CN115140349B

CN115140349B - Automatic conveying control method for foldable packaging bags for sorting

Info

Publication number: CN115140349B
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: 2023-08-15
Anticipated expiration: 2042-08-02
Also published as: CN115140349A

Abstract

The invention discloses an automatic conveying system and a control method for foldable packaging bags for sorting, wherein the automatic conveying system comprises a cargo sorting line with a plurality of sorting openings, a foldable packaging bag operating device arranged below the sorting openings, a folding packaging bag conveying main loop line for conveying a mobile 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 the packaging bags after sorting and an automatic conveying control system comprising a user operating end and a cooperative control algorithm, wherein each sorting position and each bagging station are provided with a pushing device for completing pushing actions of a packaging interface; the automatic reciprocating circulation operation of the invention greatly improves the conveying efficiency of the packaging bags for sorting and greatly saves the manual labor force for sorting.

Description

Automatic conveying control method for foldable packaging bags for sorting

Technical Field

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

Background

Folding wrapping bag is the essential step in the wrapping bag production process, at present, wrapping bag manufacturing enterprise adopts the manual mode to fold the wrapping bag generally, needs operating personnel to divide the manual folding of going on of many shifts, and the personnel demand has directly led to the cost of labor high greatly. Therefore, packaging bag production enterprises urgently need a packaging bag folding machine, can realize the mechanical automatic control of packaging bag folding, and reduce labor cost for enterprises.

Disclosure of Invention

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

The technical scheme for solving the technical problems is as follows: the automatic conveying system for the foldable packaging bags for sorting comprises a cargo sorting line with a plurality of sorting openings, a foldable packaging bag operating device arranged below the sorting openings, a folding packaging bag conveying main loop line for conveying a mobile 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 packaging bags after sorting and an automatic conveying control system comprising a user operating end and a cooperative control algorithm, wherein each sorting position and each bagging station are provided with a pushing device for completing pushing actions of a bagging interface;

the bottom of the movable module is provided with a linking unit, two groups of symmetrical movable supporting rods and fixed supporting rods are respectively arranged on the movable module, 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 movable supporting rods and the fixed supporting rods; the top of movable support pole and fixed support pole is provided with the slice piece, the slice piece can rotate around the bracing piece, be provided with the clamping device who is used for pushing down four limit angular points of wrapping bag on the slice piece.

Further, 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, an automatic sewing sealing device and a sending-out device, wherein the fixed module is positioned below a sorting opening and is provided with symmetrical guide rails and conveying roller lifting holes, the guide rail device is used for taking and sending a moving module, the station frame is provided with a height shifting fork synchronizing device and a horizontal shifting fork synchronizing device, the automatic packaging bag opening clamping device, the goods list printing device, the goods list pasting device, the packaging bag opening two-end tensioning device and the automatic sewing sealing device are respectively arranged on the station frame, and the sending-out device is positioned below the fixed module and the moving module and can be lifted by rollers; each manual bagging station is provided with a guide rail device for taking and delivering a mobile module, a fixed module with symmetrical guide rails, and a station frame with a height shifting fork synchronous device and a horizontal shifting fork synchronous device.

Further, the moving module comprises a bagging moving module and an empty moving module, the bagging moving module is used for conveying cargoes to the sorting opening through a loop after finishing bagging from the manual bagging station, and the empty moving module is used for returning to the manual bagging station from the sorting opening through the loop after packaging the cargoes in bags, and bagging is carried out again.

Further, the station frame is provided with a packaging bag inward folding auxiliary link mechanism which is positioned at two sides of the station frame in the length direction, two ends and the middle are hinged, the hinge points of the two ends are fixed and higher than the horizontal shifting fork, the packaging bag which is sleeved in an auxiliary way moves inwards when being folded in the horizontal direction, the packaging bag inward folding auxiliary link mechanism moves downwards along with the 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 return to the horizontal position along with the horizontal shifting fork synchronous device after reaching.

Further, each sorting position operating device, the main loop line, the auxiliary loop line and each manual bagging station are provided with manual switches which can be controlled manually, and are respectively operated and controlled through a control terminal provided by the system.

Further, 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 circulating motion under the action of the driving device;

the servo driving devices comprise servo motors, matched electromagnetic valves and transmission mechanisms, 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: leaving the auxiliary loop: the empty moving module is shunted to a manual bagging station from the auxiliary loop line, the station faces the empty moving module, the matched pushing device pushes the empty moving module to the station direction, so that a bottom connecting element of the moving module enters a sleeve interface of the bagging station, the sleeve interface is triggered to rotate by 90 degrees, the empty moving module is pulled into a device for taking and delivering the moving module, and the action of leaving the auxiliary loop line is completed;

