity;

or the weighing mechanism is a sensing device arranged at the bottom of the automatic filling device, a feed port of the automatic filling device is connected with a discharge port of the feeding mechanism, and after the automatic filling device fills the material into the container bag, the weighing mechanism weighs the automatic filling device and the container bag containing the material integrally to obtain the actual material amount in the container bag.

Further, the automatic bagging machine also comprises a bagging machine frame used for installing a bag feeding mechanism, a bag opening identification mechanism and a bagging mechanism;

the bagging machine frame comprises a front upright post assembly, an upper frame beam, a rear upright post assembly and a bottom frame beam, wherein the front upright post assembly and the rear upright post assembly are respectively arranged in front of the bag placing opening platform and behind the bag storehouse mechanism; the front end and the rear end of the bottom frame beam are respectively connected with the bottoms of the front upright post assembly and the rear upright post assembly and used for limiting the bag warehouse mechanism and the bag placing opening platform;

the upper frame beam comprises two upper beams which are parallel to each other, and each upper beam is arranged along the front-back direction;

the bag opening recognition mechanism comprises a visual detection assembly, a rotating frame and a rotation driving cylinder;

one end of the rotating frame is connected with the rear upright post assembly, the other end of the rotating frame is fixedly provided with the visual detection assembly, the rotating driving air cylinder is fixed on the rear upright post assembly, and the rotating driving air cylinder drives the rotating frame to rotate on the horizontal plane, so that the visual detection assembly is prevented from colliding with the bag feeding mechanism;

the visual detection assembly comprises a shell, a camera, an image acquisition card and an image processing module, wherein the camera and the image processing module are fixed on the image acquisition card through a clamping groove, and the image acquisition card is fixed on the shell.

Further, the bag feeding mechanism comprises a guide rail, a bag feeding vehicle, a bag taking arm assembly and a vehicle body driving assembly;

the number of the guide rails is 2, and the 2 guide rails are respectively arranged on the inner sides of two upper beams in the upper frame beams;

the vehicle body driving component drives the bag conveying vehicle to move along the guide rail;

the bag conveying vehicle comprises 2 first sliding rails, 2 first sliding rail sliding blocks, a sliding plate driving assembly and a bag conveying sliding plate assembly; the 2 first sliding rails are arranged between the 2 guide rails in parallel, and the first sliding rails are arranged along the horizontal direction and are vertical to the guide rails; the sliding plate driving component drives the bag feeding sliding plate component to move along the first sliding rail;

the bag feeding sliding plate assembly comprises a bag feeding sliding plate and a first toothed plate; the sliding plate driving assembly comprises a sliding plate servo motor, a sliding plate driving wheel, a sliding plate driving synchronous belt and a sliding plate driving driven wheel;

the upper end and the lower end of the bag feeding sliding plate are respectively arranged on the first sliding rails through two first sliding rail sliding blocks; the sliding plate driving wheel and the sliding plate driving driven wheel are respectively arranged above two ends of the first sliding rail, the sliding plate driving synchronous belt is connected with the sliding plate driving wheel and the sliding plate driving driven wheel, the first toothed plate is matched with the upper end face of the bag conveying sliding plate, the sliding plate driving synchronous belt is clamped to realize that the bag conveying sliding plate assembly is fixedly connected with the sliding plate driving synchronous belt, the sliding plate servo motor drives the sliding plate driving wheel to rotate, and then the sliding plate driving synchronous belt drives the bag conveying sliding plate assembly to move along the first sliding rail;

the bag taking arm assembly comprises a large arm plate, a small arm assembly, a bag taking arm driving transmission mechanism and a gripper driving assembly; the big arm plate is connected with the bag feeding sliding plate assembly, the bag taking arm driving transmission mechanism is used for realizing the up-and-down movement of the big arm plate relative to the bag feeding sliding plate assembly, the bag taking gripper is installed on the big arm plate through the small arm assembly, and the gripper driving assembly is used for realizing the up-and-down movement of the small arm assembly relative to the big arm plate.

Further, the bag taking arm driving transmission mechanism comprises a second slide rail, a second slide rail slide block, a first transmission rack, a bag taking arm driving servo motor and a first transmission gear;

the bag taking arm is used for driving the servo motor to drive the first transmission gear to rotate, and the first transmission gear rotates to drive the big arm plate to move up and down relative to the bag conveying sliding plate assembly through the first transmission rack;

the gripper driving assembly comprises a rodless cylinder, a third slide rail slide block and a gripper rotation driving servo motor;

a third slide rail is arranged on the second surface of the large arm plate in parallel along the vertical direction, the small arm assembly is arranged on the third slide rail through a third slide rail slide block, and the rodless cylinder drives the small arm assembly to move up and down along the third slide rail; the small arm assembly is fixedly connected with the bag taking gripper, the gripper rotates to drive the servo motor to be used for driving the small arm assembly to rotate, and the small arm assembly rotates to drive the bag taking gripper to rotate.

Furthermore, the vehicle body driving assembly comprises a vehicle body driving wheel, a vehicle body driving main shaft, a vehicle body driving wheel, a vehicle body driving driven wheel, a vehicle body driving synchronous belt and a vehicle body driving transmission mechanism;

a vehicle body driving wheel and a vehicle body driving driven wheel are respectively arranged at the inner sides of the tail end and the starting end of each guide rail, the vehicle body driving wheel and the vehicle body driving driven wheel are connected through a vehicle body driving synchronous belt, the vehicle body driving synchronous belt is parallel to the guide rails, and the vehicle body driving synchronous belt is fixedly connected with a bag conveying vehicle; a vehicle body driving main shaft is arranged between 2 vehicle body driving wheels at the inner side of the tail ends of the 2 guide rails, two ends of the vehicle body driving main shaft are fixed at the front ends of two upper beams of the upper frame beam by bearings, and a vehicle body driving wheel is arranged on the vehicle body driving main shaft; the vehicle body driving transmission mechanism drives the vehicle body driving wheel to rotate, the vehicle body driving wheel rotates to drive the vehicle body driving wheel to rotate through the vehicle body driving main shaft, and the vehicle body driving wheel drives the bag conveying vehicle to move along the guide rail through the vehicle body driving synchronous belt;

the vehicle body driving transmission mechanism comprises a vehicle body driving servo motor, a speed reducer output wheel and a driving wheel driving synchronous belt;

the speed reducer is connected with an output shaft of the vehicle body driving servo motor, an output wheel of the speed reducer is mounted on the output shaft of the speed reducer, and the output wheel of the speed reducer is connected with a vehicle body driving wheel through a driving wheel driving synchronous belt.

Further, the frame comprises side plates, a wheel set and a first slide rail beam, the slide plate drives the driven wheel mounting plate, the slide plate servo motor mounting plate, the second toothed plate and the limiting wheel;

the number of the side plates and the number of the first slide rail beams are 2, the 2 parallel first slide rail beams which are distributed up and down are arranged between the 2 parallel side plates, the first slide rail beams are vertical to the side plates, and the first slide rails are arranged on the first slide rail beams; the sliding plate driving driven wheel mounting plate and the sliding plate servo motor mounting plate are respectively arranged at two ends of the first sliding rail cross beam positioned above the 2 first sliding rail cross beams, and the sliding plate driving driven wheel mounting plate and the sliding plate servo motor mounting plate are respectively used for mounting a sliding plate driving driven wheel and a sliding plate driving wheel; the wheel sets are 2 groups, the 2 groups of wheels are arranged on the outer side of the side plate and are respectively matched with the upper surface and the lower surface of the guide rail, and each group of wheel sets comprises more than or equal to 2 wheels; the limiting wheel is arranged on the side plate and is attached to the inner side face of the guide rail, so that the limiting along the direction of the guide rail is realized; the top of the side plate extends outwards to form a wing plate, the lower end face of the wing plate is matched with the second toothed plate to clamp the vehicle body driving synchronous belt, and the vehicle body driving synchronous belt is fixedly connected with the bag conveying vehicle.

Further, the bag taking gripper comprises a wrist component, a bag taking disc component and bag taking gripper fingers, a driving cylinder is rotated, the bag taking gripper fingers drive the driving cylinder, and a sucking disc drive the driving cylinder;

the bag taking plate component comprises a bag taking plate;

the wrist component, one end of a bag taking gripper finger, the rotation driving cylinder, the bag taking gripper finger driving cylinder and the sucking disc driving cylinder are all arranged on the upper surface of the bag taking disc, and the sucking disc is arranged on the lower surface of the bag taking disc;

the wrist component is connected to the lower end of the bag feeding mechanism, and the rotation driving cylinder drives the bag taking disc to rotate relative to the wrist component; the sucking disc sucks the mouth of the flexible freight bag, and the sucking disc drives the air cylinder to drive the sucking disc to ascend to be flush with the lower surface of the bag taking disc; get a bag tongs and point and drive actuating cylinder drive and get a bag tongs and point the other end and rotate downwards, compress tightly flexible container bag neck in getting a bag dish lower surface.

Furthermore, two bag taking grabbing fingers are respectively positioned on two sides of the bag taking plate.

Furthermore, get bag dish subassembly still including being fixed in the fixing base of getting bag dish upper surface, the wrist subassembly passes through the rolling bearing and installs on the fixing base.

Furthermore, the bag taking disc assembly also comprises a supporting vertical plate;

the lower end of the supporting vertical plate is fixed on the upper surface of the bag taking plate, and one end of a finger of a bag taking gripper is connected with the upper end of the supporting vertical plate through a rotating shaft.

Furthermore, get the bag dish and be equipped with the opening, get a bag tongs and point and drive actuating cylinder drive and get a bag tongs and point the other end and rotate downwards and pass the opening compresses tightly the flexible container sack in getting bag dish lower surface.

Furthermore, the bag taking disc assembly also comprises a cylinder seat fixed on the upper surface of the bag taking disc;

the tail of the rotary driving air cylinder is connected with the wrist component, a piston rod of the rotary driving air cylinder is connected with an air cylinder seat through a joint bearing, and a piston of the rotary driving air cylinder stretches and retracts to drive a bag taking coil to rotate with a bearing with a seat.

Furthermore, the tail of the bag taking gripper finger driving cylinder is connected with the cylinder seat, and a piston rod of the bag taking gripper finger driving cylinder is connected with a bag taking gripper finger through a joint bearing.

Furthermore, the bag taking plate component also comprises a sucking disc driving cylinder fixing seat fixed on the upper surface of the bag taking plate;

the sucking disc drives actuating cylinder piston rod and is connected with the sucking disc, and the sucking disc drives actuating cylinder afterbody and sucking disc and drives actuating cylinder fixing base and be connected.

Further, the cylinder block is of a U-shaped structure.

Furthermore, two suckers are arranged on two sides of the lower surface of the bag taking plate respectively;

the sucking disc holds the sack in the collection bag, gets a bag tongs finger and drives that the cylinder drive gets a bag tongs finger other end and rotate downwards, compresses tightly the bag neck of collection bag inner bag and outer bag in getting a bag dish lower surface.

Further, the bag placing opening platform comprises a supporting frame assembly, a bag placing platform, a bag pressing neck mechanism, an opening assembly, an upper bag clamping assembly and a lower bag clamping assembly;

the bag placing platform is fixed on the supporting frame component; the bag opening orientation of the flexible freight bag when the flexible freight bag is placed on the bag placing opening platform is the left direction, the bag pressing neck mechanism is arranged on the right part of the bag placing platform, and the bag pressing neck mechanism is used for tightly pressing the flexible freight bag neck part on the bag placing platform;

the opening assembly comprises an upper sucker cavity, a lower sucker cavity and an opening driving transmission mechanism, the opening driving transmission mechanism is fixed on the supporting frame assembly, the upper sucker cavity is located above the bag placing platform, the lower sucker cavity is located at the left part of the bag placing platform, the upper sucker cavity and the lower sucker cavity respectively suck the upper surface and the lower surface of the mouth of the flexible freight bag, and the opening driving transmission mechanism drives the upper sucker cavity to move up and down relative to the bag placing platform to realize the opening of the mouth of the flexible freight bag; the upper bag clamping assembly is fixed on the upper sucker cavity; the lower bag clamping assembly is fixed on the lower sucker cavity; the upper bag clamping assembly and the lower bag clamping assembly are used for clamping the upper surface and the lower surface of the mouth of the flexible freight bag respectively after the mouth of the flexible freight bag is opened;

the opening driving transmission mechanism in the opening assembly comprises a fourth slide rail slide block, a fourth slide rail and an opening cylinder;

a fourth slide rail sliding block and an opening cylinder are fixed on the supporting frame assembly, the fourth slide rail is a linear slide rail along the vertical direction, the fourth slide rail is matched with the fourth slide rail sliding block, the fourth slide rail is fixedly connected with the upper sucker cavity, a piston rod of the opening cylinder drives the upper sucker cavity to move, the upper sucker cavity drives the fourth slide rail to move up and down relative to the fourth slide rail sliding block, and the upper sucker cavity moves up and down relative to the bag placing platform;

the bag pressing neck mechanism comprises two mechanical fingers and a mechanical finger driving cylinder which are respectively arranged on two sides of the right part of the bag placing platform;

the mechanical finger driving cylinder drives the two mechanical fingers to be respectively pressed on two sides of the neck part of the flexible freight bag;

the upper bag clamping assembly comprises an upper bag clamping plate and an upper bag clamping cylinder, one end of the upper bag clamping plate is fixed on the upper sucker cavity, and the other end of the upper bag clamping plate is driven by the upper bag clamping cylinder to rotate so as to tightly press the upper surface of the mouth of the flexible container bag on the lower end surface of the upper sucker cavity;

the lower bag clamping assembly comprises a lower bag clamping plate and a lower bag clamping cylinder, one end of the lower bag clamping plate is fixed on the lower sucker cavity, and the other end of the lower bag clamping plate is driven by the lower bag clamping cylinder to rotate so as to tightly press the lower surface of the mouth of the tight-concentration bag on the upper end surface of the sucker cavity;

the supporting frame assembly comprises a platform frame and an upper cross frame;

the upper transverse frame is fixed above the platform frame and comprises a horizontal cross beam parallel to the bag placing platform and a side stand column used for connecting the platform frame and the cross beam, the bag placing platform is fixed on the platform frame, and the opening driving transmission mechanism of the opening assembly is fixed on the cross beam of the upper transverse frame.

Further, the bag sleeving mechanism comprises a support frame, a bag sleeving sliding plate assembly, a bag opening assembly driving cylinder, a motor and a second transmission gear;

the bag sleeving sliding plate assembly comprises a bag sleeving sliding plate, a fifth sliding rail, a second transmission rack and a fifth sliding rail sliding block; the bag opening component comprises a bag opening rotating frame, a bag opening hand driving cylinder, a bag opening hand, a clamping finger driving cylinder and a clamping finger;

the bag opening rotating frame is vertically arranged on the second surface of the bag sleeving sliding plate, 2 bag opening hands are arranged, each bag opening hand comprises an arm and a palm arranged at the first end of the arm, the second ends of the 2 bag opening hands are arranged on the bag opening rotating frame, and the palms of the 2 bag opening hands are arranged oppositely;

the bag opening component driving cylinder is used for driving the bag opening rotating frame to rotate around the direction vertical to the bag sleeving sliding plate, so that the arm of the bag opening hand is vertically downward when opening the flexible freight bag, and is horizontally when sleeving the opening of the flexible freight bag on the feed opening; after the palms of the 2 bag opening hands are inserted into the open flexible freight bag, the bag opening hand driving cylinder drives the palms of the 2 bag opening hands to move away along the direction vertical to the bag sleeving sliding plate, so as to open the flexible freight bag; the clamping fingers are arranged on the outer sides of the palms of the bag opening hands, and the clamping fingers drive the air cylinders to drive the clamping fingers to rotate so as to tightly press the openings of the flexible freight bags on the palms of the bag opening hands;

the motor is fixedly arranged at the upper part of the front upright post assembly, 2 parallel fifth sliding rails are arranged on the first surface of the bagging sliding plate, the second transmission rack is arranged between the 2 fifth sliding rails, the support frame is arranged on the fifth sliding rails through fifth sliding rail sliding blocks, and the motor is fixedly connected with the support frame; an output shaft of the motor is connected with a second transmission gear, the second transmission gear is meshed with a second transmission rack, the motor drives the bag sleeving sliding plate to move along the direction of a fifth sliding rail through transmission of the second transmission gear and the second transmission rack, a bag opening hand is driven to reciprocate between the bag placing opening platform and the discharging opening, and the bag opening of the flexible freight bag is sleeved on the discharging opening after the bag opening hand reaches the discharging opening; the fifth slide rail is parallel to the horizontal component of the connecting line from the bag placing opening platform to the feed opening.

