CN116331583B - Automatic boxing method and boxing system for breathable packaging bags - Google Patents
Automatic boxing method and boxing system for breathable packaging bags Download PDFInfo
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- CN116331583B CN116331583B CN202310609593.0A CN202310609593A CN116331583B CN 116331583 B CN116331583 B CN 116331583B CN 202310609593 A CN202310609593 A CN 202310609593A CN 116331583 B CN116331583 B CN 116331583B
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- 238000010521 absorption reaction Methods 0.000 abstract description 6
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
- B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/20—Applications of counting devices for controlling the feed of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
- B65B59/001—Arrangements to enable adjustments related to the product to be packaged
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/80—Packaging reuse or recycling, e.g. of multilayer packaging
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention discloses an automatic packing method and a packing system for breathable packaging bags, wherein the breathable packaging bags sequentially and continuously translate in a horizontally-arranged state, the information of the translated breathable packaging bags is obtained through visual recognition, compared with a set packing packaging bag, when the size is inconsistent, the packing robot does not execute the packing action, the packaging bags flow out, and when the size is consistent with the set packaging bag, the packing robot grabs the packaging bags through the coordinates and the translation speed of the packaging bags; in the boxing process, the packing box does not need to be stopped and replaced, continuous boxing action is achieved, boxing efficiency is improved, the packaging bags can be orderly grabbed by the boxing robot in combination with visual recognition in a horizontally-arranged moving state of the packaging bags, and the horizontally-arranged state of the packaging bags is filled in the packing boxes, so that mess can not occur. Through adopting negative pressure gas pitcher to carry out the evacuation design to the sucking disc, can promote the adsorption stability of sucking disc, the produced certain sucking disc of multiple spot absorption and the bag body absorption inefficacy can not appear, and the bag body that causes drops the problem.
Description
Technical Field
The invention relates to the technical field of packaging, in particular to an automatic boxing method and boxing system for breathable packaging bags in a dust environment.
Background
The packaging bag is widely used in daily life and industrial production, is used for packaging various articles, and ensures that the articles are convenient to transport and store in the production and circulation processes. According to different requirements of the packaged articles of the packaging bag, the packaging bag can be divided into air permeability and air impermeability; common powdery (flour, cement) or granular (rice) articles are often packaged by breathable woven packaging bags.
Such wrapping bag that is equipped with article is in concrete vanning in-process, pack into a packing box with a plurality of wrapping bags, present vanning system can adopt the bag conveyer to carry out the packing box position to the wrapping bag, the wrapping bag gets into the packing box and carries out the vanning, a wrapping bag automatic vanning device as proposed in the publication No. CN113264223A patent, the packing box is located the intersection department of the perpendicular to the middle of first conveyer belt, second conveyer belt just when the packing box moves to the exit of first conveyer belt along with the second conveyer belt, so that the wrapping bag correctly falls into the packing box, be applicable to the vanning work of the wrapping bag of equidimension, this kind of vanning mode needs to adopt the third conveyer belt stall when changing the packing box, make the wrapping bag stop falling into in the packing box, for changing the packing box and can not realize the vanning action of continuity, and the wrapping bag falls into the packing box, can appear in disorder condition.
In the process of conveying the packaging bag on the conveying belt to the packaging box through the obliquely arranged guide plate in the bulletin number CN211969867U, the packaging bag slides along the guide plate, and the packaging bag can be horizontally placed in the packaging box after falling into the packaging box, so that the messy condition can not occur, and the manual extra arrangement time can be reduced; and when changing the packing box, rotate the deflector to the horizontal plane, the wrapping bag on the conveyer belt can be temporarily conveyed to the deflector, after the packing box is changed, rotate the deflector to the inclined position and can continue the packing bag vanning, but this kind of mode still need shut down and change the packing box, can't realize the vanning action of continuity.
In addition, because the wrapping bag has the gas permeability, in the vanning in-process of using adsorption mode, article in the wrapping bag can be adsorbed thereupon, and the adsorption structure of a plurality of sucking discs that adopt at present adsorbs the gas permeability wrapping bag, a plurality of sucking discs adopt with the vacuum pump direct intercommunication, carry out the evacuation to a plurality of sucking discs simultaneously through the vacuum pump, with the adsorption capacity that produces, but because the incomplete level reason (article in the wrapping bag distributes unevenly) on wrapping bag surface, and the adsorption capacity of the adsorption area of the wrapping bag that every sucking disc corresponds has the difference, influence the whole adsorption stability to the wrapping bag, the phenomenon that certain sucking disc breaks away from with the wrapping bag can appear, lead to adsorbing inefficacy, reduce vanning efficiency scheduling problem.
Disclosure of Invention
In view of the above problems, the present invention aims to provide an automatic packaging method and a packaging system for breathable packaging bags, which have the advantages of continuous and orderly packaging and stable packaging.
The invention provides an automatic boxing method of a breathable packaging bag, which comprises the following steps of:
firstly, enabling the breathable packaging bags to sequentially and continuously horizontally pass through the grabbing side of the boxing robot in a horizontally-arranged state;
step two, enabling the packaging boxes to sequentially and continuously pass through the boxing side of the boxing robot in a translation mode, wherein the packaging boxes are in an opening state with openings facing each other; the translation speed of the packing box is smaller than that of the breathable packaging bag;
step three, the packaging robot automatically grabs the breathable packaging bags at the grabbing side and loads the breathable packaging bags into a packaging box at the packaging box side until the packaging box is filled with the breathable packaging bags with the preset quantity; after the previous packing box is filled with the set number of breathable packing bags, the packing robot starts the packing action to the next packing box;
the boxing robot sequentially obtains the size and coordinate information of the grabbing-side breathable packaging bag by adopting visual recognition;
when the size of the air-permeable packaging bag which is visually identified is consistent with the boxing setting, the air-permeable packaging bag meets the boxing condition, the size and coordinate information of the air-permeable packaging bag are transmitted to a boxing robot, the boxing robot tracks the translation speed of the air-permeable packaging bag, when the packaging bag enters a grabbing area of the boxing robot according to tracking data, the boxing robot grabs the air-permeable packaging bag in a flat state and sequentially places the air-permeable packaging bag into a packaging box at the boxing side, and when the air-permeable packaging bag reaches the boxing quantity, the boxing process of one packaging box is completed;
When the size of the air-permeable packaging bag which is visually identified is not consistent with the boxing setting, the boxing condition is not met, the air-permeable packaging bag product information is not transmitted to the boxing robot by the visual identification, the boxing robot does not execute grabbing and boxing actions on the air-permeable packaging bag, and the air-permeable packaging bag continuously translates through a grabbing area of the boxing robot;
the method comprises the steps that a boxing robot obtains an initial position of a packaging box and tracks the translation speed of the packaging box;
wherein, the first step and the second step are carried out simultaneously;
wherein, vanning robot adopts a sucking disc of single suction chamber to adsorb from the gas permeability wrapping bag upper surface center department that accords with vanning condition and realizes the vanning and snatchs the action.
In one implementation of the present application: visual identification is carried out on the air-permeable packaging bag passing through the black background photographing area at least twice, clear air-permeable packaging bag image information is obtained, the clear image information is selected as an image processing basis, and the clear image information is transmitted to an image processor;
the image processor processes the obtained image information of the breathable packaging bag as follows:
binarization processing is carried out on the image information to make the image information black and white clear, and spot repairing is carried out to fill spots on the image;
Determining the center point of the upper surface of the breathable packaging bag through spot detection, and determining shape matching to obtain the angle of the breathable packaging bag;
determining the area of the breathable packaging bag through pixel statistics, and when the area of the breathable packaging bag is consistent with the set area, sending the angle and the area of the breathable packaging bag to a boxing robot, wherein the boxing robot adsorbs a sucker of the boxing robot from the middle position of the upper surface of the breathable packaging bag according to the information and the translation speed of the breathable packaging bag so as to transfer the breathable packaging bag into a packaging box;
when the air-permeable packing bags are connected or the areas of the air-permeable packing bags are not matched with the areas of the set air-permeable packing bags, judging that NG flows out, and sending information to a boxing robot, wherein the boxing robot stops executing boxing actions on the air-permeable packing bags which are not matched with the areas of the air-permeable packing bags.
In one implementation of the present application: the air-permeable packaging bags are transported by an air-permeable packaging bag transport machine which is horizontally arranged, so that the air-permeable packaging bags form translation on the grabbing side of the boxing robot;
the breathable packaging bag conveyor is sequentially divided into a tracking queue length area, a starting window length area and a grabbing length area from a conveying initial section to a conveying tail end;
When the breathable packaging bag product enters the tracking queue length area, triggering the tracking of a boxing robot, and tracking the moving position of the breathable packaging bag product by the boxing robot;
when the breathable packaging bag product enters the starting window length region, the boxing robot starts the grabbing action and waits for the breathable packaging bag product to enter the grabbing length region to execute the grabbing boxing action;
when the breathable packaging bag product enters the grabbing length area, the boxing robot performs grabbing boxing actions, and the breathable packaging bag product is packaged in a packaging box;
wherein when the boxing robot performs grabbing and boxing actions, the breathable packaging bag product enters the grabbing length area,
the boxing robot automatically skips grabbing and boxing the breathable packaging bag product and sends the breathable packaging bag product out by a packaging bag conveyor;
after the boxing robot finishes the boxing action of the air-permeable packaging bag products in the grabbing length area, a tracking and removing instruction of the boxed air-permeable packaging bag products is executed, the air-permeable packaging bag products are positioned in the starting window length area, and when the boxing robot runs to the next tracking instruction, the air-permeable packaging bag products are still positioned in the starting window length area, and the boxing robot can directly execute the grabbing and boxing action on the air-permeable packaging bag products.