S2: height expansion: under the drive of the bottom synchronous chain, the cross bars of the movable support bar and the fixed support bar enter the guide rail to enter the height shifting fork, the cross bars at the lower end horizontally move, and the two height shifting forks can enable the cross bars of the movable support bar and the fixed support bar to bidirectionally move;

s3: and (3) separating a supporting rod: the upper and lower cross bars at the outer sides of the two movable support rods are driven by a screw rod or other synchronous devices to move at the same speed towards the fixed module far away from the end of the fixed support rod until the end of the guide rail at the inner side of the fixed module is stopped;

s4: and (5) manual bagging clamping: manually taking the packaging bag, putting the packaging bag into a station frame which is unfolded in the horizontal direction and the height direction, respectively corresponding to the length direction and the width direction, and respectively pressing the width side bag openings at four corners into the clamping device;

s5: folding operation of the support rods: when the synchronous driving device pushes the movable supporting rod to move inwards towards the fixed supporting rod, the inward folding auxiliary connecting rod mechanism moves inwards, so that the length direction of the placed packaging bag is folded inwards, and when the movable supporting rod and the fixed supporting rod are folded, the lower cross rod stops moving to push the horizontal shifting fork of the upper cross rod to be released and clamped into the height shifting fork together with the upper cross rod of the fixed supporting rod;

S6: height folding operation: the connection unit at the bottom of the movable module rotates 180 degrees, then the movable module device is taken out, the movable support rods and the cross rods at the lower ends of the fixed support rods are pushed to move continuously towards the auxiliary loop, meanwhile, the cross rods at the upper ends of the four support rods move horizontally in the guide rail under the assistance of the height shifting fork, the height direction is lowered, the packaging bag is folded in the height direction along oblique lines downwards, when the movable module contacts the auxiliary loop, the height is folded to a preset position, the whole cross rods at the top of the fixed support rods are clamped in the buckles, and the height shifting fork is loosened;

s7: returning to auxiliary loop line operation: under the condition that the auxiliary loop line station can accept the bagging moving module, the matched pushing device pushes the linking unit at the bottom of the moving module to move towards the auxiliary line, when the bottom linking element of the moving module enters the sleeve joint opening at the corresponding position of the auxiliary loop line, the sleeve joint opening rotates by 90 degrees, the moving module after bagging is pulled into the auxiliary loop line, and the action of returning to the auxiliary loop line is completed.

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

wherein, "00" (no mobile module, interactable), "01" (after interaction is completed), "10" (station is automatically ready for shipment or bagging), "11" (after shipment or bagging is completed, interactable);

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" (bagging moving module), "11" are reserved;

judging whether interaction can be performed or not and giving a state value after interaction by a main controller of the automatic conveying system through the following state marks, wherein the method comprises the following steps of:

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

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

(3) the auxiliary loop wire is ready, the main loop wire on the bagging moving module is pushed, and the state of the corresponding section of the auxiliary loop wire is 10 and is matched with the state bit of the corresponding section 00 on the main loop wire; after the interaction is completed, 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 the state bit is required 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' (namely '01' can be used for manually bagging);

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

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

further, the main loop line and the auxiliary loop line are required to be correspondingly set through the control terminal, and the position states of the main loop line and the auxiliary loop line are respectively of three types of '00', '01', '10', and the corresponding rules with specific services are as follows:

(1) When the auxiliary loop 6 pushes the bagging moving module to the main loop, the auxiliary loop is 10, and the main loop is 00; after the main loop wire is arranged on the bagging moving module, the corresponding position state of the main loop wire is changed to 10, and the corresponding position state of the auxiliary loop wire is changed to 00;

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

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

Further, the manual bagging station receives the empty moving module on the auxiliary loop line and converts the empty moving module into a bagging moving module by matching with manual operation, and the method comprises the following steps of:

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

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

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

Further, when the sorting position device receives the bagging moving module conveyed by the main loop, the bagging moving module is close to the fixed module, the packaging bag is unfolded in a height and level mode, the clamping is added on two sides, after goods are put in, a series of operations of clamping the top of the supporting rod, tensioning the two ends, sewing and sealing, printing and posting a bill of goods are carried out, the packaging bag after sorting is conveyed by the lifting roller to a conveying/distributing tally area, and the moving module leaves the fixed module to wait for the main loop after the horizontal and height folding of the supporting rod is completed, and the method specifically comprises the following steps:

(1) when a sorting position is required to receive the bagging moving module and the corresponding section on the main loop line is the bagging moving module, the state of the sorting position is '00', and the main loop line is '10';

(2) after the sorting position on the bagging moving module is interacted, the state of the corresponding section of the main loop line is changed into '00', and the state of the sorting position is changed into '01';

(3) Under the operation of the station frame, the movable module automatically approaches the fixed module to finish the actions of height, horizontal expansion, reinforcement clamping on two sides and the like, and the sorting position automatically prepares for waiting for the arrival of goods, and the state of the sorting position is changed into 10;

(4) after goods are loaded in the sorting positions, the station frames automatically loosen the top clamping of the support rods, and the operations of tensioning the two ends of the sorted packaging bags, sewing and sealing, printing and posting a bill of the goods and the like are automatically completed in sequence;

(5) after the station frame releases the top clamping of the support rod, the horizontal and high folding actions of the support rod are automatically completed, the empty moving module leaves the fixed module, the sorting position state is changed to 11, and the interaction is completed by waiting for the main loop line 00 section and the main controller instruction of the automatic conveying system;

(6) the roller at the bottom of the sorting position is lifted and rotated according to the requirement, the sorted packaging bags are sent out and conveyed to a transportation/distribution tally area through a conveying line 7, after the packaging bag is sent out and the main loop line on the empty moving module is completed, the state of the sorting position is changed into '00', and the arrival of the next bagging moving module is waited.