Further, the automatic filling device comprises a bag-blowing and blanking cylinder, a lifting mechanism, an automatic bag clamping mechanism, an automatic hooking device, a positioning mechanism and a conveyor;

a feeding mechanism and an air supply device are connected above the bag-blowing blanking cylinder; the automatic bag clamping mechanism comprises a discharge pipe, a clamping arm assembly and a bag opening assembly; the automatic bag clamping mechanism and the four automatic hook devices are arranged below the bag blowing and blanking cylinder through the lifting mechanism, and the four automatic hook devices are distributed around the automatic bag clamping mechanism; the lifting mechanism drives the automatic bag clamping mechanism and the automatic hooking device to move up and down to a high position or a low position; the positioning mechanism is arranged below the automatic bag clamping mechanism and the four automatic hooking devices; the conveyor is arranged below the positioning mechanism;

before filling: the automatic bag clamping mechanism and the automatic hooking device are located at a high position, a clamping arm assembly of the automatic bag clamping mechanism tightly presses the opening of the flexible freight bag to the outer side of the lower end of the discharge pipe, the automatic hooking device is separated from a flexible freight bag lifting ring, and the flexible freight bag is subjected to bag bulging by a bag bulging blanking barrel through the discharge pipe of the automatic bag clamping mechanism; the positioning mechanism positions the bag body of the flexible freight bag after bag blowing is finished;

when filling is carried out: the automatic hooking device hooks a hoisting ring of the flexible freight bag, and the drum bag blanking cylinder fills the flexible freight bag through a discharge pipe of the automatic bag clamping mechanism;

after filling: the automatic bag clamping mechanism and the automatic hooking device move from a high position to a low position, and the automatic bag clamping mechanism and the automatic hooking device drive the filled flexible freight bags to descend to the conveyor; the automatic hooking device is separated from the hanging ring of the flexible freight bag, the clamping arm component of the automatic bag clamping mechanism releases the mouth of the flexible freight bag, and the bag opening of the flexible freight bag is supported into a linear shape by the bag supporting component of the automatic bag clamping mechanism; the conveyor stretches the bag mouth into a linear flexible freight bag and outputs the linear flexible freight bag to the sealing station.

Furthermore, the bag-blowing blanking barrel comprises an outer barrel and an inner barrel arranged inside the outer barrel, the feeding mechanism is connected with a filling channel formed inside the inner barrel, and the external air supply device is connected with a bag-blowing channel formed between the inner barrel and the outer barrel.

Furthermore, the lifting mechanism is supported by the frame;

the lifting mechanism comprises a lifting driving servo motor, a driven chain wheel, a lifting frame, a balancing weight, a driving chain wheel, a first chain, a second chain, a third chain, a fourth chain and a driving shaft;

the driving shaft is fixed on the frame through a bearing, the two driving chain wheels are respectively arranged at two ends of the driving shaft, and the two driven chain wheels are supported on the frame;

the lifting frame comprises a main frame beam and four suspension arms connected with the main frame beam, the main frame beam of the lifting frame is fixedly connected with the automatic bag clamping mechanism, the four suspension arms of the lifting frame are respectively and fixedly connected with the four automatic hooking devices, and the balancing weight and the lifting frame are respectively arranged on two sides of the driving shaft;

the four suspension arms are respectively marked as a first suspension arm, a second suspension arm, a third suspension arm and a fourth suspension arm, the first ends of a first chain, a second chain, a third chain and a fourth chain are all connected with a balancing weight, the second ends of the first chain and the second chain are respectively connected with the first suspension arm and the second suspension arm through two driving sprockets, the second end of the third chain is connected with the third suspension arm through a driving sprocket and a driven sprocket in sequence, the second end of the fourth chain is connected with the fourth suspension arm through another driving sprocket and another driven sprocket in sequence, a lifting driving servo motor drives a driving shaft to rotate, thereby driving the driving chain wheel to rotate, the driving chain wheel drives the first suspension arm and the second suspension arm to move up and down through the first chain and the second chain, meanwhile, the third suspension arm and the fourth suspension arm are driven to move in the same direction through the third chain and the fourth chain, so that the automatic bag clamping mechanism and the automatic hook device can move up and down;

the two driven sprockets and the two driving sprockets are arranged in a rectangular shape.

Furthermore, the automatic bag clamping mechanism comprises two groups of clamping arm components and two groups of bag supporting components;

the two groups of clamping arm supporting assemblies and the two groups of bag supporting assemblies are fixedly arranged on the outer surface of the discharge pipe and are respectively symmetrical about the axis of the discharge pipe; the discharging pipe is vertically arranged, and the axis of the discharging pipe is collinear with the axis of the bag-blowing blanking barrel;

the clamping arm assembly comprises a clamping arm driving transmission mechanism and a clamping arm; the clamping arm driving transmission mechanism is fixed on the clamping arm supporting component and drives the clamping arms to tightly press the mouth of the flexible freight bag at the outer side of the lower end of the discharge pipe or release the mouth of the flexible freight bag;

the bag opening component comprises a bag opening rod and a bag opening rod driving transmission mechanism which are vertically arranged; prop a bag pole drive mechanism and be fixed in and prop on the bag supporting component, prop a bag pole drive mechanism and prop a bag pole to the direction translation of being close to or keeping away from the discharging pipe surface, move along vertical direction simultaneously, realize propping the bag to the line type of sack.

Furthermore, the clamping arm driving transmission mechanism comprises a clamping arm driving cylinder, a first oscillating bar, a first connecting rod and a first crank;

the upper end of the clamping arm is connected with the clamping arm supporting component through a first rotating shaft; one end of the first crank is arranged on the first rotating shaft, and the other end of the first crank is connected with one end of the first connecting rod through the second rotating shaft; the other end of the first connecting rod is connected with one end of a first swing rod through a third rotating shaft, and the other end of the first swing rod is connected with the clamping arm supporting assembly through a fourth rotating shaft;

the clamping arm driving cylinder drives the first swing rod to rotate around the fourth rotating shaft, and the first swing rod drives the clamping arm to rotate around the first rotating shaft through the first connecting rod and the first crank in sequence, so that the lower end of the clamping arm is close to or far away from the outer surface of the discharge pipe;

the bag opening rod driving transmission mechanism comprises a bag opening rod driving cylinder, a second connecting rod, a second swing rod, a second crank and a connecting rod;

the connecting rod is fixedly connected with the upper end of the bag supporting rod;

the connecting rod is arranged along the vertical direction;

one end of a second connecting rod is connected with the bag supporting component through a fifth rotating shaft, the other end of the second connecting rod is connected with the first end of the connecting rod through a sixth rotating shaft, the second end of the connecting rod is connected with one end of a second swing rod through a seventh rotating shaft, and the other end of the second swing rod is connected with the bag supporting component through an eighth rotating shaft;

the bag supporting rod drives a piston rod of the air cylinder to be connected with one end of a second crank, and the other end of the second crank is connected with a fifth rotating shaft; the connecting line of the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft and the eighth rotating shaft is a parallelogram;

the bag supporting rod driving cylinder drives the second connecting rod to rotate around the fifth rotating shaft through the second crank, the second connecting rod drives the bag supporting rod to move in the direction close to or far away from the outer surface of the discharging pipe through the second oscillating rod and the connecting rod, and meanwhile the bag supporting rod moves in the vertical direction.

Furthermore, the clamping arm comprises a rod-shaped structure and a triangular structure;

the upper end of the rod-shaped structure is connected with the clamping arm driving transmission mechanism, the lower end of the rod-shaped structure is connected with one corner of the triangular structure, a clamping jaw is arranged outside one corner, close to the outer surface of the discharge pipe, of the other two corners in the triangular structure, and the clamping jaw presses the opening of the bag on the outer surface of the discharge pipe;

the clamping jaw sequentially comprises a clamping jaw frame, a pressing plate, a soft seal and a fastener, wherein the soft seal is tightly pressed between the clamping jaw frame and the pressing plate; the clamping jaw frame, the soft seal and the pressing plate are all in a semicircular shape;

the clamping jaw frame is fixedly connected with the clamping arm, and the fastener penetrates through the clamping jaw frame and the soft seal in sequence and is fixedly connected with the pressure plate;

the triangular structure in the clamping arm is a hollow structure;

when the clamping arm driving transmission mechanism drives the clamping arms to tightly press the mouth of the flexible freight bag on the outer surface of the lower end of the discharge pipe, the bag sleeving parts on the two sides are inserted into the flexible freight bag; the lower end edge of the bag outlet part is in an arc shape protruding downwards;

the first outer diameter of the discharge pipe is unchanged, the second outer diameter of the discharge pipe is gradually increased from bottom to top, the first outer diameter is the outer diameter parallel to the direction of the connecting line of the bag sleeving parts at the two sides, and the second outer diameter is the outer diameter vertical to the first outer diameter;

the upper end of the discharge pipe is fixedly connected with a lifting mechanism through a flange;

each group of clamping arm supporting component and each group of bag supporting component respectively comprise two supporting plates which are parallel to each other, and the supporting plates are perpendicular to the outer surface of the discharge pipe.

Further, the automatic hooking device comprises a fixed frame, a hooking rod, a hooking body, a belt detection fork and a return spring;

the fixed frame is fixedly arranged on the lifting mechanism;

the upper end of the hook rod is connected with the fixing frame through a ninth rotating shaft, the lower end of the hook rod is connected with the hook body through a tenth rotating shaft, the hook rod rotates around the ninth rotating shaft to drive the hook body to be close to or far away from the hanging ring, and the hook body rotates around the tenth rotating shaft to hook or separate from the hanging ring;

the belt detection fork is arranged on the tenth rotating shaft, a mounting point of the belt detection fork and the tenth rotating shaft is positioned between the upper end and the lower end of the belt detection fork, and the belt detection fork is divided into an upper section and a lower section by taking the mounting point as a boundary;

the reset spring is sleeved on the tenth rotating shaft, one end of the reset spring is fixedly connected with the upper section of the belt detection fork, and the other end of the reset spring is fixedly connected with the hook rod; a detection switch is arranged above one side of the opening of the hook body, and a stop block is arranged above the other side of the hook body; when the hook body is separated from the lifting ring, the reset spring is in a non-compression state, the upper section of the belt detection fork is pressed on the stop block, the lower section of the belt detection fork is positioned at the opening of the hook body, when the hook body hooks the lifting ring, the lifting ring pushes the lower section of the belt detection fork to enable the belt detection fork to rotate around the tenth rotating shaft, meanwhile, the reset spring is compressed, and when the upper section of the belt detection fork is pressed on the detection switch, the lifting ring is hooked;

the automatic hooking device also comprises a shifting fork;

the shifting belt fork is connected with the lower end of the hook rod through an eleventh rotating shaft;

the shifting belt fork is positioned on one side of the opening of the hook body;

the eleventh rotating shaft rotates to drive the shifting fork to rotate, so that the hanging ring continues to move towards the inside of the hook body after being hooked by the hook body.

Furthermore, the hook rod comprises an inner hook rod and an outer hook rod which are sleeved with each other, the upper end of the inner hook rod is connected with the fixing frame through a ninth rotating shaft, the lower end of the outer hook rod is connected with the hook body through a tenth rotating shaft, a fastening seat is arranged on the outer surface of the inner hook rod, an adjusting screw rod parallel to the hook rod is arranged on the outer surface of the outer hook rod, and the length of the inner hook rod in the inner part of the outer hook rod is adjusted through the matching of the adjusting screw rod and the fastening seat, so that the length adjustment of the hook rod is realized;

the automatic hook device also comprises a hook rod driving cylinder and a hook body driving cylinder;

the tail part of the hook rod driving cylinder is fixed on the fixing frame, and a piston rod of the hook rod driving cylinder is connected with the hook rod and used for driving the hook rod to rotate around the ninth rotating shaft to drive the hook body to be close to or far away from the hanging ring;

the tail part of the hook body driving cylinder is fixed on an outer hook rod in the hook rod, and a piston rod of the hook body driving cylinder is connected with the hook body and used for driving the hook body to rotate around the tenth rotating shaft to hook or separate from the hanging ring;

the automatic hook device also comprises a shifting belt fork driving cylinder;

the tail part of the shifting belt fork driving cylinder is fixed on the hook rod, a piston rod of the shifting belt fork driving cylinder is connected with the eleventh rotating shaft through a crank, the shifting belt fork is fixedly connected with the eleventh rotating shaft, the shifting belt fork driving cylinder drives the eleventh rotating shaft to rotate through the crank, and the eleventh rotating shaft drives the shifting belt fork to rotate;

the check block and the detection switch are both fixedly arranged on an outer hook rod in the hook rods;

the reset spring comprises a torsion spring and a linear connecting end extending out of two ends of the torsion spring; the torsion spring is sleeved on the tenth rotating shaft, and the connecting ends extending out of the two ends of the torsion spring are respectively and fixedly connected with the upper section of the detection fork and the hook rod;

the belt detection fork is of a U-shaped structure with an opening at the upper end, a tenth rotating shaft penetrates through the lower end of the hook rod and the upper end of the hook body at the same time, and two sides of the belt detection fork of the U-shaped structure are respectively installed at two ends of the tenth rotating shaft; the two return springs are respectively positioned between two sides of the U-shaped structure with the detection fork and the hook rod; when the hook body is separated from the hanging ring, the return spring is in a non-compression state, the upper section of the detection fork is pressed on the stop block, and the lower section of the detection fork is sleeved outside the hook body to block the opening of the hook body;

the shifting belt fork is of a U-shaped structure with an opening at the upper end and is arranged on the outer side of the lower section of the belt detection fork; the two sides of the upper end of the tape shifting fork are fixedly connected with a tape shifting fork mounting plate, a plurality of mounting holes are formed in the tape shifting fork mounting plate, screws are fixed at two ends of a third rotating shaft through the matching of the mounting holes, and the screws are matched with different mounting holes to realize the adjustment of the tape shifting fork relative to the height of the hook body.

Furthermore, the positioning mechanism comprises two movable plates, two static plates, two movable plate rotating frames and two movable plate driving cylinders;

the positioning mechanism is arranged below the automatic bag clamping mechanism and the 4 automatic hooking devices through the rack;

the two static plates are oppositely arranged and fixedly connected with the rack;

the two movable plate rotating frames are connected with the frame through the movable plate rotating frame mounting rotating shafts; the movable plate rotating frame is provided with a rotating shaft along the vertical direction;

the two movable plates are respectively arranged on the two movable plate rotating frames, and the two movable plate driving cylinders respectively drive the two movable plate rotating frames to rotate around the movable plate rotating frame installation rotating shafts; when the positioning mechanism positions the flexible freight bag body, the two movable plates and the two static plates enclose a space for containing the flexible freight bag body, and when the conveyor outputs the flexible freight bag with the bag opening being supported into a linear shape to the sealing station, the movable plate rotating frame drives the movable plates to move to the outer side of the conveyor.