The invention further provides an automatic packaging system for the breathable packaging bag, which comprises a breathable packaging bag conveyor for horizontally placing the breathable packaging bag to form linear continuous transmission, a packaging box conveyor for placing packaging boxes to form continuous linear transmission, and a packaging robot for acquiring the breathable packaging bag on the packaging bag conveyor and conveying the breathable packaging bag into the packaging boxes to realize the packaging process, wherein the breathable packaging bag conveyor and the packaging box conveyor are respectively positioned at two sides of the packaging robot;
the transmission speed of the packing box conveyor is smaller than that of the air-permeable packing bag conveyor; the transmission direction of the packing box conveyor is opposite to that of the breathable packing bag conveyor;
the method comprises the steps that a vision collecting box is arranged at a position of a breathable packaging bag conveyor, the vision collecting box is arranged above one end of the breathable packaging bag conveyor in a supporting mode, a camera for photographing from the right upper side of a transmission surface of the breathable packaging bag conveyor towards the transmission surface of the breathable packaging bag conveyor, and an image processor for receiving photographing data of the camera are arranged in the vision collecting box, a photographing area with black background is formed on the transmission surface of the breathable packaging bag conveyor right below the camera, and breathable packaging bags conveyed by the breathable packaging bag conveyor pass through the photographing area in a horizontally-arranged mode;
A packing frame is arranged on one side of the visual acquisition box, a packing robot is arranged in the packing frame, an air-permeable packing bag conveyor passes through the packing frame, an air-permeable packing bag conveyed by the air-permeable packing bag conveyor is positioned below the packing robot, a conveying path of a packing box conveyor passes through the packing frame and is positioned on one side of the air-permeable packing bag conveyor, and a packing box conveyed by the packing box conveyor passes through the lower part of the packing robot;
the packing robot is provided with a sucking disc, the sucking surface of the sucking disc is an open-faced sucking cavity, and the sucking disc is controlled by the packing robot to suck from the upper surface of the breathable packaging bag on the breathable packaging bag conveyor and is conveyed into the packaging box; the boxing robot operates the boxing robot to drive the sucking disc to execute the action on the breathable packaging bag according to the breathable packaging bag image information acquired by the image processor and the moving speed of the breathable packaging bag conveyor;
encoder components which are in signal connection with the boxing robot are respectively arranged on the breathable packaging bag conveyor and the packaging box conveyor; a photoelectric trigger for triggering the boxing robot to track the translation position of the packing box entering the packing box transmission mechanism is arranged on the packing box transmission machine;
The vision collecting box consists of a main frame, a front side plate, a rear side plate, a left side plate, a right side plate and a top plate, wherein the front side plate and the rear side plate are positioned on the front side and the rear side of the main frame, sealing covers are formed on the front end and the rear end of the main frame, the front side plate and the rear side plate extend from the top of the main frame to the bottom of the main frame, the left side plate and the right side plate are positioned on the left side and the right side of the main frame, sealing covers are formed on the left end and the right end of the main frame, the left side plate and the right side plate extend from the top of the main frame to the bottom of the main frame respectively, and an inlet and an outlet of a packaging bag are formed between the sealing covers and the bottom of the main frame.
In one implementation of the present application: the vacuum pump is communicated with the negative pressure air tank through a vacuum pipeline, so that vacuum in a corresponding range is maintained in the negative pressure air tank, the negative pressure air tank is communicated with a suction cavity of the sucker through a communicating pipeline, negative pressure is generated in the suction cavity, adsorption force is generated on the breathable packaging bag, the adsorption surface of the suction cavity is 0.5-0.6 times of the upper surface of the breathable packaging bag when the breathable packaging bag is horizontally placed, the negative pressure air tank is communicated with even number of communicating pipelines, one ends of the even number of communicating pipelines are symmetrically distributed on two sides of the negative pressure air tank, and the other ends of the even number of communicating pipelines are symmetrically distributed on two sides of the suction cavity.
In one implementation of the present application: the communicating pipeline comprises a first pipeline and a second pipeline, one end of the first pipeline is communicated with the interior of the negative pressure gas tank, the other end of the first pipeline is communicated with one end of the second pipeline through a three-way valve, and the other end of the second pipeline is communicated with the suction cavity; the first pipeline is provided with a negative pressure two-way valve, and the second pipeline is a flexible pipeline;
the positive pressure pipeline is communicated with the three-way valve, one end of the positive pressure pipeline is communicated with a positive pressure source, the other end of the positive pressure pipeline is communicated with the three-way valve, and a positive pressure two-way valve is arranged on the positive pressure pipeline;
the positive pressure two-way valve and the negative pressure two-way valve are in switching working states in an alternating mode.
In one implementation of the present application: the transmission surface of the air-permeable packaging bag conveyor is higher than that of the packaging box conveyor, and after the packaging box is placed on the transmission surface of the packaging box conveyor, the height of the packaging box does not exceed that of the air-permeable packaging bag conveyor.
In one implementation of the present application: the air-permeable packaging bag conveying machine comprises an air-permeable packaging bag conveying frame, a driving roller rotatably arranged at one end of the air-permeable packaging bag conveying frame, a driven roller rotatably arranged at the other end of the air-permeable packaging bag conveying frame, and an air-permeable packaging bag conveying belt horizontally arranged between the driving roller and the driven roller in a winding manner, wherein a driving motor is arranged below the air-permeable packaging bag conveying frame which is positioned at the driving roller;
An encoder assembly for detecting the moving speed of the air-permeable packing bag conveying belt is arranged on one side of the air-permeable packing bag conveying frame, and the encoder assembly transmits the obtained moving speed of the air-permeable packing bag conveying belt to the boxing robot controller.
In one implementation of the present application: the lower end of the vision collecting box is an open end, the lower end of the vision collecting box is covered above the transmission surface of the breathable packaging bag conveyor, and a relatively airtight vision collecting space is formed above the vision collecting box and the transmission surface;
an inlet and an outlet for the air-permeable packaging bag conveyor to enter and exit are formed on two sides of the lower end of the vision collecting box, the height of the inlet and the outlet is not lower than the horizontal height of the air-permeable packaging bags, and the height of the inlet and the outlet is not higher than the height of the two packaging bags after stacking;
the top in the vision acquisition box is provided with the expansion bracket that stretches out and draws back towards the transmission face direction of gas-permeable wrapping bag conveyer, and the camera is assembled on the expansion bracket, and the camera passes through the expansion bracket in order to adjust the camera and take a picture the distance between the region.
In one implementation of the present application: the packaging box conveyor comprises two side brackets which are arranged at intervals, wherein the inner sides of the two side brackets are fixedly connected through a plurality of double-head T-shaped fixed connecting pieces, a plurality of driving rollers which are arranged in the horizontal direction at equal intervals and are arranged between the two side brackets in a rotating mode are arranged in groups, the driving rollers are arranged into two or more than two groups, the adjacent driving rollers in the same group are in transmission connection through a transmission belt, and each group of driving rollers is driven to rotate by a servo motor below the driving roller so as to drive any driving roller in the group to rotate;
The two side brackets are respectively provided with a constraint mechanism for constraining the packaging box to form linear translation in the transmission direction of the packaging box conveyor, the constraint mechanism comprises a constraint guide plate and two constraint plate bracket components, and the constraint guide plate is assembled on the side brackets by the two constraint plate bracket components so that the constraint guide plate is horizontally arranged above the driving roller; the restraint board support assembly comprises a first support, a second support, a first support rod and a second support rod, wherein the first support is fixedly assembled on the outer side of the side support, the first support rod is vertically arranged, the lower end of the first support rod penetrates through the first support, the upper end of the first support rod penetrates through the second support, the second support rod is horizontally arranged, and one end of the second support rod, which is located in the restraint guide plate, is fixedly connected with the outer side of the restraint guide plate.
According to the boxing method and system based on the above, in the boxing operation process, the breathable packaging bags to be boxed are sequentially and continuously horizontally translated from the grabbing side, the translated breathable packaging bag image information can be obtained through visual recognition, and compared with the set boxing packaging bag in size, when the sizes are inconsistent, the boxing robot does not execute boxing action, the inconsistent packaging bags flow out, and when the sizes are consistent with the set packaging bags, the boxing robot grabs and boxes through the coordinates and translation speed of the packaging bags; in the packing process of the packaging bag, the packaging box is in a moving state without stopping, and after the packaging box is full, the packing robot starts a packing action for the next empty packaging box; in the boxing process, the packing box does not need to be stopped and replaced, continuous boxing action is achieved, boxing efficiency is improved, the packaging bags can be orderly grabbed by the boxing robot in combination with visual recognition in a horizontally-arranged moving state of the packaging bags, and the horizontally-arranged state of the packaging bags is filled in the packing boxes, so that mess can not occur.