The invention has the following beneficial effects: the automatic conveying system and the control method for the foldable packaging bags for sorting are reliable in structure, good in usability and high in automation degree, automatic folding of the packaging bags which are manually sleeved, auxiliary lines on the automatic conveying bagging moving modules and transfer to the main loop are effectively realized, the auxiliary loop and the main loop move according to beats, the main loop is automatically discharged below a sorting opening according to instructions, the main loop is automatically unfolded and automatically reinforced and clamped after entering a position to be sorted, goods are automatically tensioned and automatically sewn and sealed after being sorted into the packaging bags, a goods list is automatically printed and adhered to the outer side of the packaging bags, the goods list is automatically conveyed into the conveying device of the packaging bags after sorting after being finished, the automatic conveying empty moving modules are automatically reciprocated according to beats to return to the main loop, transfer to the auxiliary loop and put on the manual bagging station to sleeve bags, conveying efficiency of the packaging bags for sorting is greatly improved, and manual labor force is greatly saved.

Drawings

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

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

FIG. 3 is a schematic diagram of the structure of the present invention;

FIG. 4 is a schematic view showing the distribution structure of the movable support rod and the fixed support rod according to the present invention;

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

FIG. 6 is a schematic diagram of the servo drive and the primary and secondary loop wire coordination;

Detailed Description

The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.

As shown in fig. 1 to 6, a foldable automatic conveying system for packaging bags for sorting comprises a cargo sorting line 1 with a plurality of sorting openings, a foldable packaging bag operating device 2 arranged below the sorting openings, a foldable packaging bag conveying main loop line 4 for conveying a mobile module 3, a manual bagging station 5 for manually bagging packaging bags, an auxiliary loop line 6 connected with the main loop line 4 and the manual bagging station 5, a conveying line 7 for conveying packaging bags after sorting, and an automatic conveying control system 8 comprising a user operating end and a cooperative control algorithm, wherein each sorting position and each bagging station are provided with a pushing device 22 for completing a pushing action of a bagging interface; through this automatic conveying system, realize the automatic folding of artifical cover good wrapping bag, automatic transport cover bag removes the supplementary line on the module 3, transfer into main loop 4, move according to the beat on supplementary loop 6, main loop 4, according to order automatic play main loop 4 in sorting mouth below, get into and wait to sort after the arrival position, automatic tensioning and automatic sewing up seal after the goods letter sorting advances the bag, automatic printing goods list and paste in the wrapping bag outside, after the post-send into the conveyor of letter sorting back wrapping bag automatically, automatic transport empty remove the module 3 returns main loop 4 according to the beat, transfer supplementary loop 6, go up artifical cover bag station 5 cover bags, automatic reciprocal cycle, improve the conveying efficiency of the wrapping bag for letter sorting, practice thrift the manual labor greatly.

The bottom of the movable module 3 is provided with a connection unit 21, two groups of symmetrical movable support rods and fixed support rods are respectively arranged on the movable 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 movable support rods and the fixed support rods; the top of movable support pole and fixed support pole is provided with the slice piece, the slice piece can rotate around the bracing piece, be provided with the clamping device who is used for pushing down four limit angular points of wrapping bag on the slice piece. The movable module 3 moves on the main loop line 4 and the auxiliary loop line 6 according to the design beat, and is provided with two movable and fixed support rods with hinge points capable of being folded/unfolded unidirectionally, the top of each support rod is provided with a small transverse rod (the width direction of the packaging bag is extended outwards), the two lower-top fixed support rods are fixed on the movable module 3 in position, the transverse rods are shorter and used for being unfolded/folded highly, the two higher-top movable support rods are arranged in the guide rails on the two sides, the bottom of each movable support rod is provided with a small transverse rod on the outer side, the movable support rods are used for being unfolded/folded horizontally along with the transverse rods on the top (longer than the guide rods), one end of each guide rail is opened and is in butt joint with the guide rail of the fixed module, and the movable module 3 can move to the other end of the guide rail on the fixed module during operation.

In addition, in order to ensure the reliability of manual bagging, four supporting rods are provided with reinforcing clamping devices at the tops to press four points of the bag mouth, flag-like sheet blocks are arranged at the tops of the supporting rods, the length of the flag-like sheet blocks is smaller than 1/2 of the width of the bag, the flag-like sheet blocks can rotate around the supporting rods, but the flag blocks can only rotate 90 degrees from the length direction of the bag to the width direction or return to 90 degrees, the clamping devices are placed on the sheet blocks, the bag is clamped at a certain position during manual bagging, the sheet blocks are opened by an automatic device in a sorting mouth lower station frame 13 before tensioning of the two ends of the bag mouth after the bagging is finished, the sheet blocks are automatically turned to the length direction of the bag mouth when the bag mouth is tensioned, the two ends of the bag mouth are conveniently tensioned, and the supporting rods are conveniently moved to return to the movable module 3. Because the top of the support 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, and the width of the limiting device is determined according to the length of a sheet block at the top of the fixed support rod, so that the sheet block is ensured to be normally arranged on the support rod after being folded;

