CN117002812A

CN117002812A - An online cotton packaging system for automated parcel packaging and its packaging method

Info

Publication number: CN117002812A
Application number: CN202310622362.3A
Authority: CN
Inventors: 姚庆; 孙威
Original assignee: Nantong University
Current assignee: Nantong Yuanlue Information Technology Co ltd
Priority date: 2023-05-30
Filing date: 2023-05-30
Publication date: 2023-11-07
Anticipated expiration: 2043-05-30
Also published as: CN117002812B

Abstract

The application relates to an on-line cotton packing system of an automatic package and a packing method thereof, wherein the packing method of the package is adopted, the center of a package discharging mechanism is taken as an origin, the direction parallel to the long side of the package discharging mechanism is taken as an X axis, the direction parallel to the short side of the package discharging mechanism is taken as a Y axis, and the direction vertical to the placing surface of the package discharging mechanism is taken as a Z axis, so that a three-dimensional coordinate system is established; a bag taking area is arranged on one side of the bag discharging mechanism in the positive direction of the Y axis, and a conveyor belt is arranged on one side of the bag discharging mechanism in the negative direction of the Y axis; a plurality of cloth bags which are tiled and stacked are arranged on the bag taking area; the top of the bag discharging mechanism, which is positioned in the positive direction of the Z axis, is provided with a main pressing mechanism; the bag discharging mechanism is arranged on two sides of the X axis and is respectively provided with a grabbing mechanism, and after the grabbing mechanisms adsorb the same cloth bag from a plurality of cloth bags in a bag taking area, the cloth bags are clamped and placed at a bag discharging mechanism station; the application meets the demands of a series of procedures such as cotton feeding, cloth bag clamping, cloth bag installation, cotton compression, cotton bale packing, bundling and the like in the cotton online packing process.

Description

Online cotton packaging system and method for automatic package

Technical Field

The application relates to an on-line cotton packaging system and a packaging method of an automatic package, and belongs to the field of cotton packaging.

Background

Cotton packing is the last procedure of cotton processing, and the task of packing is: rolling ginned cotton, stripped cotton linters and recovered and cleaned cotton fibers into standard bags respectively. The products are packaged according to different grades and fiber lengths, so as to be convenient for transportation, storage and reasonable use. While cotton bales are quite different from the previous specific processes, the importance of this process is not an alternative. Because the final cotton must be packaged by the packaging process, it cannot be marketed without passing the packaging. It can be seen that cotton packaging is a key link directly facing the market in the whole cotton processing and production process.

There are two ways of packaging cotton bales: strapping is internal and external, such cotton bales are known in the industry as "bare bales"; strapping is external and internal, such cotton bales are known in the industry as "wrap bales". Aiming at the 'naked bales', the action flow of the baler is fully automatic, however, the naked bales have higher bad bales rate and lower safety, and the conditions of breakage of the joint of the cotton bales and breakage of the cotton bales are easy to occur, so that economic losses are brought to a cotton processing plant, and the latest national standard requirement is to replace the 'naked bales' with the 'wrapped bales' with higher safety.

The current cotton packing system type mainly comprises an off-line packing type and an on-line packing type, and the cotton on-line packing system has the task of improving and innovating on the basis of the traditional cotton packing machine and adopting a reasonable structure and a power mechanism so as to solve the problem which cannot be solved by the traditional cotton packing machine. The pain point of the existing cotton online packing system is that automation can be realized only for bare bags with lower safety, and manual mode is still adopted for packing the package bags with higher safety, so that the labor efficiency is low, and potential safety risks exist for operators; secondly, the accurate grabbing of cotton cloth in the bag taking area is problematic, and due to the characteristics of thinness and softness of the cotton cloth, when a plurality of cotton cloths are tiled and stacked in the bag taking area, how to accurately and efficiently separate and obtain single cotton cloth from the bag taking area by the packer becomes a difficult point; thirdly, when the cloth bag is installed, the problem that cotton cloth can fall off after installation is completed is prevented, and the phenomenon of packaging failure is caused.

