Improved jute bag tobacco bale unpacking device and method and storage medium of improved jute bag tobacco bale unpacking device and method

Abstract

The invention discloses an improved jute bag tobacco bale unpacking device and method and a storage medium thereof.The improved jute bag tobacco bale unpacking device comprises a control device, a robot and a conveying system and further comprises a bale cutting device arranged above the conveying device; the dust removal device is arranged above the outlet end of the bag cutting device; the belt conveyor is lifted; the blanking device is connected to the outlet end of the lifting conveying belt conveyor; the grabbing device is detachably mounted on the robot; the storage racks are located on the two sides of the robot grabbing device correspondingly; and the visual detection device is arranged above the two storage racks. The bag opening mode can be accurately controlled, due to the fact that the multiple dust collecting openings are formed, on one hand, generated dust can be effectively collected and discharged, on the other hand, the source and the flow direction of the dust can be better controlled, the purity and the quality of products are improved, meanwhile, due to the arrangement of the special shape of the cutting knife, the cutting efficiency can be improved, material losses are reduced, and the product quality is improved. The safety can be enhanced, and the pollution is reduced.

Description

Technical Field

[0001] The present invention relates to a sack cigarette pack opening device, method and storage medium thereof, and in particular to an improved sack cigarette pack opening device, method and storage medium thereof, which are mainly used for opening sacks and emptying materials, and belong to the technical field of leaf threshing, re-drying and reconstituted tobacco leaf production in the tobacco industry. Background Art

[0002] Generally speaking, in the most traditional domestic existing leaf threshing and reconstituted tobacco production lines, the sack opening and material unloading section adopts a completely manual bag cutting and unloading work form. This work form has problems such as large labor workload, high labor cost, poor working environment, low safety, and production line production efficiency is easily affected by human factors. It limits the further improvement of the production efficiency of the tobacco production line and the reconstituted tobacco production line, makes it difficult to meet the relevant requirements of the leaf threshing and re-drying process specifications (YC / T146) and the cigarette process specifications, and seriously restricts the improvement of enterprise product quality.

[0003] With the development of society, enterprises have higher and stricter requirements for production efficiency and sanitary production, which will inevitably force enterprises to transform and upgrade the sack opening and unloading section to meet the requirements of leaf threshing and re-roasting process specifications and cigarette process specifications. Although there are corresponding equipment specially used for opening sacks in the existing technology to complete the sack opening work, the existing automatic sack opening equipment still has the problems of complex structure, large space occupation, high equipment investment cost, and difficulty in maintenance. The cutting tools used cannot meet the settings of various sack structures, and the cutting tools are easily damaged and need frequent maintenance and replacement. In short, it is often very inconvenient.

[0004] Therefore, the key to solving the above technical problems is to develop an improved sack cigarette pack opening device, method and storage medium with high rejection accuracy. Summary of the invention

[0005] In view of the many defects and shortcomings of the current automated equipment for opening and unloading sacks in the above-mentioned background technology, in order to improve production efficiency and solve pollution problems, research on fully automatic opening and unloading of sacks has been carried out to reduce production pollution. The present invention has made improvements and innovations in this regard, aiming to provide a device with simple structure, simple construction, novel and reasonable design, which combines a visual detection device with a robot to achieve improved accuracy, flexibility and automation level. The visual device can provide high-precision, real-time feedback information, so that the robot can better adapt to complex environments and identify, locate, grasp and transport objects; the automated upgrade of the sack cigarette pack opening section is realized, and the production efficiency and production quality are improved through the form of automatic bag opening and unloading. The bag opening method can be controlled more accurately, avoiding excessive cutting or improper handling that may occur in manual operation, and reducing waste caused by package damage or material leakage. Especially for precious materials or fragile items, the high precision of automatic bag opening helps to improve the utilization rate of materials and meet the relevant needs of enterprises to reduce costs and increase efficiency.

[0006] Another inventive object of the present invention is to set up multiple dust collection ports, on the one hand, to effectively collect and remove the generated dust, reduce suspended particles in the air, improve the air quality of the working environment, and reduce the risk of workers inhaling harmful dust, thereby enhancing the health and safety of employees; multiple dust collection ports can effectively control the diffusion of dust, ensure the smooth operation of equipment and production lines, thereby improving overall production efficiency; on the other hand, by setting up multiple dust collection ports, the source and flow direction of dust can be better controlled, the risk of cross-contamination can be reduced, and the purity and quality of the product can be improved.

[0007] Another invention purpose of the present invention is to use a five-pointed star or six-pointed star shaped cutting knife to unpack sack cigarette packages, which can not only improve cutting efficiency and reduce material loss, but also enhance safety, reduce dust pollution, and extend the service life of the tool. Through more precise and uniform cutting, the five-pointed star or six-pointed star shaped cutting knife can better meet the needs of the production line, improve work efficiency and reduce operating risks, and is an efficient and safe unpacking tool.