the foldable packaging bag operating device 2 comprises a fixed module, a guide rail device 10, 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, an automatic sewing sealing device 18 and a lifting device 19, wherein the fixed module is arranged below a sorting opening and is provided with symmetrical guide rails and lifting holes of conveying rollers, the guide rail device 10 is used for taking and conveying the mobile module 3, the station frame 13 is provided with a height shifting fork synchronization device 11 and a horizontal shifting fork synchronization device 12, the automatic packaging bag opening clamping device 14, the goods list printing device 15, the goods list pasting device 16 are respectively arranged on the station frame 13, the two ends of the packaging bag opening are respectively tensioned by the sorting opening, the automatic sewing sealing device 18 is arranged below the fixed module and the mobile module 3, and the lifting rollers are arranged below the mobile module; each of the bagging stations 5 is equipped with a rail device 10 for taking in and out the moving module 3, a fixed module with symmetrical rails, a station frame 13 with a height fork synchronization 11 device and a horizontal fork synchronization 12 device.

According to whether the moving module 3 is sleeved with a packaging bag, the moving module 3 comprises a bagging moving module 3 and an empty moving module 3, the bagging moving module 3 finishes bagging from the manual bagging station 5 and then goes to the sorting port through a loop line to pack cargoes, and the empty moving module 3 returns to the manual bagging station 5 from the sorting port through the loop line after packaging the bagged cargoes, and bagging is performed again.

The station frame 13 is provided with a loosening action device for reinforcing the clamping mechanism on the sheet block at the top of the movable supporting rod and two fixing plates in the length direction of the packaging bag, wherein the fixing plates are used for preventing the packaging bag from protruding outwards too much in the length direction, so that the movable supporting rod is inconvenient to return to the movable module 3, or the movable supporting rod is interfered when the packaging bag is moved and sorted.

In addition, the station frame 13 is provided with a packaging bag inward folding auxiliary link mechanism which is positioned at two sides of the station frame 13 in the length direction, two ends and the middle are hinged, the hinge points of the two ends are fixed and higher than the horizontal shifting fork, the packaging bag which is sleeved in an auxiliary way moves inwards when being folded in the horizontal direction, the packaging bag inward folding auxiliary link mechanism moves downwards along with the 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 synchronous device 12 after reaching.

Each sorting position operating device, the main loop wire 4, the auxiliary loop wire 6 and each manual bagging station 5 are provided with manual switches which can be controlled manually, and are respectively operated and controlled through a control terminal provided by 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 circulating motion under the action of the driving device; the servo driving device comprises a servo motor, a matched electromagnetic valve and a transmission mechanism, wherein 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 are used for accurately executing instructions sent by the main controller.

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

The length of the main loop wire 6 and the auxiliary loop wire 6 is an integer multiple of the stepping length, each stepping length is one section, the installation positions of the sleeving devices are required to be reasonably arranged on the corresponding chains of each section, and each sleeving device can be provided with 1-3 sleeving interfaces. Each section can be provided with a movable module 3, the lower part of the movable module 3 is linked with a sleeving device to realize the stepping action of the movable module 3 along with the movement of the chain, the parts of the main loop line 6 and the auxiliary loop line 6 which are mutually adjacent (are also integer multiples of the stepping length) are called interactable sections, the transfer of the mobile module 3 on two loops is realized, each section can be provided with two loops up and down on the interactive section, and the arrangement of the two loops can be configured in the main controller, wherein the two loops can be provided with main loops 4 (namely a lower auxiliary loop 6) on some sections and auxiliary loops 6 (namely a lower main loop 4) on other sections;

The driving device of the system mainly adopts servo motors of various types, and is matched with an electromagnetic valve, a transmission mechanism and the like to realize the automatic actions of the main loop 4, the auxiliary loop 6, each sorting position device and each manual bagging station 5 device, and the automatic actions comprise the actions of the sleeving device corresponding to each sorting opening or each interactive section on the main loop 4. In practical application, the common driving device can be properly combined according to the 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 is shared with the auxiliary loop line 6 and the sorting position device is shared with the main loop line 4, and the spare 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 wire 6 plays a role of temporarily storing the empty moving module 3 or the bagging moving module 3, the auxiliary loop wire 6 is not needed according to the actual situation of the field, the auxiliary loop wire 6 rotates 180 degrees before the main loop wire 4 on the bagging moving module 3 or before the manual bagging station 5 on the empty moving module 3, the moving module 3 is ensured to be correctly oriented when being abutted to the fixed module, the steering function can also be arranged on the main loop wire 4, and the steering function is flexibly configured according to the number of the loop wires in the actual application.