At present, CN112046877a discloses an intelligent cotton baler with adjustable cotton baling specification, which structurally comprises: the cotton bundling device comprises a cotton collecting assembly, a forming assembly, a film coating assembly, a separating assembly and a travelling mechanism, wherein the cotton collecting assembly, the forming assembly, the film coating assembly, the separating assembly and the travelling mechanism are used for receiving cotton bundling specification requirements on an intelligent cotton baler and controlling a hydraulic executing piece to operate; CN111959862B discloses a linear type cotton packing and bundling system and method, between cotton packing machine and bundling machine, two cotton package conveying trolleys are added for cotton package transfer, cotton packing and bundling processing are respectively realized on different stations, packing time of the packing machine is effectively saved, and two packing machines are correspondingly arranged through one bundling machine, so that working efficiency of the bundling machine is also effectively improved. However, the above method has problems in that: the bare bales packing method directly bundling compressed cotton is adopted, the bare Bao Huaibao rate is higher, the safety is lower, the joint of the cotton bales is easy to break, the cotton bales are broken, the packing efficiency is lower, the ever-increasing market demands cannot be met, the work efficiency of the bundling machine is improved, but the process of baling is not improved, and the industry standard of baling after baling cannot be finished, so that an on-line improvement system of the cotton baler capable of realizing baling automation is needed.

Disclosure of Invention

The application provides an on-line cotton packing system and a packing method of an automatic package, which meet a series of process demands of cotton feeding, cloth bag clamping, cloth bag installation, cotton compression, cotton package packing, bundling and the like in the cotton on-line packing process.

The technical scheme adopted for solving the technical problems is as follows:

an on-line cotton packing system for automatically packing bags comprises a bag discharging mechanism, wherein the bag discharging mechanism is used for packing the cotton bags at a station of the bag discharging mechanism, the center of the bag discharging mechanism is taken as an origin, the direction parallel to the long side of the bag discharging mechanism is taken as an X axis, the direction parallel to the short side of the bag discharging mechanism is taken as a Y axis, and the direction perpendicular to the placing surface of the bag discharging mechanism is taken as a Z axis, so that a three-dimensional coordinate system is established;

a bag taking area is arranged on one side of the bag discharging mechanism in the positive direction of the Y axis, and a conveyor belt is arranged on one side of the bag discharging mechanism in the negative direction of the Y axis; a plurality of cloth bags which are tiled and stacked are arranged on the bag taking area;

the top of the bag discharging mechanism, which is positioned in the positive direction of the Z axis, is provided with a main pressing mechanism;

the bag discharging mechanism is arranged on two sides of the X axis and is respectively provided with a grabbing mechanism, and after the grabbing mechanisms adsorb the same cloth bag from a plurality of cloth bags in a bag taking area, the cloth bags are clamped and placed at a bag discharging mechanism station;

as a further preferred aspect of the present application, the gripping mechanism includes a pneumatic gripper and a mechanical arm, the pneumatic gripper being connected to the mechanical arm through a gripper arm connecting plate;

the pneumatic mechanical claw comprises a machine seat, a connecting upright post, a connecting block, a fixed connecting matrix, a long connecting rod of the pneumatic claw, a short connecting rod, a machine claw, a simplified air cylinder, an air cylinder push rod and a connecting matrix,

the center of the bottom end of the machine base is coaxially provided with a simplified air cylinder, one end of an air cylinder push rod is inserted into the simplified air cylinder, the other end of the air cylinder push rod is linked with a connecting matrix, a plurality of uniformly distributed connecting upright posts are arranged along the circumferential direction of the bottom end of the machine base and are parallel to the central axis of the simplified air cylinder, namely, one end of each connecting upright post is fixed with the machine base, the other end of each connecting upright post is connected with a fixed connecting matrix, and the connecting matrix is positioned in an inner cavity of the fixed connecting matrix;

the connecting matrix comprises a plurality of extending ends, each extending end is movably connected with one end of a long gas claw connecting rod through a connecting block, meanwhile, the position, close to one end, of the long gas claw connecting rod is movably connected with the fixed connecting matrix, one end of a short connecting rod is movably connected with the fixed connecting matrix, the other end of the long gas claw connecting rod and the other end of the short connecting rod are simultaneously fixed with the machine claw, and the other end of the short connecting rod is close to an extension line of the central axis of the simplified cylinder; the clamping end of the machine claw extends towards the direction of an extension line of the central axis of the simplified cylinder;