[0008] In order to solve the above problems and achieve the above invention objectives, the present invention provides an improved sack cigarette pack opening device, method and storage medium thereof by adopting the following design structure and the following technical solutions:

[0009] As an improved sack cigarette pack opening device, method and storage medium of the present invention, the device comprises a control device and a robot (1) and a conveying device (2), and further comprises:

[0010] A bag cutting device (3), the bag cutting device (3) is arranged above the conveying device (2);

[0011] A dust removal device (4), the dust removal device (4) being arranged above the outlet end of the bag cutting device (3);

[0012] A lifting conveyor belt conveyor (5), wherein the lifting conveyor belt conveyor (5) is connected to the outlet end of the conveying device (1);

[0013] A material dropper (6), the material dropper (6) is connected to the outlet end of the lifting conveyor belt machine (5);

[0014] A gripping device (7), the gripping device (7) being detachably mounted on a robot, and the robot being arranged on one side of the inlet end of the conveying device (1);

[0015] Material storage racks (8), the material storage racks (8) are respectively located on both sides of the robot grasping device (7);

[0016] A visual inspection device (9) is arranged above the two storage racks (8) and is used to detect the placement status of the sack cigarette packs (10) in each storage rack (8).

[0017] As an improvement of the above-mentioned present invention, the bag cutting device (3) comprises:

[0018] A connecting plate (31), the connecting plate (31) is symmetrically connected to two side plates above the conveying system (2);

[0019] A transmission shaft (32), the transmission shaft (32) is rotatably connected between the two connecting plates (31);

[0020] A cutting blade (33), the cutting blade (33) is connected to the middle part of the transmission shaft (32);

[0021] A bag cutting motor (34), the bag cutting motor (34) is connected to any connecting plate (31), and the output shaft of the bag cutting motor (34) is connected to the transmission shaft (32) at that end;

[0022] The bag cutting motor (34) is connected to the control device.

[0023] As a further improvement of the above invention, both ends of the transmission shaft (32) are connected to the connecting plate (31) via bearing seats;

[0024] The cutting knife (33) is in the shape of a five-pointed star, a six-pointed star, or a diamond.

[0025] As a further improvement of the above-mentioned present invention, the gripping device (7) comprises:

[0026] Mounting frame (71);

[0027] A connecting head (72), the connecting head (72) is connected to the upper middle portion of the mounting frame (71);

[0028] Gripper controllers (73), the gripper controllers (73) are symmetrically connected to two sides of the mounting frame (71);

[0029] A gripper (74), wherein the gripper (74) is mounted on each gripper controller (73);

[0030] A protective shell (75), the protective shell (75) is detachably mounted on both sides of the mounting frame (71);

[0031] Each gripper controller (73) is connected to a control device.

[0032] As a further improvement of the above-mentioned present invention, the connector (72) is provided with a plurality of connector holes for connecting with the robot (1);

[0033] The gripper controller (73) is used to control the gripper (74) to rotate and hook the sack cigarette pack (10);

[0034] The protective shell (75) is provided with a plurality of heat dissipation holes.

[0035] As a further improvement of the above-mentioned present invention, the visual detection device (9) comprises:

[0036] A bracket (91), the bracket (91) is in a T-shaped structure as a whole, and smart camera mounting seats are provided at both ends of the upper side of the bracket (91);

[0037] Intelligent high-definition cameras (92), the intelligent high-definition cameras (92) are respectively installed below each intelligent camera mounting seat, and the intelligent high-definition cameras (92) are respectively located directly above the corresponding storage racks (8);

[0038] The intelligent high-definition camera (92) is connected to the control device and the robot (1).

[0039] As a further improvement of the above-mentioned present invention, the dust removal device (4) comprises:

[0040] A dust removal bin (41), the dust removal bin (41) is in an "L"-shaped structure as a whole, and dust collection ports are provided on the top and sides of the dust removal bin (41);

[0041] Dust exhaust ducts (42), the dust exhaust ducts (42) are respectively connected to the outside of each dust collection port;

[0042] A dust removal fan (43), the air outlet of the dust removal fan (43) is connected to the dust outlet of each exhaust duct (42) through a connector;

[0043] Wherein, the dust removal fan (43) is connected to the control device.

[0044] As a further improvement of the present invention, the storage rack (8) comprises a load-bearing frame (81) and guardrails (82) connected to both sides of the load-bearing frame (81), and the load-bearing frame (81) is connected to fixed legs or moving wheels with brake devices at the corners;

[0045] The lifting conveyor belt machine (5) and the dropper (6) are both connected to the control device.