s1: and (6) leaving the auxiliary loop line: the empty moving module 3 is shunted to the manual bagging station 5 from the auxiliary loop line 6, the station is just empty moving module 3, the matched pushing device 22 pushes the empty moving module 3 to the station direction, so that the bottom connecting element of the moving module 3 enters the sleeve interface of the bagging station, the sleeve interface is triggered to rotate 90 degrees, the empty moving module 3 is pulled into the device for taking and sending the moving module 3, and the action of leaving the auxiliary loop line 6 is completed;

s4: and (5) manual bagging clamping: manually taking the packaging bag, putting the packaging bag into a station frame 13 which is unfolded in the horizontal direction and the height direction, respectively corresponding to the length direction and the width direction, and respectively pressing the width side bag openings at four corners into a clamping device;

s6: height folding operation: the connection unit 21 at the bottom of the movable module 3 rotates 180 degrees, then the movable module 3 is taken and sent to a device, 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 loop 6, meanwhile, the cross rods at the upper ends of the four support rods move horizontally in the guide rail under the assistance of the height shifting fork, the height direction is lowered, the packaging bag is folded in the height direction along the oblique line downwards, when the movable module 3 contacts the auxiliary loop 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 fork is loosened;

s7: and (3) returning to an auxiliary loop line 6: under the condition that the station of the auxiliary loop wire 6 can accept the bagging moving module 3, the matched pushing device 22 pushes the linking unit 21 at the bottom of the moving module 3 to move towards the auxiliary loop wire, when the linking element at the bottom of the moving module 3 enters the sleeve interface at the corresponding position of the auxiliary loop wire 6, the sleeve interface rotates by 90 degrees, the moving module 3 after bagging is pulled into the auxiliary loop wire 6, and the action of returning to the auxiliary loop wire 6 is completed.

wherein, "00" (no mobile module 3, interactable), "01" (after interaction is completed), "10" (station is automatically ready for shipment or bagging), "11" (after shipment or bagging is completed, interactable);

any segment 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" (bagging moving module 3), "11" are reserved;

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

(2) 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 and is matched with the state of the corresponding section 00 on the main loop 4; after the interaction is finished, the sorting position state 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) The auxiliary loop wire 6 is ready, the main loop wire 4 on the bagging moving module 3 is pushed, and the state of the corresponding section of the auxiliary loop wire 6 is 10 and is matched with the state bit of the corresponding section 00 on the main loop wire 4; after the interaction is completed, the corresponding section state on the auxiliary loop line 6 is '00' (namely the section is provided with no moving module 3), and the corresponding section state on the main loop line 4 is '10' (namely the section is provided with a bagging moving module 3);

(4) the auxiliary loop 6 is ready and can receive the empty mobile module 3, and the state of the corresponding section of the auxiliary loop 6 is '00' at the moment and is required to be matched with the state bit of the corresponding section '01' on the main loop 4; after the interaction is completed, 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' (namely '01' can be used for manually sleeving the bag station 5);

(5) the manual bagging station 5 is ready, an auxiliary loop wire 6 on the bagging moving module 3 is pushed, and the state of the corresponding section of the auxiliary loop wire 6 is 00 and is 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 moving module 3 can be received), and the state of the corresponding section on the auxiliary loop 6 is '10' (namely '10' can be used for the main loop 4);

(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 and is matched with the 00 state on the manual bagging station 5. After the interaction is finished, the sorting position state is "01", and the corresponding segment state on the auxiliary loop 6 is "00" (namely, the mobile module 3 can be received);

The circulation directions of the main loop line and the auxiliary loop line 6 can be the same or different, namely the main loop line and the auxiliary loop line can move in opposite directions or in the same direction in the interactive section, which can influence the operation of a cooperative control algorithm and needs to be correspondingly set through a control terminal; the main loop line 4 and the auxiliary loop line 6 need to be correspondingly arranged through a control terminal, and the position states of the main loop line 4 and the auxiliary loop line 6 are respectively of three types of '00', '01', '10', and the corresponding rules with specific services are 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 wire 4 is arranged on the bagging moving module 3, the corresponding position state of the main loop wire 4 is changed to 10, and the corresponding position state of the auxiliary loop wire 6 is changed to 00;

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

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

The manual bagging station 5 receives the empty moving module 3 on the auxiliary loop 6 and converts the empty moving module into a bagging moving module 3 by matching with manual operation, and the method comprises the following steps of:

(1) through interaction, the empty moving module 3 is conveyed to a certain manual bagging station 5 from an auxiliary loop 6, the state of the corresponding section of the auxiliary loop 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 mobile module 3 automatically approaches to the fixed module to complete the actions of height and horizontal unfolding, and is automatically ready to wait for manual operation, and the state of the manual bagging station 5 is changed to 10;

(3) the manual bag taking and placing frame 13, finishing bag clamping and other operations, manually starting folding function, after the horizontal and high folding actions are finished under the operation of frame 13, changing the state of manual bag placing station 5 into 11, waiting for the auxiliary loop 6 00 section to complete interaction with the main controller instruction of the automatic conveying system.

