CN210823028U - Bag type soil filling machine for nutrient soil - Google Patents

Abstract

The utility model discloses a bag type dress alms bowl machine is given to nutrition soil, include: the automatic bag opening and closing device comprises a rack, a feeding device, a bag opening device, a conveying device, a pneumatic transmission device, a vacuum device and an automatic control device; the automatic control device is respectively connected with the feeding device, the conveying device, the pneumatic transmission device and the vacuum device; the pneumatic transmission device is respectively connected with the bag opening device, the bag taking device and the bag opening device; the vacuum device is respectively connected with the bag taking device and the bag opening device; the working procedures of bag taking, bag feeding, bag opening, bag clamping, vibration feeding and conveying are automatically and sequentially executed, the problems of mechanization and automation of the seedling bag nutrient soil filling are solved, the nutrient soil filling efficiency is greatly improved, and the dependence degree on manpower and the labor cost are reduced; the parallel execution of bag taking and bag feeding actions and the follow-up process is realized, the automatic correction function is realized, the abnormal conditions of bag taking and bag opening are automatically corrected, and the working efficiency and the reliability of the bag type bowl filling operation of the nutrient soil are obviously improved.

Description

Bag type soil filling machine for nutrient soil

Technical Field

The utility model relates to the technical field of agricultural machinery, more specifically the utility model relates to a bag type dress alms bowl machine is given to nutrition soil that says so.

Background

The container seedling raising is an advanced seedling raising mode widely applied to current seedling production, namely container seedlings are raised in special containers filled with nutrient soil matrixes in protection facilities such as plastic greenhouses, greenhouses and the like to provide nutrients and environmental conditions required for growth and development of the container seedlings, and the container seedlings are transplanted or planted along with rhizosphere soil masses.

The seedling raising container commonly used at present comprises a plastic film bag, a hard plastic cup, a plug tray, a non-woven fabric container and the like. Wherein, the non-woven fabric bottomless container with small specification realizes automatic and continuous bag making and matrix filling, and the hard plastic cup and the hole tray realize multi-process automatic operation of links such as soil filling, hole pressing, seeding, soil covering and the like. However, large-sized prefabricated plastic film seedling bags and non-woven fabric seedling bags commonly used in forest and fruit tree seedling production in China still mainly adopt a manual mode to perform matrix filling, seeding and transplanting operations due to lack of matched key technical research and applicable mechanical equipment, so that the operation is complex, the labor intensity is high, the operation efficiency is low, and the large-scale popularization and application of container seedling are limited. Research data show that the average efficiency of manually filling nutrient soil into plastic film bags in citrus container seedling production is 600 bags/(man-day), and the nursery yield of a nursery is usually 100-200 ten thousand plants per year. Therefore, a large amount of manual labor needs to be hired temporarily for a long time to carry out the pot loading operation of the nutrient soil, so that the filling amount and the compaction degree of the nutrient soil are uneven, and the problem of labor shortage after rural labor force is transferred outwards is increasingly highlighted.

According to the technical standard and production experience of container seedling culture, the nutrient soil in the container is required to be filled and compacted: the filling surface of the nutrient soil is 1-2 cm lower than the container opening, obvious settlement does not occur after irrigation, the container is kept upright, and the container opening is opened. The plastic cups, seedling raising barrels and the like made of hard materials can keep the vertical and open states depending on the shapes of the containers, and the seedling raising containers made of soft materials such as plastic film bags, non-woven bags and the like can be potted and transplanted with nutrient soil only by keeping the openings of the bags open with the help of external force.

Although the existing bag feeding type packaging machinery is provided with a bag opening device for opening the bag opening when the bag opening is in butt joint with the feed opening, the technological requirements of the general bag feeding type packaging are greatly different from the nutrient soil pot filling operation of container seedling raising, for example, the bag opening does not need to be completely opened, the filling amount of materials is far smaller than the maximum capacity of the packaging bag, the bag opening is sealed, and the like.

Therefore, the problem that needs to be solved by the technical personnel in the field is how to provide an automatic pot filling machine which can realize the mechanical bag supporting of soft seedling raising containers such as prefabricated plastic film seedling raising bags and non-woven fabric seedling raising bags.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the above-mentioned technical problem among the prior art to a certain extent at least.

In view of this, the utility model provides a soil of nourishing is for pocket type dress alms bowl machine carries out in proper order and gets the bag, send the bag, open the bag, prop the bag, press from both sides the bag, vibratory feed and conveying process, higher automation level has, the mechanization and the automation problem of plastic film seedling bag soil of nourishing dress alms bowl have been solved, be favorable to realizing the mode of "one person multimachine", artifical intensity of labour and to the demand of artifical labour have been reduced by a wide margin, soil of nourishing dress alms bowl efficiency has greatly been improved, degree of dependence to the manual work and cost of labor have been reduced.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a bag type feeding machine for nutrient soil comprises: the automatic bag opening and closing device comprises a rack, a feeding device, a bag opening device, a conveying device, a pneumatic transmission device, a vacuum device and an automatic control device; the automatic control device is respectively connected with the feeding device, the conveying device, the pneumatic transmission device and the vacuum device; the pneumatic transmission device is respectively connected with the bag opening device, the bag taking device and the bag opening device; the vacuum device is respectively connected with the bag taking device and the bag opening device; wherein,

the bag opening device comprises: the bag opening device comprises a bag opening cylinder, an assembling plate, a driving sliding block assembly, a driven sliding block assembly, a sliding rail connecting rod assembly and a bag opening assembly;

the driving slider assembly and the driven slider assembly are mounted on two opposite mounting surfaces of the assembling plate; the bag supporting cylinder is arranged on the same side of the driving sliding block component and is connected with the driving sliding block component;

the driving sliding block assembly comprises a driving sliding rail and a driving sliding block; the driving sliding block is provided with a hinge column, and the driving sliding rail is fixedly installed along the width direction of the assembling plate; the hinge column is connected with a piston rod of the bag opening cylinder, and the telescopic direction of the piston rod is the same as the sliding direction of the driving slide block;

the driven slide block assembly comprises a driven slide rail and a driven slide block; two driven sliding blocks are arranged and are respectively provided with a connecting plate; the driven slide rail is fixedly installed along the length direction of the assembling plate;

the sliding rail connecting rod assembly comprises a first connecting rod and a second connecting rod which are arranged in groups, and two groups are arranged; and one end of each first connecting rod is hinged to the hinge column, the other end of each first connecting rod is fixedly embedded with one end of the corresponding second connecting rod, the second connecting rods penetrate through the connecting plates and are rotatably connected with the connecting plates, and bag supporting assemblies are mounted at the other ends of the second connecting rods.