[0046] As a further improvement of the present invention, an improved method for opening a sack cigarette package comprises:

[0047] S1, the sacks of cigarette bales (10) loaded with materials are stacked by upstream equipment and then sent to the storage rack (8) at the material taking station;

[0048] S2, when the system of the control device is running, the visual detection device (9) identifies the posture and specific position of the sack cigarette pack (10) loaded with materials, and after receiving the signal from the visual detection device (9), the robot (1) located above the mechanical support drives the gripper (74) to grab the sack cigarette pack (10) loaded with materials and transport it to the top of the pack cutting device (3);

[0049] S3, the robot (1) drives the gripper (74) and the cigarette pack to move horizontally along the material conveying direction, and the cutting knife (33) cuts the cigarette pack. Then, the robot (1) drives the cigarette pack to rotate 90 degrees, and the robot (1) moves horizontally along the material conveying direction, and the cutting knife (33) cuts the sack cigarette pack (10). During the whole process, a cross-shaped blade is cut on the sack cigarette pack (10). After the cutting action is completed, the robot (1) shakes or shakes the sack cigarette pack (10) left and right to shake out the remaining material in the sack cigarette pack (10);

[0050] S4, when all the materials in the sack cigarette pack (10) fall into the material receiving conveying device (2), the materials are then sent out of the process line through the front and rear overlapping conveying devices (2) and the lifting conveyor belt conveyor (5) for subsequent process processing;

[0051] S5, the empty sack is sent by the robot (1) to the designated empty sack buffer station, and the above operation is repeated in sequence until the emptying of all the sacks and cigarette packs (10) loaded with materials is completed;

[0052] S6, during the entire pouring process, the dust removal device (4) will remain open, and the dust collection port located at the top directly above the bag cutting device (3) and the dust collection port on the side will remove dust outwards;

[0053] As a further improvement of the present invention described above,

[0054] The computer program, when executed by a processor, implements the steps of the method for opening the sack cigarette pack.

[0055] The working principle is: before using the improved sack cigarette pack opening device, method and storage medium of the above-mentioned design structure, the operator only needs to move the above-mentioned device to the designated working position through corresponding transport equipment or directly by hand and place it for use.

[0056] During operation, first, the upstream conveying device moves the sack cigarette pack (10) to be opened to the storage rack (8), and then the visual inspection device (9) takes a photo and obtains the specific position and placement status of the sack cigarette pack (10) below, and after processing the obtained position and placement status of the sack cigarette pack (10), the processed specific information is sent to the robot (1). After the robot (1) receives the information, the robot (1) starts to work. During operation, the robot (1) drives the grasping device (7) to the top of the sack cigarette pack (10), and then the control device controls the grasping hand to insert the sack cigarette pack (10) to carry out the grasping work, then the robot (1) brings the sack cigarette package (10) to the top of the cutting device, then the robot (1) adjusts the middle of one end of the sack cigarette package (10) to the front end of the cutting knife (33), then the robot (1) drives the bottom of the sack cigarette package (10) down to the cutting range height of the cutting knife (33), then the robot (1) drives the sack cigarette package (10) to move in the direction of the lifting conveyor belt (5) until the end surface of the sack cigarette package (10) is cut, then the robot (1) drives the sack cigarette package (10) to rotate 90 degrees, and then carries the sack cigarette package (10) to the top of the cutting device. 0) moves back until the end face cutting is completed. At this time, the lower part of the sack cigarette package (10) is cut into a cross opening. Then the robot (1) shakes left and right. After a few seconds of pausing, the weighing module inside the robot (1) senses that the preset weight has been reached. The robot (1) drives the empty sack cigarette package to rotate to the empty bag storage station. The control device controls the gripping device (7) to place the bag. After the bag placement work is completed, the robot (1) continues to carry out the next bag grabbing work. At the same time, the material in the sack cigarette package (10) enters the conveying device (2) for transmission, and the dust removal device starts the dust removal work. Then, the material after dust removal by the dust removal device (4) enters the lifting conveyor belt (5) through the conveying equipment (2), and finally the material enters the dropper (6) for processing; at the same time, the visual inspection device (9) monitors the number of sack cigarette packs (10) on the storage rack (8) in real time. When the sack cigarette packs (10) are reduced to a preset number, the upstream equipment transfers the sack cigarette packs (10) to the storage rack (8) when cutting the sack cigarette packs (10) until they are stacked to the preset number and then stops. Then the robot (1) repeats the above operation until all the sack cigarette packs (10) are opened and unloaded.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] 1. The present invention has a simple structure, a simple construction, a novel and reasonable design, and realizes the positioning and grabbing of sacks by combining a visual detection device with a robot; realizes the automation upgrade of the sack cigarette pack opening process, and improves the production efficiency and production quality by automatically opening the bag and pouring the material. It can more accurately control the bag opening method, avoid excessive cutting or improper handling that may occur in manual operation, and reduce waste caused by package damage or material leakage. Especially for precious materials or fragile items, the high precision of automatic bag opening helps to improve the utilization rate of materials;

[0059] 2. The gripper structure of the present invention can adapt to regular and irregular burlap cigarette packs of various forms and weights; the automatic bag opening device can significantly improve the working efficiency of the production line. Compared with manual bag opening, the processing speed of the automated equipment is faster and a large number of packaging bags can be opened in a shorter time, thus reducing the time of manual operation, improving the overall production efficiency and meeting the needs of large-scale production.