the top end of the machine base is provided with a claw arm connecting disc which is fixed with the mechanical arm;

as a further preferred aspect of the present application, the mechanical arm includes a first section, a second section, a third section and a fourth section which are sequentially connected, one end of the first section is movably connected with the rotating disc through a first joint, one end of the second section is movably connected with the other end of the first section through a second joint, one end of the third section is movably connected with the other end of the second section through a third joint, one end of the fourth section is movably connected with the other end of the third section through a fourth joint, and the other end of the fourth section is connected with the top end of the base through a claw arm connecting disc;

motors are arranged at the first joint, the second joint, the third joint and the fourth joint;

as a further preferred aspect of the present application, in the robot arm, the length of the first section is longer than the length of the second section, the length of the second section is longer than the length of the fourth section, and the length of the fourth section is longer than the length of the third section;

the plane formed by the rotation of the second section relative to the first section, the plane formed by the rotation of the third section relative to the second section and the plane formed by the rotation of the fourth section relative to the third section are all in the same plane;

as a further preferred aspect of the present application, the gripping mechanism further includes a suction mechanism including a micro air pump, a suction cup, and an air guide plate, wherein the top of the micro air pump is connected with the bottom center of the connecting base body through a connecting column; the bottom end of the miniature air pump is connected with the sucker through the air guide channel, and an air guide plate is arranged at the joint of the sucker and the air guide channel;

as a further preferred mode of the application, the main pressing mechanism comprises a pressing head which is of a square structure, two guide rails are arranged on the side surface of the pressing head parallel to the Z axis, each guide rail is parallel to the Z axis, and a slide block clamp is connected in a sliding manner in each guide rail and is used for clamping a cloth bag;

as a further preferred aspect of the present application, the slide clip includes two guide rail slides, a slide chuck and a chuck limit bar, the guide rail slides are arranged in parallel, and a space is formed between the two guide rail slides;

the chuck limiting strip is fixed in the space, is perpendicular to the guide rail sliding block and is fixed at the end part of the guide rail sliding block, which is positioned outside; the slide block chuck is L-shaped, and the transverse part of the slide block chuck is rotatably fixed in a space formed between two guide rail slide blocks through a rotating shaft;

a packaging method of an on-line cotton packaging system based on the automatic package,

step S1: a plurality of cloth bags are horizontally paved and stacked in the bag taking area, a grabbing mechanism of the bag discharging mechanism on two sides of the X axis is started, two pneumatic mechanical claws move to the bag taking area and move towards the negative direction of the Z axis, and the two pneumatic mechanical claws are close to the plurality of cloth bags horizontally paved and stacked;

step S2: the cylinder push rod in the pneumatic mechanical claw pushes out towards the negative direction of the Z axis, the long connecting rod and the short connecting rod of the pneumatic claw are linked, the claw with the motor is opened, and meanwhile, the cylinder push rod drives the suction mechanism to be attached to two sides of a plurality of cloth bags which are tiled and stacked;

step S3: starting a miniature air pump, and sucking the corresponding cloth bag side by a sucker;

step S4: the cylinder push rod in the pneumatic mechanical claw contracts towards the positive direction of the Z axis, the sucker ascends in the Z axis direction to lift two sides of the cloth bag at the topmost layer of the plurality of cloth bags which are tiled and stacked, and the linkage claw contracts to clamp two sides of the cloth bag;

step S5: the pneumatic mechanical claw moves and installs the clamped cloth bag to the pressure head and then returns to the initial state;

step S6: the slide block clamping head rotates in the direction of the guide rail slide block, so that the cloth bag is clamped and fixed around the pressure head;

step S7: starting a grabbing mechanism, and moving the two pneumatic mechanical claws to a bag taking area again, and running in the negative direction of the Z axis, wherein the two pneumatic mechanical claws are close to a plurality of bags which are stacked in a residual tiling manner;

step S8: the cylinder push rod in the pneumatic mechanical claw pushes out towards the negative direction of the Z axis, the long connecting rod and the short connecting rod of the pneumatic claw are linked, the claw is opened, and meanwhile, the cylinder push rod drives the suction mechanism to be attached to two sides of a plurality of cloth bags which are stacked in a residual tiling way;