According to the technical scheme, compared with the prior art, the utility model discloses a bag type bowl filling machine for nutrient soil, which is provided with a frame, a feeding device, a bag opening device, a bag taking device, a bag opening device, a conveying device, an air pressure transmission device, a vacuum device and an automatic control device; the seedling raising bags are transferred to a bag opening position after the bag taking device takes the bags, the bag opening device opens the seedling raising bags in a small range, at the moment, the hinged columns and the driving sliding blocks move towards the top along the bottom of the width direction of the assembling plate under the action of the power device, the angle between the two first connecting rods is increased to push the second connecting rods to slide along the length direction of the assembling plate, the driven sliding blocks and the bag opening plate are driven to move, the bag opening action is completed, the feeding device carries out filling, after the filling is completed, the hinged columns move towards the bottom from the top, the bag opening device falls back to release the seedling raising bags filled with nutrient soil, and the conveying device carries out conveying and transportation; the whole operation process controls the pneumatic transmission device and the vacuum device through the automatic control device and receives feedback signals so as to realize automatic operation; the problem of seedling bag nutrient soil dress alms bowl mechanized and automatic is solved, greatly improved nutrient soil's dress alms bowl efficiency, reduced to artifical degree of dependence and cost of labor.

Preferably, in the nutrient soil bag feeding type pot filling machine, the two second connecting rods are connected through an elastic part; when the hinged column moves to the highest point, the hinged column is higher than the plane where the two second connecting rods are located; adopt this scheme to produce the pretightning force between the second connecting rod, when the articulated post moved to the peak, slide rail link assembly realized the auto-lock under the effect of pretightning force, automatic bag state that keeps propping.

Preferably, in the above nutrient soil bag feeding type pot filling machine, the bag supporting assembly comprises bag supporting plates and fixing plates which are arranged in groups, and two groups are arranged;

the bag supporting plate is arc-shaped, the outer arc surface of the bag supporting plate is also provided with arc-shaped bulges, and anti-skid gaskets are fixed on the arc-shaped bulges;

the auxiliary clamping plate is corresponding to the arc-shaped bulge and is fixedly connected with the second connecting rod; adopt the arc design scheme can laminate the shape of educating the seedling bag, prop the bag effect better, the slipmat can increase the frictional force who props bag board and educate the seedling bag to establish supplementary splint through adding and prevent educating the seedling bag landing, make the filling process more stable.

Preferably, in the above bag feeding type nutrition soil filling machine, the bag taking device comprises a swing cylinder, a bag taking sucker, a bag storage box and a pressing cylinder; the swing cylinder, the bag storage box and the pressing cylinder are all fixed on the frame,

the bag storage box is provided with a bag outlet and a pressing plate opposite to the bag outlet; the bag taking cylinder is fixed on a piston rod of the swing cylinder; a bag taking sucker is arranged on a piston rod of the bag taking cylinder and corresponds to the bag outlet; a piston rod of the compaction cylinder is connected with the compaction plate and pushes the seedling raising bag towards a bag outlet; by adopting the scheme, after the seedling raising bags are placed in the bag storage box, the piston rods of the pressing cylinders push the pressing plates to press the seedling raising bags at the bag outlet, the piston rods of the bag taking cylinders extend to enable the bag taking suckers to abut against the seedling raising bags, the bag taking suckers suck out the seedling raising bags, the piston rods retract to take out the seedling raising bags, the swing cylinders rotate to drive the bag taking cylinders to rotate, and the bag taking cylinders extend again to place the seedling raising bags at the next working position; compact structure is nimble, and the degree of accuracy is high, the automated control of being convenient for.

Preferably, in the above nutrient soil bag feeding type pot filling machine, the bag opening device comprises a bag opening cylinder, a movable suction cup and a fixed suction cup; the bag opening cylinder is fixed on the rack and corresponds to the bag taking cylinder, a piston rod of the bag opening cylinder is fixedly provided with a movable sucker, and the fixed sucker is fixed on the rack on the lower side of the bag opening component and is opposite to the movable sucker; by adopting the scheme, when the seedling raising bag is parked on the fixed sucker by the bag taking device, the seedling raising bag is tightly pressed on the fixed sucker by extending the piston rod of the bag opening cylinder, the piston rod retracts, and the movable sucker and the fixed sucker open the seedling raising bag; simple structure is exquisite, and the feasibility is strong.

Preferably, in the nutrient soil feeding bag type pot filling machine, the feeding device comprises a feeding bin, a regulating plate and a vibrator; the feeding bin is provided with an opening at the top, the bottom is an inclined bottom plate, and the discharge end of the feeding bin is provided with a discharge hole and a bin door and corresponds to the bag supporting component; the adjusting plate is connected with two side walls of the storage bin in a sliding mode, feeding flow is adjusted by controlling the distance between the adjusting plate and the feeding bin bottom plate, the bin door is provided with a bin door air cylinder, and opening and closing of the bin door are controlled by stretching of an air cylinder piston rod; this scheme adopts the unlikely discharge gate that blocks up of vibration ejection of compact to the position control unloading speed that can adjust the regulating plate, maneuverability is strong.

Preferably, in the nutrient soil bag feeding type pot filling machine, the conveying device comprises a stepping motor, a conveyor belt assembly and a conveying travelling crane; the driving belt wheels and the driven belt wheels of the two groups of conveyor belt assemblies are respectively connected through rotating shafts, and the driving belt wheels are connected with the stepping motors through couplers; the conveying travelling crane is fixed on a conveying belt of the conveying belt assembly and moves synchronously with the conveying belt; by adopting the scheme, the change of the conveying travelling crane is realized by adjusting the position change of the conveying belt, the stepping motor can be used for accurately controlling, and the accuracy is high.

