CN115140349A

CN115140349A - Automatic conveying system for foldable packaging bags for sorting and control method

Info

Publication number: CN115140349A
Application number: CN202210923814.7A
Authority: CN
Inventors: 邱小平; 易海燕; 陈炯; 陈晓迪
Original assignee: Southwest Jiaotong University
Current assignee: Southwest Jiaotong University
Priority date: 2021-08-02
Filing date: 2022-08-02
Publication date: 2022-10-04
Anticipated expiration: 2042-08-02
Also published as: CN115140349B

Abstract

The invention discloses an automatic conveying system and a control method for foldable packaging bags for sorting, which comprises a cargo sorting line with a plurality of sorting ports, a foldable packaging bag operating device arranged below the sorting ports, a main folding packaging bag conveying loop line for conveying a moving module, a manual bagging station for manually bagging packaging bags, an auxiliary loop line connected with the main loop line and the manual bagging station, a conveying line for conveying out the sorted packaging bags and an automatic conveying control system comprising a user operating end and a cooperative control algorithm, wherein each sorting station and each bagging station are provided with a pushing device for completing a sleeving port pushing action; the automatic reciprocating circular operation of the invention greatly improves the conveying efficiency of the sorting packaging bags and greatly saves the manual labor for sorting.

Description

Automatic conveying system for foldable packaging bags for sorting and control method

Technical Field

The invention relates to the technical field of packaging bags, in particular to an automatic conveying system for foldable packaging bags for sorting and a control method.

Background

At present, a packaging bag production enterprise usually adopts a manual mode to fold the packaging bag, an operator needs to fold the packaging bag manually for multiple shifts, and the requirement of the operator is large, so that the labor cost is high. Therefore, a packaging bag folding machine is urgently needed by packaging bag manufacturing enterprises, the mechanical automatic control of the folding of the packaging bags can be realized, and the labor cost is reduced for the enterprises.

Disclosure of Invention

In order to solve the technical problem, the invention provides an automatic conveying system for foldable packaging bags for sorting and a control method.

The technical scheme for solving the technical problems is as follows: a foldable packaging bag automatic conveying system for sorting comprises a goods sorting line with a plurality of sorting openings, a foldable packaging bag operating device arranged below the sorting openings, a foldable packaging bag conveying main loop line used for conveying a movable module, a manual bagging station used for manually bagging packaging bags, an auxiliary loop line connected with the main loop line and the manual bagging station, a conveying line used for conveying out the sorted packaging bags and an automatic conveying control system comprising a user operation end and a cooperative control algorithm, wherein each sorting position and each bagging station are provided with pushing devices used for completing a sleeving opening pushing action;

the bottom of the movable module is provided with a connecting unit, two groups of symmetrical movable supporting rods and two groups of symmetrical fixed supporting rods are respectively arranged on the movable module, and the tops of the movable supporting rods and the fixed supporting rods are respectively provided with a cross rod which extends outwards along the width direction of the packaging bag and extends to the outside; the top of movable support rod and fixed support rod is provided with the slice piece, piece dress piece can rotate around the bracing piece, be provided with the clamping device who is used for pushing down four corner points of wrapping bag on the slice piece.

Furthermore, the foldable packaging bag operating device comprises a fixed module, a guide rail device, a station frame, an automatic packaging bag opening clamping device, a goods list printing device, a goods list pasting device, a packaging bag opening two-end tensioning device and an automatic sewing sealing device, which are positioned below the sorting opening and provided with symmetrical guide rails and conveying roller lifting holes, a guide rail device of a taking and sending moving module, a station frame, an automatic packaging bag opening clamping device, a goods list printing device, a goods list pasting device, a packaging bag opening two-end tensioning device and an automatic sewing sealing device, which are positioned on the station frame, and a roller lifting sending-out device, which is positioned below the fixed module and the moving module; each manual bagging station is provided with a guide rail device for taking and delivering the movable module, a fixed module with symmetrical guide rails and a station frame with a height shifting fork synchronizer and a horizontal shifting fork synchronizer.

Furthermore, the moving module comprises a bag sleeving moving module and an idle moving module, the bag sleeving moving module is used for loading goods to the sorting port through a loop line after completing bag sleeving from the manual bag sleeving station, and the idle moving module is used for returning the packaged goods to the manual bag sleeving station from the sorting port through the loop line after packaging the packaged goods, and then bagging the packaged goods again.

Furthermore, the station frame is provided with packaging bag inward-folding auxiliary link mechanisms which are located on two sides of the station frame in the length direction, two ends of the packaging bag inward-folding auxiliary link mechanisms are hinged to the middle of the station frame, hinged points at two ends of the packaging bag are fixed and are higher than the horizontal shifting fork, the packaging bag which is sleeved in an auxiliary manner moves inwards when being folded in the horizontal direction, the packaging bag inward-folding auxiliary link mechanisms move obliquely downwards along with gravity to return to the initial position of the station frame before the folding in the horizontal direction is finished, and the other moving module moves to the horizontal position along with the horizontal shifting fork synchronizing device after reaching.

Furthermore, each sorting position operating device, the main loop line, the auxiliary loop line and each manual bagging station are provided with manual switches capable of being manually controlled, and are respectively operated and controlled through control terminals provided by the system.

Furthermore, the main loop wire and the auxiliary loop wire are driven by a servo driving device, and the main loop wire and the auxiliary loop wire do intermittent circular motion under the action of the driving device;

the servo driving device comprises a servo motor, a matched electromagnetic valve and a transmission mechanism, and all the servo driving devices are connected with a main controller of the automatic conveying system and used for accurately executing instructions sent by the main controller.