Compared with the prior art, the invention has the following beneficial effects:

(1) according to the invention, through the mutual cooperation of a plurality of automatic devices, manual operation can be completely replaced to realize full-flow packaging operations of automatic picking, automatic opening, automatic bag sleeving, automatic hooking, automatic feeding, automatic weighing, automatic filling and the like of flexible freight bags;

(2) according to the automatic filling device, the automatic filling of the flexible freight bag is stably and efficiently realized through the ingenious matching of all automatic components, the manual operation can be completely replaced, and the labor cost is effectively reduced;

(3) the automatic bag clamping mechanism in the automatic filling device can realize multiple functions of clamping and supporting the bag opening, and is favorable for realizing automatic control; the driving mechanism of the clamping arm and the bag supporting rod is designed, the mechanical structure is simplified to the maximum extent on the premise of ensuring high-efficiency driving, the cost is effectively reduced, meanwhile, the bag supporting rod can move vertically downwards while moving outwards under the driving of the driving mechanism, and the bag supporting rod can still be in the flexible container opening to shape the flexible container opening when the discharge port moves vertically upwards out of the flexible container opening; according to the invention, the soft sealing structure is designed on the clamping jaw, so that the processing difficulty of the discharge pipe is reduced, the flexible sealing structure can enable the mouth of the flexible freight bag to be completely attached to the outer surface of the discharge port and tightly press the mouth, and the sealing property of the flexible freight bag is effectively improved; the clamping arm structure can meet the requirements of improving rigidity and reducing weight at the same time;

(4) according to the automatic hooking device in the automatic filling device, firstly, the hook body is driven to rotate by the hook rod and rotates relative to the hook rod to realize hooking actions of the hanging rings at four corners of the flexible container bag, and then the hanging rings are successfully hooked by the detection fork, so that the accuracy of successful hook judgment is improved, and an important basis is provided for the automation of relevant processes of the container bag; the lifting ring hook is characterized in that the lifting ring is arranged on the hook body, and the lifting ring is arranged on the hook body; the lengths of the hook rod and the shifting belt fork can be flexibly adjusted, so that the hook is suitable for various hooks, and the application prospect is wide; the movable hook device has reasonable design and simple structure, is convenient to control the hooking and unhooking processes, can meet the use requirement, can completely replace manual operation to realize the automatic bag hanging and unhooking work of the flexible container bag, improves the working efficiency and reduces the labor cost;

(5) the positioning mechanism in the automatic filling device can position the flexible freight bag, and simultaneously, the full package output is not influenced;

(6) according to the automatic bagging machine with comprehensive functions, which is designed according to the bagging process of the flexible freight bags, the automatic sorting, the automatic opening and the automatic bagging of the flexible freight bags can be completely replaced by manual work, and the bagging machine is reasonable in design, simple in structure and reliable in work;

(7) the bag opening identification mechanism is designed, so that the accurate position of the bag opening of the flexible freight bag can be accurately identified, the problem of uncertainty of the position of the bag opening after the flexible freight bag is stacked into a stack by manpower is solved, and the success rate of grabbing the flexible freight bag is improved;

(8) in the bag opening platform, a bag pressing neck mechanism for preventing a bag from sliding off and two sucker cavities oppositely arranged up and down for opening are designed, meanwhile, in order to prevent the bag opening from being closed due to insufficient suction of the sucker cavities, a bag clamping assembly is additionally arranged, the reliability of the opening of the flexible freight bag is effectively improved, and manual operation can be completely replaced to realize automatic opening work of the bag opening of the flexible freight bag;

(9) according to the invention, through the bag feeding mechanism, flexible adjustment of multiple dimensions of the flexible freight bag in the bag feeding process is realized, the accuracy is high, the automation degree of the flexible freight bag feeding is improved, the labor cost is effectively reduced, and the bag feeding efficiency is improved.

Drawings

FIG. 1 is a front view of an automated packaging system in accordance with a preferred embodiment of the present invention;

FIG. 2 is a side view of an automated packaging system in accordance with a preferred embodiment of the present invention;

FIG. 3 is a front view of an automated packaging system in accordance with another preferred embodiment of the present invention;

FIG. 4 is a side view of an automated packaging system in accordance with another preferred embodiment of the present invention;

fig. 5 is a schematic view showing the overall structure of an automatic bagging machine according to a preferred embodiment of the invention;

fig. 6 is a schematic structural view of an automatic bag loader frame in a preferred embodiment of the present invention;

FIG. 7 is a schematic structural view of a pocket recognition mechanism in a preferred embodiment of the present invention;

FIG. 8 is a schematic structural view of a bag feeding mechanism in a preferred embodiment of the present invention;

FIG. 9 is a schematic diagram of the drive of the bag feeding mechanism in a preferred embodiment of the present invention;

FIG. 10 is a schematic view of a bag cart according to a preferred embodiment of the present invention;

FIG. 11 is a schematic structural view of the vehicle frame in a preferred embodiment of the present invention;

FIG. 12 is a schematic structural view of a bag arm assembly in a preferred embodiment of the present invention; wherein (a) and (b) are respectively schematic diagrams of different directions of the bag taking arm component;

FIG. 13 is a schematic illustration of the construction of a bag removing gripper in accordance with a preferred embodiment of the present invention;

FIG. 14 is a schematic view of a bag access tray according to a preferred embodiment of the present invention;

FIG. 15 is a schematic structural view of a bag placing opening platform according to a preferred embodiment of the present invention;

FIG. 16 is a schematic view of the bag platform assembly of a preferred embodiment of the present invention;

FIG. 17 is a schematic structural view of a bagging mechanism in a preferred embodiment of the invention;

FIG. 18 is a schematic structural view of a bagging slip sheet assembly in accordance with a preferred embodiment of the invention;

FIG. 19 is a schematic view of a gear and rack drive of a bagging mechanism in a preferred embodiment of the invention;

FIG. 20 is a schematic view of the overall structure of an automatic filling device according to a preferred embodiment of the present invention;

FIG. 21 is a schematic view of the construction of a lift mechanism in accordance with a preferred embodiment of the present invention;

FIG. 22 is a schematic view of the position of the automatic bag clamping mechanism, the automatic hook and the lifting mechanism in a preferred embodiment of the present invention;

FIG. 23 is a schematic structural view of an automatic bag clamping mechanism in a preferred embodiment of the present invention;

FIG. 24 is a schematic view showing the internal structure of an automatic bag holding mechanism according to a preferred embodiment of the present invention;

FIG. 25 is a schematic view of the construction of an automatic hooker according to a preferred embodiment of the present invention;

FIG. 26 is a schematic perspective view of an automatic hooker according to a preferred embodiment of the present invention;

FIG. 27 is a schematic view of a return spring in the automatic hooker according to a preferred embodiment of the present invention;

FIG. 28 is a schematic structural view of a positioning mechanism in accordance with a preferred embodiment of the present invention;

figure 29 is a schematic view of a clamping arm in a preferred embodiment of the present invention, wherein (a) is a schematic view of the whole clamping arm, (b) is a schematic view of the whole clamping jaw, and (c) is a schematic view of the clamping jaw;

in the figure: 1-an automatic bagging machine, 2-an automatic filling device, 3-a weighing mechanism, 4-a feeding mechanism and 5-a buffer bin;

11-a bagging machine frame, 12-a bag warehouse mechanism, 13-a bag opening recognition mechanism, 14-a bag feeding mechanism, 15-a bag taking gripper, 16-a bag placing opening platform and 17-a bagging mechanism;

111-front column assembly, 112-upper frame beam, 113-rear column assembly, 114-bottom frame beam;

131-visual detection component, 132-rotating frame, 133-rotating driving cylinder;

141-guide rail, 142-bag conveying vehicle, 143-bag taking arm component, 144-vehicle body driving component;

1421-carriage, 1422-first slide, 1423-first slide block, 1424-bag-feed slide assembly, 1425-slide drive assembly;

14211-side plate, 14212-first slide rail beam, 14213-slide driving driven wheel mounting plate, 14214-slide servo motor mounting plate, 14215-second toothed plate fixing plate, 14216-wheel set, 14217-limit wheel, 14218-second toothed plate; 14241-bag feed slide, 14243-first toothed plate;

14251-slide servo motor, 14252-slide driving wheel, 14253-slide driving synchronous belt, 14254-slide driving driven wheel;

1431-big arm plate, 1432-second slide rail, 1433-second slide rail slider, 1434-first transmission rack, 1435-rodless cylinder, 1436-third slide rail, 1437-third slide rail slider, 1438-small arm assembly, 1439-gripper rotation driving servo motor, 14310-bag pick-up arm driving servo motor, 14311-transmission gear;

1441-car body driving wheel, 1442-car body driving main shaft, 1443-car body driving wheel, 1444-car body driving driven wheel, 1445-car body driving synchronous belt and 1446-car body driving servo motor; 1447-speed reducer, 1448-output wheel of speed reducer, 1449-driving wheel driving synchronous belt;

151-wrist assembly, 152-bag taking assembly, 153-bag taking gripper finger, 154-rotation driving cylinder, 155-bag taking gripper finger driving cylinder, 156-suction cup and 157-suction cup driving cylinder;

1521-bag taking disc, 1522-fixing seat, 1523-supporting vertical plate, 1524-U-shaped cylinder seat and 1525-sucking disc driving cylinder fixing seat;

161-a platform frame; 162-bag placing platform; 163-upper cross brace; 164-an opening assembly; 165-upper pouch clamping assembly; 166-bag neck pressing mechanism; 167-lower bag clamping assembly;

1641-upper sucker cavity; 1642-fourth sliding rail slider; 1643-fourth slide rail; 1644-open cylinder; 1645-lower suction cup cavity; 1661-mechanical fingers; 1662-mechanical finger driving cylinder;

1651-upper bag clamping plate; 1652-upper bag clamping cylinder; 1671-lower bag clamping plate; 1672-bag clamping cylinder;

171-support frame, 172-slide plate component, 173-bag supporting component, 174-bag supporting component driving cylinder, 175-motor, 176-second transmission gear;

1721-a bag-sleeving sliding plate, 1722-a fifth sliding rail, 1723-a second transmission rack, 1724-a fifth sliding rail sliding block;

1731-bag opening rotating stand, 1732-bag opening hand driving cylinder, 1733-bag opening hand, 1734-clamping finger driving cylinder and 1735-clamping finger;

21-bag-blowing and material-dropping barrel, 22-filling rack, 23-lifting mechanism, 24-automatic bag-clamping mechanism, 25-automatic hooking device, 26-positioning mechanism and 27-conveyor;

231-a lifting driving servo motor, 232-a driven chain wheel, 233-a lifting frame, 234-a balancing weight, 235-a driving chain wheel and 236-a driving shaft;

241-a discharge pipe, 242-a clamping arm, 243-a first connecting rod, 244-a first swing rod, 245-a clamping arm driving cylinder, 246-a bag opening rod, 247-a second swing rod, 248-a second connecting rod, 249-a bag opening rod driving cylinder and 2410-a connecting rod;

251-fixing frame, 252-hook rod, 253-hook body, 254-tape shifting fork, 255-tape detecting fork, 256-hook rod driving air cylinder, 257-hook body driving air cylinder, 258-tape shifting fork driving air cylinder and 259-return spring;

261-movable plate, 262-static plate, 263-movable plate rotating frame and 264-movable plate driving cylinder.

Detailed Description

The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

An automatic packaging system for flexible freight bags comprises an automatic bagging machine, an automatic filling device, a weighing mechanism, a feeding mechanism and a buffer bin. The automatic material filling device is arranged on one side of the automatic bagging machine, the feeding mechanism is arranged above the automatic material filling device, the buffer bin is arranged above the feeding mechanism, and the weighing mechanism can be arranged below the automatic material filling device or between the automatic material filling device and the feeding mechanism.

Buffer bin and feed mechanism are fixed by flange joint, if when weighing mechanism arranges automatic irritates the material device below in, weighing mechanism and automatic irritate the material device and be connected fixedly by the fastener, and automatic irritate material device feed inlet and feed mechanism discharge gate are connected by flexible material, if weighing mechanism arranges in between automatic irritate material device and the feed mechanism, weighing mechanism's business turn over material mouth respectively with feed mechanism discharge gate, automatic irritate material device feed inlet and be connected by flexible material.

The weighing mechanism technical scheme can be through weighing the material by independent weighing hopper, wait to weigh the completion back, in pouring the material into the containerized bag again, also can directly pour the material into the containerized bag, weigh automatic irritate material device and material is whole.

The embodiment is as follows:

the present invention will be described in detail below with reference to the accompanying drawings 1 to 29.

A preferred embodiment of the present invention is shown in fig. 1 and 2, and an automatic packaging system for flexible freight bags comprises an automatic bagging machine 1, an automatic filling device 2, a weighing mechanism 3, a feeding mechanism 4 and a buffer bin 5. Automatic irritate material device 2 and locate one side of automatic bagging machine 1, feed mechanism 4 locates the top of automatic irritate material device 2, and feed mechanism 4's top is located to buffering feed bin 5, and weighing machine constructs 3 and arranges automatic irritate material device 2 under in.

The buffer bin 5 and the feeding mechanism 4 are fixedly connected through flanges, the weighing mechanism 3 and the automatic filling device 2 are fixedly connected through fasteners, and a discharge port of the feeding mechanism 4 and a feed port of the automatic filling device 2 are connected through flexible materials.

A preferred embodiment of the present invention is shown in fig. 3 and 4, and an automatic packaging system for flexible freight bags comprises an automatic bagging machine 1, an automatic filling device 2, a weighing mechanism 3, a feeding mechanism 4 and a buffer bin 5. Automatic irritate material device 2 and locate one side of automatic bagging machine 1, weighing machine 3 locates automatic irritate material device 2 top, and weighing machine 3's top is located to feed mechanism 4, and feed mechanism 4's top is located to buffer bin 5.

The buffer bin 5 is fixedly connected with the feeding mechanism 4 through a flange, a discharge hole of the feeding mechanism 4 is connected with a feed hole of the weighing mechanism 3 through a flexible material, and a discharge hole of the weighing mechanism 3 is connected with a feed hole of the automatic filling device 2 through a flexible material.

The buffer bin 5 can stabilize material flow in the blanking process of the materials, and the weighing stability is improved; the feeding mechanism 4 is used for controlling the blanking speed of the material and ensuring the weighing precision; the weighing mechanism 3 is used for metering the filled materials and giving instructions to the feeding mechanism at the same time.

As shown in fig. 5, the automatic bagging machine 1 includes a bagging machine frame 11, a bag warehouse mechanism 12, a bag opening recognition mechanism 13, a bag feeding mechanism 14, a bag taking gripper 15, a bag placing opening platform 16, and a bagging mechanism 17.

As shown in fig. 6, the bagging machine frame 11 includes a front pillar assembly 111, an upper frame beam 112, a rear pillar assembly 113, and a bottom frame beam 114, wherein the front pillar assembly 111 and the rear pillar assembly 113 are disposed opposite to each other, the upper frame beam 112 is disposed on the top of the front pillar assembly 111 and the top of the rear pillar assembly 113, and two ends of the bottom frame beam 114 are respectively connected to the bottoms of the front pillar assembly 111 and the rear pillar assembly 113. The bag warehouse mechanism 12 is positioned above the bottom frame beam 114 and close to one side of the rear upright post 113, and is used for storing piled bags and providing bags for the bag taking gripper 14; the bag warehouse mechanism 12 may be a conveyor (not limited to a belt conveyor, a chain conveyor, a roller conveyor, or the like), or may be a platform fixed above the bottom frame beam 114; the invention adopts the preferable scheme that the roller conveyor is adopted to convey the piled flexible freight bags containing the trays to the bag taking position, and the empty trays can be output, so that the continuous work of bag taking can be realized. The bag mouth recognition mechanism 13 is positioned at the upper part of the rear upright post assembly 113 and is used for recognizing the accurate position of the bag mouth of the flexible freight bag; as shown in fig. 7, a preferred embodiment of the present invention is that the bag mouth identification mechanism 13 includes a visual detection assembly 131, a rotating frame 132 and a rotation driving cylinder 133, wherein the rotating frame 132 is connected with the upper portion of the rear pillar assembly 113, the visual detection assembly 131 is fixed on the rotating frame 132 through a fastener, the tail of the rotation driving cylinder 133 is connected with the rear pillar assembly 113, and the end of the piston rod of the rotation driving cylinder 133 is connected with the crank of the rotating frame 132 through a fastener; the visual detection component 131 comprises a shell, a camera, an image acquisition card and an image processing module, wherein the camera and the image processing module are fixed on the image acquisition card through a clamping groove, and the image acquisition card is fixed on the shell through a fastening piece; when the visual detection assembly 131 does not work, the rotating frame 132 can be driven by rotating the driving cylinder 133 to drive the visual detection assembly 131 to rotate into the rear upright post assembly 113, so that the bag taking gripper 14 can be prevented from colliding with the visual detection assembly 131; the alternative of the scheme is that the bag opening recognition mechanism 13 comprises a visual detection component 131 and a fixing frame, wherein the fixing frame 132 is fixed on the upper part of the rear upright post component 113, and the visual detection component 131 is fixed on the fixing frame 132; another alternative of this solution is that the bag mouth identification mechanism 13 only includes the visual detection assembly 131, and the visual detection assembly 131 is fixed on the upper portion of the rear pillar assembly 113.