When the sorting position device receives the bagging moving module 3 conveyed by the main loop 4, the bagging moving module is close to the fixed module, the packaging bag is unfolded in height and horizontally, the clamping is added on two sides, after goods are put in, a series of operations of loosening the clamping at the top of the supporting rod, tensioning the two ends, sewing and sealing and printing and posting the bill of goods are carried out, the output line of the packaging bag after sorting is conveyed to a transportation/distribution tally area through the lifting roller, and the moving module 3 leaves the fixed module to wait for the main loop 4 after the horizontal folding and the high folding of the supporting rod are completed, and the method specifically comprises the following steps:

(1) When a sorting position is required to receive the bagging moving module 3 and the corresponding section on the main loop line 4 is the bagging moving module 3, the state of the sorting position is '00', and the main loop line 4 is '10';

(2) after the sorting position on the bagging moving module 3 is interacted, the state of the corresponding section of the main loop line 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 the fixed module to finish the actions of height, horizontal expansion, reinforcing clamping at two sides and the like, and the sorting position is automatically ready to wait for the arrival of goods, and the state is changed into 10;

(4) after goods are loaded in the sorting positions, the station frame 13 automatically releases the top clamping of the support rods, and the operations of tensioning the two ends of the sorted packaging bags, sewing and sealing, printing and posting a bill of the goods and the like are automatically completed in sequence;

(5) after the station frame 13 releases the top clamping of the supporting rod, the horizontal and high folding actions of the supporting rod are automatically completed, the empty moving module 3 leaves the fixed module, the sorting position state is changed to 11, and the interaction is completed between the main loop 4 00 section and the main controller instruction of the automatic conveying system;

(6) the roller at the bottom of the sorting position is lifted and rotated according to the requirement, the sorted packaging bags are sent out and conveyed to a transportation/distribution tally area through a conveying line 7, after the packaging bag is sent out and the main loop line 4 on the empty moving module 3 is completed, the sorting position state is changed to '00', and the arrival of the next bagging moving module 3 is waited.

The foregoing is only illustrative of the present invention and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present invention.

Claims

1. An automatic conveying control method for foldable packaging bags for sorting is characterized in that an automatic conveying system is adopted for operation, the automatic conveying system comprises a cargo sorting line with a plurality of sorting openings, a foldable packaging bag operating device arranged below the sorting openings, a folding packaging bag conveying main loop line for conveying a mobile module, a manual bagging station for manually bagging packaging bags, an auxiliary loop line connected with the folding packaging bag conveying main loop line and the manual bagging station, a conveying line for conveying the sorted packaging bags out and an automatic conveying control system comprising a user operating end and a cooperative control algorithm, and each sorting position and each manual bagging station are provided with a pushing device for completing pushing actions of a bag interface;

the bottom of the movable module is provided with a linking unit, two groups of symmetrical movable supporting rods and fixed supporting rods are respectively arranged on the movable module, 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 movable supporting rods and the fixed supporting rods; the tops of the movable supporting rod and the fixed supporting rod are provided with sheet blocks, the sheet blocks can rotate around the supporting rod, and clamping devices for pressing four corner points of the packaging bag are arranged on the sheet blocks;

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, an automatic sewing sealing device and a sending device, wherein the fixed module is arranged below a sorting opening and is provided with symmetrical guide rails and conveying roller lifting holes, the guide rail device is used for taking and sending a moving module, the station frame is provided with a height shifting fork synchronizing device and a horizontal shifting fork synchronizing device, the automatic packaging bag opening clamping device, the goods list printing device, the goods list pasting device, the packaging bag opening two-end tensioning device and the automatic sewing sealing device are respectively arranged on the station frame, and the sending device is arranged below the fixed module and the moving module and is used for lifting rollers; each manual bagging station is provided with a guide rail device for taking and delivering a mobile module, a fixed module with symmetrical guide rails, and a station frame with a height shifting fork synchronous device and a horizontal shifting fork synchronous device;

when the automatic conveying system is adopted for operation, the method comprises the following steps:

s1: leaving the auxiliary loop: the empty moving module is shunted to an artificial bagging station from the auxiliary loop line, the artificial bagging station faces the empty moving module, the matched pushing device pushes the empty moving module to the station direction, so that a bottom connecting element of the empty moving module enters a sleeve interface of the artificial bagging station, the sleeve interface is triggered to rotate by 90 degrees, the empty moving module is pulled into a device for taking and delivering the moving module, and the action of leaving the auxiliary loop line is completed;

S2: height expansion: under the drive of the bottom synchronous chain, the cross bars of the movable support bar and the fixed support bar enter a height shifting fork synchronous device through a guide rail, the cross bars at the lower end horizontally move, and the two height shifting fork synchronous devices enable the cross bars of the movable support bar and the fixed support bar to bidirectionally move;

s3: and (3) separating a supporting rod: the upper cross rod and the lower cross rod which are positioned at the outer sides of the two movable support rods are driven by a screw rod or other synchronous devices to move towards the fixed module at the same speed away from the end of the fixed support rod until reaching the end of the guide rail at the inner side of the fixed module, and the driving is stopped;

s4: and (5) manual bagging clamping: manually taking the packaging bag, putting the packaging bag into a station frame in an unfolding state in the horizontal and height directions, keeping the length and width directions corresponding respectively, and pressing the bag openings on the width sides at the four corners into a clamping device respectively;