The invention also provides an automatic conveying control method of the foldable packaging bags for sorting, which adopts an automatic conveying system of the foldable packaging bags for sorting and comprises the following steps:

s1: and (5) leaving the auxiliary loop: distributing the idle moving module to a manual bagging station from the auxiliary loop line, aligning the station with the idle moving module, pushing the idle moving module to the station direction by a matched pushing device, enabling a bottom connecting element of the moving module to enter a socket joint of the bagging station, triggering the socket joint to rotate the socket joint by 90 degrees, pulling the idle moving module into a taking and feeding moving module device, and finishing the action of leaving the auxiliary loop line;

s2: and (3) high unfolding: under the drive of a bottom synchronous chain, the cross rods of the movable support rod and the fixed support rod enter the guide rail and enter the height shifting forks, the cross rod at the lower end moves horizontally, and the two height shifting forks can enable the cross rods of the movable support rod and the fixed support rod to move in two directions;

s3: separation of the support rods: the upper and lower cross rods at the outer sides of the two movable support rods move towards the fixed module at the same speed and far away from the end of the fixed support rod under the driving of a screw rod or other synchronous devices until the end of the inner side guide rail of the fixed module stops driving;

s4: manual bagging and clamping: manually taking the packaging bag, putting the packaging bag into a station frame which is unfolded horizontally and highly, wherein the length and width directions correspond to each other respectively, and pressing the width side pockets at the four corners into a clamping device respectively;

s5: the folding operation of the supporting rods: when the synchronous driving device pushes the movable supporting rod to move towards the fixed supporting rod at the same time, the inward folding auxiliary connecting rod mechanism moves inwards to enable the length direction of the placed packaging bag to be folded inwards, after the movable supporting rod and the fixed supporting rod are folded, the lower end cross rod stops moving, the horizontal shifting fork of the upper end cross rod is pushed to be loosened, and the horizontal shifting fork and the upper cross rod of the fixed supporting rod are clamped into the height shifting fork;

s6: and (3) high folding operation: the connecting unit at the bottom of the movable module rotates 180 degrees, then the movable module device is taken and conveyed, the movable support rods and the cross rods at the lower ends of the fixed support rods are pushed to move to the auxiliary ring line continuously, meanwhile, the cross rods at the upper ends of the four support rods move continuously in the guide rail horizontally under the assistance of the height shifting forks, the height direction is reduced, the packaging bags are folded in the height direction downwards along oblique lines, when the movable module contacts the auxiliary ring line, the height is folded to a preset position, the whole cross rods at the tops of the fixed support rods are clamped in the buckles, and the height shifting forks are loosened;

s7: and returning to the auxiliary loop operation: and when the bottom connecting element of the movable module enters the socket joint at the corresponding position of the auxiliary loop line, the socket joint enables the movable module to rotate for 90 degrees, and the movable module after being sleeved with the bag is pulled into the auxiliary loop line to finish the action of returning to the auxiliary loop line.

Further, firstly, setting four states of a sorting station and a bagging station;

wherein, the number of the work stations is '00' (no moving module and capable of interacting), '01' (after interaction is completed), '10' (the work stations are automatically prepared and can be loaded or bagged), and '11' (loading or bagging and capable of interacting);

any section on the main loop line and the auxiliary loop line is in three states: wherein, the '00' (no moving module), '01' (empty moving module), '10' (bag-covering moving module) and '11' are reserved;

the main controller of the automatic conveying system judges whether interaction is available and gives a state value after interaction through the following state marks, and the method comprises the following steps:

(1) the sorting position is ready, the bagging moving module can be received, the state of the sorting position is 00 at the moment, and the sorting position needs to be matched with the state position of the corresponding section 10 on the main loop; after the interaction is completed, the state of the sorting position is '01' (namely the sorting position device starts to operate), and the state of the corresponding section on the main loop is '00' (namely the section has no mobile module);

(2) when the sorting position is ready, an empty mobile module is pushed to the main loop, the state of the sorting position is 10, and the sorting position needs to be matched with the state position of the corresponding section 00 on the main loop; after the interaction is finished, the state of the sorting position is '00' (namely the sorting position waits for the bagging moving module), and the state of the corresponding section on the main loop is '01' (namely the section is an idle moving module);

(3) when the auxiliary loop is ready, the main loop on the bagging moving module needs to be pushed, and at the moment, the state of the corresponding section of the auxiliary loop is 10, and the corresponding section of the auxiliary loop needs to be matched with the state position of 00 on the corresponding section of the main loop; after the interaction is finished, the state of the corresponding section on the auxiliary loop is '00' (namely the section has no moving module), and the state of the corresponding section on the main loop is '10' (namely the section is a bagging moving module);

(4) the auxiliary loop is ready, and can receive the empty mobile module, and the state of the corresponding section of the auxiliary loop is '00', and needs to be matched with the state bit of the corresponding section '01' on the main loop; after the interaction is finished, the state of the corresponding section on the main loop is '00' (namely the section has no moving module), and the state on the auxiliary loop is '01' (for '01', the manual bagging station can be arranged);

(5) when the manual bagging station is ready, the auxiliary loop on the bagging moving module needs to be pushed, and the state of the corresponding section of the auxiliary loop is 00, and needs to be matched with the state position of 11 on the manual bagging station; after the interaction is finished, the state of the manual bagging station is '00' (namely, the empty mobile module can be received), and the state of the corresponding section on the auxiliary loop is '10' (namely, the corresponding section is '10', and the main loop can be arranged);

(6) the manual bagging station is ready to receive the empty moving module, and the state of the corresponding section of the auxiliary loop is '01' and needs to be matched with the '00' state position on the manual bagging station. After the interaction is finished, the state of the sorting position is 01, and the state of the corresponding section on the auxiliary loop is 00 (namely the mobile module can be received);

further, the main loop and the auxiliary loop need to be correspondingly set through the control terminal, the position states of the main loop and the auxiliary loop are respectively '00', '01' and '10', and the corresponding rule with the specific service is as follows:

(1) when the auxiliary loop line 6 pushes the bagging moving module to the main loop line, the auxiliary loop line is 10, and the main loop line is 00; after the main loop is arranged on the bagging moving module, the corresponding position state of the main loop is modified to be 10, and the corresponding position state of the auxiliary loop is modified to be 00;

(2) when the main loop line pushes the idle moving module to the auxiliary loop line, the auxiliary loop line is '00', and the main loop line is '01'; after the auxiliary loop is arranged on the idle moving module, the corresponding position state of the main loop is modified to be '00', and the corresponding position state of the auxiliary loop is modified to be '01';

in the above, the mark value of a certain section on the main loop or the auxiliary loop is "01" corresponding to the empty moving module, and is "10" corresponding to the bagging moving module, and when the mark value is "00", the empty moving module or the bagging moving module can be received.

Further, the empty moving module on the auxiliary receiving ring line of the manual bagging station is matched with manual operation to be converted into the bagging moving module, and the method comprises the following steps of:

(1) through interaction, the idle moving module is conveyed to a certain artificial bagging station from the auxiliary loop line, the state of the corresponding section of the auxiliary loop line is changed from '01' to '00', and the position state of the artificial bagging station is changed from '00' to '01';

(2) under the operation of the station frame, the mobile module automatically approaches to the fixed module to finish the height and horizontal unfolding actions, the mobile module is automatically prepared to wait for manual operation, and the state of the manual bagging station is changed into '10';

(3) and manually taking a packaging bag, putting the packaging bag into the station frame, completing operations such as bag sleeving clamping and the like, manually starting a folding function, after horizontal and high folding actions are completed under the operation of the station frame, changing the state of the manual bag sleeving station into 11, and waiting for the command of the 00 section of the auxiliary loop line and the main controller of the automatic conveying system to complete interaction.

Further, receive the bagging-off removal module that main loop line was carried when letter sorting position device, be close to fixed module, accomplish height and level and expand the wrapping bag, both sides increase the centre gripping, put into after the goods through unclamping bracing piece top centre gripping, both ends tensioning, the sewing is sealed, print and post a series of operations of goods list, carry the output line to go to transportation/delivery tally region through lifting type gyro wheel with the wrapping bag after the letter sorting, the level of completion bracing piece and the high folding back removal module leave fixed module and wait for the main loop line, specifically include following step:

(1) when a certain sorting position has a requirement to receive the bag-sleeving movable module and the corresponding section on the main loop is the bag-sleeving movable module, the state of the sorting position is '00', and the state of the main loop is '10';

(2) through interaction, after the sorting positions on the bag sleeving moving module, the state of the corresponding section of the main loop is changed into 00, and the state of the sorting positions is changed into 01;

(3) under the operation of the station frame, the mobile module automatically approaches to the fixed module to finish actions such as height and horizontal expansion, two-side reinforcing and clamping and the like, the sorting station is automatically ready to wait for goods to arrive, and the state of the sorting station is changed into '10';

(4) after goods are loaded into the sorting position, the station frame automatically loosens the top of the supporting rod for clamping, and automatically and sequentially completes operations of tensioning two ends of the sorted packaging bag, sewing and sealing, printing a goods list and the like;

(5) after the top of the support rod is clamped by the station frame, the horizontal and height folding actions of the support rod are automatically completed, the movable module is moved away from the fixed module, the sorting position state is changed to 11, and the interaction between the '00' section of the main loop line and a main controller instruction of the automatic conveying system is waited to be completed;

(6) the bottom roller of the sorting position is lifted and rotated as required, the sorted packaging bags are sent out, the packaging bags are conveyed to a transportation/distribution tally area through the conveying line 7, after the packaging bags are sent out and the main loop line on the empty movable module is finished, the state of the sorting position is changed into '00', and the next bagging movable module arrives.

The invention has the following beneficial effects: the invention provides an automatic conveying system and a control method for foldable packaging bags for sorting, which are reliable in structure, good in service performance and high in automation degree, and can effectively realize automatic folding of manually sleeved packaging bags, an auxiliary line is arranged on an automatic conveying and bag sleeving moving module and is rotated into a main loop line, the automatic conveying and bag sleeving moving module moves on the auxiliary loop line and the main loop line according to beats, the main loop line is automatically discharged below a sorting port according to instructions, the main loop line enters a position to be sorted and then is automatically unfolded and automatically reinforced and clamped, goods are automatically tensioned and automatically sewn and sealed after being sorted and enter bags, a goods list is automatically printed and is adhered to the outer side of the packaging bags, the goods list is automatically conveyed into a conveying device for the sorted packaging bags after finishing, the automatic conveying and empty moving module returns to the main loop line, rotates the auxiliary loop line according to beats, bags are sleeved on a manual bag sleeving station, and the bags are automatically circulated in a reciprocating mode, so that the conveying efficiency of the packaging bags for sorting is greatly improved, and the manual labor force is greatly saved.