[0060] 3. The present invention eliminates the need for manual bag opening, which usually requires a lot of physical labor. Especially when dealing with heavy and tightly sealed packaging such as sacks, the automatic bag opening equipment with the design structure of the present invention can reduce the labor intensity of workers, reduce fatigue and health problems caused by long-term repetitive work, and improve work comfort; it reduces pollution in the sack opening process, promotes the improvement of enterprise product quality, and the feeding and unloading mechanisms are fully automated, which simplifies the production process and avoids production accidents that may occur when unloading sack cigarette packages;

[0061] 4. The present invention can use different types of cutters for different types of sacks to prevent sack debris from falling into the material: and the present invention can replace a large number of manual operations, thereby reducing dependence on labor and reducing labor costs. With the increase in labor costs, the introduction of automated equipment can effectively save labor expenses, especially in the case of large-scale production, and can significantly improve the economic benefits of the production line.

[0062] 5. Since the dust removal device of the present invention is provided with a plurality of dust collection ports in different directions, multi-directional dust removal can be achieved, dust can be avoided, pollution can be reduced, and the workshop environment can be improved;

[0063] 6. The device of the present invention cooperates with the subsequent conveying system to automatically convey the opened packaging materials to the next process, reducing the workload of manual handling, ensuring the continuity and smoothness of the production process, and improving work efficiency;

[0064] 7. The present invention uses robot control to achieve centralized processing of packaging bags, avoiding the problem of messy accumulation that may occur during manual processing, saving space and reducing messy automated work processes, allowing workshop space to be used more reasonably and improving the overall layout efficiency of the production line;

[0065] 8. Since the present invention uses a visual detection device to locate and grasp when the robot grasps materials, that is, uses a visual device to identify and locate objects, it can provide accurate object position, angle and posture information, helping the robot to efficiently find objects in complex environments and grasp them accurately. Compared with traditional tactile sensors or force sensors, the visual device can capture more subtle changes and details, reduce grasping errors and deviations, and improve material handling and grasping accuracy;

[0066] 9. Using visual detection devices for positioning, the robot can not only obtain the position and posture of the object, but also adapt to complex environments. The visual detection device is not limited by the surface shape, color or material of the object, and can better adapt to complex working environments. The visual detection device can identify objects of different shapes, sizes and colors, and adjust the grasping strategy according to changes in the environment, such as obstacles, light changes, etc.;

[0067] 10. Using visual detection devices for positioning, robots can handle objects of various shapes and positions without the need to design multiple hardware specifically to accommodate different types of materials. With the improvement of visual technology, robots can work flexibly in a variety of environments, thereby improving the adaptability and versatility of automation systems;

[0068] 11. Compared with traditional positioning methods based on laser, radar or sensors, visual detection devices can flexibly perceive objects in real time without the need to set specific calibration or preset rules in advance. The visual system can update and adjust the position of objects in real time through image processing technology, thereby reducing the need for manual settings and adjustments, saving time and improving work efficiency;

[0069] 12. The visual inspection device of the present invention enables the robot to work in a fully automated environment without human intervention. The visual inspection device can provide real-time data for the robot, enabling it to make independent decisions in a constantly changing environment, further improving the automation level and production efficiency of the entire system; eliminating the traditional robot positioning technology that may require additional sensors, laser scanning equipment or complex designs of mechanical arms, and the use of a visual system can reduce the need for complex hardware, reduce the cost of the overall equipment, and save space. At the same time, the visual inspection device can cover a wide range of working areas, avoiding the cumbersome arrangement of multi-point sensors;

[0070] 13. The present invention enables the robot to better perceive and understand the surrounding environment through the visual detection device. When grasping, the robot can respond to the real-time changes of the object through the visual detection device, such as avoiding obstacles, identifying the current position of the object, adjusting the posture, etc. This makes the robot more flexible when operating in a dynamic environment and has stronger interactive capabilities;

[0071] 14. The present invention uses visual detection devices for positioning and grasping, which improves accuracy, flexibility and automation level. The visual device can provide high-precision, real-time feedback information, so that the robot can better adapt to complex environments and identify, locate, grasp and carry objects. This not only improves the efficiency and stability of robot operations, but also brings greater flexibility and innovation space to automated production.

[0072] 14. The present invention, by setting up multiple dust collection ports, can effectively collect and remove the generated dust, reduce suspended particles in the air, improve the air quality of the working environment, reduce the risk of workers inhaling harmful dust, and thus enhance the health and safety of employees; multiple dust collection ports can effectively control the spread of dust, ensure the smooth operation of equipment and production lines, and thus improve the overall production efficiency. On the other hand, by setting up multiple dust collection ports, the source and flow direction of dust can be better controlled, the risk of cross-contamination can be reduced, and the purity and quality of the product can be improved;

[0073] 15. The present invention can effectively guide the generated dust out by setting a dust collection port, reduce the accumulation of dust on the equipment, reduce the wear and blockage of the equipment, thereby extending the service life of the equipment and improving its operating stability;

[0074] 16. The present invention can effectively reduce the spread of dust, reduce the intensity and time of cleaning work, and reduce cleaning costs by setting up multiple dust collection ports. At the same time, keeping the workshop environment clean helps to improve production efficiency. By setting up multiple dust collection ports, the spread of dust can be effectively controlled to ensure the smooth operation of equipment and production lines, thereby improving overall production efficiency. Setting up multiple dust collection ports can better control the source and flow of dust, reduce the risk of cross-contamination, and improve the purity and quality of products;

[0075] 16. The cutting knife of the present invention adopts a five-pointed star or six-pointed star structure, which can achieve a more uniform force distribution when cutting compared to traditional straight line cutters. Due to its multi-angle design, it can apply cutting force at multiple points at the same time, thereby ensuring that the opening of the sack is more neat and smooth, reducing unnecessary material waste;

[0076] 17. The present invention uses a five-pointed star or six-pointed star shaped cutting knife to effectively prevent excessive leakage of dust or particles from sack cigarette packs. Compared with a straight line cutter, the multiple cutting angles of the five-pointed star cutter can provide sufficient openings in fewer cutting processes, control the size and shape of the opening, thereby reducing the leakage of materials and improving the utilization rate of materials;

[0077] 18. The present invention uses a cutting knife with a five-pointed star or six-pointed star structure. Due to the unique design of the cutting angle, it can complete the cutting task of the sack in a shorter time, reduce the operation time, and improve the unpacking efficiency. Compared with the traditional single-cutting surface tool, it can complete the unpacking process faster, which is suitable for the needs of efficient production lines, and can evenly distribute the force, effectively reducing the tearing and damage of the sack during the unpacking process, ensuring the integrity of the sack. During the cutting process, due to the multi-angle distribution, the contact of the cutter with the sack is smoother, which helps to reduce the occurrence of accidental injuries, and has higher adaptability, and can handle a variety of different sacks, especially for sacks with tighter packaging materials and stronger sealing. The five-pointed star cutting knife can better cope with it and ensure the cutting effect and material safety;

[0078] 19. The cutting surface of the five-pointed or six-pointed star-shaped tool used in the present invention is uniform and relatively balanced, and is not easy to wear out during long-term use, and is relatively durable. Compared with traditional tools, the five-pointed star-shaped cutting tool has a lower degree of wear, which helps to extend its service life and reduce the frequency and cost of tool replacement;

[0079] 20. The present invention uses a five-pointed star or six-pointed star-shaped cutting knife to unpack sack cigarette packages, which can not only improve cutting efficiency and reduce material loss, but also enhance safety, reduce dust pollution, and extend the service life of the tool. Through more precise and uniform cutting, the five-pointed star or six-pointed star-shaped cutting knife can better meet the needs of the production line, improve work efficiency and reduce operational risks, and is an efficient and safe unpacking tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein:

[0081] Figure 1 It is one of the overall structural schematic diagrams of the present invention;

[0082] Figure 2 It is one of the schematic diagrams of the use state of the present invention;

[0083] Figure 3 This is the second schematic diagram of the use state of the present invention;

[0084] Figure 4 This is the third schematic diagram of the use state of the present invention;

[0085] Figure 5 This is the fourth schematic diagram of the use state of the present invention;

[0086] Figure 6 This is the fifth schematic diagram of the use state of the present invention;

[0087] Figure 7 This is the sixth schematic diagram of the use state of the present invention;

[0088] Figure 8 This is the seventh schematic diagram of the use state of the present invention;

[0089] Fig. 9 This is the second schematic diagram of the overall structure of the present invention;

[0090] Fig.10 This is the third schematic diagram of the overall structure of the present invention;

[0091] Fig.11 It is a partial structural schematic diagram of the present invention;

[0092] Fig.12 It is a schematic diagram of the overall structure of the bag cutting device (3) of the present invention;

[0093] Fig.13 It is a schematic diagram of the overall combined structure of the gripper (74) components of the present invention;

[0094] Fig.14 It is a schematic diagram of the overall exploded structure of the gripper (74) component of the present invention;

[0095] Among them, the numbers in the figure are: 1—robot;

[0096] 2—Conveying system;

[0097] 3—bag cutting device, 31—connecting plate, 32—transmission shaft, 33—cutting knife, 34—bag cutting motor;

[0098] 4—dust removal device, 41—dust removal bin, 42—dust exhaust duct, 43—dust removal fan;

[0099] 5—lifting conveyor belt;

[0100] 6—feeder;

[0101] 7—grasping device, 71—mounting frame, 72—connecting head, 73—grasping controller, 74—grasping hand, 75—protective shell;

[0102] 8—storage rack, 81—carrying chassis, 82—protective fence;

[0103] 9—visual detection device, 91—bracket, 92—intelligent high-definition camera;

[0104] 10—Sack of cigarettes. DETAILED DESCRIPTION

[0105] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0106] As the instruction manual Figure 1 To the instruction manual Fig.14 An improved sack cigarette pack opening device shown includes a control device, a robot 1 and a conveying device 2, and also includes:

[0107] A bag cutting device 3, which is arranged above the conveying device 2;

[0108] A dust removal device 4, which is arranged above the outlet end of the bag cutting device 3;

[0109] A lifting conveyor belt conveyor 5 is connected to the outlet end of the conveying device 1;

[0110] A material dropper 6, which is connected to the outlet end of the lifting conveyor belt 5;

[0111] A gripping device 7, which is detachably mounted on a robot, and the robot is arranged at one side of the inlet end of the conveying device 1;

[0112] Material storage racks 8, which are respectively located on both sides of the robot grasping device 7;

[0113] The visual inspection device 9 is arranged above the two storage racks 8 and is used to detect the placement status of the sack cigarette packs 10 in each storage rack 8.