The bag feeding mechanism 14 is positioned at the inner side of the upper frame beam 112 and is used for moving the grabbed flexible freight bag from the bag warehouse mechanism 12 to the bag placing opening platform 16; as shown in fig. 8, 9, 10, 11 and 12, the bag feeding mechanism 14 includes two guide rails 141 oppositely disposed inside the upper frame beam 112, a bag feeding cart 142, a bag taking arm assembly 143 and a cart body driving assembly 144;

the bag feeding cart 142 comprises a cart frame 1421, two first slide rails 1422, two first slide rail sliders 1423, a bag feeding slide assembly 1424 and a slide driving assembly 1425; the vehicle frame 1421 comprises two side plates 14211 arranged in parallel, two first slide rail beams 14212 arranged in parallel up and down in a vertical plane, a slide driving driven wheel mounting plate 14213, a slide servo motor mounting plate 14214, a second gear plate fixing plate 14215, a wheel set 14216, a limiting wheel 14217 and a second gear plate 14218, wherein the side plates 14211 comprise a main plate, wing plates and limiting wheel fixing plates, the wing plates and the limiting wheel fixing plates are formed by extending outwards from two sides of the upper part of the main plate, the limiting wheel fixing plates are perpendicular to the main plate and are positioned at the front side and the rear side of the middle part of the main plate, the inner sides of the main plate of the two side plates 14211 are respectively connected with two ends of the two first slide rail beams 14212 and are used for mounting a first slide rail 1422, the slide driving driven wheel mounting plate 14213 and the slide servo motor mounting plate 14214 are respectively connected above two ends of the first slide rail beams 14212 and are perpendicular to the two side plates 14211, the lower surface of the wing plate of each side plate 14211 is respectively connected with the two second gear plate 14215, each second rack fixing plate 14215 is respectively connected with a second rack 14218, and a vehicle body driving synchronous belt 1445 in the vehicle body driving assembly 144 is clamped between each second rack 14218 and the second rack fixing plate 14215 on the lower surface of the wing plate; two curb plates 14211 outsides set up two sets of wheel group 14216 respectively, two sets of wheel group 14216 respectively with the laminating of guide rail 141 upper and lower surface, the wheel quantity that contains in every wheel group 14216 is more than two at least, every curb plate 14211 includes two spacing fixed plates in front and back, fixed one spacing wheel 14217 of every spacing fixed plate, spacing wheel 14217 is located two guide rail 141's medial surface, and with the laminating of guide rail 141 medial surface, make wheel group 14216 only can follow guide rail 141 direction reciprocating linear motion. The two first slide rails 1422 are fixed to the upper and lower first slide rail beams 14212, respectively, and the two first slide rail sliders 1423 are mounted to the two first slide rails 1422, respectively.

Bag feed slide assembly 1424 includes bag feed slide 14241 and first toothed plate 14243; wherein send a bag slide 14241 to contain the first pinion rack fixed plate that mainboard and mainboard top side level extend, send a bag slide 14241 to install on two first slide rail sliders 1423, first pinion rack 14243 is fixed and is being sent the pinion rack fixed plate upper surface of bag slide 14241, and first pinion rack 14243 and the pinion rack fixed plate that send a bag slide 14241 top press from both sides slide drive hold-in range 14253 tightly.

Sliding plate driving assembly 1425, including sliding plate servo motor 14251, sliding plate driving wheel 14252, sliding plate driving synchronous belt 14253 and sliding plate driving driven wheel 14254, where sliding plate servo motor 14251 is fixed on sliding plate servo motor mounting plate 14214, sliding plate driving wheel 14252 is connected with the shaft of sliding plate servo motor 14251, sliding plate driving driven wheel 14254 is fixed on sliding plate driving driven wheel mounting plate 14213, sliding plate driving synchronous belt 14253 is engaged with sliding plate driving wheel 14252 and sliding plate driving driven wheel 14254 respectively, and sliding plate driving synchronous belt 14253 is pressed on the toothed plate fixing plate at the top of bag feeding sliding plate 14241 by first 14243, sliding plate servo motor 14251 drives sliding plate driving wheel 14252, and sliding plate driving synchronous belt 14253 drives bag feeding sliding plate assembly toothed plate 1424 to reciprocate along the direction of first slide rail 1422.

The bag taking arm assembly 143 includes a large arm plate 1431, two second slide rails 1432, two second slide rail blocks 1433, a first transmission rack 1434, a rodless cylinder 1435, a third slide rail 1436, a third slide rail block 1437, a small arm assembly 1438, a gripper rotation driving servo motor 1439, a first transmission gear 14311 and a bag taking arm driving servo motor 14310, the bag taking arm driving servo motor 14310 is installed on the bag conveying slide plate 14241, the bag taking arm driving servo motor 14310 and the first slide rail block 1423 are on the same side of the bag conveying slide plate 14241, the first transmission gear 14311 is connected to the shaft of the bag taking arm driving servo motor 14310, two second slide rails 1432 and one first transmission rack 1434 are fixed on one side of the large arm plate 1431, the rodless cylinder 1435 and 1 third slide rail 1436 are fixed on the other side of the large arm plate 1431, the two second slide rails 1432 are arranged in parallel left and right, the two second slide rail blocks 1433 are respectively installed on the two second slide rails 1432, the two second slide rail blocks 1433 are connected with the bag conveying slide rail block 41, the first transmission rack 1434 is arranged between the two second sliding rails 1432 in parallel and is engaged with the first transmission gear 14311, the bag-taking arm driving servo motor 14310 can drive the bag-taking arm assembly 143 to reciprocate linearly along the direction of the first transmission rack 1434 relative to the bag-conveying sliding plate assembly 1424 through the engagement transmission of the first transmission gear 14311 and the first transmission rack 1434, meanwhile, the bag-taking arm assembly 143 can reciprocate linearly along the direction of the first sliding rail 1422 with the bag-conveying sliding plate assembly 1424, the rodless cylinder 1435 is arranged in parallel with the third sliding rail 1436, the third sliding rail 1437 is installed on the third sliding rail 1436, the small arm assembly 1438 is connected with the driving block of the rodless cylinder 1435 and the third sliding rail 1437 at the same time, the small arm assembly 1438 comprises a side arm perpendicular to the large arm plate 1431 and a rotating shaft installed on the side wall, the rotating shaft is parallel with the large arm plate 1431, the top of the rotating shaft is provided with an upper flange, the handle driving servo motor 1439 is connected with the rotating shaft on the flange of the small arm assembly 1438, the small arm assembly 1438 and the gripper rotation driving servo motor 1439 can reciprocate linearly in the direction of the third slide rail 1436 by the driving block of the rodless cylinder 1435.

The car body driving assembly 144 includes a car body driving pulley 1441, a car body driving main shaft 1442, a car body driving pulley 1443, a car body driving driven pulley 1444, a car body driving synchronous belt 1445, a car body driving servo motor 1446, a speed reducer 1447, a speed reducer output wheel 1448 and a driving pulley driving synchronous belt 1449, wherein the car body driving main shaft 1442 is fixed at the front ends of the two upper beams of the upper frame beam 112 through bearings, the two ends of the car body driving main shaft 1442 are connected with the two car body driving pulleys 1441, the car body driving pulley 1443 is connected to the car body driving main shaft 1442 between the two car body driving pulleys 1441, the two car body driving driven pulleys 1444 are respectively fixed at the inner sides of the rear ends of the two upper beams of the upper frame beam 112, the car body driving synchronous belt 1445 is respectively engaged with the car body driving pulley 1441 and the car body driving driven pulley 1444, the car body driving synchronous belt 1445 is pressed by the second gear fixing plate 14215 and the second gear plate 14218 of the side plate 14211, the car body driving servo motor 1446 is connected with the speed reducer 1447, a speed reducer 1447 is fixed on the front column assembly 111, a speed reducer output wheel 1448 is connected with a speed reducer 1447 output shaft, a driving wheel driving synchronous belt 1449 is respectively meshed with the speed reducer output wheel 1448 and a vehicle body driving wheel 1443, a vehicle body driving servo motor 1446 drives the speed reducer output wheel 1448 through the speed reducer 1447, the driving wheel driving synchronous belt 1449 drives the vehicle body driving wheel 1443 to transmit to a vehicle body driving main shaft 1442, the vehicle body driving main shaft 1442 drives the vehicle body driving wheel 1441, and the vehicle body driving synchronous belt 1445 enables the bag feeding vehicle 142 and the bag taking arm assembly 143 to move linearly in a reciprocating mode along the direction of the guide rail 141.

The actual working process of the bag feeding mechanism 14 is as follows:

(1) lifting the flexible freight bag: the bag taking gripper 15 grips the flexible freight bag, the rodless cylinder 1435 drives the block and the large arm plate 1431 to move upwards simultaneously, and the flexible freight bag is lifted to a certain height and separated from the stacked flexible freight bag;

(2) moving the flexible container: the bag cart 142 moves along the guide rail 141, and meanwhile, the bag-feeding slide assembly 1424 in the bag cart 142 moves along the first slide rail 1422, and the flexible freight bag moves above the bag-placing opening platform 16;

(3) placing a flexible container: the rodless cylinder 1435 drives the block to reset, the large arm plate 1431 moves down accurately, and the bag pick-up gripper places the bulk bag on the bag placement opening platform 16.

The bag taking hand grip 15 is positioned below the bag feeding mechanism 14 and is used for grabbing or placing a single flexible freight bag;

as shown in fig. 13 and 14, the bag taking gripper 15 includes a wrist assembly 151, a bag taking disc assembly 152, a bag taking gripper finger 153, a rotation driving cylinder 154, a bag taking gripper finger driving cylinder 155, a suction cup 156, and a suction cup driving cylinder 157. The bag taking disc assembly 152 comprises a bag taking disc 1521, a fixing seat 1522 fixed on the upper surface of the bag taking disc 1521, a supporting vertical plate 1523, a U-shaped air cylinder seat 1524 and a suction disc driving air cylinder fixing seat 1525.

The wrist assembly 151 is connected with the fixing seat 1522 through a bearing with a seat, the tail of the rotary driving cylinder 154 is connected with the wrist assembly 151, the piston rod of the rotary driving cylinder 154 is connected with a U-shaped cylinder seat 1524 through a joint bearing, the rotary driving cylinder 154 drives the bag taking plate assembly 152 to rotate for a certain angle around the rotating shaft of the wrist assembly 151, the short sides of the two sides of the bag taking plate 1521 are respectively provided with two bag taking hand fingers 153, the bag taking hand fingers 153 are connected with a supporting vertical plate 1523 through rotating shafts, the tail of the bag taking hand finger driving cylinder 155 is connected with the U-shaped cylinder seat 1524, the piston rod of the bag taking hand finger driving cylinder 155 is connected with the bag taking hand fingers 153 through joint bearings, the bag taking hand finger driving cylinder 155 can drive fingers to be pressed below the bag taking plate 1521, the suction cup driving cylinder 157 is installed on the suction cup driving cylinder fixing seat 5, the suction cup 152157 is connected with the suction cup 156, and the suction cup driving cylinder can lift the suction cup 156 to be flush with the lower surface 1521.

The bag placing opening platform 16 is positioned above the bottom frame beam 114 and close to one side of the front upright post 111 and is used for opening the opening of a placed flexible freight bag;

as shown in fig. 15 and 16, the bag placing opening platform 16 comprises a support frame assembly, a bag placing platform 162, a bag neck pressing mechanism 166, an opening assembly 164, an upper bag clamping assembly 165 and a lower bag clamping assembly 167; the support frame assembly includes a platform frame 161 and an upper cross frame 163; the opening assembly 164 comprises an upper sucker cavity 1641, a fourth slide rail block 1642, a fourth slide rail 1643, an opening cylinder 1644 and a lower sucker cavity 1645, and the upper bag clamping assembly 165 comprises an upper bag clamping plate 1651 and an upper bag clamping cylinder 1652; the lower bag clamping assembly 167 comprises a lower bag clamping plate 1671 and a lower bag clamping cylinder 1672; a bag placing platform 1662 is fixed on the platform frame 161, the upper cross frame 163 is located above the bag placing platform 162, a side column of the upper cross frame 163 is fixed on the platform frame 161, a fourth slide rail slider 1642 of the opening assembly 164 is fixed on a cross beam of the upper cross frame 163, a fourth slide rail 1643 is installed on the fourth slide rail slider 1642, an upper suction cup cavity 1641 is connected with the fourth slide rail 1643, an opening cylinder 1644 is fixed on the cross beam of the upper cross frame 163, a piston rod of the opening cylinder 1644 is connected with the upper suction cup cavity 1641, an upper bag clamping plate 1651 of the upper bag clamping assembly 165 is installed on the upper suction cup cavity 1641, a piston rod of the upper bag clamping cylinder 1652 is connected with the upper bag clamping plate 1651 through a crank, and the tail of the upper bag clamping cylinder 1652 is connected with the upper suction cup cavity 1641. Lower sucker cavity 1645 is located the left part of putting bag platform 162, and lower bag clamping plate 1671 installs on lower sucker cavity 1645, and lower bag clamping cylinder 1672 piston rod passes through the crank to be connected with lower bag clamping plate 1671, and lower bag clamping cylinder 1672 afterbody is connected with the cylinder block of putting on the bag platform 162. The upper suction cup cavity 1641 is used for sucking the upper surface of a bag opening of a container, the opening cylinder 1644 moves the upper suction cup cavity 1641, the upper bag clamping assembly 165 and the upper surface of the bag opening of the container upwards by a certain height along the direction of a sliding rail, after the bag opening of the container is opened, the upper bag clamping cylinder 1652 moves to enable the upper bag clamping plate 1651 to rotate by a certain angle to clamp the upper surface of the bag opening of the container, and the lower bag clamping cylinder 1672 moves to enable the lower bag clamping plate 1671 to rotate by a certain angle to clamp the lower surface of the bag opening of the container. Preferably, the opening of the container bag is an inner opening of the container bag, and the inner opening of the inner bag drives the outer bag opening to realize the opening of the container bag. The direction from the bag warehouse mechanism 12 to the bag placing opening platform 16 is the forward direction, and the left-right direction facing the front (namely when the bag warehouse mechanism 12 faces the bag placing opening platform 16) is the left-right direction of the invention, the bag pressing neck mechanism 166 is arranged at the right part of the bag placing platform 162, the bag pressing neck mechanism 166 is used for pressing the bag containing neck part to the bag placing platform 162, and the lower bag clamping assembly 167 is arranged at the left part of the bag placing platform 162; the bag pressing neck mechanism 166 comprises two mechanical fingers 1661 and mechanical finger driving cylinders 1662 which are respectively arranged on two sides of the rear part of the bag placing platform 162, the piston rods of the mechanical finger driving cylinders 1662 are connected with the mechanical fingers 1661, and the tail parts of the mechanical finger driving cylinders 1662 are connected with the cylinder seats of the bag placing platform 162; the lower sucker 1645 sucks the lower surface of the mouth of the flexible freight bag, and the mechanical fingers drive the air cylinder 1662 to act, so that the mechanical fingers 1661 tightly press the neck of the flexible freight bag on the bag placing platform 162.

The bag opening platform 16 works as follows:

(1) a suction bag opening: after the flexible freight bag is placed on the bag placing platform 162 by the bag taking gripper 15, the bag placing platform 162 sucks the lower surface of the opening of the flexible freight bag through the lower sucker cavity 1645;

(2) pressing a bag neck: the mechanical fingers drive the cylinder 1662 to act, so that the mechanical fingers 1661 press the neck of the flexible freight bag against the bag placing platform 162;

(3) opening a bag opening: the opening cylinder 1644 acts to enable the upper sucker cavity 1641 to move downwards along the sliding rail to the upper surface of the mouth of the flexible freight bag and suck the upper sucker cavity, the opening cylinder 1644 returns to the original position, and the upper surface of the mouth of the upper sucker cavity 1641 sucks the upper surface of the mouth of the flexible freight bag to move upwards for a certain height along the direction of the sliding rail, so that the opening of the flexible freight bag is completed;

(4) clamping a bag opening: the lower bag clamping cylinder 1672 and the upper bag clamping cylinder 1652 act simultaneously, the upper bag clamping plate 1651 and the lower bag clamping plate 1671 rotate at a certain angle simultaneously, and the upper surface and the lower surface of the mouth of the flexible freight bag are clamped respectively, so that opening work of the flexible freight bag is completed.

The bagging mechanism 17 is positioned at the upper part of the front upright post component 111 and is used for sleeving the opened packaging bag on the discharging pipe; as shown in fig. 17, 18 and 19, the bag housing mechanism 17 includes a support frame 171, a bag housing slide plate assembly 172, a bag opening assembly 173, a bag opening assembly driving cylinder 174, a motor 175, and a second transmission gear 176; the bag-stretching sliding plate assembly 172 comprises a bag-stretching sliding plate 1721, a fifth sliding rail 1722, a second driving rack 1723 and a fifth sliding rail sliding block 1724, and the bag-stretching assembly 173 comprises a bag-stretching rotating frame 1731, a bag-stretching hand driving cylinder 1732, a bag-stretching hand 1733, a finger-clamping driving cylinder 1734 and fingers 1735.