Drawings

FIG. 1 is a schematic flow diagram of the present invention;

FIG. 2 is a schematic view of a control system according to the present invention;

FIG. 3 is a schematic structural view of the present invention;

FIG. 4 is a schematic diagram of the distribution structure of the movable supporting rods and the fixed supporting rods according to the present invention;

FIG. 5 is a schematic view of a station frame configuration;

FIG. 6 is a schematic diagram of the servo driving device and the main and auxiliary loop;

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

As shown in fig. 1 to 6, an automatic conveying system for foldable packing bags for sorting comprises a goods sorting line 1 with a plurality of sorting openings, a foldable packing bag operating device 2 arranged below the sorting openings, a main folding packing bag conveying loop 4 for conveying a moving module 3, a manual bagging station 5 for manually bagging packing bags, an auxiliary loop 6 connected with the main loop 4 and the manual bagging station 5, a conveying line 7 for conveying out the sorted packing bags, and an automatic conveying control system 8 comprising a user operation end and a cooperative control algorithm, wherein each sorting position and each bagging station are provided with a pushing device 22 for completing the pushing action of the bagging opening; through this automatic conveying system, realize the automatic folding of artifical good wrapping bag of cover effectively, automatic transport cover bag removes the module 3 and goes up the auxiliary line, change over into main ring line 4, move according to the beat on auxiliary ring line 6, main ring line 4, according to the instruction automatic play main ring line 4 below the letter sorting mouth, get into and wait to sort to the goods position after automatic expansion, the automatic centre gripping that consolidates, automatic tensioning and automatic sewing up seal after the goods letter sorting advances the bag, automatic printing goods list pastes in the wrapping bag outside, after finishing, automatic conveyor who sends into the wrapping bag after the letter sorting, automatic transport empty removal module 3 returns main ring line 4 according to the beat, change auxiliary ring line 6, go up 5 bags of artifical bagging station, automatic reciprocal circulation improves the conveying efficiency of the wrapping bag for the letter sorting, practice thrift the hand labor power for the letter sorting greatly.

The bottom of the moving module 3 is provided with a connecting unit 21, two symmetrical groups of moving support rods and fixed support rods are respectively arranged on the moving module 3, and cross rods which extend outwards in the width direction of the packaging bag and extend to the outer side are respectively arranged at the tops of the moving support rods and the fixed support rods; the top of movable support rod and fixed support rod is provided with the slice piece, piece dress piece can rotate around the bracing piece, be provided with the clamping device who is used for pushing down four corner points of wrapping bag on the slice piece. The mobile module 3 is at main loop line 4, the sub-loop line 6 is gone up according to the design beat and is removed, but the removal and the fixed stay pole that have two pin joints one-way folding/open, stretch to the little horizontal pole in the outside after every bracing piece top is all joined in marriage (outside extension in the wrapping bag width direction), the lower fixed stay pole in two tops rigidity on mobile module 3, its horizontal pole is used for highly expanding/folding for short, two tops are higher, mobilizable mobile stay pole is arranged in both sides guide rail and the outside little horizontal pole is still joined in marriage to the bottom, be used for the level with the top horizontal pole with the same length (be good at fixed stay pole) and expand/fold, guide rail one end opening and fixed module's guide rail butt joint, the other end of guide rail on the fixed module can be followed to the mobile module 3 motion to the during operation.

In addition, in order to guarantee the reliability of manual bagging, four support rod tops are matched with a reinforcing clamping device to press four points of a bag opening, a sheet-shaped block similar to a flag is arranged at the top of each support rod, the length of the sheet-shaped block is smaller than 1/2 of the width of the bag opening, the sheet-shaped block can rotate around the support rods, but the sheet-shaped block can only rotate 90 degrees or return to 90 degrees from the length direction of a packaging bag to the width direction, the clamping device is placed on the sheet-shaped block, a certain position of the packaging bag is clamped when the bag is manually bagged, the sheet-shaped block is opened by an automatic device in the lower station frame 13 of the sorting opening before the tensioning of two ends of the bag opening is started after the bag is bagged, the sheet-shaped block automatically turns to the length direction of the packaging bag when the bag opening is tensioned, the tensioning of two ends of the bag opening is facilitated, and the support rods can be conveniently moved back to the moving module 3. Because the top of the supporting rod is difficult to contact the surface of the movable module 3 after being folded, a limiting device is specially arranged at the side far away from the fixed module, the width of the limiting device is determined according to the length of a flaky block at the top of the fixed supporting rod, and the flaky block is ensured to be normally placed on the supporting rod after being folded;

the foldable packaging bag operating device 2 comprises a fixed module, a guide rail device 10 of a taking and sending moving module 3, a station frame 13, an automatic packaging bag opening clamping device 14, a goods list printing device 15, a goods list pasting device 16, a packaging bag opening two-end tensioning device 17 and an automatic sewing sealing device 18 which are positioned below a sorting opening and are provided with symmetrical guide rails and conveying roller lifting holes, a height shifting fork synchronizing device 11 and a horizontal shifting fork synchronizing device 12, and a sending device 19 which is positioned below the fixed module and the moving module 3 and can be lifted by rollers, wherein the automatic packaging bag opening clamping device 14, the goods list printing device 15, the goods list pasting device 16, the packaging bag opening two-end tensioning device 17 and the automatic sewing sealing device 18 which are supported by the sorting opening are respectively arranged on the station frame 13; each manual bagging station 5 is equipped with a guide rail device 10 for taking and delivering the moving module 3, a fixed module with symmetrical guide rails, and a station frame 13 with a height fork synchronizer 11 and a horizontal fork synchronizer 12.

According to whether the mobile module 3 is sleeved with a packaging bag or not, the mobile module 3 comprises a bag sleeving mobile module 3 and an idle moving module 3, the bag sleeving mobile module 3 finishes bag sleeving from the manual bag sleeving station 5 and then goes to a sorting port through a loop line to load goods, and the idle moving module 3 returns to the manual bag sleeving station 5 from the sorting port through the loop line after packaging the bagged goods and then is sleeved with the packaging bag again.

The station frame 13 is provided with two fixing plates in the length direction of the packaging bag and used for preventing the packaging bag from protruding outwards too much in the length direction, so that the supporting rod is not convenient to move to return to the moving module 3, or the supporting rod is interfered when the packaging bag is moved after sorting.

