A bag-opening robot and its working method

Abstract

This disclosure provides a bag-unpacking robot and its working method, comprising at least: a first conveying mechanism, a clamping and shearing mechanism, a flipping mechanism, and a second conveying mechanism arranged sequentially; the first conveying mechanism is provided with a vision recognition mechanism, a push rod mechanism, and a guiding mechanism arranged sequentially; the clamping and shearing mechanism includes a box, a first slide, and a second slide, the first slide being located on one side of the box opening and the second slide being located on the other side of the box opening, a cutter being slidably connected to the first slide and a clamp being slidably connected to the second slide; the first conveying mechanism is connected to the box opening via an inclined slide, and the height of the second conveying mechanism is lower than that of the first conveying mechanism; the flipping mechanism includes a flipping bearing and a flipping motor, the flipping bearing being fixedly connected to the box, and the flipping motor being connected to the flipping bearing via a conveyor belt; this disclosure automates the identification, guidance, unpacking, dumping, and recycling of packaging bags for power equipment parts, improving the efficiency of unpacking power materials.

Description

Technical Field

[0001] This disclosure relates to the field of electric robot technology, and in particular to a bag-opening robot and its working method. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] In unmanned warehouses, it is necessary to unpack and sort electrical equipment parts such as wire clips and pull rings from woven bags, completing the intermediate step from storage shelves to parts retrieval.

[0004] The inventors discovered that most existing unpacking processes for electrical equipment parts rely on manual methods, resulting in low efficiency. Furthermore, existing unpacking lines for other materials operate at random unpacking positions, hindering rapid alignment and precise, same-position cutting of the electrical equipment parts packaging. These lines also fail to detect any goods remaining in the bags online, increasing the risk of leftover items. Finally, they lack the ability to dynamically adjust the bag clamping position based on weight and size, preventing adaptive changes in the bag cut size. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this disclosure provides a bag-unpacking robot and its working method, which automates the identification, guidance, unpacking, emptying, and recycling of packaging bags for electrical equipment parts, thereby improving the efficiency of unpacking electrical materials.

[0006] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0007] The first aspect of this disclosure provides a bag-opening robot.

[0008] A bag-opening robot includes at least: a first conveying mechanism, a clamping and cutting mechanism, a flipping mechanism, and a second conveying mechanism arranged in sequence.

[0009] The first conveying mechanism is equipped with a visual recognition mechanism, a push rod mechanism, and a guide mechanism in sequence.

[0010] The clamping and shearing mechanism includes a housing, a first slide, and a second slide. The first slide is located on one side of the opening of the housing, and the second slide is located on the other side of the opening of the housing. A cutting tool is slidably connected to the first slide, and a clamp is slidably connected to the second slide.

[0011] The first conveying mechanism connects to the opening of the box via an inclined slide, and the height of the second conveying mechanism is lower than that of the first conveying mechanism.

[0012] The tilting mechanism includes a tilting bearing and a tilting motor. The tilting bearing is fixedly connected to the housing, and the tilting motor is connected to the tilting bearing via a conveyor belt.

[0013] Furthermore, the visual recognition mechanism includes a frame and at least one visual camera device for recognizing the bag body, the frame being positioned above the first conveying mechanism and the visual camera device being fixed to the frame.

[0014] Furthermore, the push rod mechanism includes at least one set of push rods, each set of push rods including a first push rod and a second push rod, the first push rod and the second push rod being positioned opposite each other on both sides of the first conveying mechanism.

[0015] Furthermore, the guiding mechanism includes multiple guide wheel groups symmetrically arranged on both sides of the first conveying mechanism, including at least a first guide wheel group, a second guide wheel group, and a third guide wheel group arranged sequentially;

[0016] The first guide wheel assembly includes a first guide wheel and a second guide wheel positioned opposite each other on both sides of the first conveying mechanism, with the first guide wheel and the second guide wheel rotating in opposite directions;

[0017] The second guide wheel assembly includes a third guide wheel and a fourth guide wheel positioned opposite each other on both sides of the first conveying mechanism. The third guide wheel meshes with the first guide wheel, and the fourth guide wheel meshes with the second guide wheel.