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

S6: height folding operation: the connection unit at the bottom of the movable module rotates 180 degrees, then the movable module device is taken out, the movable support rods and the cross rods at the lower ends of the fixed support rods are pushed to move continuously towards the auxiliary loop, meanwhile, the cross rods at the upper ends of the four support rods move continuously horizontally in the guide rail under the assistance of the height shifting fork synchronous device, the height direction is lowered, the packaging bag is folded in the height direction along oblique lines downwards, after the movable module contacts the auxiliary loop, the movable module is folded to a preset position in height, the whole cross rods at the tops of the fixed support rods are clamped in the buckles, and the height shifting fork synchronous device is loosened;

s7: returning to auxiliary loop line operation: under the condition that the auxiliary loop line station can accept the bagging moving module, the matched pushing device pushes the linking unit at the bottom of the moving module to move towards the auxiliary line, when the bottom linking element of the moving module enters the socket at the corresponding position of the auxiliary loop line, the socket rotates by 90 degrees, the moving module after bagging is pulled into the auxiliary loop line, and the action of returning to the auxiliary loop line is completed.

2. The automatic conveying control method for the foldable packaging bags for sorting according to claim 1, wherein the moving module comprises a bagging moving module and an empty moving module, the bagging moving module conveys a main loop line through an auxiliary loop line and then through a foldable packaging bag to a sorting port for loading cargoes after finishing bagging from a manual bagging station, and the empty moving module conveys the main loop line through the foldable packaging bag and returns to the manual bagging station from the sorting port through the auxiliary loop line after packaging the cargoes, and bagging is performed again.

3. The automatic conveying control method for foldable packages for sorting according to claim 1, wherein each sorting position operating device, the main conveying loop line, the auxiliary conveying loop line and each manual bagging station are provided with manual switches which can be controlled manually and are respectively operated and controlled through control terminals provided with a system;

the main conveying loop line and the auxiliary conveying loop line of the folding packaging bag are driven by a servo driving device, and the main conveying loop line and the auxiliary conveying loop line of the folding packaging bag do intermittent circulating motion under the action of the driving device;

4. The automatic conveying control method for foldable sorting packages according to claim 2, wherein the sorting position is set first, and the manual bagging station includes four position states of "00", "01", "10" and "11";

wherein, "00" indicates no moving module and can interact, "01" indicates that after interaction is completed, "10" indicates that the station is automatically ready and can be loaded or bagged, and "11" indicates that loading or bagging is completed and can interact;

Any section on the main loop line and the auxiliary loop line of the folding packaging bag conveying is in four position states: wherein, "00" is represented as no-movement module, "01" is represented as empty movement module, "10" is represented as bagging movement module, "11" is represented as standby;

(1) the sorting position is ready and can receive the bagging moving module, and the position state of the sorting position is '00', and the sorting position is required to be matched with the position state of the corresponding section '10' on the conveying main loop line of the folding packaging bag; after the interaction is completed, the position state of the sorting position is '01', which indicates that the sorting position device starts to operate; the position state of the corresponding section on the conveying main loop line of the folding packaging bag is '00', which indicates that the section has no moving module;

(2) the sorting position is ready, the empty moving module is pushed to the main conveying loop line of the folding packaging bag, and the position state of the sorting position is 10 and is matched with the position state of the corresponding section 00 on the main conveying loop line of the folding packaging bag; after the interaction is completed, the position state of the sorting position is '00', which indicates that the sorting position waits for the bagging moving module; the position state of the corresponding section on the conveying main loop line of the folding packaging bag is '01', which indicates that the section is an empty moving module;

(3) The auxiliary loop line is ready, a folding packaging bag conveying main loop line on the bagging moving module is pushed, and the position state of the corresponding section of the auxiliary loop line is 10 and is matched with the position state of the corresponding section 00 on the folding packaging bag conveying main loop line; after the interaction is completed, the position state of the corresponding section on the auxiliary loop line is '00', which indicates that the section has no moving module; the position state of the corresponding section on the conveying main loop line of the folding packaging bag is 10, which indicates that the section is a bagging moving module;

(4) the auxiliary loop line is ready and can receive the empty mobile module, and the position state of the corresponding section of the auxiliary loop line is 00 and is required to be matched with the position state of the corresponding section 01 on the main loop line of the conveying main loop line of the folding packaging bag; after the interaction is finished, the position state of the corresponding section on the main conveying loop line of the folding packaging bag is 00, which indicates that the section has no moving module; the position state of the corresponding section on the auxiliary loop line is '01', which indicates that the section is a station capable of manually sleeving bags;

(5) the manual bagging station is ready, an auxiliary loop wire on the bagging moving module is pushed, and the position state of the corresponding section of the auxiliary loop wire is 00 and is matched with the 11 position state position on the manual bagging station; after the interaction is completed, the position state of the manual bagging station is '00', which indicates that the empty mobile module can be received; the position state of the corresponding section on the auxiliary loop line is 10, which means that the section is a main loop line for conveying the package bags which can be folded upwards;

(6) The manual bagging station is ready and can receive the empty moving module, and the position state of the corresponding section of the auxiliary loop line is 01 and is matched with the 00 position state on the manual bagging station; after the interaction is completed, the position state of the sorting position is '01', and the position state of the corresponding section on the auxiliary loop line is '00', which indicates that the mobile module can be received.