step S9: starting a miniature air pump, and sucking the corresponding cloth bag side by a sucker;

step S10: the pneumatic mechanical claw moves and places the re-clamped cloth bag on the placing surface of the bag discharging mechanism;

step S11: feeding cotton, compressing the material in a cotton box;

step S12: the cotton box moves towards the negative direction of the Z axis, the materials are continuously compressed, the cotton box is lifted, and compressed cotton is molded;

step S13: the slide block clamp slides along the guide rail to the direction of compressed cotton, so that the cloth bag fixed around the pressure head is wrapped on the compressed cotton;

step S14: the pneumatic mechanical claws grab two sides of a cloth bag positioned on the placing surface of the bag discharging mechanism, and move the cloth bag towards the positive direction of the Z axis, so that the cloth bag on the placing surface of the bag discharging mechanism is sleeved with compressed cotton;

step S15: the pneumatic mechanical claw is retracted, the strapping machine is started to strap the two cloth bags to form a cotton bag;

step S16: the bale discharging mechanism inclines towards the direction of the conveying belt and the cotton bale is poured onto the conveying belt;

step S17: the package receiving trolley receives and conveys cotton packages to a warehouse;

as a further preferred aspect of the present application, the specific steps of step S11 are:

step S111: the material flows into the cotton feeding device through the cotton sliding channel, the cotton feeding oil cylinder pushes the material into the front end, and the pedal at the lower end of the pre-pressing oil cylinder presses the material into the cotton box; after the pre-pressing down to a preset position, the cotton feeding oil cylinder retreats; after the cotton feeding oil cylinder retreats to a preset position, the pre-pressing oil cylinder retreats to an initial position, and one pre-pressing cotton feeding cycle is completed, and pre-pressing cotton feeding back and forth cycle action is completed;

step S112: the material is pressed into the cotton box by the pre-pressing cotton feeding for multiple times, the weight of the material in the cotton box reaches 217 kg to 237kg, and the material is used for sending a signal by a pressure relay for weight measurement; the pre-pressing cotton feeding stops, the baling press starts the suitcase, and the rotating case; after the transfer box passes, the empty box is transferred to one side of prepressing, the prepressing cotton feeding circulation is continued, and meanwhile, the cotton box for placing materials is transferred to the placing surface of the main pressing mechanism;

step S113: the main pressure cylinder of the main pressure mechanism is started to drive the pressure head to move towards the direction of the placement surface, the material is compressed, the set speed is changed from fast to slow, and the material is stopped when the compression height of the material is 490-500.

Through the technical scheme, compared with the prior art, the application has the following beneficial effects:

1. according to the on-line cotton packaging system for the automatic package, the package is packaged, so that the situation that the package is broken due to the breakage of the joint of the cotton package strapping tape is avoided, the package breaking rate is reduced, the safety is improved, and the economic loss of a cotton processing plant caused by bare packages is avoided;

2. according to the on-line cotton packaging system for the automatic package, provided by the application, the suction mechanism can separate cloth individuals when the pneumatic mechanical claws grasp flexible stacked objects such as cloth, so that the problem that a common mechanical arm is difficult to clamp the flexible stacked objects such as cloth is solved, the clamping success rate is high, and the clamping is stable;

3. according to the packaging method of the on-line cotton packaging system based on the automatic package, disclosed by the application, the process of packaging cotton into the package is automated, and the labor cost and the operation risk are reduced.

Drawings

The application will be further described with reference to the drawings and examples.

FIG. 1 is a flow chart of a packaging method of an on-line cotton packaging system based on automated package packaging provided by the application;

FIG. 2 is a schematic view of the structure of the suction mechanism in the preferred embodiment provided by the present application;

FIG. 3 is a schematic view of the structure of a pneumatic gripper in a preferred embodiment provided by the present application;

FIG. 4 is a detailed schematic of the pneumatic gripper in a preferred embodiment provided by the present application;

FIG. 5 is a schematic view of a mechanical arm in a preferred embodiment of the present application;

FIG. 6 is a schematic view of the main pressing mechanism in the preferred embodiment of the present application;

FIG. 7 is a schematic view of the structure of a slider clip in accordance with a preferred embodiment of the present application;

fig. 8 is a schematic overall structure of a preferred embodiment provided by the present application.