According to the invention, the suction cup is vacuumized by adopting the negative pressure air tank, so that the suction stability of the suction cup can be improved, the vacuumizing speed and flow rate of the suction cup can be increased by arranging the negative pressure air tank, the integral suction cup is adopted, the integral suction of the bag body can be better realized, the problem of falling of the bag body caused by the failure of suction of a certain suction cup and the bag body generated by multipoint suction can be avoided, the suction stability is improved, and the boxing efficiency is improved by the cooperation of vision and a boxing robot.
Drawings
FIG. 1 is a schematic diagram of the boxing flow of the present invention;
FIG. 2 is image information for binarizing an image and stain processing;
FIG. 3 is image information of a breathable bag obtained by blob detection;
FIG. 4 is NG breathable bag image information obtained by pixel statistics;
FIG. 5 is a schematic perspective view of the boxing system in accordance with the present invention;
FIG. 6 is a schematic perspective view of another view of the boxing system in accordance with the present invention;
FIG. 7 is a schematic plan view of the front plan view of the present invention packaging system;
FIG. 8 is a schematic top plan view of the boxing system in accordance with the present invention;
FIG. 9 is a schematic perspective view of the boxing system in accordance with the present invention after the boxing frame has been concealed;
FIG. 10 is a rear perspective view of the schematic diagram of FIG. 9;
FIG. 11 is a schematic view of the structure of the air-permeable packing bag conveyor in the boxing system of the present invention;
FIG. 12a is a schematic view of the structure of an encoder assembly in the boxing system in accordance with the present invention;
FIG. 12b is a cross-sectional view taken along line A-A of FIG. 12 a;
FIG. 13 is a schematic view of the structure of the vision collection box in the boxing system of the present invention;
FIG. 14 is a schematic view of a package conveyor in the boxing system in accordance with the present invention;
FIG. 15 is an enlarged schematic view of portion A of FIG. 14;
FIG. 16 is a schematic view of the structure of the lifting baffle of the container conveyor of the boxing system in accordance with the present invention;
FIG. 17 is a pneumatic schematic of vacuum adsorption in the boxing system of the present invention;
in the drawing, 100, an air-permeable packing bag conveyor, 101, a packing box conveyor, 102, a packing robot, 103, a vision collecting box, 104, a frame of the vision collecting box, 105, an L-shaped mounting plate, 106, a camera, 107, a photographing area, 108, a packing frame, 109, a packing box, 110, a transfer rod, 111, a suction cup, 112, a negative pressure air tank, 113, a vacuum pump, 114, a vacuum pipe, 115, a communication pipe, 116, a first pipe, 117, a second pipe, 118, a negative pressure two-way valve, 119, a positive pressure pipe, 120, a positive pressure two-way valve, 121, an air-permeable packing bag conveying frame, 122, a driving roller, 123, a driven roller, 124, an air-permeable packing bag conveying belt, 125, a driving motor, 126, a driving side bottom plate, 127, a driving side plate, 128, a motor tension plate, 129, a synchronizing wheel, 130, a belt pulley 131, a tail mounting plate, 132, tail fixation plate, 133, adjustment hole, 134, encoder assembly, 135, shroud, 136, mounting plate, 137, bearing housing, 138, roll wheel, 139, coil spring type coupling, 140, encoder mounting plate, 141, module adjustment seat, 142, measurement spindle, 143, access, 144, telescoping, 145, box plate, 146, main frame, 147, front side plate, 148, rear side plate, 149, left side plate, 150, right side plate, 151, top plate, 152, side bracket, 153, double-headed T-shaped fixation connection, 154, drive roller, 155, servo motor, 156, constraint guide plate, 157, constraint plate bracket assembly, 158, first bracket, 159, second bracket, 160, first support bar, 161, second support bar, 162, lifting baffle, 163, cylinder, 164, U-shaped bracket, 165, guide bar.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Referring to fig. 1, a schematic flow chart of the present invention is shown to specifically explain an automatic packaging method for breathable packaging bags, which includes the following steps: firstly, enabling the breathable packaging bags to sequentially and continuously horizontally pass through the grabbing side of the boxing robot in a horizontally-arranged state; the breathable packaging bags to be packaged are horizontally placed at intervals, sequentially and continuously enter the packaging system, and pass through the grabbing side of the packaging robot in a translational state so as to be grabbed and packaged by the packaging robot. The packaging bag in the flat state is favorable for orderly and accurately boxing by the rear boxing robot, and meanwhile, the later visual recognition can be facilitated, and the size and coordinate information such as the packaging bag image can be obtained. The boxing robot can track the translation speed of the package through an encoder on the package conveyor to obtain the position of the package on the package conveyor.
Step two, enabling the packaging boxes to sequentially and continuously pass through the boxing side of the boxing robot in a translation mode, wherein the packaging boxes are in an opening state with openings facing each other; namely, empty packaging boxes sequentially and continuously enter a packaging system, form translation passing through the packaging system from the packaging side of the packaging robot in an opening state, and wait for the packaging robot to load packaging bags to be packaged into the packaging boxes. The method comprises the steps that a boxing robot obtains an initial position of a packaging box, and the boxing robot tracks the translation speed of the packaging box; specifically, the packing box is tracked through the photoelectric triggering packing robot to the packing box that gets into packing box conveyer, and the packing box robot can track the translation speed of packing box through the encoder on the packing box conveyer to obtain the position that the packing box is in on the packing box conveyer, start to carry out the vanning action in reaching packing box range of packing robot. The translation speed of the packing box is smaller than that of the breathable packaging bag; that is, the transmission speed of the packaging bag conveyor is greater than that of the packaging box conveyor, so that a boxing machine can finish boxing actions when the packaging boxes are in a boxing range. The first step and the second step are performed simultaneously, and the packaging bags and the packaging boxes can be continuously fed, so that the condition that the packaging boxes are replaced after stopping is avoided.
Step three, the boxing robot automatically grabs the breathable packaging bags entering the grabbing area of the grabbing side and loads the breathable packaging bags into the packaging boxes on the boxing side until the packaging boxes are loaded with the breathable packaging bags with the preset quantity; after the previous packing box is filled with the set number of breathable packing bags, the packing robot starts the packing action to the next packing box; the packing robot counts the packing bags loaded in the same packing box when packing the packing bags, stops the packing action of the packing box when the packing quantity reaches the set quantity, and starts from the next empty packing box and counts the next empty packing box, so that the packing box is reciprocated. Here, the grasping operation needs to be performed, and the packaging bag and the packaging box need to be in the execution operation range of the boxing robot, for example, the packaging bag is in the grasping area of the grasping side, and the packaging box is in the boxing range of the boxing side.
In the middle of this application is implemented, vanning robot adopts visual identification to obtain the size and the coordinate information that snatch side gas permeability wrapping bag in proper order, and coordinate information includes X, Y direction and angle R, adopts visual identification one to avoid not unidimensional wrapping bag to carry out the vanning, and secondly can look for the central point of wrapping bag, carries out accurate guide for vanning action of vanning robot, and wherein vanning robot divides following condition to act, and one kind of condition is: when the size of the air-permeable packaging bag with visual identification is consistent with the boxing setting, the air-permeable packaging bag meets the boxing condition, the size and coordinate information of the air-permeable packaging bag are transmitted to the boxing robot, the boxing robot tracks the translation speed of the air-permeable packaging bag, the boxing robot grabs the air-permeable packaging bag in a flat state when the packaging bag enters the grabbing area of the boxing robot according to tracking data, the air-permeable packaging bag is sequentially placed into the packaging boxes on the boxing side, and when the air-permeable packaging bag reaches the boxing quantity, the boxing process of one packaging box is completed.
Another case is: when the size of the air-permeable packaging bag which is visually identified is not consistent with the boxing setting, the boxing condition is not met, the air-permeable packaging bag product information is not transmitted to the boxing robot by the visual identification, the boxing robot does not execute grabbing and boxing actions on the air-permeable packaging bag, and the air-permeable packaging bag continuously translates and flows out through a grabbing area of the boxing robot; the boxing robot waits for the execution of the next grabbing boxing action.
In the middle of this application is implemented, in order to make vanning robot more accurate more stable carry out absorption formula to the wrapping bag and snatch the vanning, vanning robot adopts a sucking disc in single suction chamber to adsorb realization vanning from the gas permeability wrapping bag upper surface center department that accords with the vanning condition and snatch the action. By adopting the sucker, the sucker only adopts a single suction cavity structure to adsorb the packaging bag, so that the problem of unstable adsorption in the process of adsorbing the breathable packaging bag by adopting multiple suction cavities or multiple suckers is avoided; simultaneously through adsorb from wrapping bag upper surface center department, avoid appearing from the unstable problem of packing box in-process that brings of the absorption of wrapping bag upper surface one end or many sucking discs, the absorption weight unbalance of wrapping bag to adsorb from wrapping bag upper surface center department and can further strengthen the adsorption stability to the wrapping bag.