[0018] The third guide wheel group includes multiple pairs of guide wheels positioned opposite each other on both sides of the first transmission mechanism.

[0019] Furthermore, the first slide is provided with a first forward and reverse ball screw, and the first forward and reverse ball screw is provided with a cutting tool that can move in opposite directions, and the cutting tool is provided with a shearing sensing element.

[0020] Furthermore, the second slide is provided with a second forward and reverse ball screw, and the second forward and reverse ball screw is provided with a clamp that can move in opposite directions, and the clamp is provided with a bag sensing element.

[0021] Furthermore, it also includes a bag-grabbing robotic arm and a bag-collecting bin that work together, with grippers fixed at the end of the robotic arm for picking up empty bags.

[0022] The second aspect of this disclosure provides a method for operating a bag-unpacking robot.

[0023] A method for operating a bag-opening robot, utilizing the bag-opening robot described in the first aspect of this disclosure, includes the following process:

[0024] As the bag moves forward, it is identified by a visual recognition mechanism.

[0025] Based on the bag recognition results, the bag's posture is adjusted using a push rod mechanism;

[0026] The bag is guided to the predetermined working position using a guiding mechanism, and then the bag is uprighted and placed into the box using an inclined slide.

[0027] Use clamps to hold the upper part of the bag's boundary, and use a knife to cut a slanted incision on the upper part of the bag;

[0028] While the clamp holds the bag, it rotates simultaneously with the flipping mechanism, allowing the parts inside the bag to fall onto the second conveying mechanism below.

[0029] The flipping mechanism returns to the upright position, and the gripper on the robotic arm clamps the empty bag and rotates it into the bag recycling bin.

[0030] Furthermore, the bag moves forward under the power of the first conveyor mechanism, and the visual recognition mechanism detects whether the angle between the bag and the direction of movement of the conveyor belt is too large.

[0031] If the angle is found to be too large when the bag passes the electric push rod, the electric push rod will push the bag to adjust the direction of the bag.

[0032] The first conveying mechanism transports the bag to the first guide wheel assembly of the guiding mechanism. The first guide wheel rotates counterclockwise, and the second guide wheel rotates clockwise to straighten the bag.

[0033] The first conveyor transports the bag to the second guide wheel group. The third guide wheel rotates counterclockwise, and the fourth guide wheel rotates clockwise, sending the bag into the third guide wheel group.

[0034] The distance between the guide wheels of the third guide wheel group is the same as the width of the bag. The bag enters the inclined slide parallel to the first conveyor mechanism along its length.

[0035] Furthermore, the bag falls into the box and stands upright after passing through the inclined slide.

[0036] When the clamp on one side of the box detects the bag, the clamp moves and reaches the designated position to clamp the bag, keeping the bag in a taut state.

[0037] The cutter on the other side of the box begins to operate. The cutter moves along the second forward and reverse ball screw. When the shearing sensing element detects the bag to be cut, the cutter shearing switch is activated to perform a diagonal cut on the upper part of the bag.

[0038] Furthermore, once the cutting operation is complete, the flipping mechanism is activated, working with the clamps to flip the bag at a certain angle, transferring the parts inside the bag onto the second conveying mechanism.

[0039] The second conveying mechanism receives the parts that have fallen off the flipping mechanism and transports them to the next working position;

[0040] After the flipping mechanism has finished flipping the parts, it returns to the vertical position and the clamp is released;

[0041] After the action is completed, the robotic arm starts and reaches the bag position, the gripper clamps the bag, lifts the bag and rotates it to place it into the recycling bin.

[0042] Furthermore, based on the recognition results of the visual recognition mechanism, the size of the bag is obtained, and based on the width of the bag, the movement of the second slide is controlled so that the clamping position of the clamp is maintained at the preset position of the bag.

[0043] Furthermore, after the bag is flipped and returned to its original position for the first time, the detection data of the first pressure sensing element at the bottom of the box is obtained. When the pressure value of the first pressure sensing element is greater than the set value, the bag is flipped a second or more times until the pressure value of the first pressure sensing element is less than the set value.