[0114] Further, such as Fig.12 As shown, the packet cutting device 3 comprises:

[0115] A connecting plate 31, the connecting plate 31 is symmetrically connected to the two side plates above the conveying system 2;

[0116] A transmission shaft 32, the transmission shaft 32 is rotatably connected between the two connecting plates 31;

[0117] A cutting blade 33, the cutting blade 33 is connected to the middle part of the transmission shaft 32;

[0118] A bag cutting motor 34, the bag cutting motor 34 is connected to any connecting plate 31, and the output shaft of the bag cutting motor 34 is connected to the transmission shaft 32 at that end;

[0119] The bag cutting motor 34 is connected to the control device.

[0120] Specifically, Fig.12 As shown, both ends of the transmission shaft 32 are connected to the connecting plate 31 through bearing seats;

[0121] The cutting blade 33 is in the shape of a five-pointed star, a six-pointed star, or a diamond.

[0122] Further, such as Fig.13 and Fig.14 As shown, the grabbing device 7 comprises:

[0123] Mounting frame 71;

[0124] A connector 72, the connector 72 is connected to the upper middle portion of the mounting frame 71;

[0125] The gripper controllers 73 are symmetrically connected to the two sides of the mounting frame 71 in pairs;

[0126] Grippers 74, grippers 74 are mounted on each gripper controller 73;

[0127] A protective shell 75, which is detachably mounted on both sides of the mounting frame 71;

[0128] Each gripper controller 73 is connected to a control device.

[0129] In the present invention, the robot 1 can drive the grasping device 7 to perform translational and rotational movements with multiple degrees of freedom. Combined with the calculation of forward and inverse kinematics, the robot 1 can perform precise operations in three-dimensional space, and can also perform multiple path controls such as straight lines, curves, and compound trajectories, and realize the automation of complex tasks through control equipment.

[0130] Further, such as Fig.14 As shown, the connector 72 is provided with a plurality of connector holes for connecting with the robot 1;

[0131] The gripper controller 73 is used to control the gripper 74 to rotate and hook the sack cigarette pack 10;

[0132] The protective shell 75 is provided with a plurality of heat dissipation holes.

[0133] Further, such as Figure 8 As shown, the visual detection device 9 comprises:

[0134] The bracket 91 is in a T-shaped structure as a whole, and smart camera mounting seats are provided at both ends of the upper side of the bracket 91;

[0135] Smart high-definition cameras 92, which are respectively installed below each smart camera mounting seat, and the smart high-definition cameras 92 are respectively located directly above the corresponding storage racks 8;

[0136] Among them, the intelligent high-definition camera 92 is connected to the control device and the robot 1.

[0137] A cleaner is also installed on the outside of the smart high-definition camera 92 for dust removal and cleaning. The cleaner is hinged, symmetrical and retractable installed on both sides of the column of the bracket 91, and is located below the smart high-definition camera 92. The cleaner is a wiper structure currently available on the market. The cleaner is electrically connected to a control device and is mainly used to clean the smart high-definition camera to ensure the clarity of the smart high-definition camera 92.

[0138] In the present invention, the visual inspection device confirms the position of the cigarette pack and the angle after placement and feeds back to the robot's manipulator, the robot's manipulator adjusts the gripper to grab the sack cigarette pack, grabs and moves to the cutting knife position, moves forward to cut the sack cigarette pack horizontally, and then the robot's manipulator rotates the cigarette pack 90 degrees, moves backward to cut the sack cigarette pack vertically, forming a cross cut, and then the robot's manipulator shakes the sack cigarette pack left and right or shakes the sack cigarette pack to make the material fall onto the conveying equipment, and then the robot's manipulator places the empty cigarette bag at the corresponding position.

[0139] The smart high-definition camera 92 is integrated with an image processing module, which includes functions such as data acquisition, image processing, detection decision-making, and result feedback; it can analyze images, extract features, detect defects, and recognize patterns; it includes some commonly used visual algorithms: it can identify the shape, position, object size, angle, etc. of the sack cigarette pack 10; the smart high-definition camera 92 can send the accurately identified position and posture of the sack cigarette pack 10 to the control device for processing, so that the control device can plan and process the number of sack cigarette packs 10 on the storage rack 8, and send it to the robot 1 at the same time to facilitate the robot 1 to grasp accurately.

[0140] Further, such as Figure 7 As shown, the dust removal device 4 includes:

[0141] The dust removal bin 41 is in an "L"-shaped structure as a whole, and dust collection ports are provided on the top and sides of the dust removal bin 41;

[0142] Dust exhaust ducts 42, the dust exhaust ducts 42 are respectively connected to the outside of each dust collection port;

[0143] A dust removal fan 43, the air outlet of the dust removal fan 43 is connected to the dust outlet of each exhaust duct 42 through a connector;

[0144] The dust removal fan 43 is connected to the control device.

[0145] Further, such as Fig.11 As shown, the storage rack 8 includes a load-bearing chassis 81 and guardrails 82 connected to both sides of the load-bearing chassis 81, and the corners of the load-bearing chassis 81 are connected with fixed legs or moving wheels with brake devices;

[0146] The lifting conveyor belt 5 and the dropper 6 are both connected to the control device.

[0147] In the present invention, the moving wheels are fixed wheels or universal wheels. Therefore, since the moving wheels with brake devices are installed at the four corners of the bottom of the load-bearing chassis 81, the storage rack 8 of the present invention can be conveniently and flexibly moved to a specified position, thereby maximally alleviating the labor intensity of the operator.

[0148] Furthermore, an improved method for opening a sack cigarette package includes:

[0149] S1, the sack cigarette packs 10 loaded with materials are stacked by the upstream equipment and sent to the storage rack 8 of the material taking station;

[0150] S2, when the system of the control device is running, the visual detection device 9 identifies the posture and specific position of the sack cigarette pack 10 loaded with materials, and after the robot 1 located above the mechanical support receives the signal from the visual detection device 9, it drives the gripper 74 to grab the sack cigarette pack 10 loaded with materials and transport it to the top of the pack cutting device 3;

[0151] S3, the robot 1 drives the gripper 74 and the cigarette pack to move horizontally along the material conveying direction, and the cigarette pack is cut by the cutting knife 33. Then, the robot 1 drives the cigarette pack to rotate 90 degrees, and the robot 1 moves horizontally along the material conveying direction, and the cutting knife 33 cuts the sack cigarette pack 10. The whole process cuts a cross-shaped blade edge on the sack cigarette pack 10. After the cutting action is completed, the robot 1 shakes or shakes the sack cigarette pack 10 left and right to shake out the remaining material in the sack cigarette pack 10;

[0152] S4, when all the materials in the sack cigarette pack 10 fall into the conveying device 2 for receiving the materials, the materials are then sent out of the process line through the front and rear overlapping conveying devices 2 and the lifting conveyor belt conveyor 5 for subsequent process processing;

[0153] S5, the empty sack is sent by the robot 1 to the designated empty sack buffer station, and the above operation is repeated in sequence until the emptying of all the sack cigarette packs 10 loaded with materials is completed;

[0154] S6, during the entire pouring process, the dust removal device 4 will remain open, and the dust collection port located at the top directly above the bag cutting device 3 and the dust collection port on the side will remove dust outward;

[0155] In the present invention, the visual detection device is a 3D visual detection device or a high-definition visual detection device. In order to take clearer pictures, a device for real-time dust removal of the visual detection device is provided on the visual detection device or the high-definition visual detection device.

[0156] Furthermore, it also includes a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of the method for opening the sack cigarette package are implemented.

[0157] In the present invention, the control device is a prior art product currently available on the market, and the control device is a PLC or a PC or a programmable logic controller, which is used to monitor the operation of the sack cigarette pack opening device of the present invention in real time.

[0158] Moreover, the robot 1, conveying equipment 2, bag cutting device 3, dust removal device 4, lifting conveyor belt conveyor 5, dropper 6, gripping device 7 and visual inspection device 9 of the present invention are all electrically connected to the above-mentioned control device, and are used for real-time monitoring and control of the operation of the robot 1, conveying equipment 2, bag cutting device 3, dust removal device 4, lifting conveyor belt conveyor 5, dropper 6, gripping device 7 and visual inspection device 9.

[0159] At the same time, in the present invention, the connections referred to are all fixed connections or movable connections or detachable connections, wherein the fixed connection is a welding connection or is directly processed into an integrally formed structure; the movable connection or detachable connection or the split structure is a hinged connection, an internal and external threaded connection, a bayonet connection, a plug-in socket connection, a bolt assembly connection, or a screw connection.

[0160] Finally, it should be noted that the specific implementation methods of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned implementation methods, and various changes can be made thereto within the knowledge scope of ordinary technicians in this field.

Claims

1. An improved sack cigarette pack opening device, comprising a control device and a robot (1) and a conveying device (2), characterized in that: Also includes: A bag cutting device (3), the bag cutting device (3) is arranged above the conveying device (2); A dust removal device (4), the dust removal device (4) being arranged above the outlet end of the bag cutting device (3); A lifting conveyor belt conveyor (5), wherein the lifting conveyor belt conveyor (5) is connected to the outlet end of the conveying device (1); A material dropper (6), the material dropper (6) is connected to the outlet end of the lifting conveyor belt machine (5); A gripping device (7), the gripping device (7) being detachably mounted on a robot, and the robot being arranged on one side of the inlet end of the conveying device (1); Material storage racks (8), the material storage racks (8) are respectively located on both sides of the robot grasping device (7); A visual inspection device (9) is arranged above the two storage racks (8) and is used to detect the placement status of the sack cigarette packs (10) in each storage rack (8).