In this embodiment, the lower opening is located at the left side of the bag covering mechanism 17, two fifth sliding rails 1722 and a second driving rack 1723 are respectively fixed on the bag covering sliding plate 1721, the two fifth sliding rails 1722 are arranged at the upper end and the lower end of the bag covering sliding plate 1721, the second driving rack 1723 is located between the two fifth sliding rails 1722, a plurality of fifth sliding rail sliders 1724 are mounted on each fifth sliding rail 1722, the fifth sliding rail sliders 1724 are fixed on the supporting frame 171, the motor 175 is fixedly mounted on the upper portion of the front column assembly 111 and fixedly connected with the supporting frame 171, the second driving gear 176 connected with the motor 175 through a shaft is meshed with the second driving rack 1723, the bag opening assembly 173 is connected with the bag covering sliding plate assembly 172 through a bag opening rotating frame 1731, the bag opening assembly 173fixed at the tail portion of the bag covering sliding plate 1721 drives a cylinder piston rod to be connected with a crank of the bag opening rotating frame 1731, the bag opening handle 174 includes an arm and a palm, the two palms are of arc structures arranged oppositely, the axis of a cylinder corresponding to the palm of the arc-shaped structure is perpendicular to the arms, the arms of the two bag opening hands 1733 are connected with a bag opening rotating frame 1731 through a rotating shaft, the piston rods of bag opening hand driving cylinders 1732 with the tails fixed on the bag opening rotating frame 1731 are connected with the bag opening hands 1733, the clamping fingers 1735 are installed on the bag opening hands 1733 through the rotating shaft, and the piston rods of clamping finger driving cylinders 1734 with the tails fixed on the bag opening hands 1733 are connected with the cranks of the clamping fingers 1735.

The motor 175 drives the bag sheathing sliding plate assembly 172 to move along the direction of the fifth sliding rail 1722 through gear and rack transmission, the bag opening assembly driving cylinder 174 acts to drive the bag opening assembly 173 to rotate 90 degrees around the rotating shaft of the bag opening rotating frame 1731, the bag opening hand driving cylinder 1732 acts to drive the bag opening hand 1733 to rotate a certain angle around the rotating shaft of the bag opening hand, the palms of the bag opening hand 1733 are far away from each other, the finger clamping driving cylinder 1734 acts to drive the finger 1735 to rotate a certain angle around the rotating shaft of the finger clamping, and the finger 1735 is pressed on the bag opening hand 1733.

The operation of the bagging mechanism 17 is as follows:

initial state: the arm of the bag-opening hand 1733 is perpendicular to the fifth sliding rail 1722 and is vertically downward, and the axis of the arc palm of the bag-opening hand 1733 is in the horizontal direction;

(1) inserting a bag opening: the motor 175 drives the bag opening hand 1733 to be inserted into the mouth of the container bag through the gear rack transmission via the bag sleeving sliding plate assembly 172;

(2) opening a bag opening: the bag opening hand drives the air cylinder 1732 to act so that the bag opening hand 1733 can open the two sides of the opening of the flexible freight bag;

(3) clamping a bag opening: the clamping finger drives the air cylinder 1734 to act so as to enable the clamping finger 1735 to rotate for a certain angle and clamp the inner bag and the outer bag of the bag opening;

(4) moving a bag opening: the motor 175 drives the bag opening hand 1733 and the packaging bag to move to the feed opening through the bag sleeving sliding plate assembly 172 by gear and rack transmission;

(5) bagging: the bag opening component driving cylinder 174 acts to enable the bag opening hand 1733 to drive the flexible freight bag to rotate 90 degrees, so that the arm of the bag opening hand 1733 is in the horizontal direction, the axis of the arc palm of the bag opening hand 1733 is in the vertical direction, and the bag opening of the flexible freight bag is sleeved on the discharge opening, thereby completing the bag sleeving work.

The actual working process of the automatic bagging machine 1 of the invention is as follows:

(1) recognizing the position of a flexible container opening: the visual detection assembly 131 moves to the upper part of the bag warehouse mechanism 12, and identifies and calculates the specific position information of the opening of the packaging bag;

(2) grabbing the flexible freight bag: according to the bag opening position information, the bag taking hand grip 15 is moved to the position of the opening of the container bag by the bag feeding mechanism 14, the sucking disc 156 sucks up the opening of the container bag, after the bag taking hand grip 15 adjusts the posture, the bag taking hand grip fingers 153 clamp the inner and outer bag openings of the container bag together, and the bag taking is completed;

(3) moving the flexible container: the bag feeding mechanism 14 lifts the bag taking hand grip 15 and the container bag to a certain height, and after the container bag to be taken is separated from the bag stack, the container bag is moved to the bag placing platform 162;

(4) placing a flexible container: the lower sucker cavity 1645 sucks the lower surface of the inner bag opening of the packaging bag, the bag neck pressing mechanism 166 tightly presses the necks of the inner bag and the outer bag of the packaging bag on the bag placing platform 162, the bag opening is released by the bag taking gripper fingers 153 of the bag taking gripper 15, and the packaging bag is placed;

(5) opening of the flexible freight bag: the upper sucker cavity 1641 moves downwards along the fourth slide rail 1643 to the upper surface of the inner bag opening of the flexible freight bag, and after the upper surface of the inner bag opening is sucked, the upper sucker cavity 1641 moves upwards along the fourth slide rail 1643 to drive the inner bag opening to open the opening of the flexible freight bag;

(6) bagging of the flexible freight bags: after the bag opening hand 1733 of the bag sleeving mechanism 17 is moved to be inserted into the mouth of the container bag, the clamping fingers 1735 clamp two sides of the mouth of the container bag, the bag sleeving sliding plate 1721 moves to drive the bag opening hand 1733 and the container bag to move to the feed opening, the bag opening hand 1733 drives the container bag to rotate 90 degrees, the mouth of the container bag is sleeved on the feed opening, and the bag sleeving work is completed.

As shown in fig. 20 and 21, the automatic filling device 2 includes a bag-blowing and material-dropping barrel 21, a filling frame 22, a lifting mechanism 23, an automatic bag-clamping mechanism 24, an automatic hooking device 25, a positioning mechanism 26 and a conveyor 27.

The bag-blowing and material-dropping barrel 21 is positioned above the center of the filling machine frame 22, the lifting mechanism 23 is fixedly connected to the upper part of the machine frame 22, the lower part of the machine frame 22 is provided with a conveyor 27, and the positioning mechanism 26 is positioned above the conveyor 27 and is connected with a cross beam at the lower part of the machine frame 22.

The drum bag charging barrel 21 comprises an outer barrel and an inner barrel, wherein the inner barrel is a material filling channel, and the outer barrel is a drum bag and an air return channel.

As shown in fig. 21 and 22, the elevating mechanism 23 includes an elevating driving servo motor 231, a driven sprocket 232, an elevating frame 233, a weight block 234, a driving sprocket 235, and a driving shaft 236. Two driving sprockets 235 are fixed on a driving shaft 236, one end of the driving shaft 236 is connected with a lifting driving servo motor 231, and the other end of the driving shaft 236 is fixed on a supporting vertical plate of the filling machine frame 22 through a bearing with a seat. The lifting frame 233 is composed of a main frame beam and four lifting arms extending outwards along four corners of the main frame beam, two adjacent lifting arms of the lifting frame 233 are perpendicular to each other, the lifting frame 233 and the balancing weight 234 are respectively arranged on two sides of the driving shaft 236, one ends of a first chain and a second chain are respectively connected with the two lifting arms through two driving chain wheels 235, the other ends of the first chain and the second chain are connected with the balancing weight 234, one ends of a third chain and a fourth chain are respectively connected with the other two lifting arms through two driving chain wheels 235 and one ends of two driven chain wheels 232, and the other ends of the third chain and the fourth chain are connected with the balancing weight 234. The servo motor drives the driving sprocket 235 through the driving shaft 236 to realize the up-and-down movement of the lifting frame 233 through the first chain, the second chain, the third chain and the fourth chain.

The central lower part of the main frame beam of the lifting frame 233 is connected and fixed with the automatic bag clamping mechanism 24 through a flange, and four automatic hook devices 25 are respectively fixed on four suspension arms of the lifting frame 233.

Referring to fig. 23 and 24, the automatic bag clamping mechanism 24 includes a discharge pipe 241, a clamping arm 242, a first link 243, a first swing link 244, a clamping arm driving cylinder 245, a bag stretching rod 246, a second swing link 247, a second link 248, and a bag stretching rod driving cylinder 249. Two sides of the discharge pipe opening of the discharge pipe 241 extend downwards to form a bag sleeving part, as shown in the figure, the bag sleeving part is an inverted triangle-like arc surface, the diameter of a bag sleeving pipe is constant from bottom to top along the direction of a connecting line of the bottoms of the bag sleeving parts at the two sides, the diameter of the bag sleeving pipe is vertical to the direction of the connecting line of the bottoms of the bag sleeving parts at the two sides, and the diameter of the bag sleeving pipe is gradually increased from bottom to top; theoretically bagging-off sack opening width of gathering is fixed, but the sack is flexible, sack opening width compares with the design and has the deviation behind the actual opening, the cover bag part of design, it is less at first to insert the cover bag bottom width of sack, it can insert the sack to ensure to overlap bag part, then under the guide effect of cover bag part outline, guarantee that the sack can overlap completely on the discharging pipe, this design has not changed the diameter size of discharging pipe, do not influence unloading speed, can play sack guide effect again, the soft randomness of sack itself has been overcome, it can overlap smoothly on the discharging pipe to have guaranteed the sack, the bagging success rate has been improved. Discharging pipe 241 upper portion is provided with two sets of arm lock supporting component and two sets of bag supporting component that prop, and every group arm lock supporting component and every group prop a bag supporting component and contain two backup pads, and two sets of arm lock supporting component and two sets of bag supporting component of propping set up along discharging pipe 241 axis symmetry respectively, and two sets of arm lock supporting component and two sets of bag supporting component of propping are "cross" and set up.

The oppositely arranged clamping arms 242 are respectively connected with two support plates which are arranged in parallel in the clamping arm support assembly through a first rotating shaft, one end of a first connecting rod 243 is connected with a crank of the clamping arm 242 through a second rotating shaft, the other end of the first connecting rod 243 is connected with one end of a first swing rod 244 through a third rotating shaft, the other end of the first swing rod 244 is connected with two support plates in the clamping arm support assembly through a fourth rotating shaft, and a piston rod of a clamping arm driving cylinder 245 of which the tail part is fixed on the discharge pipe 241 is connected with the first swing rod 244. The clamping arm driving cylinder 245 acts to drive the first swing rod 244 to rotate around the fourth rotating shaft, and the first connecting rod 243 drives the clamping arm 242 to rotate around the first rotating shaft, so that a bag opening of the clamping arm 242 is clamped or loosened.

The tail part of the bag supporting rod is fixed on the supporting plates which are arranged in parallel in the bag supporting component, the piston rod of a bag supporting rod driving cylinder 249 is connected with a second connecting rod 248 crank, and the second connecting rod 248 is connected with the supporting plates through a fifth rotating shaft. The upper end of the bag supporting rod 246 is fixedly connected with the lower end of the connecting rod 2410, the upper end of the connecting rod 2410 is connected with the second connecting rod 248 through a sixth rotating shaft, one end of the second swing rod 247 is connected with the supporting plate through an eighth rotating shaft, and the other end of the second swing rod 247 is connected with the lower end of the connecting rod 2410 through a seventh rotating shaft. The distance between the fifth rotating shaft and the sixth rotating shaft is equal to the distance between the seventh rotating shaft and the eighth rotating shaft, and the distance between the fifth rotating shaft and the seventh rotating shaft is equal to the distance between the sixth rotating shaft and the eighth rotating shaft. The bag supporting rod drives the air cylinder 249 to act, drives the second connecting rod 248 to rotate around the fifth rotating shaft, and drives the bag supporting rod 246 to move in parallel and move vertically through the connecting rod 2410 of the second swing rod 247. The clamping arm 242 includes a rod-shaped structure and a triangular structure; the upper end of the rod-shaped structure is connected with the clamping arm driving transmission mechanism, the lower end of the rod-shaped structure is connected with one corner of the triangular structure, a clamping jaw is arranged on the outer portion of one corner of the other two corners of the triangular structure, which is close to the outer surface of the discharging pipe 241, and the clamping jaw presses the opening of the bag on the outer surface of the discharging pipe 241 as shown in fig. 29.

The automatic bag clamping mechanism 24 works as follows:

(1) an initial state: the two clamping arms 242 are opened, the two bag supporting rods 246 are close to the outer side of the wall of the discharge pipe 241, and the automatic bagging machine 1 sleeves the opened flexible freight bag on the discharge pipe 241;

(2) bag clamping work: the two clamping arm driving cylinders 245 move simultaneously, and the two first swing rods 244 rotate to drive the two clamping arms 242 to rotate around respective rotating shafts simultaneously through the two first connecting rods 243 respectively so as to clamp the bag mouth;

(3) bag opening work: after the filling of the flexible freight bag is finished, the two clamping arm driving cylinders 245 reset, the two clamping arms 242 are opened, then the two bag supporting rods drive the cylinders 249 to move simultaneously, the two second connecting rods 248 rotate around the fifth rotating shaft to respectively drive the two second swing rods 247 to swing and the two connecting rods 2410 to vertically and parallelly move, so that the two bag supporting rods 246 vertically and parallelly move along the direction far away from the outer side of the wall of the discharge pipe 241, the bag openings of the flexible freight bag are supported into a linear shape, and the linear freight bag is conveyed to a subsequent sealing station.

As shown in fig. 25, 26 and 27, the automatic hooking device 25 includes a fixing bracket 251, a hooking rod 252, a hook body 253, a tape shifting fork 254, a tape detecting fork 255, a hooking rod driving cylinder 256, a hook body driving cylinder 257, a tape shifting fork driving cylinder 258, and a return spring 259.

The fixing frame 251 comprises two fixing plates which are fixed on the suspension arm of the lifting frame 233 in the lifting mechanism 23 through four fastening screws, wherein each fixing plate is composed of a rectangular plate and an L-shaped arm plate extending from the right side of the rectangular plate, and the tail end of the L-shaped arm plate is connected with the tail end of the hook rod driving cylinder 256.

The hooked rod 252 comprises the inside and outside hooked rod of overlapping each other and establishing, and outer hooked rod left side is equipped with adjusting screw, and interior hooked rod left side is equipped with fastening seat, and adjusting screw passes fastening seat hole, through adjusting screw's length, can change the inside length of the hooked rod cover of interior hooked rod and establishing the outside hooked rod of entering to change hooked rod 252's length. Interior hook pole upper portion is connected through the ninth pivot with the mount, and interior hook pole upper portion right side is equipped with the journal stirrup, and the journal stirrup is connected with the piston rod of hook pole actuating cylinder 256, and the hook pole actuating cylinder 256 drive move interior hook pole around the ninth pivot rotatory, and then drive hook pole 252 and coupler body 253 around the rotatory certain angle of ninth pivot, make coupler body 253 be close to ton bag rings. The left side on outer hook rod upper portion is equipped with the cylinder block, drives the trailing end connection of actuating cylinder 257 with the coupler body, and the right side on outer hook rod upper portion is equipped with the cylinder block, drives the trailing end connection of actuating cylinder 258 with shifting the area fork. The front and back of the left lower part of the outer hook rod are respectively provided with a stop block for limiting the position of the belt detection fork 255, and the front and back of the right lower part of the outer hook rod are respectively provided with a detection switch for detecting the belt detection fork 255.

The upper end of the hook 253 is connected with the lower end of the outer hook rod of the hook rod 252 through a tenth rotating shaft, the left part of the hook 253 is provided with a support lug, and the support lug is connected with a piston rod of a hook driving cylinder 257. The hook body driving cylinder 257 drives the hook body 253 to rotate around the tenth rotating shaft, so that the function of hooking and hanging a ring is realized.