In the figure: 1 is a sucker, 2 is a miniature air pump, 4 is an air guide plate, 5 is a machine seat, 6 is a connecting upright post, 7 is a connecting block, 8 is a fixed connection matrix, 9 is an air claw long connecting rod, 10 is a short connecting rod, 11 is a claw, 12 is a simplified cylinder, 13 is a cylinder push rod, 14 is a connection matrix, 15 is a rotating disk, 16 is a first section, 17 is a second section, 18 is a third section, 19 is a fourth section, 20 is a claw-arm connecting disk, 21 is a guide rail slider, 22 is a slider chuck, 101 is a slider chuck, 102 is a guide rail, 103 is a pressure head, 201 is a pneumatic mechanical claw, 202 is a bag taking area, 203 is a main pressing mechanism, 204 is a bag discharging mechanism, and 205 is a conveyor belt.

Description of the embodiments

The application will now be described in further detail with reference to the accompanying drawings. In the description of the present application, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present application. The specific dimensions adopted in the present embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present application.

As described in the background art, the online packing method for the package has several obvious defects, namely, the automatic packing can only be realized for the bare package with lower safety, the packing is carried out firstly for the bare package, and then the packing is carried out, so that the expansion force of the cotton package needs to be born when the packing is carried out, and the packing phenomenon occurs due to the breakage of the joint of the packing tape; secondly, when the stacked cloth bags are grabbed, the packer cannot accurately and efficiently separate and acquire single cloth bags in a bag taking area because the cotton cloth of the cloth bags is thinner and softer; thirdly, the cloth bag is prevented from falling off possibly after the cloth bag is installed, so that packaging failure is caused.

In order to overcome the above-mentioned problems, the present application provides an on-line cotton packaging system for automatic package, which uses the center of the package discharging mechanism 204 (performing package packaging operation on cotton packages at the station of the package discharging mechanism) as an origin, uses the direction parallel to the long side of the package discharging mechanism as an X-axis, uses the direction parallel to the short side of the package discharging mechanism as a Y-axis, uses the direction perpendicular to the placing surface of the package discharging mechanism as a Z-axis, and establishes a three-dimensional coordinate system for convenience in describing the preferred embodiment of the present application.

As shown in fig. 8, a distribution diagram of each station is constructed, a bag taking area is arranged on one side of the bag discharging mechanism in the positive direction of the Y axis, and a conveyor belt 205 is arranged on one side of the bag discharging mechanism in the negative direction of the Y axis; a plurality of cloth bags which are tiled and stacked are arranged on the bag taking area; the top of the bag discharging mechanism, which is positioned in the positive direction of the Z axis, is provided with a main pressing mechanism 203; the bag discharging mechanism is arranged on two sides of the X axis, the grabbing mechanisms are respectively arranged on two sides of the X axis, and after the grabbing mechanisms adsorb the same cloth bag from a plurality of cloth bags in the bag taking area, the cloth bags are clamped and placed at the bag discharging mechanism station.

In the preferred embodiment, only two grabbing mechanisms are arranged and are respectively positioned at two sides of the bag discharging mechanism, so that the requirement of grabbing a cloth bag is met, and the packing cost is reduced.

The grabbing mechanism comprises a pneumatic mechanical claw 201 and a mechanical arm, and as one innovation point of the application, as shown in fig. 3-5, the pneumatic mechanical claw is connected with the mechanical arm through a claw arm connecting disc 20; the pneumatic mechanical claw comprises a machine base 5, a connecting upright post 6, a connecting block 7, a fixed connecting matrix 8, a long pneumatic claw connecting rod 9, a short connecting rod 10, a machine claw 11, a simplified cylinder 12, a cylinder push rod 13 and a connecting matrix 14, wherein the center position of the bottom end of the machine base is coaxially provided with the simplified cylinder, one end of the cylinder push rod is inserted into the simplified cylinder, the other end of the cylinder push rod is linked with the connecting matrix, a plurality of uniformly distributed connecting upright posts (five connecting upright posts can meet the operation requirement in the preferred embodiment) are arranged along the circumferential direction of the bottom end of the machine base, the connecting upright posts are parallel to the central axis of the simplified cylinder, namely, one end of each connecting upright post is fixed with the machine base, the other end of each connecting upright post is connected with the fixed connecting matrix, and the connecting matrix is positioned in the inner cavity of the fixed connecting matrix;