In the implementation of the application: visual identification is carried out on the air-permeable packaging bag passing through the black background photographing area at least twice, clear air-permeable packaging bag image information is obtained, clear image information is selected as an image processing base, and the clear image information is transmitted to an image processor for processing; the image processor processes the obtained image information of the breathable packaging bag as follows:
as shown in fig. 2, binarizing the image information to make the image information black and white, and repairing the stain to fill the stain on the image; the image information of the left part in the figure is binarized and stained, and then the image information of the right part is obtained, so that the image information with clear black and white and clearer is obtained.
As shown in fig. 3, the center point of the upper surface of the air-permeable packing bag is determined by spot detection, and the shape matching is determined, so that the angle of the air-permeable packing bag is obtained; as in the case of the two different arrangements of the package in the figure, the center of the upper surface of the package is obtained by spot detection, and the corresponding coordinates are obtained by shape matching to obtain the angle of the package.
Determining the area of the breathable packaging bag through pixel statistics, and when the area of the breathable packaging bag is consistent with the set area, sending the angle and the area of the breathable packaging bag to a boxing robot, wherein the boxing robot adsorbs a sucker of the boxing robot from the middle position of the upper surface of the breathable packaging bag according to the information and the translation speed of the breathable packaging bag so as to transfer the breathable packaging bag into a packaging box; as shown in fig. 4, when the air-permeable package bag is connected or the area of the air-permeable package bag is not matched with the area of the set air-permeable package bag, NG (non-matching) outflow is judged, and the package bag is non-matching product information is sent to the boxing robot, and the boxing robot stops executing boxing operation on the non-matching air-permeable package bags. As shown in fig. 4, NG is determined when the left portion is connected or when the right portion is not in compliance with the air-permeable package.
In the implementation of the application: the air-permeable packaging bags are transported by an air-permeable packaging bag transport machine which is horizontally arranged, so that the air-permeable packaging bags form translation on the grabbing side of the boxing robot; the breathable packaging bag conveyor is sequentially divided into a tracking queue length area, a starting window length area and a grabbing length area from a conveying initial section to a conveying tail end; when the breathable packaging bag enters the length area of the tracking queue, the tracking function of the boxing robot is triggered through the synchronous sensor, and the boxing robot starts to track the moving position of the breathable packaging bag; when the breathable packaging bag enters the starting window length region, the boxing robot starts a grabbing action command, and waits for the breathable packaging bag to enter the grabbing length region to execute grabbing boxing action; when the breathable packaging bag enters the grabbing length area, the boxing robot performs grabbing boxing actions, and the breathable packaging bag is packaged into a packaging box.
When the boxing robot performs grabbing and boxing actions, the boxing robot automatically skips grabbing and boxing the breathable packaging bag products and sends the breathable packaging bag products out by the packaging bag conveyor, wherein the breathable packaging bag meets the regulations and enters a grabbing length area; and when the boxing robot finishes executing the boxing action of the breathable packaging bag in the grabbing length area, the boxing robot executes the tracking removal instruction of the boxed breathable packaging bag, the breathable packaging bag is positioned in the starting window length area, and when the boxing robot runs to the next tracking instruction, the breathable packaging bag product is still positioned in the starting window length area, and the boxing robot directly executes the grabbing boxing action on the breathable packaging bag.
If a plurality of packaging bags are sequentially transmitted on a packaging bag conveyor, when the 1 st breathable packaging bag is connected by a boxing robot, and the 1 st breathable packaging bag enters a grabbing length area, the boxing robot performs grabbing and boxing actions on the breathable packaging bag; when the 2 nd breathable packaging bag product enters the grabbing length area through the starting window length area, the 2 nd breathable packaging bag can be automatically skipped and cannot be connected with the boxing robot to perform grabbing and boxing actions as the boxing robot is executing the boxing actions for grabbing the 1 st breathable packaging bag, and the packaging bag is sent out by the packaging bag conveyor; when the 3 rd air-permeable packing bag is in the starting window length area of the packing robot, after the packing robot finishes processing the 1 st air-permeable packing bag, a tracking removal instruction of the 1 st air-permeable packing bag is executed, when the packing robot runs to a tracking instruction of the next packing bag, if the 3 rd air-permeable packing bag is still in the starting window length area, the packing robot does not wait any more, the 3 rd air-permeable packing bag is directly subjected to grabbing and packing actions, and similarly, when the 3 rd air-permeable packing bag is completely packed, the 4 th air-permeable packing bag is still in the starting window length area, the packing robot performs actions identical to those of the 3 rd air-permeable packing bag, and the subsequent packing bag packing actions are reciprocated in this way.
The image processor is connected with the tracking function of the boxing robot through a TCP/IP communication protocol, the image processor sends the processed result to the boxing robot in a character string mode, the character string format is OK/NG, an X value, a Y value and an angle value, (OK=1 and NG=0). The boxing robot tracks the products after receiving the data sent by the visual identification, grabs the products through the vacuum chuck after the products enter the grabbing range of the robot, and then places the products into a packaging box; after one box is full, the paper box is automatically discharged, and the next empty box is followed by continuous box filling. Through above-mentioned vision discernment gathers, the cooperation of vanning robot to the automatic tracking of gas permeability wrapping bag, packing box, can be accurate realization to the snatch and the vanning action of gas permeability wrapping bag product, realize the continuous vanning action of not shutting down, promote vanning efficiency.
The boxing system for implementing the above boxing method will be described in detail with reference to the schematic diagrams shown in fig. 5 to 17. The automatic packaging system for the breathable packaging bags comprises a breathable packaging bag conveyor 100 for horizontally placing the breathable packaging bags to form linear continuous transmission, and a packaging box conveyor 101 for placing packaging boxes to form continuous linear transmission, wherein the breathable packaging bag conveyor 100 is positioned on one side of the packaging box conveyor 101, the transmission direction of the packaging box conveyor 101 can be opposite to the transmission direction of the breathable packaging bag conveyor 100, and the transmission speed of the packaging box conveyor is smaller than that of the breathable packaging bag conveyor; and a boxing robot 102 for acquiring the air-permeable packing bag on the air-permeable packing bag conveyor 100 and transferring the air-permeable packing bag into a packing box to realize a boxing process; the breathable packaging bag conveyor 100 and the packaging box conveyor 101 are respectively arranged at two sides of the boxing robot 102; the breathable packaging bags are conveyed through the breathable packaging bag conveyor 100, the breathable packaging bags are obtained by the boxing robot 102 and transferred to packaging boxes on the packaging box conveyor 101, a plurality of breathable packaging bags can be placed in one packaging box to form whole packaging boxes, and automatic boxing operation is completed through the boxing robot 102.
In this application implementation, see the fig. 9 and show, be provided with vision collecting box 103 in gas-permeable wrapping bag conveyer 100 department, four L type mounting panel 105 fixed mounting in gas-permeable wrapping bag conveying frame top of gas-permeable wrapping bag conveyer 100 in frame bottom corner of vision collecting box's frame 104 bottom through screw fixed connection formation vision collecting box's frame 104 support of four L type mounting panel 105, the hookup location of the other end of L type mounting panel 105 is towards the outside, expose in the below of vision collecting box's frame 104, this end forms fixed connection through screw and gas-permeable wrapping bag conveyer 100's conveying frame, can conveniently be connected and dismantle L type mounting panel 105 and gas-permeable wrapping bag conveyer 100's conveying frame from the outside operation like this, and can make vision collecting box 103 as whole assembly or as whole dismantlement through the setting up of L type mounting panel, it is convenient to install and remove.
After the vision collecting box 103 is arranged on a transmission frame of the air-permeable packing bag conveyor 100, the whole vision collecting box 103 is arranged right above one end of the air-permeable packing bag conveyor 100 in an erect state, a camera 106 for photographing towards the direction of the transmission surface of the air-permeable packing bag conveyor 100 is arranged in the vision collecting box 103, a photographing area 107 with a black background of the camera is formed on the transmission surface of the air-permeable packing bag conveyor 100 below the camera 106, an air-permeable packing bag transmitted by the air-permeable packing bag conveyor 100 passes through the photographing area 107 in a flat-laid mode, the width of the photographing area 107 is not less than the width of the transmission surface of the air-permeable packing bag conveyor 100, and the length is not less than the length of the two air-permeable packing bags in a continuous package state, so that the camera obtains more comprehensive air-permeable packing bag image information passing through the photographing area; and the image processor is used for receiving the photographed data of the camera, and at least has the functions of receiving the photographed image information of the camera, processing the image information and realizing signal transmission.