[0044] Furthermore, when the pressure value of the first pressure sensing element at the bottom of the box is less than the set value, the detection data of the second pressure sensing element at the bottom of the bag recycling box is acquired; when the pressure value of the second pressure sensing element is greater than the set value, an alarm signal is generated.

[0045] Furthermore, before the bag body is flipped over for the first time, the movement of the second slide is controlled based on the detection value of the first pressure sensing element and the size of the bag body identified by the visual recognition mechanism, so that the clamping position of the clamp is maintained at the preset position of the bag body.

[0046] Furthermore, when the bag enters the box and the first pressure sensing element at the bottom of the bag does not detect a pressure change, the first and second slides are controlled to move downwards until the first pressure sensing element detects a pressure change.

[0047] Compared with the prior art, the beneficial effects of this disclosure are:

[0048] 1. This disclosure innovatively proposes a bag-unpacking robot, which automates the identification, guidance, unpacking, dumping, and recycling of packaging bags for power equipment parts, thereby improving the efficiency of unpacking power materials.

[0049] 2. This disclosure innovatively proposes a guiding mechanism for a bag-opening machine. Through the cooperation of a visual recognition mechanism, an electric push rod, and a guiding mechanism, the bag body is quickly guided, ensuring precise cutting of the bag body.

[0050] 3. This disclosure innovatively proposes a clamping and shearing mechanism for a bag-opening machine. The bag is clamped by a clamping mechanism on one side of the box and sheared by a shearing mechanism on the other side of the box. Both the clamping and shearing mechanisms are equipped with bag detection elements, which improves the efficiency and accuracy of bag shearing.

[0051] 4. This disclosure innovatively proposes a flipping mechanism for a bag-opening machine. Through the cooperation of the flipping mechanism and the clamping mechanism, the stability of the bag flipping is improved, ensuring the safe tilting of the electrical components inside the bag.

[0052] 5. This disclosure innovatively proposes a working method for a bag-opening machine. By cooperating with a first pressure sensing element and a second pressure sensing element, it realizes the cleaning or alarm of goods left inside the bag, improves work efficiency, and avoids goods being left in the bag.

[0053] 6. This disclosure innovatively proposes a working method for a bag-opening machine, which dynamically changes the bag clamping position according to the weight of the goods and the size of the bag, realizing adaptive changes in the bag cutting position and improving the stability of the goods tipping.

[0054] Advantages of this disclosure in additional aspects will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0055] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure.

[0056] Figure 1 This is a top view of the bag-unpacking robot provided in Embodiment 1 of this disclosure.

[0057] Figure 2 This is a front view of the bag-unpacking robot provided in Embodiment 1 of this disclosure.

[0058] Figure 3 This is a top view of the clamping and shearing mechanism provided in Embodiment 1 of this disclosure.

[0059] Figure 4 This is a side view of the clamping and shearing mechanism provided in Embodiment 1 of this disclosure.

[0060] Figure 5 This is a rear view of the clamping and shearing mechanism provided in Embodiment 1 of this disclosure.

[0061] 1-First conveying mechanism; 2-Frame; 3-Vision camera device; 4-First electric push rod; 5-Second electric push rod; 6-First guide wheel; 7-Second guide wheel; 8-Third guide wheel; 9-Fourth guide wheel; 10-Fifth guide wheel; 11-Sixth guide wheel; 12-Inclined slide; 13-Mechanical arm; 14-Gripper; 15-Recycling bin; 16-Second conveying mechanism; 17-First ball screw; 18-Second ball screw; 19-Cutting tool; 20-Clamping fixture; 21-Flange; 22-Bearing seat; 23-Motor; 24-Base; 25-Box; 26-First slide table; 27-Second slide table; 28-First slide rail. Detailed Implementation

[0062] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0063] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0064] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0065] In this disclosure, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely relational terms determined for the convenience of describing the structural relationship of the various components or elements in this disclosure, and do not specifically refer to any component or element in this disclosure, nor should they be construed as limiting this disclosure.

[0066] In this disclosure, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this disclosure based on the specific circumstances, and they should not be construed as limitations on this disclosure.

[0067] Where there is no conflict, the embodiments and features described herein can be combined with each other.