Preferably, in the above nutrient soil bagging machine, the pneumatic transmission device comprises an air compressor, a plurality of pneumatic solenoid valves and a plurality of throttle valves;

the air compressor is connected with a plurality of air pipes, and the air pipes are respectively communicated with the pneumatic solenoid valve and the throttle valve in sequence and are respectively communicated with the bag opening cylinder, the swing cylinder, the bag taking cylinder, the bag opening cylinder and the bin gate cylinder to form an air pressure transmission loop; according to the scheme, power is provided through the air compressor, the action of the piston rods is realized through the on-off of the pneumatic electromagnetic valve, the expansion speed of the piston rod of each cylinder is controlled through adjusting the opening of the throttle valve, and the independent control, the accurate control and the automatic control of the cylinders are realized.

Preferably, in the above-mentioned nutrient soil bagging machine, the vacuum device comprises a vacuum pump and a plurality of vacuum solenoid valves;

the vacuum pump is connected with a plurality of air pipes, the air pipes are respectively connected with the vacuum electromagnetic valve, and are connected with the bag taking sucker, the movable sucker and the fixed sucker through the vacuum electromagnetic valve; this scheme adopts vacuum pump control sucking disc to snatch seedling bag, does not need complicated gripping means, does not receive seedling bag shape restriction, can not produce to scrape bump and damage, and easy operation is convenient.

Preferably, in the above-mentioned nutrient soil bag feeding type pot filling machine, the automatic control device comprises a control cabinet, a PLC controller, a plurality of intermediate relays, a plurality of magnetic induction switches, a plurality of air pressure sensors and a dc switching power supply; the PLC controller, the intermediate relay and the direct-current switch power supply are arranged in the control cabinet;

the PLC is respectively connected with the pneumatic electromagnetic valves and the vacuum electromagnetic valves through the intermediate relays, and the on-off of the pneumatic electromagnetic valves and the vacuum electromagnetic valves is controlled through the intermediate relays;

the PLC is connected with a plurality of magnetic induction switches, and the positions of the bag taking cylinder, the swing cylinder and the bag opening cylinder piston rod are respectively detected through the plurality of magnetic induction switches;

the PLC is connected with a plurality of air pressure sensors which are respectively arranged in an air pipe between the vacuum electromagnetic valve and the bag taking sucker, an air pipe between the vacuum electromagnetic valve and the movable sucker and an air pipe between the vacuum electromagnetic valve and the fixed sucker, and the air pressure of the sucker is detected;

the PLC is connected with the vibrator and the stepping motor; according to the scheme, the on-off of the pneumatic electromagnetic valve is controlled through the intermediate relay, and the positions of the pistons of the multiple cylinders are detected through the magnetic induction switches, so that the multiple cylinders can be matched with one another; the air pressure of each sucker is measured through the air pressure sensor, the on-off of the suckers is controlled, the suckers are not interfered with each other, the matching is reasonable, and the automation degree is greatly improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of the bag opening state of the bag opening device of the present invention;

FIG. 3 is a schematic structural view of the bag opening device in an initial state;

FIG. 4 is a schematic structural view of the bag opening assembly of the present invention;

FIG. 5 is a schematic view of the installation of the swing cylinder and the bag taking cylinder of the present invention;

FIG. 6 is a schematic structural view of the bag storage box and the pressing cylinder of the present invention;

FIG. 7 is a schematic structural view of the feeding device of the present invention;

FIG. 8 is a side view of the feeding device of the present invention;

FIG. 9 is a schematic structural view of the tray of the present invention;

FIG. 10 is a block diagram of a parallel execution flow of the present invention;

FIG. 11 is a flow chart of the bag taking step of the present invention;

FIG. 12 is a flow chart of the bag opening step of the present invention;

fig. 13 is a flow chart of the bag opening, feeding, filling and conveying steps of the present invention.

Reference numerals

The device comprises a frame 1, a feeding frame 10, a conveying frame 11 and a bag taking frame 12;

the device comprises a feeding device 2, a feeding bin 20, an adjusting plate 21, a vibrator 22 and a bin gate cylinder 23;

the bag supporting device 3, the bag supporting cylinder 30, the assembling plate 31, the driving slider assembly 32, the driving slide rail 320, the driving slider 321, the hinge column 322, the driven slider assembly 33, the driven slide rail 330, the driven slider 331, the connecting plate 332, the slide rail connecting rod assembly 34, the first connecting rod 340, the second connecting rod 341, the bag supporting assembly 35, the bag supporting plate 350, the bump preventing teeth 3500, the anti-skid gasket 3501, the fixing plate 351, the supporting plate 3510, the auxiliary clamping plate 352 and the elastic element 36;

the bag taking device 4, the swing cylinder 40, the bag taking cylinder 41, the bag taking sucker 42, the bag storage box 43, the bag outlet 430, the adjustable baffle 4300, the pressing plate 431 and the pressing cylinder 44;

the bag opening device 5, a bag opening cylinder 50, a movable suction cup 51 and a fixed suction cup 52;

conveyor 6, stepper motor 60, conveyor belt assembly 61, conveying trolley 62, tray 620.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Please refer to fig. 1-9, which illustrate a bag-type machine for loading nutrient soil into a pot, comprising:

the automatic bag opening and closing device comprises a frame 1, a feeding device 2, a bag opening device 3, a bag taking device 4, a bag opening device 5, a conveying device 6, an air pressure transmission device, a vacuum device and an automatic control device; the automatic control device is respectively connected with the feeding device 2, the conveying device 6, the pneumatic transmission device and the vacuum device; the pneumatic transmission device is respectively connected with the bag opening device 3, the bag taking device 4 and the bag opening device 5; the vacuum device is respectively connected with the bag taking device 4 and the bag opening device 5; wherein,

the bag opening device 3 includes: the bag opening device comprises a bag opening cylinder 30, an assembling plate 31, a driving slide block assembly 32, a driven slide block assembly 33, a sliding rail connecting rod assembly 34 and a bag opening assembly 35;