In the implementation of the application, as shown in fig. 6, 10 and 13, the lower end of the vision collecting box 103 is an open end, the lower end of the vision collecting box 103 is covered above the transmission surface of the air-permeable packaging bag conveyor 100, and a relatively airtight vision collecting space is formed above the vision collecting box 103 and the transmission surface; an inlet and an outlet 143 for the inlet and the outlet of the breathable packaging bag conveyor 100 are formed on two sides of the lower end of the vision collection box 103, the height of the inlet and the outlet 143 is not lower than the horizontal height of a bag of breathable packaging bags, and the height of the inlet and the outlet 143 is not higher than the height of two stacked packaging bags, so that the light transmission of the inlet and the outlet 143 is reduced as much as possible, and when the packaging bags are stacked, resistance is generated for the stacked upper packaging bags, and the possibility of stacking the packaging bags entering the vision collection space is reduced; the top in the vision acquisition box 103 is provided with the expansion bracket 144 that stretches out and draws back towards the transmission face direction of gas-permeable wrapping bag conveyer 100, and the camera is assembled on the expansion bracket 144, and the camera passes through the expansion bracket 144 with the adjustment camera with take a picture the distance between the region to satisfy more needs of taking a picture. The telescopic frame can adopt a telescopic structure commonly used at present, but at least has the function of up-down telescopic. Specifically, the vision-collecting box 103 is composed of a main frame 146, a front side plate 147, a rear side plate 148, a left side plate 149, a right side plate 150, and a top plate 151, the front side plate 147 and the rear side plate 148 are located on the front and rear sides of the main frame 146, covers are formed on the front and rear ends of the main frame 146, the front side plate 147 and the rear side plate 148 extend from the top of the main frame 146 to the bottom of the main frame 146, the left side plate 149 and the right side plate 150 are located on the left and right sides of the main frame 146, covers are formed on the left and right ends of the main frame 146, the left side plate 149 and the right side plate 150 extend from the top of the main frame 146 toward the bottom of the main frame, and the inlet and outlet 143 are formed between the front side plate and the bottom of the main frame. Wherein a left side panel 149 on the outside of the boxing system is hinged to the main frame 146 to facilitate the opening of the left side panel for maintenance of the components within the visual acquisition box.
In the implementation of the present application, as shown in fig. 6, 8 and 10, a packing frame 108 is disposed at the rear side of the vision collection box 103 along the package bag conveying direction, a packing robot 102 is disposed at the top in the packing frame 108, the air-permeable package bag conveyor 100 passes through the lower part in the packing frame 108, the air-permeable package bag conveyed by the air-permeable package bag conveyor 100 is located below the packing robot 102, the conveying path of the package bag conveyor 101 passes through the packing frame 108 and is located at one side of the air-permeable package bag conveyor 100, and the package bags 109 conveyed by the package bag conveyor 101 pass through the packing range below the robot; in this application implementation, in order to save the space of the whole boxing system, the breathable packaging bag conveyor 100 and the packaging box conveyor 101 are arranged side by side and opposite in conveying direction on two sides below the boxing robot 102, and the boxing process is performed in the boxing frame 108, so that protection and separation from the outside are formed. The breathable packaging bag conveyor 100 is positioned at one side of the boxing robot 102 to form a grabbing area of the boxing robot 102; and a packing range of the packing robot 102 is formed in the middle of the packing box conveyor 101 at the other side of the packing robot 102.
In the implementation of the application, the box plates 145 are arranged around and at the top of the box frame 108 to seal the inside of the box frame 108, so that a relatively closed box space is formed in the box frame 108, and the outward diffusion of dust generated in the process of adsorbing and boxing by the box robot 102 is reduced; wherein the front and rear box plates 145 of the box frame 108 are hinged to the box frame 108 for being opened to the outside for facilitating maintenance of the internal components; the boxing robot 102 is mounted on the top of the boxing frame 108, and the boxing robot 102 drives the suction cup 111 to move back and forth at least between the intermediate position in the width direction of the conveying surface of the air-permeable packing bag conveyor 100 and the intermediate position in the width direction of the conveying surface of the packing bag conveyor 101. The bin plate 145 on one side of the bin conveyor 101 is distributed from the upper end to the lower end of the bin frame 108 to form a cover to the sides of the bin conveyor 101 to reduce the out-diffusion of dust from the package when placed in the bin.
In the implementation of the present application, referring to fig. 9, 10 and 17, a suction cup 111 is mounted on a transfer rod 110 of a boxing robot 102, and the boxing robot 102 manipulates the suction cup 111 to acquire and transfer the air-permeable package on the air-permeable package conveyor 100 from the air-permeable package conveyor 100 into a package 109; the boxing robot 102 operates the boxing robot 102 to drive the sucking discs 111 to execute the action of the breathable packaging bag according to the breathable packaging bag image information and the moving speed of the breathable packaging bag conveyor 100; the boxing robot 102 adopts a robot with multidirectional free movement in the prior art, and is provided with a DSQC377B tracking module so as to be in signal connection with visual recognition; the base of the boxing robot 102 is fixedly mounted on the top in the boxing frame 108, and the transfer rod of the boxing robot 102 is arranged towards the bottom in the boxing frame 108.
In the implementation of the application, a negative pressure air tank 112 is arranged at the top outside the boxing frame 108, a vacuum pump 113 is arranged at the bottom outside the boxing frame 108, the vacuum pump 113 is communicated with the negative pressure air tank 112 through a vacuum pipeline 114 so as to maintain a negative pressure vacuum state in a corresponding range in the negative pressure air tank 112, and the negative pressure air tank 112 is communicated with a suction cavity of the suction cup 111 through a communication pipeline 115 so as to generate negative pressure in the suction cavity of the suction cup 111 so as to generate adsorption force on the breathable packaging bag; the negative pressure space in the negative pressure air tank 112 and the suction cavity of the suction cup 111 are arranged in multiple ratios, so that the negative pressure air tank 112 generates stable negative pressure to the suction cavity. In the use process, the vacuum pump 113 vacuumizes the negative pressure air tank 112, so that the negative pressure air tank 112 is kept in a negative pressure state, and when the breathable packaging bag is packaged, the negative pressure air tank 112 generates negative pressure in the suction cavity of the suction disc 111 through the communication pipeline, and generates adsorption force on the breathable packaging bag; compared with the prior art that negative pressure is directly generated to the suction cavity through the vacuum pump 113, the negative pressure air tank 112 is arranged in the embodiment, so that more stable and stronger negative pressure space is generated in the suction cavity, and the stable boxing of the breathable packaging bag is realized. In addition, in order to ensure the stability of the negative pressure in the negative pressure gas tank 112, a pressure sensor for monitoring the pressure in the negative pressure gas tank 112 is additionally arranged, the pressure sensor transmits the obtained pressure signal in the negative pressure gas tank 112 to a controller for controlling the vacuum pump 113 to work, when the pressure in the negative pressure gas tank 112 is inconsistent with the setting, the controller starts the vacuum pump 113 to open so as to vacuumize the negative pressure gas tank 112 until the set pressure value is maintained in the negative pressure gas tank 112, so that the negative pressure gas tank 112 has stable and super-strong adsorption capacity to the sucker 111.
In this application implementation, sucking disc 111 has a lower terminal surface and is the suction chamber of open face, and the absorption cross-section of suction chamber is 0.5-0.6 times of upper surface when the gas permeability wrapping bag was kept flat, and negative pressure gas pitcher 112 intercommunication has even number communication pipeline, and even number communication pipeline one end symmetric distribution is in the both sides of negative pressure gas pitcher 112, and even number communication pipeline other end symmetric distribution is in the both sides of suction chamber. The proportion of the suction cavity to the breathable packaging bag is set, so that the suction cup 111 can be guaranteed to have better adsorption force on the breathable packaging bag; and the arrangement mode of the communication pipeline is as follows: the suction cavity can generate stable and balanced negative pressure adsorption, so that the suction disc 111 can generate stable and balanced adsorption capacity for the breathable packaging bag. The determination regarding the suction cavity size is made by: considering that the bag body for packaging powder or particles can sag to cause edge leakage when actually carried, the selection of the suction cavity needs to have a certain size requirement, the suction cavity is too large, the reaction time of the suction is long, and powder/particle materials at the inner edge of the bag body can be concentrated towards the middle part of the bag body in the suction process, but can cause middle part leakage; conversely, if the suction cavity is too small, the edge of the bag body will sag during the adsorption process, causing the edge of the bag body to sag And air leakage can occur between the suction cavity and the bag body, so that the suction cavity of the suction disc 111 in the application is defined as 0.5-0.6 times of the surface of the bag body. Arrangement of the negative pressure gas tank 112 and the piping, such as 4000L space inside the negative pressure gas tank 112, 67m flow of the vacuum pump 113 3 And (h) the pipeline uses 6 pipelines which are connected in parallel to generate vacuum simultaneously, so that the purpose of increasing vacuum airflow is achieved, the influence caused by edge leakage is reduced, and the time for generating vacuum is shortened, thereby meeting the production takt.