[0068] Example 1:

[0069] like Figure 1 , Figure 2 and Figure 3 As shown, Embodiment 1 of this disclosure provides a bag-opening robot, which includes at least: a first conveying mechanism 1, a clamping and cutting mechanism, a flipping mechanism, and a second conveying mechanism 16 arranged in sequence;

[0070] The first conveying mechanism is equipped with a visual recognition mechanism, a push rod mechanism, and a guide mechanism in sequence.

[0071] The clamping and shearing mechanism includes a housing 25, a first slide 26 and a second slide 27. The slide rail on the first slide is parallel to the slide rail on the second slide. The first slide is located on one side of the opening of the housing, and the second slide is located on the other side of the opening of the housing. A cutter 19 is slidably connected to the first slide, and a clamp 20 is slidably connected to the second slide.

[0072] The second slide is mounted on the first slide rail 28. The second slide is driven to move on the slide rail by a drive mechanism, and the direction of movement of the second slide is perpendicular to the direction of the slide rail on the first slide.

[0073] The first conveying mechanism connects to the box opening via the inclined slide 12, and the height of the second conveying mechanism 16 is lower than that of the first conveying mechanism.

[0074] The tilting mechanism includes a tilting bearing and a tilting motor. The tilting bearing is fixed by a flange 21 and a bearing seat 22. The tilting bearing is fixedly connected to the housing. The tilting motor is connected to the tilting bearing by a conveyor belt. The bearing seat 22 is fixed on the base 24.

[0075] In this embodiment, the box is a cuboid structure with an opening at the top. The first slide and the second slide are respectively located on the two short sides of the cuboid box. It is understood that in other embodiments, the box may also be other structures, such as prisms or other irregular shapes. Those skilled in the art can choose according to the specific working conditions, which will not be elaborated here.

[0076] The visual recognition mechanism includes a frame 2 and at least one visual camera device 3 for recognizing bags. The frame is positioned above the first conveying mechanism, and the visual camera device is fixed to the frame.

[0077] In this embodiment, preferably, the frame is a gate-shaped frame, and the visual imaging device is a binocular camera. The binocular camera is set on the frame and located directly above the first conveying mechanism. It is understood that in some other embodiments, there may be multiple binocular cameras, as long as they can recognize the bag body. This will not be elaborated here.

[0078] The push rod mechanism includes at least one set of push rods, each set of push rods including a first electric push rod 4 and a second electric push rod 5, the first electric push rod 4 and the second electric push rod 5 being arranged opposite each other on both sides of the first transmission mechanism 1.

[0079] In this embodiment, both the first and second conveying mechanisms are conveyor belts. It is understood that in other embodiments, the first conveying mechanism may also be a roller conveyor line, and the second conveying mechanism may also be other soft-type conveying mechanisms. Those skilled in the art can choose according to the specific working conditions, which will not be elaborated here.

[0080] In this embodiment, the guiding mechanism includes a plurality of guide wheel groups symmetrically arranged on both sides of the first conveying mechanism, including at least a first guide wheel group, a second guide wheel group, and a third guide wheel group arranged sequentially.

[0081] The first guide wheel group includes a first guide wheel 6 and a second guide wheel 7 positioned opposite each other on both sides of the first conveying mechanism. The first guide wheel 6 and the second guide wheel 7 are both driven by corresponding motors, and the rotation directions of the first guide wheel 6 and the second guide wheel 7 are opposite.

[0082] The second guide wheel group includes a third guide wheel 8 and a fourth guide wheel 9 positioned opposite each other on both sides of the first conveying mechanism. The third guide wheel 8 meshes with the first guide wheel 6, and the fourth guide wheel 9 meshes with the second guide wheel 7.

[0083] The third guide wheel group includes multiple pairs of guide wheels positioned opposite each other on both sides of the first conveying mechanism. Each pair of guide wheels includes a fifth guide wheel 10 and a sixth guide wheel 11 positioned opposite each other. In this embodiment, the third guide wheel group includes two pairs of guide wheels. It is understood that in some other embodiments, those skilled in the art can set the number of guide wheels in the third guide wheel group according to the length of the bag body, which will not be elaborated here.

[0084] The first slide is provided with a first forward and reverse ball screw, and the first forward and reverse ball screw is provided with a cutter that can move in opposite directions, and the cutter is provided with a shearing sensing element; the second slide is provided with a second forward and reverse ball screw, and the second forward and reverse ball screw is provided with a clamp that can move in opposite directions, and the clamp is provided with a bag sensing element.

[0085] It also includes a bag-grabbing robotic arm 13 and a bag-collecting bin 15 that work together. The end of the robotic arm 13 is fixed with a gripper 14 for gripping empty bags.

[0086] In this embodiment, the bottom of the box 25 is provided with at least one first pressure sensing element that communicates with the bag-unpacking robot controller, and the bottom of the bag recycling box 15 is provided with at least one second pressure sensing element that communicates with the bag-unpacking robot controller.

[0087] Example 2:

[0088] Embodiment 2 of this disclosure provides a method for operating a bag-unpacking robot, which utilizes the bag-unpacking robot described in Embodiment 1 of this disclosure and includes the following process:

[0089] As the bag moves forward, it is identified by a visual recognition mechanism.

[0090] Based on the bag recognition results, the bag's posture is adjusted using a push rod mechanism;

[0091] The bag is guided to the predetermined working position using a guiding mechanism, and then the bag is uprighted and placed into the box using an inclined slide.

[0092] Use clamps to hold the upper part of the bag's boundary, and use a knife to cut a slanted incision on the upper part of the bag;

[0093] While the clamp holds the bag, it rotates simultaneously with the flipping mechanism, allowing the parts inside the bag to fall onto the second conveying mechanism below.

[0094] The flipping mechanism returns to the upright position, and the gripper on the robotic arm clamps the empty bag and rotates it into the bag recycling bin.

[0095] The bag alignment process is as follows:

[0096] The bag moves forward under the power of the first conveyor mechanism, and the visual recognition mechanism detects whether the angle between the bag and the direction of movement of the conveyor belt is too large.

[0097] If the angle is found to be too large when the bag passes the electric push rod, the electric push rod will push the bag to adjust the direction of the bag.

[0098] The first conveying mechanism transports the bag to the first guide wheel assembly of the guiding mechanism. The first guide wheel rotates counterclockwise, and the second guide wheel rotates clockwise to straighten the bag.

[0099] The first conveyor transports the bag to the second guide wheel group. The third guide wheel rotates counterclockwise, and the fourth guide wheel rotates clockwise, sending the bag into the third guide wheel group.

[0100] The distance between the guide wheels of the third guide wheel group is the same as the width of the bag. The bag enters the inclined slide parallel to the first conveyor mechanism along its length.

[0101] The bag clamping and cutting process is as follows:

[0102] After passing through the inclined slide, the bag falls into the box and stands upright.

[0103] When the clamp on one side of the box detects the bag, the clamp moves and reaches the designated position to clamp the bag, keeping the bag in a taut state.

[0104] The cutter on the other side of the box begins to operate. The cutter moves along the second forward and reverse ball screw. When the shearing sensing element detects the bag to be cut, the cutter shearing switch is activated to perform a diagonal cut on the upper part of the bag.

[0105] The bag-turning and recycling process is as follows:

[0106] Once the cutting operation is complete, the flipping mechanism is activated, working with the clamps to flip the bag at a certain angle, transferring the parts inside the bag onto the second conveying mechanism.

[0107] The second conveying mechanism receives the parts that have fallen off the flipping mechanism and transports them to the next working position;

[0108] After the flipping mechanism has finished flipping the parts, it returns to the vertical position and the clamp is released;

[0109] After the action is completed, the robotic arm starts and reaches the bag position, the gripper clamps the bag, lifts the bag and rotates it to place it into the recycling bin.

[0110] In this embodiment, the size of the bag is obtained based on the recognition result of the visual recognition mechanism. Based on the width of the bag, the movement of the second slide is controlled so that the clamping position of the clamp is maintained at a preset position of the bag, such as 10 cm inward from the edge of the bag or at 1 / 3 of the bag width. The specific position can be set according to the specific working conditions, but the bag must be clamped stably.