the driving slide block assembly 32 and the driven slide block assembly 33 are arranged on two opposite mounting surfaces of the assembling plate 31; the bag supporting cylinder 30 is arranged on the same side of the active sliding block component 32 and is connected with the active sliding block component;

the active slide assembly 32 includes an active slide rail 320 and an active slide 321; the driving sliding block 321 is provided with a hinge column 322, and the driving sliding rail 320 is fixedly installed along the width direction of the assembling plate 31; the hinge column 322 is connected with a piston rod of the bag supporting cylinder 30, and the extension direction of the piston rod is the same as the sliding direction of the driving slide block 321;

the driven slide block assembly 33 comprises a driven slide rail 330 and a driven slide block 331; two driven slide blocks 331 are respectively provided with a driven slide rail 330 which is fixedly arranged along the length direction of the assembly plate;

the slide rail connecting rod assembly 34 comprises a first connecting rod 340 and a second connecting rod 341 which are arranged in groups, and two groups are arranged; one end of each of the two first connecting rods 340 is hinged to the hinge column 322, the other end of each of the two first connecting rods 340 is fixedly embedded with one end of the corresponding second connecting rod 341, the corresponding second connecting rod 341 penetrates through the connecting plate 332 and is rotatably connected with the connecting plate, and the other end of the corresponding second connecting rod 341 is provided with the bag supporting assembly 35.

In some embodiments of the present invention, the two second links 341 are connected by the elastic member 36; and when the hinge post 322 moves to the highest point, it is higher than the plane of the two second connecting rods 341; by adopting the scheme, pretightening force can be generated between the second connecting rods 341, and when the hinge column 322 moves to the highest point, the sliding rail connecting rod assembly 34 realizes self-locking under the action of the pretightening force, so that the bag supporting state is automatically kept.

Specifically, the driven slide block assemblies 33 are provided in multiple sets, and the driven slide blocks 331 on the same side are fixedly connected through the connecting plate 332.

Specifically, the elastic member 36 is an extension spring.

Specifically, the bag opening assembly 35 includes two groups of bag opening plates 350 and fixing plates 351 arranged in groups;

the bag supporting plate 350 is arc-shaped, the outer arc surface of the bag supporting plate is also provided with arc-shaped bulges, and an anti-slip gasket 3501 is fixed on the arc-shaped bulges; one end of the fixing plate 351 is fixed to the bag opening plate 350, and the other end is fixed to the connecting plate 332 on the same side.

Specifically, the bag opening assembly 35 includes two groups of bag opening plates 350 and fixing plates 351 arranged in groups;

specifically, the two bag supporting plates 350 are provided with adaptive anti-collision teeth 3500 at the edge.

More specifically, the fixing plate 351 is further provided with a support plate 3510, and the second link 341 penetrates the support plate 3510 and is rotatably connected thereto.

More specifically, an auxiliary clamp plate 352 corresponding to the arc-shaped protrusion is further provided, and the auxiliary clamp plate 352 is fixedly connected to the second link 341.

More specifically, the clamping surface of the auxiliary clamp plate 352 is arc-shaped.

In the embodiment of the present invention, the working principle of the bag opening device 3 is:

when the hinged column 322 and the driving sliding block 321 move to the top along the bottom of the width direction of the assembling plate 311 under the action of the bag supporting cylinder 330, the angle between the two first connecting rods 340 is increased to push the second connecting rod 341 to slide along the length direction of the assembling plate 331 so as to drive the driven sliding block 331 and the bag supporting plate 350 to move, and the first connecting rod 340 drives the second connecting rod 341 to slide along the length direction of the assembling plate 331 and drive the second connecting rod 341 to rotate so as to enable the auxiliary clamping plate 352 to rotate and to be attached to the arc-shaped protrusion and the anti-slip gasket 3501 in a pressing manner to clamp a seedling bag so as to provide clamping force for the seedling bag, further ensure the stability of the seedling bag in the supporting process, prevent the highest point from dropping due to the gravity and impact force of nutrient soil in the filling process, and when the hinged column 322 moves to the highest point, the bag supporting plate 350 realizes self-;

when the hinge post 322 moves from the top to the bottom, the auxiliary clamp plate 352 is driven by the second connecting rod 341 to rotate reversely, the clamping force on the seedling-raising bag is reduced, and the seedling-raising bag falls; the complete mechanical process of bag opening and clamping, bag opening and clamping state maintaining and separation of the seedling raising bags is realized, and the working efficiency of the bag opening link of the seedling raising bags in the process of filling the nutrition soil into the pot is improved.

In other embodiments of the present invention, the bag taking device 4 comprises a swing cylinder 40, a bag taking cylinder 41, a bag taking suction cup 42, a bag storage box 43 and a pressing cylinder 44; the swing cylinder 40, the bag storage box 43 and the pressing cylinder 44 are fixed on the frame,

the bag storage box 43 is provided with a bag outlet 430 and a pressing plate 431 opposite to the bag outlet 430; a bag taking cylinder 41 is fixed on a piston rod of the swing cylinder 40; a bag taking sucker 42 is arranged on a piston rod of the bag taking cylinder 41 and corresponds to the bag outlet 430; a piston rod of the pressing cylinder 44 is connected with a pressing plate 431 to push the seedling raising bag towards the bag outlet 430; by adopting the scheme, after the seedling bags are placed in the bag storage box 43, the piston rod of the pressing cylinder 44 pushes the pressing plate 431 to press the seedling bags at the bag outlet 43, the piston rod of the bag taking cylinder 41 extends to enable the bag taking sucker 42 to be attached to the seedling bags, the piston rod retracts to suck out the seedling bags, the swing cylinder 40 rotates to drive the bag taking cylinder 41 to rotate, and the bag taking cylinder 41 extends again to place the seedling bags at the next working position; compact structure is nimble, and the degree of accuracy is high, the automated control of being convenient for.

Specifically, a piston rod of the bag taking cylinder 41 is connected with the suction cup fixing plate 410, and the flexible bag taking suction cup 42 is fixed on the suction cup fixing plate 410 and arranged according to the ventilation holes of the seedling raising bags.

Specifically, the top and bottom of the bag outlet 430 are provided with adjustable baffles 4300.