5. The automatic conveying control method for sorting foldable packaging bags according to claim 2, wherein the main conveying loop line and the auxiliary conveying loop line of the foldable packaging bags are required to be correspondingly arranged through control terminals, and the positions and states of the main conveying loop line and the auxiliary conveying loop line of the foldable packaging bags are respectively of three types of '00', '01', '10', and the corresponding rules with specific businesses are as follows:

(1) when the auxiliary loop line pushes the bagging moving module to the main folding packaging bag conveying loop line, the position state of the auxiliary loop line is 10, and the position state of the main folding packaging bag conveying loop line is 00; after the main loop line is conveyed by the folding packaging bag on the bagging moving module, the position state of the corresponding section of the main loop line is changed to 10, and the position state of the corresponding section of the auxiliary loop line is changed to 00;

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

In the above, when the position state on the main loop line or the auxiliary loop line of the folding packaging bag conveying is '01', the folding packaging bag conveying device corresponds to the empty moving module; when the position state is 10, the corresponding bagging moving module is arranged; when the position state is "00", the empty moving module and the bagging moving module can be received.

6. The automatic conveying control method of foldable packaging bags for sorting according to claim 2, wherein the manual bagging station receives the empty moving module of the auxiliary loop line and converts the empty moving module into the bagging moving module in cooperation with manual operation, and the manual bagging station has four position states of '00', '01', '10', '11', and the automatic conveying control method comprises the following steps:

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

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

(3) manually taking the packaging bag, placing the packaging bag into a station frame, completing operations such as bagging clamping and the like, manually starting a folding function, changing the position state of a manual bagging station into 11 after the horizontal and high folding actions are completed under the operation of the station frame, and waiting for the interaction between a corresponding section with the position state of 00 on an auxiliary loop line and a main controller instruction of an automatic conveying system;

In the above, when the position state of the manual bagging station is '00', the corresponding receivable empty mobile module; when the position state is '01', the received empty mobile module is corresponding; when the position state is 10, the corresponding empty mobile module is opened; when the position state is 11, the corresponding moving module finishes bagging and becomes a bagging moving module, and the corresponding section with the position state of 00 on the auxiliary loop line is waited to butt joint and receive the bagging moving module.

7. The automatic conveying control method of foldable packing bags for sorting according to claim 2, wherein when the sorting position device receives the bagging moving module conveyed by the main conveying loop of the foldable packing bags, the bagging moving module approaches to the fixing module, the height and the horizontal unfolding of the packing bags are completed, the clamping is increased at two sides, after goods are put in, the packing bags after sorting are conveyed to the conveying/distributing tally area through a lifting roller after a series of operations of loosening the top clamping of the supporting rod, tensioning the two ends, sewing and sealing and printing and pasting the bill of the goods, the moving module leaves the fixing module to wait for the main conveying loop of the upper foldable packing bags after the horizontal and the height folding of the supporting rod are completed, and the sorting position has four states of '00', '01', '10', '11', and the method specifically comprises the following steps:

(1) When a sorting position is required to receive the bagging moving module and the corresponding section on the main conveying loop line of the folding packaging bag is the bagging moving module, the position state of the sorting position is '00', and the position state of the corresponding section on the main conveying loop line of the folding packaging bag is '10';

(2) through interaction, after the bagging moving module is arranged at a sorting position, the position state of the corresponding section of the conveying main loop line of the folding packaging bag is changed into '00', and the position state of the sorting position is changed into '01';

(3) under the operation of the station frame, the movable module automatically approaches the fixed module to finish the actions of height, horizontal expansion, reinforcement clamping on two sides and the like, and the sorting position is automatically ready to wait for the arrival of goods, and the position state is changed into 10;

(5) after the station frame releases the top clamping of the supporting rod, the horizontal and high folding actions of the supporting rod are automatically completed, the empty moving module leaves the fixed module, the sorting position state is changed to 11, and interaction is waited for the corresponding section with the position state of 00 on the main conveying loop line of the folding packaging bag to complete with the instruction of the main controller of the automatic conveying system;

(6) Lifting the roller at the bottom of the sorting position, rotating according to the requirement, delivering the sorted packaging bags to a transportation/distribution tally area through a conveying line, completing the package bag delivery and folding of a package bag conveying main loop on an empty moving module, changing the position state of the sorting position into '00', waiting for the arrival of the next bagging moving module;

the printing device and the posting device of the bill of goods can adopt a mode of sharing two adjacent sorting positions;

in the above, when the position state of the sorting position is '00', the corresponding receivable bagging moving module; when the position state is '01', the corresponding received bagging moving module; when the position state is 10, the corresponding bagging moving module is opened; and when the position state is 11, the packing bags on the corresponding bagging moving modules are loaded with cargos and the sorting positions are removed, so that the packing bags become empty moving modules, and the corresponding sections with the position state of 00 on the folding packing bag conveying main loop line are waited to be butted and received.