[0111] In this embodiment, after the bag is flipped and returned to its original position for the first time, the detection data of the first pressure sensing element is obtained. When the pressure value of the first pressure sensing element is greater than the set value, the bag is flipped a second or more times until the pressure value of the first pressure sensing element is less than the set value.

[0112] When the pressure value of the first pressure sensing element is less than the set value, the detection data of the second pressure sensing element is acquired. When the pressure value of the second pressure sensing element is greater than the set value, an alarm signal is issued.

[0113] Before the bag is flipped over for the first time, the movement of the second slide is controlled based on the detection value of the first pressure sensor and the size of the bag, so that the clamping position of the clamp is kept at the preset position of the bag, such as 10 cm inward from the edge of the bag or 1 / 3 of the width of the bag. The specific position can be set according to the specific working conditions, but the bag must be clamped stably.

[0114] Understandably, in some other embodiments, the first slide and the second slide can move up and down along the slide rail on the support. When the bag enters the box and the first pressure sensing element does not detect a pressure change, the first slide and the second slide are controlled to move down until the first pressure sensing element detects a pressure change, thereby ensuring that the goods inside the bag can be sensed.

[0115] The foregoing description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A bag-opening robot, characterized in that: It includes at least: a first conveying mechanism, a clamping and shearing mechanism, a flipping mechanism, and a second conveying mechanism arranged in sequence; The first conveying mechanism is equipped with a visual recognition mechanism, a push rod mechanism, and a guide mechanism in sequence. The clamping and shearing mechanism includes a housing, a first slide, and a second slide. The first slide is located on one side of the opening of the housing, and the second slide is located on the other side of the opening of the housing. A cutting tool is slidably connected to the first slide, and a clamp is slidably connected to the second slide. The first conveying mechanism connects to the opening of the box via an inclined slide, and the height of the second conveying mechanism is lower than that of the first conveying mechanism. The tilting mechanism includes a tilting bearing and a tilting motor. The tilting bearing is fixedly connected to the housing, and the tilting motor is connected to the tilting bearing via a conveyor belt. The first slide is provided with a first forward and reverse ball screw, and the first forward and reverse ball screw is provided with a cutter that can move in opposite directions, and the cutter is provided with a shearing sensing element. The second slide is equipped with a second forward and reverse ball screw, and the second forward and reverse ball screw is equipped with a clamp that can move in opposite directions. The clamp is equipped with a bag sensing element. The bottom of the housing is equipped with a first pressure sensing element that communicates with the robot controller; The second slide is slidably connected to the first slide rail, and the direction of the first slide rail is perpendicular to the direction of the slide rail on the first slide.

2. The bag-opening robot as described in claim 1, characterized in that: The visual recognition mechanism includes a frame and at least one visual camera device for recognizing bags. The frame is positioned above the first conveying mechanism, and the visual camera device is fixed to the frame.

3. The bag-opening robot as described in claim 1, characterized in that: The push rod mechanism includes at least one set of push rods, each set of push rods including a first push rod and a second push rod, the first push rod and the second push rod being arranged opposite each other on both sides of the first conveying mechanism.

4. The bag-opening robot as described in claim 1, characterized in that: The guiding mechanism includes multiple guide wheel groups symmetrically arranged on both sides of the first conveying mechanism, including at least a first guide wheel group, a second guide wheel group, and a third guide wheel group arranged sequentially; The first guide wheel assembly includes a first guide wheel and a second guide wheel positioned opposite each other on both sides of the first conveying mechanism, with the first guide wheel and the second guide wheel rotating in opposite directions; The second guide wheel assembly includes a third guide wheel and a fourth guide wheel positioned opposite each other on both sides of the first conveying mechanism. The third guide wheel meshes with the first guide wheel, and the fourth guide wheel meshes with the second guide wheel. The third guide wheel group includes multiple pairs of guide wheels positioned opposite each other on both sides of the first transmission mechanism.

5. The bag-opening robot as described in claim 1, characterized in that: It also includes a bag-grabbing robotic arm and a bag-collecting bin that work together. The end of the robotic arm is fixed with a gripper for picking up empty bags, and the bottom of the bag-collecting bin is equipped with a second pressure sensing element that communicates with the robot controller.