In some of the above embodiments, the bag opening device 5 comprises a bag opening cylinder 50, a movable suction cup 51 and a fixed suction cup 52; the bag opening cylinder 50 is fixed on the frame 1 and corresponds to the bag taking cylinder 41, a piston rod of the bag opening cylinder fixes a movable suction cup 51, and a fixed suction cup 52 is fixed on the frame 1 at the lower side of the bag opening component 35 and is opposite to the movable suction cup 51; by adopting the scheme, when the bag taking device 4 stops the seedling-raising bags on the fixed suction cups 52, the piston rods of the bag opening air cylinders 50 extend to press the seedling-raising bags on the fixed suction cups 52, the piston rods retract, and the movable suction cups 51 and the fixed suction cups 52 open the seedling-raising bags; simple structure is exquisite, and the feasibility is strong.

In some of the embodiments described above, the feeding device 2 includes a feeding bin 20, a regulating plate 21, and a vibrator 22; the feeding bin 20 is provided with an opening at the top, the bottom is an inclined bottom plate, and the discharging end of the feeding bin is provided with a discharging port and a bin door and corresponds to the bag supporting component 35; the adjusting plate 21 is connected with two side walls of the storage bin 20 in a sliding mode, and feeding flow is adjusted by controlling the distance between the adjusting plate 21 and the bottom plate of the feeding bin 20; this scheme adopts the vibration ejection of compact not in order to block up the discharge gate, can be through the intensity of vibration of adjustment vibrator 22 to the position control unloading speed that can adjust regulating plate 21, maneuverability is strong.

Specifically, the bin gate is provided with a bin gate cylinder 23, the bin gate is controlled to be opened and closed through the expansion and contraction of a cylinder piston rod, and the bin gate cylinder 23 is connected with a pneumatic transmission device through a pneumatic electromagnetic valve.

In some of the embodiments described above, the conveyor 6 comprises a stepper motor 60, a conveyor belt assembly 61 and a conveyor row cart 62; the driving pulleys and the driven pulleys of the two groups of conveyor belt assemblies 61 are respectively connected through rotating shafts, and the driving pulleys are connected with the stepping motor 60 through couplers; the conveying travelling crane 62 is fixed on the conveying belt of the conveying belt component 61 and moves synchronously with the conveying belt; by adopting the scheme, the change of the conveying travelling crane 62 is realized by adjusting the position change of the conveying belt, the stepping motor 60 can be used for accurately controlling, and the accuracy is high.

Specifically, a detachable tray 620 is arranged in the conveying travelling crane 62, the tray comprises a fixed side plate, an adjustable side plate and an inclined supporting plate, the adjustable side plate and the inclined supporting plate are arranged on the fixed side plate, the three form a placing space of the seedling raising bag,

specifically, the upper edges of the fixed side plate and the adjustable side plate are provided with outward flanges, two opposite flanges on the fixed side plate are used for placing the tray on the conveying travelling crane 62, and the flanges on the adjustable side plate and the fixed side plate opposite to the flanges are used as handles for placing and taking out the tray by an operator.

In some of the embodiments described above, the rack 1 comprises a feeding rack 10, a transfer rack 11 and a bag-taking rack 12;

the bin is fixed at the top of the feeding frame 10, and the assembling plate 330 and the bag supporting cylinder 30 are fixed at the lower side of the bin 12; the fixed sucker 52 is fixed at the lower side of the nearest 35 of the supporting bag;

the conveying frame 11 is provided with an installation groove matched with the conveying belt component 61 in the extension direction, the conveying belt component 61 is fixed, and the stepping motor 60 is fixed with the conveying belt component 61 and installed on one side of the conveying frame;

the bag taking cylinder 44, the bag storage box 43 and the swing cylinder 40 are sequentially arranged along the length direction of the bag taking frame 13, and the bag opening cylinder is arranged on the bag taking frame right above the swing cylinder 40.

In some of the embodiments described above, the pneumatic actuator comprises an air compressor, a plurality of pneumatic solenoid valves, and a plurality of throttle valves;

the air compressor is connected with a plurality of air pipes, the air pipes are respectively communicated with the pneumatic solenoid valve and the throttle valve in sequence and are respectively communicated with the bag opening cylinder 30, the swing cylinder 40, the bag taking cylinder 41, the bag opening cylinder 50 and the bin gate cylinder 23, and an air pressure transmission loop is formed by the air compressor and the air pipes; according to the scheme, power is provided through the air compressor, the action of the piston rods is realized through the on-off of the pneumatic electromagnetic valve, the expansion speed of the piston rod of each cylinder is controlled through adjusting the opening of the throttle valve, and the independent control, the accurate control and the automatic control of the cylinders are realized.

In some of the embodiments described above, the vacuum means comprises a vacuum pump and a plurality of vacuum solenoid valves;

the vacuum pump is connected with a plurality of air pipes which are respectively connected with a vacuum electromagnetic valve and connected with the bag taking sucker 42, the movable sucker 51 and the fixed sucker 52 through the vacuum electromagnetic valve; this scheme adopts vacuum pump control sucking disc to snatch seedling bag, does not need complicated gripping means, does not receive seedling bag shape restriction, can not produce to scrape bump and damage, and easy operation is convenient.

In some of the above embodiments, the automatic control device comprises a control cabinet, a PLC controller, a plurality of intermediate relays, a plurality of magnetic inductive switches, a plurality of air pressure sensors, and a dc switching power supply; the PLC controller, the intermediate relay and the direct-current switch power supply are arranged in the control cabinet;

the PLC is respectively connected with the plurality of pneumatic electromagnetic valves and the plurality of vacuum electromagnetic valves through a plurality of intermediate relays, and the on-off of the pneumatic electromagnetic valves and the vacuum electromagnetic valves is controlled through the intermediate relays;

the PLC is connected with a plurality of magnetic induction switches, and the positions of the piston rods of the bag taking cylinder 41, the swing cylinder 40 and the bag opening cylinder 50 are respectively detected through the plurality of magnetic induction switches;

the PLC is connected with a plurality of air pressure sensors which are respectively arranged in an air pipe between the vacuum electromagnetic valve and the bag taking sucker, an air pipe between the vacuum electromagnetic valve and the movable sucker and an air pipe between the vacuum electromagnetic valve and the fixed sucker, and used for detecting the air pressure of the sucker;

the PLC controller is connected with the vibrator 22 and the stepping motor 60; according to the scheme, the on-off of the pneumatic electromagnetic valve is controlled through the intermediate relay, and the positions of the pistons of the multiple cylinders are measured through the magnetic induction switches, so that the multiple cylinders can be matched with one another; the air pressure of each sucker is measured through the air pressure sensor, the on-off of the suckers is controlled, the suckers are not interfered with each other, the matching is reasonable, and the automation degree is greatly improved.