In the implementation of the application, referring to fig. 17, the communicating pipe includes a first pipe 116 and a second pipe 117, one end of the first pipe 116 is communicated with the interior of the negative pressure gas tank 112, one end of six first pipes 116 is communicated with the bottom in the negative pressure gas tank 112, three first pipes 116 are located at one side to form two groups, the negative pressure gas tank 112 adopts a transverse mode, the interior is a circular cavity, communication holes corresponding to the number of the first pipes are formed at two sides of the bottom of the negative pressure gas tank along the central line, the communication holes are symmetrically arranged along the central line of the negative pressure gas tank, the communication position of the vacuum pipe 114 and the negative pressure gas tank 112 is higher than the communication position of the communication hole arranged at one end of the negative pressure gas tank 112, the arrangement mode of directly facing the communication holes is avoided, in this way, in the vacuum process, the vacuum pipe 114 is reduced in the vacuum process, the suction is directly carried out from the first pipes, the negative pressure gas tank 112 is wholly vacuumized through the vacuum pipe 114, and the plurality of first pipes 116 are wholly and evenly vacuumized through the negative pressure 112, the balance and stability of the vacuum process of each first pipe 116 is ensured as much as possible; the other end of the first pipeline 116 is communicated with one end of the second pipeline 117 through a three-way valve, and the other end of the second pipeline 117 is communicated with the suction cavity; the first pipe 116 is provided with a negative pressure two-way valve 118, and the second pipe 117 is a flexible pipe, so that the second pipe 117 can follow and generate free flexible movement in the operation process of the boxing robot 102. And a positive pressure pipeline 119 communicated with the three-way valve, wherein one end of the positive pressure pipeline 119 is communicated with a positive pressure source, the other end of the positive pressure pipeline 119 is communicated with the three-way valve, and a positive pressure two-way valve 120 is arranged on the positive pressure pipeline 119; the positive pressure two-way valve 120 and the negative pressure two-way valve 118 are alternately switched in operation. When the boxing robot 102 performs boxing operation, the negative pressure two-way valve 118 is in an open state, and the positive pressure two-way valve 120 is in a closed state; the three-way valve is used for communicating the first pipeline 116 with the second pipeline 117, so that negative pressure can be generated to the suction cavity of the suction disc 111 through the negative pressure air tank 112, and the suction disc 111 can generate the adsorption capacity to the breathable packaging bag; when the boxing robot 102 does not execute boxing action or performs maintenance regularly, the negative pressure two-way valve 118 is in a closed state, the three-way valve closes the communication between the first pipeline 116 and the second pipeline 117, and opens the communication between the positive pressure pipeline 119 and the second pipeline 117, at this time, gas is introduced into the positive pressure pipeline 119 through the positive pressure source, and the gas blows the suction cavity of the sucker 111 through the positive pressure pipeline 119 and the second pipeline 117 in sequence, so as to clean the powder in the second pipeline 117 and the suction cavity; in practice, a filter is added between the vacuum pump 113 and the negative pressure gas tank 112 to ensure the cleanliness of the vacuum pump 113, and the filter can be replaced or cleaned periodically.
In this application implementation, the transmission surface of the air-permeable packing bag conveyor 100 is higher than the transmission surface of the packing box conveyor 101, and after the packing box 109 is placed on the transmission surface of the packing box conveyor 101, the height of the packing box 109 does not exceed the transmission surface of the air-permeable packing bag conveyor 100. The conveying surface is formed by a conveying belt or a conveying roller in the conveyor, and is mainly used for reducing the operation range of the boxing robot 102, after the design, the boxing robot 102 basically only needs to horizontally transfer the breathable packaging bags from the breathable packaging bag conveyor 100 to the packaging boxes 109 on the packaging box conveyor 101, so that the actions of the boxing robot 102 are reduced, the boxing beat is increased, and the energy consumption is correspondingly reduced.
In the implementation of the present application, referring to fig. 11 and 12, the air-permeable packing bag conveyor 100 includes an air-permeable packing bag conveying frame 121, a driving roller 122 rotatably mounted at one end of the air-permeable packing bag conveying frame 121, a driven roller 123 rotatably mounted at the other end of the air-permeable packing bag conveying frame 121, and the driving roller 122 and the driven roller 123 are arranged in parallel and disposed in the same height plane; and the air-permeable packaging bag conveying belt 124 is horizontally arranged between the driving roller 122 and the driven roller 123, the air-permeable packaging bag conveying belt 124 adopts a black food-grade frosted PVC belt, and the black belt is convenient for the acquisition and the processing of the visual image information at the back while protecting the environment; a driving motor 125 is installed below the driving roller 122 at the air-permeable packing bag transmission frame 121; in the present application, the driving motor 125 and the driving roller 122 are integrally mounted on the air-permeable packaging bag transmission frame 121, specifically, a driving side bottom plate 126, a driving side plate 127 and a motor tensioning plate 128 are further provided, the driving side bottom plate 126 is fixedly mounted on the air-permeable packaging bag transmission frame 121 through a screw connecting piece, the driving side bottom plate 126 is positioned between the driving side plate 127 and the motor tensioning plate 128, two ends of the driving side bottom plate are fixedly connected with the driving side bottom plate 126, and the end part of the driving roller 122 is rotatably assembled between the driving side plate 127 and the upper end of the motor tensioning plate 128 through a bearing; the driving motor can be assembled at the lower end of the motor tensioning plate 128 towards the direction of the driving roller 122 in a close or far-away adjusting manner, and is positioned below the driving roller 122, the output end of the driving motor is provided with a synchronizing wheel 129, one end of the driving roller 122 is provided with a belt pulley 130, and the synchronizing wheel 129 and the belt pulley 130 form transmission connection through a synchronous belt; when the air-permeable packing bag conveyor 100 is installed, the driving part of the air-permeable packing bag conveyor 100 can be installed conveniently and quickly only by fixedly installing the driving side bottom plate 126, the driving side plate 127 and the motor tensioning plate 128 at the end part of the air-permeable packing bag conveying frame 121. Similarly, the driven roller 123 is integrally mounted on the other end of the air-permeable packing bag transport frame 121, specifically: the two ends of driven roller 123 are tail mounting panel 131 respectively to and fixed mounting is at the tail fixed plate 132 on gas-permeable wrapping bag transmission frame 121, has seted up regulation hole 133 on the tail mounting panel 131, inserts in the regulation hole 133 through the bolt and forms the regulation type installation between tail mounting panel 131 and the tail fixed plate 132, can form the regulation to driven roller 123, can adjust gas-permeable wrapping bag transmission band 124 rate of tension promptly.
In the present embodiment, as shown in fig. 12a and 12b, an encoder module 134 for detecting the moving speed of the air-permeable packing bag conveyor 124 is attached to the air-permeable packing bag conveyor 121, and the encoder module 134 transmits the obtained moving speed of the air-permeable packing bag conveyor 124 to the boxing robot 102. Mounted on the air-permeable envelope transport frame 121 is a shroud 135 housing the encoder assembly therein; the encoder assembly comprises a mounting bottom plate 136, a bearing seat 137, a rolling wheel 138, a spiral spring type coupler 139, an encoder mounting plate 140, an encoder, a module adjusting seat 141 and a measuring rotating shaft 142, wherein the mounting bottom plate 136 is fixedly arranged above the air-permeable packing bag transmission frame 121, the module adjusting seat 141 is fixedly arranged on the mounting bottom plate 136, the bearing seat 137 is adjustably arranged on the module adjusting seat 141, the height of the bearing seat 137 arranged on the module adjusting seat 141 can be adjusted through the cooperation of adjusting holes and bolt connecting pieces so as to adjust the contact force between the rolling wheel 138 and the air-permeable packing bag transmission belt 124 according to the requirement, the measuring rotating shaft 142 is rotatably arranged in the bearing seat 137 through a bearing, the encoder mounting plate 140 is arranged on the bearing seat 137, and the encoder is assembled on the encoder mounting plate 140; one end of the measuring rotating shaft 142 is provided with a rolling wheel 138, the rolling wheel 138 is in rolling contact with the air-permeable packaging bag conveying belt 124, and the other end of the measuring rotating shaft 142 is connected with the rotating shaft of the encoder through a spiral spring type coupler 139; that is, when the air-permeable packing bag conveyor belt 124 moves, the rolling wheel 138, the measuring shaft 142, and the shaft of the encoder can be sequentially driven to rotate, so that the moving distance of the air-permeable packing bag conveyor belt 124 can be obtained, and the obtained moving distance is transmitted to the controller of the boxing robot 102. The boxing robot 102 comprises a track pad module of model DSQC 377B, which tracks the movement of the conveyor to obtain the movement speed and movement position of the breathable packaging bag product. A photoelectric component for triggering a camera is arranged on the breathable packaging bag conveyor 100, and when breathable packaging bag products enter a collecting box, image information is collected through the photoelectric triggering camera; the encoder component outputs a corresponding number of pulses according to the movement of the conveyor, the number of pulses is used for realizing the coordinated movement of the robot and the conveyor, the current position of the breathable packaging bag product is recorded by photoelectric triggering according to the triggering camera, the conveying direction (X direction) is subjected to superposition calculation by combining the position of the encoder, the conveying speed V is calculated in real time, and the robot automatically adjusts the position of the X direction and the following speed, so that the breathable packaging bag product can be accurately grabbed.