In addition, the station frame 13 is provided with a packaging bag folding auxiliary link mechanism, the packaging bag folding auxiliary link mechanism is located on two sides of the station frame 13 in the length direction, two ends and the middle of the packaging bag folding auxiliary link mechanism are hinged, hinged points at two ends are fixed and are higher than the position of the horizontal shifting fork, a packaging bag which is sleeved in an auxiliary mode moves inwards when being folded in the horizontal direction, the packaging bag folding auxiliary link mechanism moves obliquely downwards along with gravity to return to the initial position of the station frame 13 before the folding in the horizontal direction is finished, and the other moving module 3 moves back to the horizontal position along with the horizontal shifting fork synchronizing device 12 after reaching.

Each sorting position operating device, the main loop line 4, the auxiliary loop line 6 and each manual bagging station 5 are provided with manual switches capable of being manually controlled and are respectively operated and controlled through control terminals arranged in the system.

In the invention, a main loop wire 4 and an auxiliary loop wire 6 are driven by a servo driving device, and the main loop wire 4 and the auxiliary loop wire 6 do intermittent circular motion under the action of the driving device; the servo driving device comprises a servo motor, a matched electromagnetic valve and a transmission mechanism, the transmission mechanism adopts a chain structure, and all the servo driving devices are connected with a main controller of the automatic conveying system and used for accurately executing instructions sent by the main controller.

In operation, the main loop 4 and the auxiliary loop 6 circulate according to the rhythm of the set direction, the minimum distance between each step and the adjacent sorting positions is called as the step length, the distance between the sorting positions is the integral multiple of the minimum distance, the sorting positions are not arranged at the turning positions or are arranged according to the integral multiple, the main loop 4 and the auxiliary loop 6 are driven by chains, and the length of a single section of chain is determined according to the principle that the integral multiple of the length of the single section of chain is close to the minimum distance.

The length of the main and auxiliary loop wires 6 is integral multiple of the step length, each step length is one section, the installation position of the sleeve joint device needs to be reasonably arranged on the corresponding chain of each section, and each sleeve joint device can have 1-3 sleeve joints. Each section can be provided with a mobile module 3, the lower part of the mobile module 3 is connected with a sleeve device to realize the stepping action of the mobile module 3 along with the movement of the chain, the part (integral multiple of the stepping length) of the adjacent main and auxiliary loop lines 6 is called as an interactive section to realize the transfer of the mobile module 3 on two loop lines, each section on the interactive section can be provided with an upper loop line and a lower loop line, or can be provided with the main loop line 4 (namely the lower auxiliary loop line 6) on some sections and the auxiliary loop line 6 (namely the lower main loop line 4) on other sections, and the settings are required to be configured in a main controller;

a driving device of the system mainly adopts servo motors with various models, and is matched with an electromagnetic valve, a transmission mechanism and the like to realize the automatic actions of a main loop line 4, an auxiliary loop line 6, each sorting position device and each manual bagging station 5 device, and the automatic actions comprise the actions of a sleeving device corresponding to each sorting opening or an interactive section on the main loop line 4. In practical application, the common driving devices can be properly combined according to needs, for example, the main loop line and the auxiliary loop line 6 are shared near the interactive section, or the manual bagging station 5 and the auxiliary loop line 6, and the sorting position device and the main loop line 4 are shared, and a standby driving device can be designed to ensure the reliability of the system; all the actuating mechanisms are connected with a main controller of the automatic conveying system, and accurately execute instructions sent by the main controller. The auxiliary loop line 6 plays a role in temporarily storing the empty moving module 3 or the bagging moving module 3, the auxiliary loop line 6 can be omitted according to the actual situation of a field, the other function of the auxiliary loop line 6 is that the auxiliary loop line rotates 180 degrees before the main loop line 4 on the bagging moving module 3 or before the manual bagging station 5 on the empty moving module 3, the direction of the moving module 3 is ensured to be correct when the modules are fixedly butted, the steering function can be arranged on the main loop line 4, and the auxiliary loop line is flexibly configured according to the number of the loop lines in actual application.

The invention also provides a method for controlling the automatic conveying of the foldable packaging bags for sorting, which adopts the automatic conveying system of the foldable packaging bags for sorting and comprises the following steps:

s1: leaving the auxiliary loop line 6: the empty moving module 3 is shunted to the manual bagging station 5 from the auxiliary loop line 6, the station is just empty, the empty moving module 3 is pushed to the station direction by a matched pushing device 22, so that a bottom connecting element of the moving module 3 enters a socket joint of the bagging station, the socket joint is triggered to rotate by 90 degrees, the empty moving module 3 is pulled into the taking and feeding moving module 3 device, and the action of leaving the auxiliary loop line 6 is finished;

s2: and (3) high unfolding: under the drive of a bottom synchronous chain, the cross rods of the movable support rod and the fixed support rod enter the guide rail and enter the height shifting forks, the cross rod at the lower end moves horizontally, and the two height shifting forks can enable the cross rods of the movable support rod and the fixed support rod to move bidirectionally;

s4: manual bagging and clamping: manually taking the packaging bag, putting the packaging bag into a station frame 13 which is unfolded horizontally and highly, wherein the length and width directions correspond to each other respectively, and pressing the width side pockets at the four corners into a clamping device respectively;

s5: the support rod folds the operation: when the synchronous driving device pushes the movable supporting rod to move towards the fixed supporting rod at the same time, the inward folding auxiliary connecting rod mechanism moves inwards to enable the length direction of the placed packaging bag to be folded inwards, after the movable supporting rod and the fixed supporting rod are folded, the lower end cross rod stops moving, the horizontal shifting fork of the upper end cross rod is pushed to be loosened, and the horizontal shifting fork and the upper cross rod of the fixed supporting rod are clamped into the height shifting fork;