The utility model discloses an in the embodiment, a nutrition soil is as follows for automatic dress alms bowl machine's of pocket type working process:

step (1): the stacked seedling raising bags are placed in the bag storage box 43 with the bag opening upward, and the pressing plate 431 is driven by the pressing cylinder 44 to press the seedling raising bags on the adjustable baffle 4300 of the bag outlet opening 430; placing empty pallets 620 on the transfer trolley 62;

step (2): a piston rod of the bag taking cylinder 41 extends out to drive the bag taking sucker 42 to be pressed on the seedling raising bags in the bag storage box 43, and meanwhile, a vacuum switch of the bag taking sucker 42 is opened to adsorb the seedling raising bags on the outermost side; after the bag taking sucker 42 is stably adsorbed, the piston rod of the bag taking cylinder 41 is retracted, and the seedling bags adsorbed by the bag taking sucker 42 are taken out from the bag storage box 43 (bag taking process);

and (3): the swing cylinder 40 swings to transfer the seedling bags adsorbed by the bag taking sucker 42 between the movable sucker 51 and the fixed sucker 52, the piston rod of the bag taking sucker 42 extends out again to move the seedling bags to the position near the fixed sucker 52, then the piston rod of the movable sucker 51 extends out to press the seedling bags between the movable sucker 51 and the fixed sucker 52, the vacuum switch of the bag taking sucker 42 is closed to release the seedling bags, the piston rod of the bag taking cylinder 41 retracts, the swing cylinder 40 swings reversely, the bag taking cylinder returns to the original position, and the bag taking is performed again;

and (4): opening vacuum switches of the movable suction cups 51 and the fixed suction cups 52, after the adsorption is stable, retracting piston rods of the bag opening air cylinders, separating the movable suction cups 51 from the fixed suction cups 52, and opening bag openings of the seedling bags (bag opening process);

and (5): the bag opening cylinder 30 drives the bag opening component 35 to descend from the initial position, the arc-shaped bag opening plate 350 is inserted into the bag opening, then the bag opening cylinder 30 drives the arc-shaped bag opening plate 350 to open the bag opening into an arc shape and clamp two sides of the bag opening (bag opening and bag clamping processes);

and (6): the bag supporting cylinder 30 drives the bag supporting component 35 to rise and butt with a discharge hole of the storage bin 20, then a bin door is opened, the vibrator 22 is started, and nutrient soil is filled into the seedling raising bags; after the nutrient soil is filled, closing the bin gate and the vibrator 22 (feeding and filling process);

and (7): the bag opening cylinder 30 drives the bag opening assembly 35 to return to the initial position, the bag opening cylinder 30 drives the arc-shaped bag opening plate 350 to loosen the seedling bags, and the seedling bags fall into the lower tray 620; the motor drives the conveying travelling crane 62 and the tray 620 to move one station through synchronous belt transmission;

and (8): repeating the steps (2) to (7) until the tray 620 is full of the seedling raising bags, then taking out the tray 620 by an operator, putting the tray 620 into an empty tray 620, reversely driving the conveying trolley 6261 by the stepping motor 60 to return to the initial position at the other end, and continuing to fill the pot with the nutrient soil.

Referring to fig. 10-13, in an embodiment of the present invention, an automatic control process of a nutrient soil bag feeding type automatic pot loading machine is as follows:

a bag taking step, comprising:

step (1): the bag taking cylinder 41 extends out to drive the bag taking sucker 42 to press the seedling bags, and the bag taking sucker 42 is opened;

step (2): after the bag taking cylinder 41 extends in place, starting bag taking adsorption timing;

and (3): if the bag-taking adsorption time reaches the bag-taking adsorption time threshold before the bag-taking adsorption time reaches the bag-taking adsorption time threshold, the adsorption negative pressure of the bag-taking sucker 42 reaches the adsorption pressure threshold, and the corresponding vacuum pressure switch is triggered, so that the bag-taking adsorption is normal, the bag-taking adsorption time is stopped to time, the bag-taking adsorption abnormal accumulated times are cleared, and the operation (5) is entered; if the adsorption time reaches the adsorption time threshold value, the adsorption negative pressure of the bag taking sucker 42 does not reach the adsorption pressure threshold value, bag taking adsorption abnormity occurs, the accumulated times of bag taking adsorption abnormity are added with 1, the bag taking sucker 42 is closed, the bag taking air cylinder 41 is withdrawn, and the operation enters (4);

and (4): if the accumulated times of the bag taking abnormal adsorption reaches the set threshold value, the bag taking buzzer gives an alarm to stop taking the bag, and if the accumulated times of the bag taking abnormal adsorption does not reach the threshold value of the bag taking adsorption accumulated times, the step (1) is returned;

and (5): starting bag taking adsorption time delay, withdrawing the bag taking air cylinder 41 after the time delay is finished, if the bag taking sucker 42 keeps an adsorption state on the seedling raising bag and the corresponding vacuum pressure switch keeps triggering, taking the bag normally, resetting the abnormal accumulated times of bag taking, and finishing bag taking; if the bag taking sucker 42 does not keep the adsorption state, bag taking abnormity occurs, the cumulative times of bag taking abnormity are added with 1, the bag taking sucker 42 is closed, and the operation enters (6);

and (6): if the bag taking abnormal accumulated times reach the set threshold value, the bag taking buzzer gives an alarm to stop taking the bags, and if the bag taking abnormal accumulated times do not reach the threshold value of the bag taking abnormal accumulated times, the operation returns to the step (1).