In this application implementation, the transmission to the wrapping bag is provided to the transmission band mode that the gas permeability wrapping bag conveyer 100 adopted the straight line mode to arrange, and the wrapping bag is placed back on the transmission band, under the frictional force between the weight of wrapping bag and wrapping bag lower surface and the transmission band, under the prerequisite that does not receive external force, in wrapping bag conveyer transmission process, the wrapping bag can not produce the removal basically to realize the straight line transmission to the wrapping bag, and the wrapping bag is constantly sent into on the transmission band through another automatic feeding, in order to realize the continuity.
In this application implementation, referring to fig. 14, 15 and 16, the packing box conveyor 101 may also adopt a conveyor belt conveyor or a conveyor roller conveyor, and a corresponding encoder assembly is also disposed on the packing box conveyor 101, where the encoder assembly and the tracking plate module form signal connection, and the moving speed and the moving position of the packing box can also be accurately obtained. In this application, a linear-type transmission roller conveyor is preferably used on the package conveyor 101 side, and a high conveying force is required because the weight of the package increases after the package is filled in the package. The packing box conveyor is provided with a photoelectric trigger for triggering the packing box robot to track the translation position of the packing box entering the packing box conveyor, namely, the photoelectric trigger is arranged at the conveying start end of the packing box conveyor, when the packing box enters the packing box conveyor, a trigger signal is generated and transmitted to the packing box robot tracking module to start tracking the packing box.
Specifically, the package box conveyor 101 includes two C-shaped side brackets 152 arranged at intervals, the inner sides of the two side brackets 152 are fixedly connected by a plurality of double-headed T-shaped fixing connectors 153 (two ends of the connecting rod are fixedly connected with the inner sides of the side brackets 152 by adopting T-shaped screws to enhance the stability of connection), and a plurality of driving rollers 154 arranged in a horizontal direction at equal intervals and rotationally arranged between the two side brackets 152, the driving rollers 154 are divided into two or more groups, a driving connection is formed between adjacent driving rollers 154 in the same group by a driving belt, and each group of driving rollers 154 is driven by a servo motor 155 below the driving rollers 154 to rotate so as to drive rotation of other driving rollers in the group; the servo motors 155 used in different groups are synchronously controlled, so that the transmission consistency of the whole packing box conveyor is realized. A constraint mechanism for constraining the packing case to form linear translation in the transmission direction of the packing case conveyor is respectively arranged on the two side brackets 152, the constraint mechanism comprises a constraint guide plate 156 and two constraint plate bracket assemblies 157, the constraint guide plate 156 is assembled on the side brackets 152 by the two constraint plate bracket assemblies 157, and the constraint guide plate 156 is horizontally arranged above the transmission roller 154; both ends of the constraint guide plate 156 are arc-shaped to guide the packing case; the restraint board bracket assembly comprises a first support 158, a second support 159, a first support 160 and a second support 161, wherein the first support 158 is fixedly assembled on the outer side of the side support 152, the first support 160 is vertically arranged, the lower end of the first support 160 passes through the first support 158, the upper end of the first support 160 passes through the second support 159, the second support 161 is horizontally arranged, one end of the second support 161, which is positioned on the restraint guide plate 156, is fixedly connected with the outer side of the restraint guide plate 156, after the first support 160 passes through the first support 158 and the second support 159, the second support 161 passes through the second support 159 and is respectively locked by bolts so as to prevent the support from sliding, the positions of the support rods can be adjusted by adjusting bolts, the distance between the restraint guide plates is changed, and the restraint guide plate is adapted to the restraint guidance of packaging boxes with different widths. The constraint guide plates 156 are positioned above the driving rollers 154, the distance between the inner sides of the two constraint guide plates 156 is slightly larger than the size of the packaging box, and a translation gap of the packaging box is reserved, so that the packaging box can form linear translation on the packaging box conveyor through the constraint and guide of the two constraint guide plates 156.
In order to avoid the phenomenon that the packing box is not filled with the packing bag and then moves out of the packing range of the packing robot in the packing process, a lifting baffle plate 162 is arranged below the packing box conveyor, the lifting baffle plate 162 is arranged at the telescopic end of a cylinder 163, the lifting baffle plate 162 is arranged between driving rollers 154 in the packing range of the packing robot, and the lifting baffle plate 162 can be driven to extend out from between the driving rollers 154 to block the packing box or descend to cancel the blocking of the packing box through the driving of the cylinder 163; in order to ensure the lifting stability of the lifting baffle 162, a U-shaped bracket 164 is fixedly arranged below the side bracket 152, the lifting baffle 162 is fixedly connected with a guide rod 165, and the guide rod 165 passes through the U-shaped bracket 164 to form a guide.
Finally, it should be noted that: the above embodiments are merely preferred embodiments of the present invention to illustrate the technical solution of the present invention, but not to limit the scope of the present invention; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions; in addition, the technical scheme of the invention is directly or indirectly applied to other related technical fields, and the technical scheme is included in the scope of the invention.
Claims (9)
1. The automatic packing method of the breathable packaging bag is characterized by comprising the following steps of:
firstly, enabling the breathable packaging bags to sequentially and continuously horizontally pass through the grabbing side of the boxing robot in a horizontally-arranged state;
step two, enabling the packaging boxes to sequentially and continuously pass through the boxing side of the boxing robot in a translation mode, wherein the packaging boxes are in an opening state with openings facing each other; the translation speed of the packing box is smaller than that of the breathable packaging bag;
step three, the packaging robot automatically grabs the breathable packaging bags at the grabbing side and loads the breathable packaging bags into a packaging box at the packaging box side until the packaging box is filled with the breathable packaging bags with the preset quantity; after the previous packing box is filled with the set number of breathable packing bags, the packing robot starts the packing action to the next packing box;
the boxing robot sequentially obtains the size and coordinate information of the grabbing-side breathable packaging bag by adopting visual recognition;
when the size of the air-permeable packaging bag which is visually identified is consistent with the boxing setting, the air-permeable packaging bag meets the boxing condition, the size and coordinate information of the air-permeable packaging bag are transmitted to a boxing robot, the boxing robot tracks the translation speed of the air-permeable packaging bag, when the packaging bag enters a grabbing area of the boxing robot according to tracking data, the boxing robot grabs the air-permeable packaging bag in a flat state and sequentially places the air-permeable packaging bag into a packaging box at the boxing side, and when the air-permeable packaging bag reaches the boxing quantity, the boxing process of one packaging box is completed;
When the size of the air-permeable packaging bag which is visually identified is not consistent with the boxing setting, the boxing condition is not met, the air-permeable packaging bag product information is not transmitted to the boxing robot by the visual identification, the boxing robot does not execute grabbing and boxing actions on the air-permeable packaging bag, and the air-permeable packaging bag continuously translates through a grabbing area of the boxing robot;
the method comprises the steps that a boxing robot obtains an initial position of a packaging box and tracks the translation speed of the packaging box;
wherein, the first step and the second step are carried out simultaneously;
wherein, the boxing robot adopts a sucker of a single suction cavity to adsorb from the center of the upper surface of the breathable packaging bag which meets boxing conditions so as to realize boxing grabbing action;
visual identification is carried out on the air-permeable packaging bag passing through the black background photographing area at least twice, clear air-permeable packaging bag image information is obtained, the clear image information is selected as an image processing basis, and the clear image information is transmitted to an image processor;
the image processor processes the obtained image information of the breathable packaging bag as follows:
binarization processing is carried out on the image information to make the image information black and white clear, and spot repairing is carried out to fill spots on the image;
Determining the center point of the upper surface of the breathable packaging bag through spot detection, and determining shape matching to obtain the angle of the breathable packaging bag;
determining the area of the breathable packaging bag through pixel statistics, and when the area of the breathable packaging bag is consistent with the set area, sending the angle and the area of the breathable packaging bag to a boxing robot, wherein the boxing robot adsorbs a sucker of the boxing robot from the middle position of the upper surface of the breathable packaging bag according to the information and the translation speed of the breathable packaging bag so as to transfer the breathable packaging bag into a packaging box;
when the air-permeable packing bags are connected or the areas of the air-permeable packing bags are not matched with the areas of the set air-permeable packing bags, judging that NG flows out, and sending information to a boxing robot, wherein the boxing robot stops executing boxing actions on the air-permeable packing bags which are not matched with the areas of the air-permeable packing bags.