The eleventh rotating shaft is arranged at the lower end of the hook rod 252, one end of the crank is fixed in the middle of the eleventh rotating shaft, the other end of the crank is connected with a piston rod of the tape shifting fork driving cylinder 258, the tape shifting fork 254 is fixed at two ends of the eleventh rotating shaft through fastening screws, the tape shifting fork driving cylinder 258 drives the eleventh rotating shaft to rotate, and then the tape shifting fork 254 rotates around the third rotating shaft. The shifting fork 254 is used for shifting the hanging ring to be close to the hook body 253.

The belt detection fork 255 is installed at both ends of the tenth rotation shaft, two return springs 259 are respectively sleeved on the tenth rotation shaft on the front and back surfaces of the hook rod 252, one end of the return spring 259 is connected with the hook rod 252, and the other end is connected with the upper part of the belt detection fork 255 in a pressing manner, so that the upper part of the belt detection fork 255 is pressed on the stopper, and the belt detection fork 255 is used for detecting whether the hook body 253 hooks the hanging ring. When the hanging ring is sleeved on the hook body, the hanging ring is pressed on the belt detection fork 255, the belt detection fork 255 rotates around the tenth rotating shaft to the detection switch arranged on the outer hook rod, and meanwhile, the return spring 259 is compressed by a certain amount. When the hanging ring is disengaged from the hook body, the belt detection fork 255 is separated from the detection switch by the return spring 259 and rotates back to the initial position.

The operation of the automatic hooking means 25 is as follows:

(1) hanging a hanging ring: the hook rod drives the air cylinder 256 to act, and the hook rod 252 drives the hook body 253 to rotate around the ninth rotating shaft, so that the hook body 253 is close to the hanging ring; the hook body drives the cylinder 257 to act, and the hook body 253 rotates around the tenth rotating shaft to hook the hanging ring;

(2) a band pulling ring: the shifting belt fork driving cylinder 258 acts, the shifting belt fork 254 rotates around the eleventh rotating shaft, the hanging ring is driven to enable the belt detection fork 255 to rotate for a certain angle, meanwhile, the return spring 259 is compressed, and whether the hanging ring is successfully hooked is confirmed through the detection switch;

(3) removing a lifting ring: after the filling is finished, the shifting belt fork driving cylinder 258 resets, the hook body driving cylinder 257 acts, the hanging ring is separated from the hook body 253, the belt detection fork 255 resets under the action of the reset spring 259, the hook rod driving cylinder 256 resets, the hook rod 252 drives the hook body 253 to return to the initial position, and the unhooking work is finished.

As shown in fig. 28, the positioning mechanism 26 includes a movable plate 261, a stationary plate 262, a movable plate rotating frame 263, and a movable plate driving cylinder 264. The two static plates 262 and the two movable plates 261 are respectively arranged oppositely, the two static plates 262 are respectively arranged on two beams at the lower part of the frame 22, the two movable plate rotating frames 263 are respectively fixed on the two beams at the lower part of the frame 22 through rotating shafts, the two movable plates 261 are respectively arranged on the two movable plate rotating frames 263, and the piston rod of a movable plate driving cylinder 264 with the tail part fixed on the beam of the frame 22 is connected with the crank shaft of the movable plate rotating frame 263. The movable plate driving cylinder 264 drives the movable plate rotating frame 263 to rotate the movable plate 261 to a predetermined position.

The conveyor 27 is driven by a motor to realize full-package delivery out of the filling station.

The actual working process of the automatic filling device 2 is as follows:

(1) initial state: the lifting frame 233, the automatic bag clamping mechanism 24 and the automatic hook 25 are all located at a high position, the mouth of the container bag is sleeved outside the pipe wall of the discharge pipe 241, the two clamping arms 242 are located at a closed position to clamp the mouth of the bag, and the four hook rods 252 are located far away from the container bag hanging ring;

(2) and (4) bag blowing: air enters the container bag through a channel between the outer cylinder and the inner cylinder of the bag-blowing falling cylinder 21, after the bag-blowing of the container bag is completed, the two movable plates drive the air cylinders 264 to move simultaneously, the two movable plates 261 rotate to preset positions and are matched with the two static plates 262, and the position of a bag body of the container bag is adjusted;

(3) hanging a hanging ring: the four hook rod driving cylinders 256 act simultaneously, the four hook rods 252 drive the hook bodies 253 to rotate around the shafts in the direction close to the discharge pipe 241, and the four hook body driving cylinders 257 enable the four hook bodies 253 to hook four hanging rings of the container bag respectively;

(4) a band pulling ring: the shifting belt fork drives the cylinder 258 to act, the shifting belt fork 254 rotates around a shaft, the hanging ring is driven to enable the belt detection fork 255 to rotate for a certain angle, meanwhile, the return spring 259 is compressed, and whether the belt ring is successfully hooked or not is confirmed by detecting the belt detection fork 255;

(5) filling: after the success of the hook is confirmed, the materials enter the packaging bag through the inner barrel of the bag-blowing and material-dropping barrel 21 and are filled;

(7) taking off the lifting ring and loosening the clamping bag: after filling is finished, the lifting driving servo motor 231 drives the lifting frame 233 through a chain and lowers to a low position together with the automatic bag clamping mechanism 24, the automatic hooking device 25 and the full bag, then the hook body driving cylinder 257 and the tape shifting fork driving cylinder 258 act, the lifting ring is separated from the hook body 253, the tape detection fork 255 resets under the action of the reset spring 259, the hook rod driving cylinder 256 acts, the hook rod 252 drives the hook body 253 to be far away from the discharging pipe 241, the clamping arm driving cylinder 245 and the bag supporting rod driving cylinder 249 act simultaneously, the clamping arm 242 releases the bag mouth, and the bag mouth is supported into a linear shape by the two bag supporting rods 246;

(8) and (3) full package output: lifting drive servo motor 231 passes through chain drive crane 233 to rise to the high position together with automatic bag mechanism 24 of pressing from both sides and automatic hooker 25, the action of movable plate drive cylinder 264, movable plate 261 rotates to the conveyer outside, and the conveyer will be fully wrapped and remove to follow-up station, accomplishes whole filling work.

The actual working process of the automatic packaging system of the invention is as follows:

(1) identifying the position of the opening of the flexible freight bag: the visual detection assembly 131 moves to the upper part of the bag bin mechanism 12, and the specific position information of the opening of the packaging bag is identified and calculated;

(2) grabbing the flexible freight bag: according to the bag opening position information, the bag taking gripper 15 is moved to the bag opening position by the bag feeding mechanism 14, the sucking disc 156 sucks the bag opening in the container bag, and after the bag taking gripper 15 adjusts the posture, the bag taking gripper fingers 153 clamp the inner bag opening and the outer bag opening of the container bag together to finish bag taking;

(3) moving the flexible freight bag: the bag feeding mechanism 14 lifts the bag taking hand grip 15 and the container bag to a certain height, and after the container bag to be taken is separated from the bag stack, the container bag is moved to the bag placing platform 162;

(4) placing a flexible freight bag: the lower sucker cavity of the bag placing platform 162 sucks the lower surface of the inner bag opening of the packaging bag, mechanical fingers 1661 tightly press necks of the inner bag and the outer bag of the packaging bag on the bag placing platform 162, fingers 153 of a bag taking hand grip 15 release the bag opening, and the packaging bag is placed completely;

(5) opening of the flexible freight bag: the upper sucker cavity 1641 moves downwards to the upper surface of the inner bag opening of the flexible freight bag along the vertical direction, and after the upper surface of the inner bag opening is sucked, the upper sucker cavity 1641 moves upwards along the vertical direction to drive the inner bag opening to open the opening of the flexible freight bag;

(6) bagging of the flexible freight bags: after the bag opening hand 1733 of the bag sleeving mechanism 17 is movably inserted into the bag opening of the container bag, the clamping fingers 1735 clamp two sides of the bag opening of the container bag, the bag sleeving sliding plate assembly 172 moves to drive the bag opening hand 1733 and the container bag to move to the discharge opening, the bag opening hand 1733 drives the container bag to rotate 90 degrees, and the bag opening of the container bag is sleeved on the discharge opening to complete bag sleeving work;

(7) the flexible container moves to the filling station: the bag supporting assembly drives the air cylinder 174 to act, the bag supporting assembly 173 rotates by 90 degrees, and the motor 175 drives the bag sleeving sliding plate assembly 172 to enable the bag supporting hand 1733 to clamp the flexible freight bag and move to the filling station;

(8) clamping a bag opening of a packaging bag: the lifting driving servo motor 231 drives the discharge pipe 241 to vertically move downwards to be inserted into the bag opening of the collecting bag, the clamping arms drive the air cylinder 245 to act, and the clamping arms 242 clamp the bag opening;

(9) flexible container drum bag: gas enters the bag through an interlayer of the outer cylinder and the inner cylinder of the bag-blowing charging barrel 21, after the bag-containing bag is blown, the two movable plates drive the air cylinders 264 to move simultaneously, the two movable plates 261 rotate to preset positions and are matched with the two static plates 262, and the position of the bag body is adjusted;

(10) hanging rings on the flexible freight bags: the four hook rod driving cylinders 256 act simultaneously, the four hook rods 252 drive the hook bodies 253 to rotate around the shafts in the direction close to the discharge pipe 241, and the four hook body driving cylinders 257 enable the four hook bodies 253 to hook four hanging rings of the container bag respectively;

(11) a flexible container band ring: the shifting belt fork drives the cylinder 258 to act, the shifting belt fork 254 rotates around a shaft to drive the hanging ring to enable the belt detection fork 255 to rotate for a certain angle, meanwhile, the return spring 259 is compressed, and whether the belt ring is successfully hooked or not is confirmed by detecting the belt detection fork 255;

(12) filling a flexible container: after the success of the hook is confirmed, the weighed materials enter a packaging bag through the inner barrel of the bag-blowing and material-dropping barrel 21 and are filled; or the materials are metered through the feeding mechanism 4 while being filled through the inner cylinder of the bag-blowing and material-dropping barrel 21, and the filling is finished after the weighing is finished;

(13) the flexible freight bag takes off the rings and loosens the clamp bag: the lifting driving servo motor 231 drives the lifting frame 233 through a chain and lowers to a low position together with the automatic bag clamping mechanism 24, the automatic hook 25 and the full bag, then the hook body driving cylinder 257 and the tape shifting fork driving cylinder 258 act, the lifting ring is separated from the hook body 253, the tape detection fork 255 resets under the action of the reset spring 259, the hook rod driving cylinder 256 acts, the hook rod 252 drives the hook body 253 to be far away from the discharge pipe 241, the clamping arm driving cylinder 245 and the bag supporting rod driving cylinder 249 act simultaneously, the clamping arm 242 releases the bag mouth, and the two bag supporting rods 246 support the bag mouth into a linear shape;

(14) and (4) full package output: the lifting driving servo motor 231 drives the lifting frame 233 through a chain and lifts to a high position together with the automatic bag clamping mechanism 24 and the automatic hooking device 25, the movable plate drives the cylinder 264 to act, the movable plate 261 rotates to the outer side of the conveyor, and the conveyor moves a full bag to the next station to complete the whole packaging work.

The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.

Those skilled in the art will appreciate that those matters not described in detail in the present specification are not particularly limited to the specific examples described herein.

Claims

1. An automatic packaging system for flexible freight bags is characterized by comprising an automatic bagging machine (1), an automatic filling device (2), a weighing mechanism (3), a feeding mechanism (4) and a buffer bin (5);

the buffer bin (5) is used for buffering materials;

the feeding mechanism (4) is arranged below the buffer bin (5), and a feeding hole of the feeding mechanism (4) is connected with a discharging hole of the buffer bin (5) and used for controlling the discharging speed of the material according to a control instruction transmitted by the weighing mechanism (3);

the automatic bagging machine (1) comprises a bag warehouse mechanism (12), a bag feeding mechanism (14), a bag opening recognition mechanism (13), a bag taking gripper (15), a bag placing opening platform (16) and a bagging mechanism (17);

the bag storehouse mechanism (12) is used for storing stacked flexible freight bags;

the bag opening recognition mechanism (13) is arranged above the bag warehouse mechanism (12) and is used for recognizing the opening of a flexible freight bag positioned at the top in the stacked flexible freight bags;

the bag feeding mechanism (14) is positioned above the bag warehouse mechanism (12) and the bag placing opening platform (16), and the lower end of the bag feeding mechanism (14) is connected with a bag taking gripper (15); the bag feeding mechanism (14) drives the bag taking gripper (15) to move to the upper part of the bag warehouse mechanism (12), and the bag taking gripper (15) grips the opening of a flexible freight bag positioned at the top in the stacked flexible freight bags; the bag feeding mechanism (14) drives the bag taking gripper (15) to move to the bag placing opening platform (16), and the bag taking gripper (15) places the gripped flexible freight bag on the bag placing opening platform (16);

the bag placing opening platform (16) is positioned in front of the bag warehouse mechanism (12) to realize the opening of the flexible freight bag;

the bagging mechanism (17) is used for opening and clamping the opened flexible freight bag, and conveying the opened flexible freight bag to the automatic filling device (2) to complete bagging;

the automatic filling device (2) is located on one side of the automatic bagging machine (1), the automatic filling device (2) is located below the feeding mechanism (4), the automatic filling device (2) receives the materials output by the feeding mechanism (4) after the flexible freight bags are subjected to bag bulging, the materials are filled into the flexible freight bags, the mouths of the flexible freight bags after filling are shaped, and the shaped flexible freight bags are fully packaged and output to a subsequent sealing station;

the weighing mechanism (3) is used for obtaining the actual material amount in the filling process, generating a control instruction according to the difference value of the filling target material amount and the filling actual material amount, and sending the control instruction to the feeding mechanism (4).

2. The automatic packaging system for flexible bulk bags according to claim 1, characterized in that the feeding mechanism (4) is one of a gravity arc plate feeding mechanism, a screw conveying feeding mechanism or a combined gravity and screw conveying feeding mechanism;

a feed port of the weighing mechanism (3) is connected with a discharge port of the feeding mechanism (4), a discharge port of the weighing mechanism (3) is connected with a feed port of the automatic filling device (2), and the weighing mechanism (3) fills the materials into the flexible freight bag after acquiring the actual material quantity;

or, weighing mechanism (3) is for locating the sensing device of automatic irritate material device (2) bottom, and the discharge gate of feed mechanism (4) is connected to the feed inlet of automatic irritate material device (2), and automatic irritate material device (2) and pack the material into the collection bag after, weighing mechanism (3) weigh automatic irritate material device (2) and the collection bag whole that contains the material, obtain the actual material volume in the collection bag.

3. An automatic packaging system for flexible bulk bags according to claim 1, characterised in that the automatic bagging machine (1) further comprises a bagging machine frame (11) for mounting the bag feeding mechanism (14), the bag mouth identifying mechanism (13) and the bagging mechanism (17);

the bagging machine frame (11) comprises a front upright post assembly (111), an upper frame beam (112), a rear upright post assembly (113) and a bottom frame beam (114), wherein the front upright post assembly (111) and the rear upright post assembly (113) are respectively arranged in front of the bag placing opening platform (16) and behind the bag storage mechanism (12), and the upper frame beam (112) is supported above the bag storage mechanism (12) and the bag placing opening platform (16) through the front upright post assembly (111) and the rear upright post assembly (113); the front end and the rear end of the bottom frame beam (114) are respectively connected with the bottoms of the front upright post component (111) and the rear upright post component (113) and used for limiting the bag warehouse mechanism (12) and the bag placing opening platform (16);

the upper frame beam (112) comprises two upper beams which are parallel to each other, and each upper beam is arranged along the front-back direction;

the bag mouth recognition mechanism (13) comprises a visual detection assembly (131), a rotating frame (132) and a rotation driving cylinder (133);

one end of the rotating frame (132) is connected with the rear upright post assembly (113), the other end of the rotating frame (132) is fixedly provided with the visual detection assembly (131), the rotating driving air cylinder (133) is fixed on the rear upright post assembly (113), and the rotating driving air cylinder (133) drives the rotating frame (132) to rotate on the horizontal plane, so that the visual detection assembly (131) is prevented from colliding with the bag feeding mechanism (14);

the visual detection component (131) comprises a shell, a camera, an image acquisition card and an image processing module, wherein the camera and the image processing module are fixed on the image acquisition card through a clamping groove, and the image acquisition card is fixed on the shell.