2. An improved sack cigarette pack opening device according to claim 1, characterized in that: The bag cutting device (3) comprises: A connecting plate (31), the connecting plate (31) is symmetrically connected to two side plates above the conveying system (2); A transmission shaft (32), the transmission shaft (32) is rotatably connected between the two connecting plates (31); A cutting blade (33), the cutting blade (33) is connected to the middle part of the transmission shaft (32); A bag cutting motor (34), the bag cutting motor (34) is connected to any connecting plate (31), and the output shaft of the bag cutting motor (34) is connected to the transmission shaft (32) at that end; The bag cutting motor (34) is connected to the control device.

3. The improved sack cigarette pack opening device according to claim 2, characterized in that: Both ends of the transmission shaft (32) are connected to the connecting plate (31) via bearing seats; The cutting knife (33) is in the shape of a five-pointed star, a six-pointed star, or a diamond.

4. The improved sack cigarette pack opening device according to claim 1, characterized in that: The grabbing device (7) comprises: Mounting frame (71); A connecting head (72), the connecting head (72) is connected to the upper middle portion of the mounting frame (71); Gripper controllers (73), the gripper controllers (73) are symmetrically connected to two sides of the mounting frame (71); A gripper (74), wherein the gripper (74) is mounted on each gripper controller (73); A protective shell (75), the protective shell (75) is detachably mounted on both sides of the mounting frame (71); Each gripper controller (73) is connected to a control device.

5. The improved sack cigarette pack opening device according to claim 1, characterized in that: The connector (72) is provided with a plurality of connector holes for connecting to the robot (1); The gripper controller (73) is used to control the gripper (74) to rotate and hook the sack cigarette pack (10); The protective shell (75) is provided with a plurality of heat dissipation holes.

6. The improved sack cigarette pack opening device according to claim 1, characterized in that: The visual detection device (9) comprises: A bracket (91), the bracket (91) is in a T-shaped structure as a whole, and smart camera mounting seats are provided at both ends of the upper side of the bracket (91); Intelligent high-definition cameras (92), the intelligent high-definition cameras (92) are respectively installed below each intelligent camera mounting seat, and the intelligent high-definition cameras (92) are respectively located directly above the corresponding storage racks (8); The intelligent high-definition camera (92) is connected to the control device and the robot (1).

7. The improved sack cigarette pack opening device according to claim 1, characterized in that: The dust removal device (4) comprises: A dust removal bin (41), the dust removal bin (41) is in an "L"-shaped structure as a whole, and dust collection ports are provided on the top and sides of the dust removal bin (41); Dust exhaust ducts (42), the dust exhaust ducts (42) are respectively connected to the outside of each dust collection port; A dust removal fan (43), the air outlet of the dust removal fan (43) is connected to the dust outlet of each exhaust duct (42) through a connector; Wherein, the dust removal fan (43) is connected to the control device.

8. The improved sack cigarette pack opening device according to claim 1, characterized in that: The material storage rack (8) comprises a load-bearing frame (81) and guardrails (82) connected to both sides of the load-bearing frame (81); fixed legs or moving wheels with brake devices are connected to the corners of the load-bearing frame (81); The lifting conveyor belt machine (5) and the dropper (6) are both connected to the control device.

9. An improved method for opening a sack of cigarettes according to any one of claims 1 to 9, characterized in that: The unpacking method includes: S1, the sacks of cigarette bales (10) loaded with materials are stacked by upstream equipment and then sent to the storage rack (8) at the material taking station; S2, when the system of the control device is running, the visual detection device (9) identifies the posture and specific position of the sack cigarette pack (10) loaded with materials, and after receiving the signal from the visual detection device (9), the robot (1) located above the mechanical support drives the gripper (74) to grab the sack cigarette pack (10) loaded with materials and transport it to the top of the pack cutting device (3); S3, the robot (1) drives the gripper (74) and the cigarette pack to move horizontally along the material conveying direction, and the cutting knife (33) cuts the cigarette pack. Then, the robot (1) drives the cigarette pack to rotate 90 degrees, and the robot (1) moves horizontally along the material conveying direction, and the cutting knife (33) cuts the sack cigarette pack (10). During the whole process, a cross-shaped blade is cut on the sack cigarette pack (10). After the cutting action is completed, the robot (1) shakes or shakes the sack cigarette pack (10) left and right to shake out the remaining material in the sack cigarette pack (10); S4, when all the materials in the sack cigarette pack (10) fall into the material receiving conveying device (2), the materials are then sent out of the process line through the front and rear overlapping conveying devices (2) and the lifting conveyor belt conveyor (5) for subsequent process processing; S5, the empty sack is sent by the robot (1) to the designated empty sack buffer station, and the above operation is repeated in sequence until the emptying of all the sacks and cigarette packs (10) loaded with materials is completed; S6, during the entire pouring process, the dust removal device (4) will remain open, and the dust collection port located at the top directly above the bag cutting device (3) and the dust collection port on the side will remove dust outwards.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for opening a sack of cigarettes as claimed in claim 9 are implemented.

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