A bag feeding step comprising

And (7): the swing cylinder 40 drives the seedling bags absorbed by the bag taking sucker 42 to reach the bag opening sucker;

and (8): the bag taking cylinder 41 extends out to drive the seedling raising bags to be close to the fixed suction cups 52, the bag opening cylinder 50 extends out to press the seedling raising bags between the movable suction cups 51 and the fixed suction cups 52;

and (9): and (3) closing the bag taking suction cup 42, withdrawing the bag taking air cylinder 41, reversely rotating the swing air cylinder 40, returning to the initial position, and finishing bag feeding.

A bag opening step comprising

Step (10): opening the movable suction cup 51 and the fixed suction cup 52, and starting timing when the bag is opened for adsorption;

step (11): if the adsorption negative pressure of the movable sucking disc 51 and the fixed sucking disc 52 reaches the adsorption pressure threshold before the bag opening adsorption time reaches the bag opening adsorption time threshold, triggering the corresponding vacuum pressure switch, enabling the bag opening adsorption to be normal, stopping timing when the bag opening adsorption time is used, resetting the accumulated times of the bag opening adsorption abnormity, and entering (15); if the adsorption negative pressure of the movable suction disc 51 or the fixed suction disc 52 does not reach the adsorption pressure threshold before the bag opening adsorption time reaches the bag opening adsorption time threshold, the bag opening adsorption abnormity occurs, the cumulative times of the bag opening adsorption abnormity are added with 1, and the operation enters (12);

step (12): if the accumulated times of the bag opening adsorption abnormity do not reach the set threshold value, entering (13); if the accumulated times of the bag opening adsorption abnormity reach the set threshold value, stopping opening the bag and sending an alarm by an bag opening buzzer;

(13) if the adsorption negative pressure of the movable suction cup 51 and the fixed suction cup 52 does not reach the adsorption pressure threshold, closing the movable suction cup 51 and the fixed suction cup 52, withdrawing the bag taking cylinder 41, and returning to the bag taking step; if the bag opening adsorption time reaches the bag opening adsorption time threshold value, one adsorption pressure of the movable suction disc 51 and the fixed suction disc 52 does not reach the adsorption pressure threshold value, and entering (14);

step (14): if the movable sucker 51 does not reach the adsorption pressure threshold, closing the movable sucker 51, withdrawing the bag opening cylinder 50, extending out and returning (10); if the fixed suction cup 52 does not reach the adsorption pressure threshold, the movable suction cup 51 is closed, the bag opening cylinder 50 is retracted, extended and returned (10);

step (15): the bag opening cylinder 50 is retracted, if the movable suction disc 51 and the fixed suction disc 52 are both kept to be adsorbed, the bag opening is normal, the accumulated times of abnormal bag opening are cleared, and the bag opening is finished; if the movable suction disc 51 or the fixed suction disc 52 does not keep adsorbing, the bag opening abnormity occurs, the movable suction disc 51 and the fixed suction disc 52 are closed, the cumulative times of the bag opening abnormity are added with 1, and the operation enters (16);

step (16): if the accumulated times of the abnormal bag opening does not reach the set threshold value, returning to the bag taking step; if the accumulated times of bag opening abnormity do not reach the set threshold value, the bag opening is stopped, and the bag opening buzzer gives an alarm.

Bag opening, feed filling and conveying steps, including

Step (17): the direct current bag opening cylinder 30 drives the bag opening component 35 to descend from the initial position, and a bag opening plate of the bag opening component 35 is inserted into the bag mouth of the seedling;

step (18): the bag opening cylinder 30 extends out to drive the bag opening component 35 to open the bag opening and clamp the edges of the bag opening at two sides;

step (19): the direct-current bag opening cylinder 30 drives the bag opening component 35 to ascend, and the opening of the seedling raising bag is in butt joint with the discharge hole of the storage bin 20;

step (20): the bin gate cylinder 23 is retracted, the bin gate is opened, the vibrator 22 is started to feed and fill nutrient soil, and feeding and filling are started for delaying;

step (21): after the feeding and filling delay is finished, the bin gate and the vibrator 22 are closed, and the vertical bag supporting cylinder 30 drives the bag supporting component 35 to descend to the initial position;

step (22): the bag supporting cylinder 30 retracts, the bag supporting plate loosens, the seedling bags fall off, and the seedling bags enter the tray 620;

step (23): if the tray 620 is not full of the seedling raising bags, the stepping motor 60 drives the conveying travelling crane 62 and the tray 620 to move one station; if tray 620 fills up the seedling bag, then the conveying buzzer sends out the police dispatch newspaper, stops the dress alms bowl operation, and the manual work takes out tray 620 to put into empty tray 620, after pressing tray 620 reset button, conveying driving 62 drives tray 620 and returns the initial position.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a nutrition soil is for pocket type alms bowl machine, its characterized in that includes: the automatic bag opening and closing device comprises a rack (1), a feeding device (2), a bag opening device (3), a bag taking device (4), a bag opening device (5), a conveying device (6), a pneumatic transmission device, a vacuum device and an automatic control device; the automatic control device is respectively connected with the feeding device (2), the conveying device (6), the pneumatic transmission device and the vacuum device; the pneumatic transmission device is respectively connected with the bag opening device (3), the bag taking device (4) and the bag opening device (5); the vacuum device is respectively connected with the bag taking device (4) and the bag opening device (5); wherein,

the bag opening device (3) comprises: the bag opening device comprises a bag opening cylinder (30), an assembling plate (31), a driving slider component (32), a driven slider component (33), a sliding rail connecting rod component (34) and a bag opening component (35);

the driving slide block assembly (32) and the driven slide block assembly (33) are arranged on two opposite mounting surfaces of the assembling plate (31); the bag supporting cylinder (30) is arranged on the same side of the driving sliding block component (32) and is connected with the driving sliding block component;

the active slide block assembly (32) comprises an active slide rail (320) and an active slide block (321); the driving sliding block (321) is provided with a hinge column (322), and the driving sliding rail (320) is fixedly installed along the width direction of the assembling plate (31); the hinged column (322) is connected with a piston rod of the bag opening cylinder (30), and the extension direction of the piston rod is the same as the sliding direction of the driving sliding block (321);

the driven slide block assembly (33) comprises a driven slide rail (330) and a driven slide block (331); two driven sliding blocks (331) are respectively provided with a connecting plate (332); the driven sliding rail (330) is fixedly installed along the length direction of the assembling plate;

the sliding rail connecting rod assembly (34) comprises a first connecting rod (340) and a second connecting rod (341) which are arranged in groups, and two groups are arranged; one end of each of the two first connecting rods (340) is hinged to the hinge column (322), the other end of each of the two first connecting rods (340) is fixedly embedded with one end of the corresponding second connecting rod (341), the corresponding second connecting rod (341) penetrates through the corresponding connecting plate (332) and is rotatably connected with the corresponding connecting plate, and a bag supporting assembly (35) is mounted at the other end of the corresponding second connecting rod (341).