4. An automated packaging system for flexible bulk bags according to claim 3, characterised in that the bag feeding mechanism (14) comprises a guide rail (141), a bag feeding cart (142), a bag taking arm assembly (143) and a cart body drive assembly (144);

the number of the guide rails (141) is 2, and the 2 guide rails (141) are respectively arranged on the inner sides of two upper beams in the upper frame beam (112);

the vehicle body driving component (144) drives the bag conveying vehicle (142) to move along the guide rail (141);

the bag conveying trolley (142) comprises 2 first sliding rails (1422), 2 first sliding rail sliding blocks (1423), a sliding plate driving assembly (1425) and a bag conveying sliding plate assembly (1424); the 2 first sliding rails (1422) are arranged between the 2 guide rails (141) in parallel, and the first sliding rails (1422) are vertical to the guide rails (141) along the horizontal direction; the slide plate driving assembly (1425) drives the bag feeding slide plate assembly (1424) to move along the first slide rail (1422);

a bag feed slide assembly (1424) includes a bag feed slide (14241) and a first toothed plate (14243); the sliding plate driving assembly (1425) comprises a sliding plate servo motor (14251), a sliding plate driving wheel (14252), a sliding plate driving synchronous belt (14253) and a sliding plate driving driven wheel (14254);

the upper end and the lower end of the bag feeding sliding plate (14241) are respectively arranged on a first sliding rail (1422) through two first sliding rail sliding blocks (1423); a sliding plate driving wheel (14252) and a sliding plate driving driven wheel (14254) are respectively arranged above two ends of a first sliding rail (1422), a sliding plate driving synchronous belt (14253) is connected with the sliding plate driving wheel (14252) and the sliding plate driving driven wheel (14254), a first toothed plate (14243) is matched with the upper end face of a bag feeding sliding plate (14241), a clamping sliding plate driving synchronous belt (14253) is used for realizing the fixed connection of a bag feeding sliding plate component (1424) and a sliding plate driving synchronous belt (14253), a sliding plate servo motor (14251) drives the sliding plate driving wheel (14252) to rotate, and then the bag feeding sliding plate component (1424) is driven to move along the first sliding rail (1422) through a sliding plate driving synchronous belt (14253);

the bag taking arm component (143) comprises a large arm plate (1431), a small arm component (1438), a bag taking arm driving transmission mechanism and a gripper driving component; the big arm plate (1431) is connected with the bag feeding sliding plate assembly (1424), the bag taking arm driving transmission mechanism is used for realizing the up-and-down movement of the big arm plate (1431) relative to the bag feeding sliding plate assembly (1424), the bag taking gripper is installed on the big arm plate (1431) through the small arm assembly (1438), and the gripper driving assembly is used for realizing the up-and-down movement of the small arm assembly (1438) relative to the big arm plate (1431);

the bag taking arm driving transmission mechanism comprises a second slide rail (1432), a second slide rail sliding block (1433), a first transmission rack (1434), a bag taking arm driving servo motor (14310) and a first transmission gear (14311);

the large arm plate (1431) is arranged along the vertical direction, the number of the second sliding rails (1432) is two, the two second sliding rails (1432) are arranged on the first surface of the large arm plate (1431) in parallel along the vertical direction, the first transmission rack (1434) is parallel to the second sliding rails (1432) and located between the two second sliding rails (1432), the bag conveying sliding plate assembly (1424) is fixedly connected with the second sliding rail sliding blocks (1433), the second sliding rail sliding blocks (1433) are arranged on the second sliding rails (1432), the first transmission gear (14311) is meshed with the first transmission rack (1434), the bag taking arm drives the servo motor (14310) to drive the first transmission gear (14311) to rotate, and the first transmission gear (14311) drives the large arm plate (1431) to move vertically relative to the bag conveying sliding plate assembly (1424) through the first transmission rack (1434);

the gripper driving assembly comprises a rodless cylinder (1435), a third slide rail (1436), a third slide rail slide block (1437) and a gripper rotation driving servo motor (1439);

the third slide rail (1436) is installed on a second surface of the large arm plate (1431) in parallel in the vertical direction, the small arm assembly (1438) is installed on the third slide rail (1436) through a third slide rail slide block (1437), and the rodless cylinder (1435) drives the small arm assembly (1438) to move vertically along the third slide rail (1436); the small arm assembly (1438) is fixedly connected with the bag taking gripper, the gripper rotates to drive the servo motor (1439) to drive the small arm assembly (1438) to rotate, and the small arm assembly (1438) rotates to drive the bag taking gripper to rotate;

the bagging mechanism (17) comprises a support frame (171), a bagging sliding plate assembly (172), a bag supporting assembly (173), a bag supporting assembly driving cylinder (174), a motor (175) and a second transmission gear (176);

the bag set slide assembly (172) comprises a bag set slide (1721), a fifth sliding rail (1722), a second transmission rack (1723) and a fifth sliding rail slide (1724); the bag opening component (173) comprises a bag opening rotating frame (1731), a bag opening hand driving cylinder (1732), a bag opening hand (1733), a clamping finger driving cylinder (1734) and a clamping finger (1735);

the bag opening rotating frame (1731) is vertically arranged on the second surface of the bag sleeving sliding plate (1721), 2 bag opening hands (1733) are arranged, each bag opening hand (1733) comprises an arm and a palm arranged at the first end of the arm, the second ends of the arms of the 2 bag opening hands (1733) are arranged on the bag opening rotating frame (1731), and the palms of the 2 bag opening hands (1733) are oppositely arranged;

the bag opening assembly driving cylinder (174) is used for driving the bag opening rotating frame (1731) to rotate around the direction vertical to the bag sleeving sliding plate (1721), so that the arm of the bag opening hand (1733) is vertically downward when opening the flexible freight bag, and is horizontally when sleeving the opening of the flexible freight bag at the discharge opening; after palms of the 2 bag opening hands (1733) are inserted into the open flexible freight bag, the bag opening hand driving cylinder (1732) drives palms of the 2 bag opening hands (1733) to move away along the direction vertical to the bag sliding plate (1721) to open the flexible freight bag; the clamping fingers (1735) are arranged on the outer side of the palm of the bag opening hand (1733), and the clamping finger driving cylinder (1734) drives the clamping fingers (1735) to rotate so as to press the opening of the flexible freight bag onto the palm of the bag opening hand (1733);

the motor (175) is fixedly mounted on the upper portion of the front upright post assembly (111), 2 parallel fifth sliding rails (1722) are arranged on the first surface of the bagging sliding plate (1721), the second transmission rack (1723) is arranged between the 2 fifth sliding rails (1722), the supporting frame (171) is mounted on the fifth sliding rails (1722) through a fifth sliding rail sliding block (1724), and the motor (175) is fixedly connected with the supporting frame (171); an output shaft of the motor (175) is connected with a second transmission gear (176), the second transmission gear (176) is meshed with a second transmission rack (1723), the motor (175) drives the bagging sliding plate (1721) to move along the direction of a fifth sliding rail (1722) through the transmission of the second transmission gear (176) and the second transmission rack (1723) to drive a bag opening hand (1733) to reciprocate between the bag placing opening platform (16) and the discharging opening, and the bag opening hand (1733) sleeves the mouth of the flexible freight bag at the discharging opening after reaching the discharging opening; the fifth slide rail (1722) is parallel to the horizontal component of the connecting line from the bag placing opening platform (16) to the feed opening.

5. The automated packaging system for flexible bulk bags according to claim 4, wherein the cart drive assembly (144) comprises a cart drive wheel (1441), a cart drive primary shaft (1442), a cart drive wheel (1443), a cart drive driven wheel (1444), a cart drive synchronous belt (1445), and a cart drive transmission mechanism;

the inner sides of the tail end and the start end of each guide rail (141) are respectively provided with a vehicle body driving wheel (1441) and a vehicle body driving driven wheel (1444), the vehicle body driving wheel (1441) and the vehicle body driving driven wheel (144) are connected through a vehicle body driving synchronous belt (1445), the vehicle body driving synchronous belt (1445) is parallel to the guide rails (141), and the vehicle body driving synchronous belt (1445) is fixedly connected with the bag conveying vehicle (142); a vehicle body driving main shaft (1442) is arranged between 2 vehicle body driving wheels (1441) on the inner side of the tail ends of the 2 guide rails (141), two ends of the vehicle body driving main shaft (1442) are fixed to the front ends of the two upper beams of the upper frame beam (112) through bearings, and a vehicle body driving wheel (1443) is arranged on the vehicle body driving main shaft (1442); the trolley body driving transmission mechanism drives a trolley body driving wheel (1443) to rotate, the trolley body driving wheel (1443) rotates to drive a trolley body driving wheel (1441) to rotate through a trolley body driving main shaft (1442), and the trolley body driving wheel (1441) drives a synchronous belt (1445) to drive a bag conveying trolley (142) to move along a guide rail (141);

the vehicle body driving transmission mechanism comprises a vehicle body driving servo motor (1446), a speed reducer (1447), a speed reducer output wheel (1448) and a driving wheel driving synchronous belt (1449);

the speed reducer (1447) is connected with an output shaft of a vehicle body driving servo motor (1446), a speed reducer output wheel (1448) is installed on the output shaft of the speed reducer (1447), and the speed reducer output wheel (1448) is connected with a vehicle body driving wheel (1443) through a driving wheel driving synchronous belt (1449).

6. An automated packaging system for flexible bulk bags according to claim 5, characterized in that the carriage (1421) comprises side plates (14211), a wheel set (14216), a first sled beam (14212), a sled drive driven wheel mounting plate (14213), a sled servo motor mounting plate (14214), a second toothed plate (14218) and a spacing wheel (14217);

the number of the side plates (14211) and the number of the first slide rail beams (14212) are 2, 2 parallel and vertically distributed first slide rail beams (14212) are arranged between the 2 parallel side plates (14211), the first slide rail beams (14212) are vertical to the side plates (14211), and the first slide rails (1422) are arranged on the first slide rail beams (14212); the sliding plate driving driven wheel mounting plate (14213) and the sliding plate servo motor mounting plate (14214) are respectively arranged at two ends of the first sliding rail beam (14212) which is positioned above the 2 first sliding rail beams (14212), and the sliding plate driving driven wheel mounting plate (14213) and the sliding plate servo motor mounting plate (14214) are respectively used for mounting a sliding plate driving driven wheel (14254) and a sliding plate driving wheel (14252); the wheel sets (14216) are 2 groups, the 2 groups of wheel sets (14216) are arranged on the outer side of the side plate (14211) and are respectively matched with the upper surface and the lower surface of the guide rail (141), and each group of wheel sets (14216) comprises more than or equal to 2 wheels; the limiting wheel (14217) is installed on the side plate (14211), and the limiting wheel (14217) is attached to the inner side face of the guide rail (141) to realize limiting along the direction of the guide rail (141); the top of the side plate (14211) extends outwards to form a wing plate, the lower end face of the wing plate is matched with the second toothed plate (14218) to clamp the vehicle body driving synchronous belt (1445), and the vehicle body driving synchronous belt (1445) is fixedly connected with the bag conveying vehicle (142).

7. The automated packaging system for flexible bulk bags according to claim 1, characterized in that the bag pick up gripper (15) comprises a wrist assembly (151), a bag pick up tray assembly (152), a bag pick up gripper finger (153), a rotation drive cylinder (154), a bag pick up gripper finger drive cylinder (155), a suction cup (156) and a suction cup drive cylinder (157);

the bag taking tray assembly (152) comprises a bag taking tray (1521); the wrist component (151), one end of a bag taking gripper finger (153), the rotating driving cylinder (154), the bag taking gripper finger driving cylinder (155) and the sucking disc driving cylinder (157) are all arranged on the upper surface of a bag taking disc (1521), and the sucking disc (156) is arranged on the lower surface of the bag taking disc (1521);

the wrist component (151) is connected to the lower end of the bag feeding mechanism (14), and the rotation driving cylinder (154) drives the bag taking disc (1521) to rotate relative to the wrist component (151); the suction disc (156) sucks the mouth of the flexible freight bag, and the suction disc driving cylinder (157) drives the suction disc (156) to rise to be flush with the lower surface of the bag taking disc (1521); bag taking hand grab fingers (153) are located on two sides of the bag taking disc (1521), the bag taking hand grab finger driving air cylinder (155) drives the other end of the bag taking hand grab finger (153) to rotate downwards, and a flexible freight bag neck is tightly pressed on the lower surface of the bag taking disc (1521).

8. The automated packaging system for flexible bulk bags according to claim 1, wherein the bag placement opening platform (16) comprises a support frame assembly, a bag placement platform (162), a bag neck press mechanism (166), an opening assembly (164), an upper bag clamp assembly (165) and a lower bag clamp assembly (167);

the bag placing platform (162) is fixed on the supporting frame component; the bag mouth orientation of the flexible freight bag when the flexible freight bag is placed on the bag placing opening platform (166) is the left direction, the bag pressing neck mechanism (166) is arranged at the right part of the bag placing platform (162), and the bag pressing neck mechanism (166) is used for pressing the flexible freight bag neck part on the bag placing platform (162);

the opening assembly (164) comprises an upper sucker cavity (1641), a lower sucker cavity (1645) and an opening driving transmission mechanism, the opening driving transmission mechanism is fixed on the supporting frame assembly, the upper sucker cavity (1641) is positioned above the bag placing platform (162), the lower sucker cavity (1645) is arranged at the left part of the bag placing platform (162), the upper sucker cavity (1641) and the lower sucker cavity (1645) respectively suck the upper surface and the lower surface of the mouth of the flexible container, and the opening driving transmission mechanism drives the upper sucker cavity (1641) to move up and down relative to the bag placing platform (162) to realize the opening of the mouth of the flexible container; the upper bag clamping component (165) is fixed on the upper sucker cavity (1641); the lower bag clamping component (167) is fixed on the lower sucker cavity (1645); the upper bag clamping assembly (165) and the lower bag clamping assembly (167) are used for respectively clamping the upper surface and the lower surface of the mouth of the flexible freight bag after the mouth of the flexible freight bag is opened;

the opening driving transmission mechanism in the opening assembly (164) comprises a fourth slide rail slide block (1642), a fourth slide rail (1643) and an opening cylinder (1644);

a fourth sliding rail sliding block (1642) and an opening cylinder (1644) are fixed on the supporting frame assembly, the fourth sliding rail (1643) is a linear sliding rail along the vertical direction, the fourth sliding rail (1643) is matched with the fourth sliding rail sliding block (1642), the fourth sliding rail (1643) is fixedly connected with an upper sucker cavity (1641), a piston rod of the opening cylinder (1644) drives the upper sucker cavity (1641) to move, the upper sucker cavity (1641) drives the fourth sliding rail (1643) to move up and down relative to the fourth sliding rail sliding block (1642), and the upper sucker cavity (1641) moves up and down relative to the bag placing platform (162);

the bag pressing neck mechanism (166) comprises two mechanical fingers (1661) and a mechanical finger driving cylinder (1662), wherein the two mechanical fingers are respectively arranged on the two sides of the right part of the bag placing platform (162);

the mechanical finger driving cylinder (1662) drives two mechanical fingers (1661) to be respectively pressed on two sides of the neck of the flexible freight bag;

the upper bag clamping assembly (165) comprises an upper bag clamping plate (1651) and an upper bag clamping cylinder (1652), one end of the upper bag clamping plate (1651) is fixed on the upper sucker cavity (1641), and the other end of the upper bag clamping plate (1651) is driven by the upper bag clamping cylinder (1652) to rotate so as to press the upper surface of the opening of the flexible freight bag on the lower end surface of the upper sucker cavity (1641);

the lower bag clamping assembly (167) comprises a lower bag clamping plate (1671) and a lower bag clamping cylinder (1672), one end of the lower bag clamping plate (1671) is fixed on the lower sucker cavity (1645), and the other end of the lower bag clamping plate (1671) is driven by the lower bag clamping cylinder (1672) to rotate so as to press the lower surface of the mouth of the tightly-gathered bag on the upper end surface of the sucker cavity (1645);

the support frame assembly comprises a platform frame (161) and an upper cross frame (163);

the upper transverse frame (163) is fixed above the platform frame (161), the upper transverse frame (163) comprises a horizontal cross beam parallel to the bag placing platform (162) and a side upright post used for connecting the platform frame (161) and the cross beam, the bag placing platform (162) is fixed on the platform frame (161), and the opening driving transmission mechanism of the opening assembly (164) is fixed on the cross beam of the upper transverse frame (163).