s6: and (3) high folding operation: the connecting unit 21 at the bottom of the movable module 3 rotates 180 degrees, then the movable module 3 device is taken and delivered, the movable support rods and the cross rods at the lower ends of the fixed support rods are pushed to move continuously to the auxiliary ring line 6, meanwhile, the cross rods at the upper ends of the four support rods continue to move horizontally in the guide rail under the assistance of the height shifting forks, the height direction is reduced, the inclined lines are downward, the packaging bag is folded in the height direction, when the movable module 3 contacts the auxiliary ring line 6, the height is folded to a preset position, the whole cross rods at the tops of the fixed support rods are clamped in the buckles, and the height shifting forks are loosened;

s7: return to auxiliary loop 6 operation: under the condition that the auxiliary loop line 6 station can receive the bagging moving module 3, the matched pushing device 22 pushes the connecting unit 21 at the bottom of the moving module 3 to move the connecting unit to the auxiliary line, when the connecting element at the bottom of the moving module 3 enters the sleeve opening at the corresponding position of the auxiliary loop line 6, the sleeve opening enables the connecting unit to rotate for 90 degrees, the moving module 3 after bagging is pulled into the auxiliary loop line 6, and the action of returning to the auxiliary loop line 6 is completed.

Further, firstly, setting four states of a sorting position and a bagging position;

wherein, the number of the working positions is '00' (no moving module 3, interactive), '01' (after the interaction is finished), '10' (the working positions are automatically prepared and can be loaded or bagged), and '11' (the loading or the bagging can be interactive);

any section on the main loop 4 and the auxiliary loop 6 is in three states: wherein, 00 (no moving module 3), 01 (empty moving module 3), 10 (bag-covering moving module 3) and 11 are reserved;

(1) the sorting position is ready, the bagging moving module 3 can be received, the state of the sorting position is 00 at the moment, and the sorting position needs to be matched with the state position of the corresponding section 10 on the main loop line 4; after the interaction is completed, the status of the sorting position is "01" (namely, the sorting position device starts to operate), and the status of the corresponding section on the main loop 4 is "00" (namely, the section has no moving module 3);

(2) when the sorting position is ready, the empty mobile module 3 is pushed to the main loop 4, and the state of the sorting position is 10 at the moment and needs to be matched with the state position of the corresponding section 00 on the main loop 4; after the interaction is completed, the state of the sorting position is '00' (namely the sorting position waits for the bagging moving module 3), and the state of the corresponding section on the main loop line 4 is '01' (namely the section is the empty moving module 3);

(3) when the auxiliary loop 6 is ready, the main loop 4 on the bagging moving module 3 needs to be pushed, and at the moment, the state of the corresponding section of the auxiliary loop 6 is '10', and the state needs to be matched with the '00' state of the corresponding section on the main loop 4; after the interaction is completed, the state of the corresponding section on the auxiliary loop 6 is '00' (namely the section has no mobile module 3), and the state of the corresponding section on the main loop 4 is '10' (namely the section is the bagging mobile module 3);

(4) the auxiliary loop 6 is ready to receive the empty mobile module 3, and the state of the corresponding section of the auxiliary loop 6 is '00' and needs to be matched with the state bit of the corresponding section '01' on the main loop 4; after the interaction is finished, the state of the corresponding section on the main loop line 4 is '00' (namely the section has no moving module 3), and the state on the auxiliary loop line 6 is '01' (for '01', the manual bagging station 5 can be arranged);

(5) when the manual bagging station 5 is ready, the auxiliary loop 6 on the bagging moving module 3 needs to be pushed, and at the moment, the state of the section corresponding to the auxiliary loop 6 is '00', and the auxiliary loop needs to be matched with the '11' state position on the manual bagging station 5; after the interaction is finished, the state of the manual bagging station 5 is '00' (namely the empty mobile module 3 can be received), and the state of the corresponding section on the auxiliary ring line 6 is '10' (when the corresponding section is '10', the main ring line 4 can be arranged);

(6) the manual bagging station 5 is ready to receive the empty mobile module 3, and the state of the corresponding section of the auxiliary loop 6 is '01' at the moment and needs to be matched with the '00' state on the manual bagging station 5. After the interaction is finished, the state of the sorting position is '01', and the state of the corresponding section on the auxiliary loop 6 is '00' (namely the mobile module 3 can be received);

the circulation directions of the main and auxiliary loop lines 6 can be the same or different, namely, the loop lines move in the same direction or in the same direction in the interactive section, which can affect the operation of the cooperative control algorithm and need to be correspondingly set through the control terminal; the main loop 4 and the auxiliary loop 6 need to be correspondingly set through a control terminal, the position states of the main loop 4 and the auxiliary loop 6 are respectively '00', '01' and '10', and the corresponding rule of the main loop 4 and the auxiliary loop 6 with specific services is as follows:

(1) when the auxiliary loop 6 pushes the bagging moving module 3 to the main loop 4, the auxiliary loop 6 is 10, and the main loop 4 is 00; after the main loop 4 is arranged on the bagging moving module 3, the corresponding position state of the main loop 4 is modified to be 10, and the corresponding position state of the auxiliary loop 6 is modified to be 00;

(2) when the main loop line 4 pushes the empty mobile module 3 to the auxiliary loop line 6, the auxiliary loop line 6 is "00" and the main loop line 4 is "01"; after the auxiliary loop 6 is arranged on the idle moving module 3, the position state corresponding to the main loop 4 is modified to be '00', and the position state corresponding to the auxiliary loop 6 is modified to be '01';

in the above description, the flag value of a certain segment on the main loop 4 or the auxiliary loop 6 is "01" corresponding to the empty moving module 3, and "10" corresponding to the bagging moving module 3, and when the flag value is "00", the empty moving module 3 and the bagging moving module 3 can be received.