2. The nutrition soil bagging machine as claimed in claim 1, wherein the two second connecting rods (341) are connected through an elastic member (36); and when the hinge post (322) moves to the highest point, the hinge post is higher than the plane of the two second connecting rods (341).

3. A nutrition soil bag feeding type pot filling machine as claimed in claim 1 or 2, wherein the bag supporting assembly (35) comprises bag supporting plates (350) and fixing plates (351) which are arranged in groups, and two groups are arranged;

the bag supporting plate (350) is arc-shaped, the outer arc surface of the bag supporting plate is also provided with arc-shaped bulges, and an anti-slip gasket (3501) is fixed; one end of the fixing plate (351) is fixed with the bag opening plate (350), and the other end of the fixing plate is fixed with the connecting plate (332) on the same side.

4. The nutrition soil bag feeding type pot filling machine as claimed in claim 1, wherein the bag taking device (4) comprises a swing air cylinder (40), a bag taking air cylinder (41), a bag taking suction cup (42), a bag storage box (43) and a pressing air cylinder (44); the swing cylinder (40), the bag storage box (43) and the pressing cylinder (44) are fixed on the frame,

the bag storage box (43) is provided with a bag outlet (430) and a pressing plate (431) opposite to the bag outlet (430); the bag taking cylinder (41) is fixed on a piston rod of the swing cylinder (40); a piston rod of the bag taking cylinder (41) is provided with a bag taking sucker (42) and corresponds to the bag outlet (430); and a piston rod of the pressing cylinder (44) is connected with the pressing plate (431) and pushes the seedling raising bag towards the bag outlet (430).

5. The bagging machine for feeding nutrient soil into bags according to claim 4, wherein the bagging device (5) comprises a bagging cylinder (50), a movable suction cup (51) and a fixed suction cup (52); open bag cylinder (50) and fix in frame (1), with get bag cylinder (41) and correspond, its piston rod fixed activity sucking disc (51), fixed sucking disc (52) are fixed prop on frame (1) of bag subassembly (35) downside, with activity sucking disc (51) are relative.

6. A nutrition soil feeding bag type pot filling machine as claimed in claim 5, characterized in that said feeding device (2) comprises a feeding bin (20), a regulating plate (21) and a vibrator (22); the feeding bin (20) is provided with an opening at the top, the bottom is an inclined bottom plate, and the discharge end of the feeding bin is provided with a discharge hole and a bin door and corresponds to the bag supporting component (35); the adjusting plate (21) is in sliding connection with two side walls of the storage bin (20), and feeding flow is adjusted by controlling the distance between the adjusting plate (21) and a bottom plate of the feeding bin (20);

the bin gate is provided with a bin gate air cylinder (23), and the bin gate is controlled to be opened and closed through the extension of an air cylinder piston rod.

7. A nutrition soil bagging machine as claimed in claim 6, wherein the conveying device (6) comprises a stepping motor (60), a conveyor belt assembly (61) and a conveying travelling crane (62); the driving pulleys and the driven pulleys of the two groups of conveyor belt assemblies (61) are respectively connected through rotating shafts, and the driving pulleys are connected with the stepping motor (60) through a coupler; the conveying travelling crane (62) is fixed on a conveying belt of the conveying belt component (61) and moves synchronously with the conveying belt.

8. The bagging machine for feeding nutrient soil to a bowl as claimed in claim 7, wherein the pneumatic transmission device comprises an air compressor, a plurality of pneumatic solenoid valves and a plurality of throttle valves;

air compressor connects many trachea, and many trachea communicate pneumatic solenoid valve and choke valve respectively in proper order and communicate respectively prop bag cylinder (30), swing cylinder (40) get bag cylinder (41), open bag cylinder (50) and door cylinder (23), form atmospheric pressure transmission circuit.

9. The bag-feeding type soil-filling machine for nutrition soil according to claim 8, wherein the vacuum device comprises a vacuum pump and a plurality of vacuum solenoid valves;

the vacuum pump is connected with a plurality of air pipes, the air pipes are respectively connected with the vacuum electromagnetic valve, and the bag taking sucker (42), the movable sucker (51) and the fixed sucker (52) are connected through the vacuum electromagnetic valve.

10. The bag-type nutrition soil filling machine according to claim 9, wherein the automatic control device comprises a control cabinet, a PLC (programmable logic controller), a plurality of intermediate relays, a plurality of magnetic induction switches, a plurality of air pressure sensors and a direct current switching power supply; the PLC controller, the intermediate relay and the direct-current switch power supply are arranged in the control cabinet;

the PLC is respectively connected with the pneumatic electromagnetic valves and the vacuum electromagnetic valves through the intermediate relays, and the on-off of the pneumatic electromagnetic valves and the vacuum electromagnetic valves is controlled through the intermediate relays;

the PLC is connected with a plurality of magnetic induction switches, and the positions of piston rods of the bag taking cylinder (41), the swing cylinder (40) and the bag opening cylinder (50) are respectively detected through the plurality of magnetic induction switches;

the PLC is connected with a plurality of air pressure sensors which are respectively arranged in an air pipe between the vacuum electromagnetic valve and the bag taking sucker, an air pipe between the vacuum electromagnetic valve and the movable sucker and an air pipe between the vacuum electromagnetic valve and the fixed sucker, and the air pressure of the sucker is detected;

the PLC is connected with the vibrator (22) and the stepping motor (60).

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