9. The automatic packaging system for flexible bulk bags according to claim 1, characterized in that the automatic filling device (2) comprises a drum bag dropping cylinder (21), a lifting mechanism (23), an automatic bag clamping mechanism (24), an automatic hooking device (25), a positioning mechanism (26) and a conveyor (27);

the feeding mechanism (4) and the air supply device are connected above the bag-blowing and blanking cylinder (21), and the bag-blowing and blanking cylinder (21) is used for blowing and filling the flexible freight bag through the discharge pipe (241) of the automatic bag clamping mechanism (24);

the automatic bag clamping mechanism (24) and the four automatic hooking devices (25) are arranged below the bag blowing and dropping barrel (21) through the lifting mechanism (23), and the four automatic hooking devices (25) are distributed around the automatic bag clamping mechanism (24); the lifting mechanism (23) drives the automatic bag clamping mechanism (24) and the automatic hooking device (25) to move up and down to a high position or a low position; before and during filling, the automatic bag clamping mechanism (24) and the automatic hooking device (25) are positioned at a high position, the automatic bag clamping mechanism (24) and the automatic hooking device (25) move from the high position to a low position after filling, and the automatic bag clamping mechanism (24) and the automatic hooking device (25) drive the filled flexible freight bag to descend onto the conveyor (27); the automatic bag clamping mechanism (24) comprises a discharge pipe (241), a clamping arm component and a bag opening component, wherein the clamping arm component presses the mouth of the flexible freight bag to the outer side of the lower end of the discharge pipe (241) or releases the mouth of the flexible freight bag, and the bag opening component is used for supporting the mouth of the flexible freight bag into a linear shape; the automatic hooking device (25) is used for hooking the hoisting ring of the container bag during filling and separating from the hoisting ring of the container bag before and after filling;

the positioning mechanism (26) is arranged below the automatic bag clamping mechanism (24) and the four automatic hook devices (25) and is used for positioning the container bag body after bag blowing is finished;

the conveyor (27) is arranged below the positioning mechanism (26) and is used for outputting the flexible freight bags with the bag openings stretched into a linear shape to the sealing station.

10. The automatic packaging system for flexible bulk bags according to claim 9, characterized in that the drum bag dropping cylinder (21) comprises an outer cylinder and an inner cylinder arranged inside the outer cylinder, the feeding mechanism (4) is connected with a filling channel formed inside the inner cylinder, and an external air supply device is connected with a drum bag channel formed between the inner cylinder and the outer cylinder;

the lifting mechanism (23) is supported by the material filling machine frame (22);

the lifting mechanism (23) comprises a lifting driving servo motor (231), a driven chain wheel (232), a lifting frame (233), a balancing weight (234), a driving chain wheel (235), a first chain, a second chain, a third chain, a fourth chain and a driving shaft (236);

the driving shaft (236) is fixed on the material filling rack (22) through a bearing, the two driving chain wheels (235) are respectively arranged at two ends of the driving shaft (236), and the two driven chain wheels (232) are supported on the material filling rack (22);

the lifting frame (233) comprises a main frame beam and four lifting arms connected with the main frame beam, the main frame beam of the lifting frame (233) is fixedly connected with the automatic bag clamping mechanism (24), the four lifting arms of the lifting frame (233) are respectively and fixedly connected with the four automatic hook devices (25), and the balancing weight (234) and the lifting frame (233) are respectively arranged on two sides of the driving shaft (236);

the four suspension arms are respectively marked as a first suspension arm, a second suspension arm, a third suspension arm and a fourth suspension arm, the first ends of a first chain, a second chain, a third chain and a fourth chain are all connected with a balancing weight (234), the second ends of the first chain and the second chain are respectively connected with the first suspension arm and the second suspension arm through two driving sprockets (235), the second end of the third chain is connected with the third suspension arm through a driving sprocket (235) and a driven sprocket (232) in sequence, the second end of the fourth chain is connected with the fourth suspension arm through another driving sprocket (235) and another driven sprocket (232) in sequence, a lifting driving servo motor (231) drives a driving shaft (236) to rotate so as to drive the driving sprocket (235) to rotate, the driving sprocket (235) drives the first suspension arm and the second suspension arm to move up and down through the first chain and the second chain, and simultaneously drives the third suspension arm and the fourth suspension arm to move in the same direction through the third chain and the fourth chain, the up-and-down movement of the automatic bag clamping mechanism (24) and the automatic hooking device (25) is realized; the two driven sprockets (232) and the two driving sprockets (235) are arranged in a rectangular shape.

11. The automatic packaging system for flexible bulk bags according to claim 9, wherein the automatic bag clamping mechanism (24) comprises two sets of clamping arm components and bag opening components, and the automatic bag clamping mechanism (24) further comprises two sets of clamping arm support components and two sets of bag opening support components;

the two groups of clamping arm supporting assemblies and the two groups of bag supporting assemblies are fixedly arranged on the outer surface of the discharge pipe (241), and are respectively symmetrical about the axis of the discharge pipe (241); the discharge pipe (241) is vertically arranged, and the axis of the discharge pipe (241) is collinear with the axis of the drum bag charging barrel (21);

the clamping arm assembly comprises a clamping arm driving transmission mechanism and a clamping arm (242); the clamping arm driving transmission mechanism is fixed on the clamping arm supporting component and drives the clamping arm (242) to press the mouth of the flexible freight bag on the outer side of the lower end of the discharge pipe (241) or release the mouth of the flexible freight bag;

the bag opening component comprises a bag opening rod (246) and a bag opening rod driving transmission mechanism which are vertically arranged; the bag opening rod driving transmission mechanism is fixed on the bag opening support assembly, drives the bag opening rod (246) to translate towards the direction close to or far away from the outer surface of the discharge pipe (241) and moves along the vertical direction at the same time, so that linear bag opening of a bag opening is realized;

the clamping arm driving transmission mechanism comprises a clamping arm driving cylinder (245), a first oscillating bar (244), a first connecting rod (243) and a first crank;

the upper end of the clamping arm (242) is connected with the clamping arm supporting component through a first rotating shaft; one end of the first crank is arranged on the first rotating shaft, and the other end of the first crank is connected with one end of the first connecting rod (243) through the second rotating shaft; the other end of the first connecting rod (243) is connected with one end of a first swing rod (244) through a third rotating shaft, and the other end of the first swing rod (244) is connected with the clamping arm supporting component through a fourth rotating shaft;

the clamping arm driving cylinder (245) drives the first swing rod (244) to rotate around the fourth rotating shaft, the first swing rod (244) drives the clamping arm (242) to rotate around the first rotating shaft sequentially through the first connecting rod (243) and the first crank, and the lower end of the clamping arm (242) is close to or far away from the outer surface of the discharge pipe (241);

the bag opening rod driving transmission mechanism comprises a bag opening rod driving cylinder (249), a second connecting rod (248), a second swing rod (247), a second crank and a connecting rod (2410);

the connecting rod (2410) is fixedly connected with the upper end of the bag opening rod (246);

the connecting rod (2410) is arranged along the vertical direction;

one end of a second connecting rod (248) is connected with the bag supporting component through a fifth rotating shaft, the other end of the second connecting rod (248) is connected with the first end of a connecting rod (2410) through a sixth rotating shaft, the second end of the connecting rod (2410) is connected with one end of a second swing rod (247) through a seventh rotating shaft, and the other end of the second swing rod (247) is connected with the bag supporting component through an eighth rotating shaft;

a piston rod of a bag supporting rod driving cylinder (249) is connected with one end of a second crank, and the other end of the second crank is connected with a fifth rotating shaft; the connecting line of the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft and the eighth rotating shaft is a parallelogram;

the bag supporting rod driving cylinder (249) drives the second connecting rod (248) to rotate around the fifth rotating shaft through the second crank, and the second connecting rod (248) drives the bag supporting rod (246) to move horizontally in the direction close to or far from the outer surface of the discharge pipe through the second swing rod (247) and the connecting rod (2410) and simultaneously move in the vertical direction;

the clamping arm (242) comprises a rod-shaped structure and a triangular structure;

the upper end of the rod-shaped structure is connected with the clamping arm driving transmission mechanism, the lower end of the rod-shaped structure is connected with one corner of the triangular structure, a clamping jaw is arranged outside one corner of the other two corners of the triangular structure, which is close to the outer surface of the discharge pipe (241), and the clamping jaw presses the opening of the bag on the outer surface of the discharge pipe (241);

the clamping jaw sequentially comprises a clamping jaw frame, a pressing plate, a soft seal and a fastener, wherein the soft seal is tightly pressed between the clamping jaw frame and the pressing plate; the clamping jaw frame, the soft seal and the pressing plate are all in a semicircular ring shape;

the clamping jaw frame is fixedly connected with the clamping arm (242), and the fastener is fixedly connected with the pressure plate after sequentially penetrating through the clamping jaw frame and the soft seal;

the triangular structure in the clamping arm (242) is a hollow structure;

two sides of the pipe wall of the lower end of the discharge pipe (241) extend downwards to form a bag sleeving part, and when the clamping arm driving transmission mechanism drives the clamping arms (242) to press the mouth of the flexible freight bag on the outer surface of the lower end of the discharge pipe (241), the bag sleeving parts on the two sides are inserted into the flexible freight bag; the lower end edge of the bag sleeving part is in an arc shape protruding downwards;

the first outer diameter of the discharge pipe (241) is unchanged, the second outer diameter of the discharge pipe (241) is gradually increased from bottom to top, the first outer diameter is the outer diameter parallel to the connecting line direction of the bag sleeving parts on the two sides, and the second outer diameter is the outer diameter perpendicular to the first outer diameter. The upper end of the discharge pipe (241) is fixedly connected with the lifting mechanism (23) through a flange;

each group of clamping arm supporting components and each group of bag supporting components respectively comprise two supporting plates which are parallel to each other, and the supporting plates are perpendicular to the outer surface of the discharge pipe (241).

12. An automatic packaging system for flexible bulk bags according to claim 9, characterized in that the automatic hooking means (25) comprises a fixed frame (251), a hooking rod (252), a hooking body (253), a strip detection fork (255) and a return spring (259);

the fixed frame (251) is fixedly arranged on the lifting mechanism (23);

the upper end of the hook rod (252) is connected with the fixed frame (251) through a ninth rotating shaft, the lower end of the hook rod is connected with the hook body (253) through a tenth rotating shaft, the hook rod (252) rotates around the ninth rotating shaft to drive the hook body (253) to be close to or far away from the hanging ring, and the hook body (253) rotates around the tenth rotating shaft to hook or separate from the hanging ring;

the belt detection fork (255) is arranged on the tenth rotating shaft, a mounting point of the belt detection fork (255) and the tenth rotating shaft is positioned between the upper end and the lower end of the belt detection fork (255), and the belt detection fork (255) is divided into an upper section and a lower section by taking the mounting point as a boundary;

a return spring (259) is sleeved on the tenth rotating shaft, one end of the return spring (259) is fixedly connected with the upper section of the detection fork (255), and the other end of the return spring (259) is fixedly connected with the hook rod (252); a detection switch is arranged above one side of the opening of the hook body (253), and a stop block is arranged above the other side of the hook body (253); when the hook body (253) is separated from the lifting ring, the return spring (259) is in a non-compression state, the upper section of the belt detection fork (255) is pressed on the stop block, the lower section of the belt detection fork (255) is positioned at the opening of the hook body (253), when the lifting ring is hooked by the hook body (253), the lifting ring pushes the lower section of the belt detection fork (255) to enable the belt detection fork (255) to rotate around the tenth rotating shaft, meanwhile, the return spring (259) is compressed, and when the upper section of the belt detection fork (255) is pressed on the detection switch, the lifting ring is hooked;

the automatic hooking device (25) also comprises a shifting fork (254);

the shifting belt fork (254) is connected with the lower end of the hook rod (252) through an eleventh rotating shaft;

the shifting belt fork (254) is positioned at one side of the opening of the hook body (253);

the eleventh rotating shaft rotates to drive the shifting fork (254) to rotate, so that the hanging ring continues to move towards the inside of the hook body (253) after being hooked by the hook body (253);

the hook rod (252) comprises an inner hook rod and an outer hook rod which are sleeved with each other, the upper end of the inner hook rod is connected with the fixing frame (251) through a ninth rotating shaft, the lower end of the outer hook rod is connected with the hook body (253) through a tenth rotating shaft, a fastening seat is arranged on the outer surface of the inner hook rod, an adjusting screw rod which is parallel to the hook rod (252) is arranged on the outer surface of the outer hook rod, and the length of the inner part of the inner hook rod, which is positioned in the outer hook rod, is adjusted through the matching of the adjusting screw rod and the fastening seat, so that the length adjustment of the hook rod (252) is realized;

the automatic hook device (25) also comprises a hook rod driving air cylinder (256) and a hook body driving air cylinder (257);

the tail part of the hook rod driving cylinder (256) is fixed on the fixing frame (251), and a piston rod of the hook rod driving cylinder (256) is connected with the hook rod (252) and used for driving the hook rod (252) to rotate around the ninth rotating shaft to drive the hook body (253) to be close to or far away from the hanging ring;

the tail part of the hook body driving cylinder (257) is fixed on an outer hook rod in the hook rod (252), and a piston rod of the hook body driving cylinder (257) is connected with the hook body (253) and used for driving the hook body (253) to rotate around a tenth rotating shaft to hook or separate from the hanging ring;

the automatic hook device (25) also comprises a shifting fork driving cylinder (258);

the tail of the tape shifting fork driving cylinder (258) is fixed on the hook rod (252), a piston rod of the tape shifting fork driving cylinder (258) is connected with the eleventh rotating shaft through a crank, the tape shifting fork (254) is fixedly connected with the eleventh rotating shaft, the tape shifting fork driving cylinder (258) drives the eleventh rotating shaft to rotate through the crank, and the eleventh rotating shaft drives the tape shifting fork (254) to rotate;

the stop block and the detection switch are both fixedly arranged on an outer hook rod in the hook rods (252);

the reset spring (259) comprises a torsion spring and a linear connecting end extending out of two ends of the torsion spring; the torsion spring is sleeved on the tenth rotating shaft, and the connecting ends extending out of the two ends of the torsion spring are respectively and fixedly connected with the upper section of the belt detection fork (255) and the hook rod (252);

the belt detection fork (255) is of a U-shaped structure with an opening at the upper end, a tenth rotating shaft simultaneously penetrates through the lower end of the hook rod (252) and the upper end of the hook body (253), and two sides of the belt detection fork (255) of the U-shaped structure are respectively arranged at two ends of the tenth rotating shaft; two return springs (259) are respectively positioned between two sides of the U-shaped detection fork (255) and the hook rod (252); when the hook body (253) is separated from the hanging ring, the return spring (259) is in a non-compression state, the upper section of the belt detection fork (255) is pressed on the stop block, and the lower section of the belt detection fork (255) is sleeved on the outer side of the hook body (253) to stop the opening of the hook body (253);

the tape shifting fork (254) is of a U-shaped structure with an opening at the upper end, and the tape shifting fork (254) is arranged on the outer side of the lower section of the tape detection fork (255); the two sides of the upper end of the shifting belt fork (254) are fixedly connected with a shifting belt fork mounting plate, a plurality of mounting holes are formed in the shifting belt fork mounting plate, screws are fixed at two ends of a third rotating shaft on the two sides of the upper end of the shifting belt fork (254) after the mounting holes are matched, and the screws are matched with different mounting holes to realize height adjustment of the shifting belt fork (254) relative to the hook body (253).

13. An automatic packaging system for flexible bulk bags according to claim 9, characterized in that the positioning mechanism (26) comprises two movable plates (261), two stationary plates (262), two movable plate turrets (263) and two movable plate actuating cylinders (264);

the positioning mechanism (26) is arranged below the automatic bag clamping mechanism (24) and the 4 automatic pothooks (25) through the filling machine frame (22);

the two static plates (262) are oppositely arranged, and the static plates (262) are fixedly connected with the material filling rack (22);

the two movable plate rotating frames (263) are connected with the material filling rack (22) through the movable plate rotating frame mounting rotating shafts; the movable plate rotating frame is provided with a rotating shaft along the vertical direction;

the two movable plates (261) are respectively arranged on the two movable plate rotating frames (263), and the two movable plate driving cylinders (264) respectively drive the two movable plate rotating frames (263) to rotate around the rotating shaft for installing the movable plate rotating frames; when the positioning mechanism (26) positions the flexible freight bag body, the two movable plates (261) and the two static plates (262) enclose a space for containing the flexible freight bag body, and when the conveyor (27) outputs the flexible freight bag with the linear mouth opening to the sealing station, the movable plate rotating frame (263) moves to the outer side of the conveyor (27) around the movable plate (261).