The empty mobile module 3 on the auxiliary loop line 6 is received by the manual bagging station 5 and is converted into the bagging mobile module 3 by matching with manual operation, and the method comprises the following steps:

(1) through interaction, the idle moving module 3 is conveyed to a certain manual bagging station 5 from the auxiliary ring line 6, the state of the corresponding section of the auxiliary ring line 6 is changed from '01' to '00', and the position state of the manual bagging station 5 is changed from '00' to '01';

(2) under the operation of the station frame 13, the movable module 3 automatically approaches to the fixed module, the height and horizontal unfolding action is completed, the manual operation is automatically prepared, and the state of the manual bagging station 5 is changed into '10';

(3) and manually taking a packaging bag, putting the packaging bag into the station frame 13, completing operations such as bag sleeving clamping and the like, manually starting a folding function, after horizontal and high folding actions are completed under the operation of the station frame 13, changing the state of the manual bag sleeving station 5 into '11', and waiting for the auxiliary loop line 6 '00' section and a main controller instruction of the automatic conveying system to complete interaction.

When the cover bag removal module 3 that letter sorting position device received main loop line 4 and carried, be close to fixed module, accomplish height and level and expand the wrapping bag, both sides increase the centre gripping, put into behind the goods through unclamping bracing piece top centre gripping, both ends tensioning, the sewing is sealed, print and put up a series of operations back of goods list, carry the export line to go to transportation/delivery reason goods region through lifting type gyro wheel with the wrapping bag after the letter sorting, the level of completion bracing piece and the high folding back removal module 3 leave fixed module and wait for main loop line 4, specifically include following step:

(1) when a certain sorting position has a requirement to receive the bag-sleeving movable module 3 and the corresponding section on the main loop 4 is the bag-sleeving movable module 3, the state of the sorting position is '00', and the state of the main loop 4 is '10';

(2) through interaction, after the bag sleeving moving module 3 is arranged at the sorting position, the state of the corresponding section of the main loop 4 is changed into 00, and the state of the sorting position is changed into 01;

(3) under the operation of the station frame 13, the movable module 3 automatically approaches to the fixed module to finish actions such as height and horizontal expansion, two-side reinforcing and clamping and the like, the sorting position is automatically ready for goods arrival, and the state of the sorting position is changed into '10';

(4) after goods are loaded in the sorting position, the station frame 13 automatically loosens the clamping of the top of the supporting rod, and automatically and sequentially completes the operations of tensioning two ends of the sorted packaging bag, sewing and sealing, printing a goods list and the like;

(5) after the top of the support rod is clamped by the station frame 13, the horizontal and height folding actions of the support rod are automatically completed, the movable module 3 is moved away from the fixed module, the sorting position state is changed to 11, and the interaction between the section 4 '00' of the main loop line and a main controller instruction of the automatic conveying system is waited;

(6) the bottom roller of the sorting position is lifted and rotates as required, the sorted packaging bags are sent out and are carried to a transportation/distribution tally area through the conveying line 7, and after the packaging bags are sent out and the main loop line 4 on the movable module 3 is moved empty, the state of the sorting position is changed into '00', and the next bag sleeving movable module 3 is waited to arrive.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic conveying system for foldable packaging bags for sorting is characterized by comprising a cargo sorting line with a plurality of sorting openings, a foldable packaging bag operating device arranged below the sorting openings, a foldable packaging bag conveying main loop line for conveying a movable module, a manual bagging station for manually bagging packaging bags, an auxiliary loop line connected with the main loop line and the manual bagging station, a conveying line for conveying out the sorted packaging bags and an automatic conveying control system comprising a user operation end and a cooperative control algorithm, wherein each sorting position and each bagging station are provided with a pushing device for completing a sleeving opening pushing action;

2. The automatic foldable packaging bag conveying system for sorting according to claim 1, wherein the foldable packaging bag handling device comprises a fixed module with symmetrical guide rails and conveying roller lifting holes, a guide rail device of a taking and sending moving module, a station frame with a height shifting fork synchronizer and a horizontal shifting fork synchronizer, an automatic packaging bag opening clamping device, a goods list printing device, a goods list pasting device, a packaging bag opening two-end tensioning device and an automatic sewing and sealing device which are respectively arranged on the station frame, and a sending device which can be lifted by rollers and is positioned below the fixed module and the moving module; each manual bagging station is provided with a guide rail device for taking and delivering the movable module, a fixed module with symmetrical guide rails and a station frame with a height shifting fork synchronizer and a horizontal shifting fork synchronizer.

3. The automatic foldable packing bag conveying system for sorting according to claim 1, wherein the moving modules comprise a bag sleeving moving module and an idle moving module, the bag sleeving moving module goes to the sorting opening through a loop line after completing bag sleeving from the manual bag sleeving station, and the idle moving module returns to the manual bag sleeving station from the sorting opening through the loop line after packing the packed goods, and then bags are sleeved again.

4. The automatic foldable packaging bag conveying system for sorting according to claim 2, wherein the station frame is provided with packaging bag folding auxiliary link mechanisms which are positioned at two sides of the length direction of the station frame, hinged at two ends and the middle part, hinged at two ends and fixed at two ends and higher than the position of the horizontal shifting fork, the packaging bag which is sleeved in is assisted to move inwards when being folded in the horizontal direction, the packaging bag folding auxiliary link mechanisms obliquely move downwards along with gravity to return to the initial position of the station frame before the horizontal direction is folded, and the other moving module 3 moves back to the horizontal position along with the horizontal shifting fork synchronizing device after reaching.