as can be clearly seen from fig. 4, the connecting matrix includes a plurality of extending ends, each extending end is movably connected with one end of a long gas claw connecting rod through a connecting block, three extending ends are designed in the embodiment, meanwhile, the position of the long gas claw connecting rod close to one end is movably connected with the fixed connecting matrix, one end of a short connecting rod is movably connected with the fixed connecting matrix, the other end of the long gas claw connecting rod and the other end of the short connecting rod are simultaneously fixed with the machine claw, and the other end of the short connecting rod is close to an extension line of the central axis of the simplified cylinder; the clamping end of the machine claw extends towards the direction of an extension line of the central axis of the simplified cylinder; the three machine claws meet the most stable operation of clamping the cloth bag with the lowest manufacturing cost. The top end of the machine base is provided with a claw arm connecting disc which is fixed with the mechanical arm.

The other innovation point of the application is that the grabbing mechanism also comprises a suction mechanism, as shown in fig. 2, which comprises a micro air pump 2, a sucker 1 and an air guide plate 4, wherein the top of the micro air pump is connected with the center of the bottom of the connecting matrix through a connecting column; the bottom of the miniature air pump is connected with the sucker through the air guide channel, and the air guide plate is arranged at the joint of the sucker and the air guide channel.

The suction mechanism and the pneumatic mechanical claw are matched for operation, as a plurality of cloth bags are stacked and tiled together, the common pneumatic claw cannot directly clamp a single cloth bag, so that the suction mechanism is needed to suck two sides of the single cloth bag, the suction mechanism is fixed below the connecting substrate from the view point of fig. 3, the claw is opened along with the descending of the connecting substrate, when the connecting substrate descends, the claw is opened, the suction mechanism descends simultaneously, the suction mechanism utilizes the semi-permeability of cloth bags, the uppermost cloth bag can be singly sucked, and the suction disc adsorbs the cloth bag when the cloth bag is clamped for operation, so that the grabbing is accurate and efficient.

Because the pneumatic mechanical claw is required to freely rotate in a formed three-dimensional coordinate system, the structure for realizing 360-degree rotation operation of the pneumatic mechanical claw is a mechanical arm, and as shown in fig. 5, the mechanical arm comprises a first section 16, a second section 17, a third section 18 and a fourth section 19 which are sequentially connected, one end of the first section is movably connected with a rotating disc 15 through a first joint, one end of the second section is movably connected with the other end of the first section through a second joint, one end of the third section is movably connected with the other end of the second section through a third joint, one end of the fourth section is movably connected with the other end of the third section through a fourth joint, and the other end of the fourth section is connected with the top end of the machine seat through a claw arm connecting disc; and motors are arranged at the first joint, the second joint, the third joint and the fourth joint. The plane formed by the rotation of the second section relative to the first section, the plane formed by the rotation of the third section relative to the second section and the plane formed by the rotation of the fourth section relative to the third section are all in the same plane. The first joint is connected with the rotating disc and the first section of the mechanical arm, so that the mechanical arm can integrally rotate, meanwhile, the first joint can control the lifting of the pneumatic mechanical claw integrally, and the second joint can control the movement of the pneumatic mechanical claw in the front-back direction. Because in the mechanical arm, the length of the first section is longer than that of the second section, the length of the second section is longer than that of the fourth section, and the length of the fourth section is longer than that of the third section, namely the length of the third section is shortest, under the condition that joints move by the same angle, the third section enables the moving distance of the pneumatic mechanical claw to be smaller, so that the pneumatic mechanical claw can be controlled to perform fine adjustment, the fourth section of the mechanical arm can control the left and right adjustment of the pneumatic mechanical claw, and the working range of the mechanical arm is greatly increased;

fig. 6 shows a main pressing mechanism provided by the application, which comprises a pressing head 103, wherein the pressing head is of a square structure, two guide rails 102 are arranged on the side surface of the pressing head parallel to the Z axis, each guide rail is parallel to the Z axis, and simultaneously, a slide block clamp 101 is slidably connected in each guide rail, and the slide block clamp is used for clamping a cloth bag.