6. A method for operating a bag-opening robot, characterized in that: Using the bag-opening robot according to any one of claims 1-5, Includes the following processes: During the forward movement of the bag, a visual recognition mechanism identifies the bag. Based on the bag recognition results, the bag's posture is adjusted using a push rod mechanism; The bag is guided to the predetermined working position using a guiding mechanism, and then the bag is uprighted and placed into the box using an inclined slide. Use clamps to hold the upper part of the bag's boundary, and use a knife to cut a slanted incision on the upper part of the bag; While the clamp holds the bag, it rotates simultaneously with the flipping mechanism, allowing the parts inside the bag to fall onto the second conveying mechanism below. The flipping mechanism returns to the upright position, and the gripper on the robotic arm clamps the empty bag and rotates it into the bag recycling bin.

7. The working method as described in claim 6, characterized in that: The bag moves forward under the power of the first conveyor mechanism, and the visual recognition mechanism detects whether the angle between the bag and the direction of movement of the conveyor belt is too large. If the angle is found to be too large when the bag passes the electric push rod, the electric push rod will push the bag to adjust the direction of the bag. The first conveying mechanism transports the bag to the first guide wheel assembly of the guiding mechanism. The first guide wheel rotates counterclockwise, and the second guide wheel rotates clockwise to straighten the bag. The first conveyor transports the bag to the second guide wheel group, the third guide wheel rotates counterclockwise, and the fourth guide wheel rotates clockwise, sending the bag into the third guide wheel group; The distance between the guide wheels of the third guide wheel group is the same as the width of the bag. The bag enters the inclined slide parallel to the first conveyor mechanism along its length.

8. The working method as described in claim 6, characterized in that: After passing through the inclined slide, the bag falls into the box and stands upright. When the clamp on one side of the box detects the bag, the clamp moves and reaches the designated position to clamp the bag, keeping the bag in a taut state. The cutter on the other side of the box begins to operate. The cutter moves along the second forward and reverse ball screw. When the shearing sensing element detects the bag to be cut, the cutter shearing switch is activated to perform a diagonal cut on the upper part of the bag.

9. The working method as described in claim 6, characterized in that: Once the cutting operation is complete, the flipping mechanism is activated, working with the clamps to flip the bag at a certain angle, transferring the parts inside the bag onto the second conveying mechanism. The second conveying mechanism receives the parts that have fallen off the flipping mechanism and transports them to the next working position; After the flipping mechanism has finished flipping the parts, it returns to the vertical position and the clamp is released; After the action is completed, the robotic arm starts and reaches the bag position, the gripper clamps the bag, lifts the bag and rotates it to place it into the recycling bin.

10. The working method as described in claim 6, characterized in that: Based on the recognition results of the visual recognition mechanism, the size of the bag is obtained. Based on the width of the bag, the movement of the second slide is controlled so that the clamping position of the clamp is maintained at the preset position of the bag.

11. The working method as described in claim 6, characterized in that: After the bag is flipped and returned to its original position for the first time, the detection data of the first pressure sensor at the bottom of the box is obtained. When the pressure value of the first pressure sensor is greater than the set value, the bag is flipped a second or more times until the pressure value of the first pressure sensor is less than the set value.

12. The working method as described in claim 6, characterized in that: When the pressure value of the first pressure sensor at the bottom of the bin is less than the set value, the detection data of the second pressure sensor at the bottom of the bin is acquired. When the pressure value of the second pressure sensor is greater than the set value, an alarm signal is generated.

13. The working method as described in claim 6, characterized in that: Before the bag is flipped over for the first time, the movement of the second slide is controlled based on the detection value of the first pressure sensing element and the size of the bag identified by the vision recognition mechanism, so that the clamping position of the clamp is kept at the preset position of the bag.

14. The working method as described in claim 6, characterized in that: When the bag enters the box and the first pressure sensing element at the bottom of the bag does not detect a pressure change, the first and second slides are controlled to move down until the first pressure sensing element detects a pressure change.

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