5. The automatic foldable packaging bag conveying system for sorting according to claim 1, wherein each sorting position operating device, the main loop line, the auxiliary loop line and each manual bagging station are provided with manual switches capable of being manually controlled and are respectively operated and controlled through a control terminal provided by the system;

the main loop wire and the auxiliary loop wire are driven by a servo driving device, and the main loop wire and the auxiliary loop wire do intermittent circular motion under the action of the driving device;

6. An automatic conveying control method for foldable packaging bags for sorting, which is characterized in that the automatic conveying system for foldable packaging bags for sorting, which is disclosed by any one of claims 1 to 5, is adopted, and comprises the following steps:

7. An automatic conveying control method of foldable packaging bags for sorting is characterized in that four states of a sorting position and a bag sleeving position are set;

wherein, the number of the work stations is '00' (no moving module and interactive), the number of the work stations is '01' (after the interaction is finished), '10' (the work stations are automatically prepared and can be loaded or bagged), and '11' (the loading or the bagging can be interactive);

any section on the main loop line and the auxiliary loop line is in three states: wherein, 00 (no moving module), 01 (empty moving module), 10 (bag-covering moving module) and 11 are reserved;

(1) the sorting position is ready, the bagging moving module can be received, the state of the sorting position is 00 at the moment, and the sorting position needs to be matched with the state position of the corresponding section 10 on the main loop; after the interaction is completed, the state of the sorting position is '01' (namely the sorting position device starts to operate), and the state of the corresponding section on the main loop is '00' (namely the section has no moving module 3);

(2) when the sorting position is ready, an empty mobile module is pushed to the main loop, the state of the sorting position is 10, and the sorting position needs to be matched with the state position of the corresponding section 00 on the main loop; after the interaction is finished, the state of the sorting position is '00' (namely the sorting position waits for the bagging moving module), and the state of the corresponding section on the main loop is '01' (namely the section is a vacant moving module);

(3) when the auxiliary loop is ready, the main loop on the bagging moving module needs to be pushed, and at the moment, the state of the corresponding section of the auxiliary loop is 10, and the corresponding section of the auxiliary loop needs to be matched with the state position of 00 on the corresponding section of the main loop; after the interaction is completed, the state of the corresponding section on the auxiliary loop is '00' (namely the section has no mobile module), and the state of the corresponding section on the main loop is '10' (namely the section is a bagging mobile module);

(4) the auxiliary loop is ready, and can receive the empty mobile module, and the state of the corresponding section of the auxiliary loop is '00', and needs to be matched with the state of the corresponding section '01' on the main loop; after the interaction is finished, the state of the corresponding section on the main loop is '00' (namely the section has no moving module), and the state on the auxiliary loop is '01' (for '01', the manual bagging station can be arranged);

(5) when the manual bagging station is ready, the auxiliary loop on the bagging moving module needs to be pushed, and the state of the corresponding section of the auxiliary loop is 00, and needs to be matched with the state position of 11 on the manual bagging station; after the interaction is finished, the state of the manual bagging station is '00' (namely, the empty mobile module can be received), and the state of the corresponding section on the auxiliary loop is '10' (when the corresponding section is '10', the main loop can be arranged);

(6) the manual bagging station is ready to receive the empty moving module, and the state of the corresponding section of the auxiliary loop is '01' and needs to be matched with the '00' state position on the manual bagging station. After the interaction is completed, the state of the sorting position is '01', and the state of the corresponding section on the auxiliary loop is '00' (namely, the receiving mobile module).

8. A foldable packing bag automatic conveying control method for sorting is characterized in that a main loop line and an auxiliary loop line need to be correspondingly arranged through a control terminal, the position states of the main loop line and the auxiliary loop line are respectively in three types of 00, 01 and 10, and the corresponding rules of specific services are as follows:

(1) when the auxiliary loop line pushes the bagging moving module to the main loop line, the auxiliary loop line is 10, and the main loop line is 00; after the main loop is arranged on the bagging moving module, the corresponding position state of the main loop is modified to be 10, and the corresponding position state of the auxiliary loop is modified to be 00;

9. The automatic conveying control method for the foldable packaging bags for sorting is characterized in that an empty moving module of an auxiliary loop line received by a manual bag sleeving station is converted into a bag sleeving moving module by matching with manual operation, and comprises the following steps:

(1) through interaction, the idle moving module is conveyed to a certain manual bagging station from an auxiliary loop, the state of the corresponding section of the auxiliary loop is changed from '01' to '00', and the position state of the manual bagging station is changed from '00' to '01';

(3) and manually taking the packaging bag, putting the packaging bag into the station frame, completing operations such as bag sleeving clamping and the like, manually starting the folding function, changing the state of the manual bag sleeving station into 11 after horizontal and high folding actions are completed under the operation of the station frame, and waiting for the command of the main controller of the automatic conveying system to complete interaction between the section 00 of the auxiliary loop line and the main controller.

10. The utility model provides a foldable packing bag automatic conveying control method for letter sorting, characterized in that, when the cover bag moving module that the sorting position device received main loop and carried, be close to fixed module, accomplish height and level and expand the wrapping bag, both sides increase the centre gripping, after putting into the goods through loosening bracing piece top centre gripping, both ends tensioning, the sewing seals, print and post a series of operations of goods list, carry the output line with the wrapping bag after sorting and go to transportation/distribution reason goods region through lifting roller, the folding back moving module of level and the height of completion bracing piece leaves fixed module and waits for main loop, specifically include the following step:

(4) after goods are loaded in the sorting position, the work station frame automatically loosens the clamping of the top of the supporting rod, and automatically and sequentially completes the operations of tensioning two ends of the sorted packaging bag, sewing and sealing, printing a goods posting list and the like;

(6) the bottom roller of the sorting position is lifted and rotates as required, the sorted packaging bags are sent out and are transported to a transportation/distribution tally area through a transport line, and after the packaging bags are sent out and a main loop line on an empty mobile module is finished, the state of the sorting position is changed into '00', and the next bagging mobile module arrives;

the printing device and the posting device of the goods list can adopt a common mode of two adjacent sorting positions.