A preferred embodiment of a slide clamp is given here, and as shown in fig. 7, the slide clamp comprises two guide rail slides 21, a slide chuck 22 and a chuck limit bar, the guide rail slides are arranged relatively in parallel, and a space is formed between the two guide rail slides; the chuck limiting strip is fixed in the space, is perpendicular to the guide rail sliding block and is fixed at the end part of the guide rail sliding block, which is positioned outside; the slide block chuck is L-shaped, and the transverse part of the slide block chuck is rotatably fixed in a space formed between two guide rail slide blocks through a rotating shaft. That is, when the cloth bag is mounted on the pressure head, the cloth bag is just spread on the guide rail slide block, and at the moment, the slide block clamping head rotates around the rotating shaft, so that the slide block clamping head clamps the cloth bag.

Finally, the application also provides a packing method of the on-line cotton packing system based on the automatic packing bag, which is shown in fig. 1 and specifically comprises the following steps:

step S1: a plurality of cloth bags are horizontally stacked in the bag taking area 202, a grabbing mechanism of the bag discharging mechanism on two sides of the X axis is started, two pneumatic mechanical claws move to the bag taking area and move towards the negative direction of the Z axis, and a plurality of cloth bags are horizontally stacked;

step S11: feeding cotton, compressing the material in a cotton box;

step S113: the main pressure cylinder of the main pressure mechanism is started to drive the pressure head to move towards the direction of the placing surface, the material is compressed, the set speed is changed from fast to slow, and the material is stopped when the compression height of the material is 490-500;

step S17: the receiving trolley receives and conveys the cotton bale to a warehouse.

According to the packing method, the packing method is aimed at packing the package, the naked package is packed firstly, and then the package is carried out, so that the strapping tape needs to bear the expansion force of the cotton package when the strapping tape is packed, the strapping tape joint is easy to break, the packing phenomenon is easy to occur, and the packing and wrapping are carried out because the strapping tape is arranged outside and the strapping tape is prevented from breaking; the problem that a common mechanical arm is difficult to clamp flexible stacked objects such as cloth and the like is solved, the cylinder push rod moves downwards, the machine claw opens, the suction mechanism moves downwards along with the connecting matrix, and the effect of opening the machine claw and stretching the suction mechanism is achieved; the cylinder push rod goes upward, the machine claw is closed, and the suction mechanism rises along with the connecting matrix, so that the effect of retracting the suction mechanism and grabbing by the machine claw is achieved, the success rate of clamping is high, and the clamping is stable. The process of packing the cotton into the package is automated, so that the labor cost and the operation risk are reduced; the matching movement of the claw and the suction mechanism is realized by the linkage of the cylinder push rod, so that the function is perfect, the machine is simplified, the operation is convenient, and the cost is reduced.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "and/or" in the present application means that each exists alone or both exist.

"connected" as used herein means either a direct connection between components or an indirect connection between components via other components.

With the above-described preferred embodiments according to the present application as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present application. The technical scope of the present application is not limited to the description, but must be determined according to the scope of claims.

Claims

1. An automatic change online cotton packing system of parcel package, includes out package mechanism, wraps up package packing operation, its characterized in that to the cotton package in going out the station of package mechanism: taking the center of the bag discharging mechanism as an origin, taking the direction parallel to the long side of the bag discharging mechanism as an X axis, taking the direction parallel to the short side of the bag discharging mechanism as a Y axis, taking the direction perpendicular to the placing surface of the bag discharging mechanism as a Z axis, and establishing a three-dimensional coordinate system;

the bag discharging mechanism is arranged on two sides of the X axis, the grabbing mechanisms are respectively arranged on two sides of the X axis, and after the grabbing mechanisms adsorb the same cloth bag from a plurality of cloth bags in the bag taking area, the cloth bags are clamped and placed at the bag discharging mechanism station.