2. The automatic packing method of air-permeable packing bags according to claim 1, wherein the air-permeable packing bags are transported by an air-permeable packing bag transport machine arranged horizontally so that the air-permeable packing bags are translated at a gripping side of the packing robot;
the breathable packaging bag conveyor is sequentially divided into a tracking queue length area, a starting window length area and a grabbing length area from a conveying initial section to a conveying tail end;
When the breathable packaging bag product enters the tracking queue length area, triggering the tracking of a boxing robot, and tracking the moving position of the breathable packaging bag product by the boxing robot;
when the breathable packaging bag product enters the starting window length region, the boxing robot starts the grabbing action and waits for the breathable packaging bag product to enter the grabbing length region to execute the grabbing boxing action;
when the breathable packaging bag product enters the grabbing length area, the boxing robot performs grabbing boxing actions, and the breathable packaging bag product is packaged in a packaging box;
when the boxing robot performs grabbing and boxing actions, the breathable packaging bag product enters a grabbing length area, and the boxing robot automatically skips grabbing and boxing the breathable packaging bag product;
after the boxing robot finishes the boxing action of the air-permeable packaging bag products in the grabbing length area, a tracking and removing instruction of the boxed air-permeable packaging bag products is executed, the air-permeable packaging bag products are positioned in the starting window length area, and when the boxing robot runs to the next tracking instruction, the air-permeable packaging bag products are still positioned in the starting window length area, and the boxing robot can directly execute the grabbing and boxing action on the air-permeable packaging bag products.
3. The automatic packaging system for the breathable packaging bags for executing the automatic packaging method for the breathable packaging bags according to claim 1 or 2 is characterized by comprising a breathable packaging bag conveyor for horizontally placing the breathable packaging bags so that the breathable packaging bags form linear continuous transmission, a packaging box conveyor for placing packaging boxes to form continuous linear transmission, and a packaging robot for acquiring the breathable packaging bags on the packaging bag conveyor and conveying the breathable packaging bags into the packaging boxes to realize the packaging process, wherein the breathable packaging bag conveyor and the packaging box conveyor are respectively positioned at two sides of the packaging robot;
the transmission speed of the packing box conveyor is smaller than that of the air-permeable packing bag conveyor; the transmission direction of the packing box conveyor is opposite to that of the breathable packing bag conveyor;
the method comprises the steps that a vision collecting box is arranged at a position of a breathable packaging bag conveyor, the vision collecting box is arranged above one end of the breathable packaging bag conveyor in a supporting mode, a camera for photographing from the right upper side of a transmission surface of the breathable packaging bag conveyor towards the transmission surface of the breathable packaging bag conveyor, and an image processor for receiving photographing data of the camera are arranged in the vision collecting box, a photographing area with black background is formed on the transmission surface of the breathable packaging bag conveyor right below the camera, and breathable packaging bags conveyed by the breathable packaging bag conveyor pass through the photographing area in a horizontally-arranged mode;
A packing frame is arranged on one side of the visual acquisition box, a packing robot is arranged in the packing frame, an air-permeable packing bag conveyor passes through the packing frame, an air-permeable packing bag conveyed by the air-permeable packing bag conveyor is positioned below the packing robot, a conveying path of a packing box conveyor passes through the packing frame and is positioned on one side of the air-permeable packing bag conveyor, and a packing box conveyed by the packing box conveyor passes through the lower part of the packing robot;
the packing robot is provided with a sucking disc, the sucking surface of the sucking disc is an open-faced sucking cavity, and the sucking disc is controlled by the packing robot to suck from the upper surface of the breathable packaging bag on the breathable packaging bag conveyor and is conveyed into the packaging box; the boxing robot operates the boxing robot to drive the sucking disc to execute the action on the breathable packaging bag according to the breathable packaging bag image information acquired by the image processor and the moving speed of the breathable packaging bag conveyor;
encoder components which are in signal connection with the boxing robot are respectively arranged on the breathable packaging bag conveyor and the packaging box conveyor; a photoelectric trigger for triggering the boxing robot to track the translation position of the packing box entering the packing box transmission mechanism is arranged on the packing box transmission machine;
The vision collecting box consists of a main frame, a front side plate, a rear side plate, a left side plate, a right side plate and a top plate, wherein the front side plate and the rear side plate are positioned on the front side and the rear side of the main frame, sealing covers are formed on the front end and the rear end of the main frame, the front side plate and the rear side plate extend from the top of the main frame to the bottom of the main frame, the left side plate and the right side plate are positioned on the left side and the right side of the main frame, sealing covers are formed on the left end and the right end of the main frame, the left side plate and the right side plate extend from the top of the main frame to the bottom of the main frame respectively, and an inlet and an outlet of a packaging bag are formed between the sealing covers and the bottom of the main frame.
4. The automatic packaging system of the breathable packaging bag of claim 3, wherein a negative pressure air tank and a vacuum pump are arranged outside the packaging frame, the vacuum pump is communicated with the negative pressure air tank through a vacuum pipeline, so that vacuum in a corresponding range is maintained in the negative pressure air tank, the negative pressure air tank is communicated with the suction cavity of the sucker through a communicating pipeline, negative pressure is generated in the suction cavity, so that adsorption force is generated on the breathable packaging bag, the adsorption surface of the suction cavity is 0.5-0.6 times of the upper surface of the breathable packaging bag when the breathable packaging bag is horizontally placed, the negative pressure air tank is communicated with even number of communicating pipelines, one ends of the even number of communicating pipelines are symmetrically distributed on two sides of the negative pressure air tank, and the other ends of the even number of communicating pipelines are symmetrically distributed on two sides of the suction cavity.
5. The automatic packaging system of breathable packaging bags according to claim 4, wherein the communicating pipeline comprises a first pipeline and a second pipeline, one end of the first pipeline is communicated with the interior of the negative pressure gas tank, the other end of the first pipeline is communicated with one end of the second pipeline through a three-way valve, and the other end of the second pipeline is communicated with the suction cavity; the first pipeline is provided with a negative pressure two-way valve, and the second pipeline is a flexible pipeline;
the positive pressure pipeline is communicated with the three-way valve, one end of the positive pressure pipeline is communicated with a positive pressure source, the other end of the positive pressure pipeline is communicated with the three-way valve, and a positive pressure two-way valve is arranged on the positive pressure pipeline;
the positive pressure two-way valve and the negative pressure two-way valve are in switching working states in an alternating mode.
6. The automated gas permeable bag boxing system in accordance with claim 3, wherein the gas permeable bag conveyor has a conveying surface higher than the conveying surface of the packing box conveyor, and wherein the height of the packing box does not exceed the conveying surface of the gas permeable bag conveyor after the packing box is placed on the conveying surface of the packing box conveyor.
7. The automatic packaging system of air-permeable packing bags according to claim 3, wherein the air-permeable packing bag conveyor comprises an air-permeable packing bag conveying frame, a driving roller rotatably mounted at one end of the air-permeable packing bag conveying frame, a driven roller rotatably mounted at the other end of the air-permeable packing bag conveying frame, and an air-permeable packing bag conveying belt horizontally arranged around the driving roller and the driven roller, wherein a driving motor is mounted below the driving roller on the air-permeable packing bag conveying frame;
An encoder assembly for detecting the moving speed of the air-permeable packing bag conveying belt is arranged on one side of the air-permeable packing bag conveying frame, and the encoder assembly transmits the obtained moving speed of the air-permeable packing bag conveying belt to the boxing robot controller.
8. The automatic packaging system of the breathable packaging bag according to claim 3, wherein the lower end of the vision collecting box is an open end, the lower end of the vision collecting box is covered above a transmission surface of the breathable packaging bag conveyor, and a relatively airtight vision collecting space is formed above the vision collecting box and the transmission surface;
an inlet and an outlet for the air-permeable packaging bag conveyor to enter and exit are formed on two sides of the lower end of the vision collecting box, the height of the inlet and the outlet is not lower than the horizontal height of the air-permeable packaging bags, and the height of the inlet and the outlet is not higher than the height of the two packaging bags after stacking;
the top in the vision acquisition box is provided with the expansion bracket that stretches out and draws back towards the transmission face direction of gas-permeable wrapping bag conveyer, and the camera is assembled on the expansion bracket, and the camera passes through the expansion bracket in order to adjust the camera and take a picture the distance between the region.
9. The automatic packaging system of breathable packaging bags according to claim 3, wherein the packaging box conveyor comprises two side brackets which are arranged at intervals, the inner sides of the two side brackets are fixedly connected through a plurality of double-head T-shaped fixed connecting pieces, a plurality of driving rollers which are arranged in the horizontal direction at equal intervals and are arranged between the two side brackets in a rotating mode, the driving rollers are divided into two groups or more than two groups, the adjacent driving rollers in the same group are in transmission connection through a transmission belt, and each group of driving rollers is driven by a servo motor below the driving roller to rotate so as to drive any driving roller in the group to rotate;
The two side brackets are respectively provided with a constraint mechanism for constraining the packaging box to form linear translation in the transmission direction of the packaging box conveyor, the constraint mechanism comprises a constraint guide plate and two constraint plate bracket components, and the constraint guide plate is assembled on the side brackets by the two constraint plate bracket components so that the constraint guide plate is horizontally arranged above the driving roller; the restraint board support assembly comprises a first support, a second support, a first support rod and a second support rod, wherein the first support is fixedly assembled on the outer side of the side support, the first support rod is vertically arranged, the lower end of the first support rod penetrates through the first support, the upper end of the first support rod penetrates through the second support, the second support rod is horizontally arranged, and one end of the second support rod, which is located in the restraint guide plate, is fixedly connected with the outer side of the restraint guide plate.
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