2. The automated package on-line cotton packaging system of claim 1, wherein: the grabbing mechanism comprises a pneumatic mechanical claw and a mechanical arm, and the pneumatic mechanical claw is connected with the mechanical arm through a claw arm connecting disc;

the pneumatic mechanical claw comprises a machine seat (5), a connecting upright post (6), a connecting block (7), a fixed connecting matrix (8), a long pneumatic claw connecting rod (9), a short connecting rod (10), a machine claw (11), a simplified air cylinder (12), an air cylinder push rod (13) and a connecting matrix (14),

a simplified cylinder is coaxially arranged at the center of the bottom end of the machine base (5), one end of a cylinder push rod is inserted into the simplified cylinder, the other end of the cylinder push rod (13) is linked with a connecting matrix (14), a plurality of uniformly distributed connecting upright posts (6) are arranged along the circumferential direction of the bottom end of the machine base and are parallel to the central axis of the simplified cylinder, namely one end of each connecting upright post is fixed with the machine base, the other end of each connecting upright post is connected with a fixed connecting matrix (8), and the connecting matrix (14) is positioned in an inner cavity of the fixed connecting matrix (8);

the connecting matrix (14) comprises a plurality of extending ends, each extending end is movably connected with one end of a long gas claw connecting rod (9) through a connecting block (7), meanwhile, the position, close to one end, of the long gas claw connecting rod is movably connected with the fixed connecting matrix (8), one end of a short connecting rod (10) is movably connected with the fixed connecting matrix, the other end of the long gas claw connecting rod and the other end of the short connecting rod are simultaneously fixed with the machine claw (11), and the other end of the short connecting rod is close to an extension line of the central axis of the simplified cylinder; the clamping end of the machine claw extends towards the direction of an extension line of the central axis of the simplified cylinder;

the top end of the machine base is provided with a claw arm connecting disc which is fixed with the mechanical arm.

3. The automated package on-line cotton packaging system of claim 2, wherein: the mechanical arm comprises a first section, a second section, a third section and a fourth section which are sequentially connected, one end of the first section is movably connected with the rotating disc through a first joint, one end of the second section is movably connected with the other end of the first section through a second joint, one end of the third section is movably connected with the other end of the second section through a third joint, one end of the fourth section is movably connected with the other end of the third section through a fourth joint, and the other end of the fourth section is connected with the top end of the machine base through a claw arm connecting disc;

and motors are arranged at the first joint, the second joint, the third joint and the fourth joint.

4. An automated package on-line cotton packaging system as defined in claim 3 wherein: in the mechanical arm, the length of the first section is longer than that of the second section, the length of the second section is longer than that of the fourth section, and the length of the fourth section is longer than that of the third section;

the plane formed by the rotation of the second section relative to the first section, the plane formed by the rotation of the third section relative to the second section and the plane formed by the rotation of the fourth section relative to the third section are all in the same plane.

5. The automated package on-line cotton packaging system of claim 4, wherein: the grabbing mechanism further comprises an absorbing mechanism which comprises a micro air pump, a sucker and an air guide plate, wherein the top of the micro air pump is connected with the center of the bottom of the connecting matrix through a connecting column; the bottom of the miniature air pump is connected with the sucker through the air guide channel, and the air guide plate is arranged at the joint of the sucker and the air guide channel.

6. The automated package on-line cotton packaging system of claim 5, wherein: the main pressing mechanism comprises a pressing head which is of a square structure, two guide rails are arranged on the side face of the pressing head parallel to the Z axis, each guide rail is parallel to the Z axis, and meanwhile, a slider clamp is connected in a sliding mode in each guide rail and used for clamping a cloth bag.

7. The automated package on-line cotton packaging system of claim 6, wherein: the slide block clamp comprises two guide rail slide blocks, a slide block chuck and a chuck limiting bar, wherein the two guide rail slide blocks are oppositely arranged in parallel, and a space is formed between the two guide rail slide blocks;

the chuck limiting strip is fixed in the space, is perpendicular to the guide rail sliding block and is fixed at the end part of the guide rail sliding block, which is positioned outside; the slide block chuck is L-shaped, and the transverse part of the slide block chuck is rotatably fixed in a space formed between two guide rail slide blocks through a rotating shaft.

8. A packaging method of an on-line cotton packaging system based on an automated package according to claim 7, wherein:

step S11: feeding cotton, compressing the material in a cotton box;

9. The method of automated package packaging of an on-line cotton packaging system of claim 8, wherein: the specific steps of step S11 are as follows: