Automatic unpacking device

Abstract

This invention provides an automatic packaging unpacking device, comprising a feeding mechanism, a bag-breaking mechanism, and a recycling mechanism arranged sequentially at intervals; a movable component movably disposed between the feeding mechanism, the bag-breaking mechanism, and the recycling mechanism; a gripper that can be raised and lowered on the movable component; and a controller communicatively connected to the feeding mechanism, the movable component, and the gripper respectively. The controller controls the movable component to move the gripper sequentially to the feeding mechanism, the bag-breaking mechanism, and the recycling mechanism. This invention features a high degree of integration, and the modular design of the feeding mechanism, the bag-breaking mechanism, and the recycling mechanism reduces installation difficulty, simplifies the debugging process after assembly, improves user experience, and enhances the degree of automation.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to an automatic unpacking device. Background Technology

[0002] Ton bags are flexible transport packaging containers, generally made of polyester fibers such as polypropylene and polyethylene. They are characterized by simple structure, light weight, foldability, recyclability, small space occupation, and low price. Ton bags are widely used in the packaging and transportation of various powdery, granular, and lumpy goods such as chemicals, building materials, and plastic mineral products. When used with cranes or forklifts, they can achieve unitized transport.

[0003] When unloading materials from ton bags, a mechanical structure typically grips the top of the bag, and a mechanical rupture method is used at the bottom for unloading. Current technologies mostly employ a semi-automatic approach, using a crane to move the ton bag to the corresponding rupture device, where the material is then discharged. This entire process requires manual assistance, has a low level of automation, and the various devices rely on robotic arms for communication, resulting in low integration, difficult post-installation debugging, a degraded user experience, and increased equipment learning costs. Summary of the Invention

[0004] The main objective of this invention is to provide an automatic unpacking device that addresses the technical problems of low automation and integration during unloading of ton bags in the prior art, as well as the difficulty of debugging after installation.

[0005] To achieve the above objectives, the present invention proposes an automatic unpacking device.

[0006] The automatic unpacking device includes:

[0007] The feeding mechanism, bag-breaking mechanism, and recycling mechanism are arranged in sequence at intervals.

[0008] A movable component and a gripper, wherein the gripper is movably mounted on the movable component, and the movable component is movably mounted between the feeding mechanism, the bag breaking mechanism, and the recycling mechanism;

[0009] The controller is communicatively connected to the feeding mechanism, the moving component, and the gripper; the controller is used for:

[0010] The moving component is controlled to move the gripper to the feeding mechanism, and the gripper is controlled to descend to pick up the material in the ton bag;

[0011] The moving component is controlled to move the gripper to the bag breaking mechanism, and the gripper is controlled to descend so as to break the ton bag of material on the bag breaking mechanism and recover the material.

[0012] The moving component is controlled to move the gripper to the recycling mechanism, and the gripper is controlled to descend so as to place the empty ton bag on the recycling mechanism for recycling.

[0013] Optionally, the automatic unpacking device further includes a first detection element, which is disposed on the feeding mechanism and used to detect material information. The controller is communicatively connected to the first detection element.

[0014] The steps of the controller executing the movement component to move the gripper to the feeding mechanism and controlling the gripper to descend to pick up the material in the ton bag specifically include:

[0015] Receive the material information;

[0016] Based on the material information, the moving component is controlled to move the gripper to the feeding mechanism;

[0017] The gripper is controlled to descend to a first preset height to grab the ton bag material on the transmission component.

[0018] Optionally, the controller executes the steps of controlling the moving component to move the gripper to the bag-breaking mechanism, and controlling the gripper to descend to break the ton bag of material on the bag-breaking mechanism and recover the material, specifically including:

[0019] Control the gripper to return to its initial height;

[0020] The moving component is controlled to move the gripper onto the recycling mechanism;

[0021] The gripper is controlled to descend to a second preset height to break the bag of material in the bag-breaking mechanism and recover the material.

[0022] Optionally, the automatic unpacking device further includes a second detection element, which is disposed on the bag-breaking mechanism. The second detection element is used to detect the pressure information of the bag-breaking mechanism, and the controller is communicatively connected to the second detection element.

[0023] After performing the step of controlling the gripper to descend to a second preset height, the controller is further configured to:

[0024] Receive the pressure information;

[0025] Determine whether the pressure information is less than or equal to the preset pressure;

[0026] When the pressure information is less than or equal to the preset pressure, the gripper is controlled to rise to a third preset height.

[0027] Optionally, the gripper is also used to generate position information and send it to the controller;

[0028] Before performing the step of determining whether the pressure information is less than or equal to a preset pressure, the controller is also configured to:

[0029] Receive the location information;

[0030] Based on the location information and the pressure information, determine whether the gripper has successfully broken the bag;

[0031] When the position information is low and the pressure information is greater than 0, it is determined that the gripper has successfully broken the bag, and the step of determining whether the pressure information is less than or equal to the preset pressure is executed.

[0032] When the position information is high or the pressure information is less than or equal to 0, it is determined that the gripper has failed to break the bag, and the process returns to the step of determining whether the gripper has successfully broken the bag based on the position information and the pressure information.

[0033] Optionally, before performing the step of controlling the gripper to descend a second preset height, the controller is further configured to:

[0034] Based on the location information and the pressure information, determine whether the bag-breaking mechanism is blocked;

[0035] When the position information is high and the pressure information is greater than 0, it is determined that the bag breaking mechanism is blocked, and the process returns to determine whether the bag breaking mechanism is blocked based on the position information and the pressure information.

[0036] When the position information is high and the pressure information is less than 0, it is determined that the bag breaking mechanism is not blocked, and the step of controlling the gripper to descend to a second preset height is executed.

[0037] Optionally, after performing the step of controlling the gripper to rise to a third preset height, the controller is further configured to:

[0038] At each preset interval, the gripper is alternately controlled to descend to a fourth preset height and then rise to the fourth preset height.

[0039] Optionally, the bag breaking mechanism further includes a dust collector, which has a dust collection port and is mounted on the dust collection port. The dust collector is communicatively connected to the controller.

[0040] After performing the step of receiving the pressure information, the controller is further configured to:

[0041] The dust collector is turned on or off based on the pressure information.

[0042] When the pressure information is greater than 0, the dust collector is controlled to turn on;

[0043] When the pressure information is less than or equal to 0, the dust collector is controlled to shut down.

[0044] Optionally, the automatic unpacking device further includes a third detection element, which is disposed between the moving component and the gripper. The third detection element is used to detect the tension information on the gripper, and the controller is communicatively connected to the third detection element.

[0045] The controller is used for:

[0046] Receive the tension information;

[0047] Determine whether the gripper is overloaded based on the tension information;

[0048] When the tension information is greater than or equal to the first preset tension, the gripper is determined to be overloaded and an alarm is triggered.

[0049] Optionally, the bag-breaking mechanism further includes a pushing and kneading rod, which is disposed on the bag-breaking mechanism, and the controller is communicatively connected to the pushing and kneading rod;

[0050] After performing the step of controlling the gripper to descend to a second preset height, the controller is further configured to:

[0051] The push-knead rod is opened based on the tension information;

[0052] When the pressure information is less than or equal to the second preset tension, the push-knead rod is activated.

[0053] Optionally, the bag breaking mechanism further includes a bag flapper, which is rotatably disposed above the bag breaking mechanism. When the bag flapper rotates, it comes into contact with the material in the ton bag located above the unloading hopper. The bag flapper is communicatively connected to the controller.

[0054] After performing the step of controlling the gripper to descend to a second preset height, the controller is further configured to:

[0055] The push-knead rod is opened based on the tension information;

[0056] When the pressure information is less than or equal to the third preset tension, the bag-tapping device is controlled to rotate.

[0057] Optionally, after performing the step of controlling the gripper to descend a second preset height, the controller is further configured to:

[0058] The moving component is controlled to swing according to the tension information;

[0059] When the pressure information is less than or equal to the fourth preset tension, the moving component is controlled to move left and right back and forth a preset distance at a preset frequency.

[0060] In this invention, the moving component controls the gripper to first move to the feeding mechanism. After descending, the gripper grabs the material from the ton bag, and then the moving component drives it to the bag-breaking mechanism for unloading. Finally, the empty bag, after unloading, is moved by the moving component to the recycling mechanism for recycling. The entire process is completed through a separate controller for command transmission and reception, resulting in high integration. Furthermore, the feeding mechanism, bag-breaking mechanism, and recycling mechanism are modularly designed, reducing installation difficulty, simplifying the debugging process after assembly, and improving the user experience. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of the automatic unpacking device of the present invention;

[0063] Figure 2 This is a schematic diagram of the bag-breaking mechanism in the automatic unpacking device of the present invention.

[0064] Figure 3 This is a schematic diagram of the specific structure of the unloading hopper in the automatic unpacking device of the present invention;

[0065] Figure 4 This is a side view of the unloading hopper in the automatic unpacking device of the present invention;

[0066] Figure 5 This is a schematic diagram of the gripper structure in the automatic unpacking device of the present invention;

[0067] Figure 6 This is a schematic diagram of the gripper with a protective cover in the automatic unpacking device of the present invention;

[0068] Figure 7 This is a schematic diagram of the bag-tapping device in the automatic unpacking device of the present invention;

[0069] Figure 8 This is a schematic diagram of the structure of the moving trolley in the automatic unpacking device of the present invention.

[0070] Explanation of icon numbers:

[0071]

[0072]

[0073] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0074] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0075] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0076] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0077] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or a communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0078] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0079] The present invention provides an automatic unpacking device, which includes a feeding mechanism, a bag breaking mechanism 10, and a recycling mechanism 70 arranged sequentially at intervals, a movable component 20 movably arranged between the feeding mechanism, the bag breaking mechanism 10 and the recycling mechanism 70, a gripper 40 that can be raised and lowered on the movable component 20, and a controller that is communicatively connected to the feeding mechanism, the movable component 20 and the gripper 40 respectively.

[0080] The controller is used to perform the following steps:

[0081] Step S10: Control the moving component 20 to move the gripper 40 to the feeding mechanism, and control the gripper 40 to descend to grip the material in the ton bag;

[0082] Step S20: Control the moving component 20 to move the gripper 40 to the bag breaking mechanism 10, and control the gripper 40 to descend so as to break the ton bag material on the bag breaking mechanism 10 and recover the material;

[0083] Step S30: Control the moving component 20 to move the gripper 40 to the recycling mechanism 70, and control the gripper 40 to descend so as to place the empty ton bag on the recycling mechanism 70 for recycling.

[0084] Please refer to Figure 1 The automatic unpacking device may also include a support frame 60, and the moving component 20, the gripper 40, the bag breaking mechanism 10, the recycling mechanism 70 and the feeding mechanism are all disposed within the support frame 60.

[0085] The moving component 20 is disposed at the top of the support frame 60, and the feeding mechanism, the bag breaking mechanism 10, and the recycling mechanism 70 are sequentially and spaced apart at the bottom of the support frame 60. The moving path of the moving component 20 passes sequentially above the feeding mechanism, the bag breaking mechanism 10, and the recycling mechanism 70.

[0086] Specifically, the moving component 20 includes a guide rail 22 and a moving trolley 21. The guide rail 22 is located on the top of the support frame 60. One end of the guide rail 22 is located above the feeding mechanism, and the other end extends and passes through the bag breaking mechanism 10 and the recycling mechanism 70 in sequence.

[0087] The mobile trolley 21 is mounted on the guide rail 22 and is driven by a motor to move back and forth on the guide rail 22.

[0088] The gripper 40 includes a gripper 40 body and a lifting drive component 30. The lifting drive component 30 can be a linear module, and the gripper 40 body is mounted on the linear module. The linear module drives the gripper 40 body to move up and down on the mobile trolley 21.

[0089] The controller can be a PLC logic controller or a mobile PC, etc., and can communicate with other devices and instruments via wired or wireless means. Specifically, by pre-setting three position coordinates, corresponding to above the feeding mechanism, the bag-breaking mechanism 10, and the recycling mechanism 70 respectively, the mobile trolley 21 can be controlled to move to the corresponding position coordinates.

[0090] The controller first controls the mobile trolley 21 to move the gripper 40 to above the feeding mechanism, and the gripper 40 descends to grab the ton bag material placed on the feeding mechanism.

[0091] After the material in the ton bag is grabbed, the moving trolley 21 is controlled to move the gripper 40 above the bag breaking mechanism 10. Similarly, the gripper 40 is controlled to descend, so that the bottom of the material in the ton bag is broken by the bag breaking mechanism 10, and the material falls from the opening at the bottom of the ton bag and is collected.

[0092] After all the material in the ton bag is collected, the controller continues to control the moving trolley 21 to move above the recycling mechanism 70, and similarly controls the gripper 40 to descend a certain distance and release the empty ton bag, so that the empty ton bag can be recycled by the recycling mechanism 70.

[0093] In this embodiment, the dimensions and installation structure of the feeding mechanism, the bag-breaking mechanism 10, and the recycling mechanism 70 are all adapted to the support frame 60, thereby improving the ease of assembly and enabling quick disassembly and assembly. Simultaneously, communication between various devices and instruments is accomplished through the controller, simplifying the debugging process. This reduces the requirements for the user's workspace and improves the user experience.

[0094] In this invention, the moving component 20 controls the gripper 40 to first move to the feeding mechanism. After descending, the gripper 40 grabs the material from the ton bag, rises to lift the material, and is then moved by the moving component 20 to the bag-breaking mechanism 10. The gripper 40 then descends again to break the bag and unload the material. Finally, the empty bag, after unloading, is moved by the moving component 20, along with the gripper 40, to the recycling mechanism 70 for recycling. The entire process is completed through a separate controller for command transmission and reception, resulting in high integration. Furthermore, the feeding mechanism, the bag-breaking mechanism 10, and the recycling mechanism 70 are modularly designed, reducing installation difficulty, simplifying the debugging process after assembly, improving user experience, and increasing automation.

[0095] Furthermore, the automatic unpacking device also includes a first detection element, which is disposed on the feeding mechanism and used to detect material information. The controller is communicatively connected to the first detection element.

[0096] When the controller executes step S10, it specifically includes the following steps:

[0097] Step S11: Receive the material information;

[0098] Step S12: Based on the material information, control the moving component 20 to move the gripper 40 onto the feeding mechanism;

[0099] Step S13: Control the gripper 40 to descend to a first preset height to grab the ton bag material on the transmission component.

[0100] The feeding mechanism 80 includes a transmission component 81 and a first detection component. The feeding end of the transmission component 81 is connected to an external feeding device, and the discharging end 82 of the transmission component 81 is located on one side of the bag breaking mechanism 10. The transmission direction of the transmission component 81 is from the feeding end to the discharging end 82. The first detection component is located on the discharging end 82.

[0101] The transmission component can be a roller conveyor mechanism for material transfer. The ton bag material is placed on the transmission component 81 via a pallet.

[0102] The feeding end is used to connect with external feeding equipment or to connect with the unloading end 82 of the previous process, so that after the previous process is completed, it can continue to be transmitted directly through the transmission component, thereby improving compatibility and meeting automation requirements.

[0103] A first detection element is provided on one side of the feeding end 82. The first detection element can be a sensing device such as a pressure sensor. When the material in the ton bag arrives at the feeding end 82, it can be detected by the first detection element, and a corresponding material signal is generated. For example, when a pressure sensor is used, the detected pressure is used to generate the material signal through changes in high and low voltage levels.

[0104] After receiving the material signal, the controller controls the mobile trolley 21 to move above the feeding mechanism. Once the mobile trolley 21 moves the gripper 40 above the feeding mechanism 80, it then drives the gripper 40 to descend to a first preset height. This first preset height can be measured to ensure that the gripper 40, after descending to the first preset height, is perfectly aligned with the position of the material in the ton bag, ensuring accurate gripping.

[0105] For details, please refer to Figures 5-6 The gripper 40 body includes a first connecting arm 41, a second connecting arm 42, a first driving component 43, an elastic component 44, and a hook 45. The first connecting arm 41 is used to fix it to an external support structure. One end of the second connecting arm 42 is hinged to the first connecting arm 41. One end of the first driving component 43 is disposed on the first connecting arm 41, and the other end is disposed on the second connecting arm 42. The elastic component 44 is disposed on the other end of the second connecting arm 42. One end of the hook 45 is sleeved in the elastic component 44, and the other end extends away from the second connecting arm 42. When the elastic component 44 undergoes elastic deformation, it drives the hook 45 to float in the direction from the elastic component 44 to the second connecting arm 42.

[0106] The first connecting arm 41 can be a plate-shaped connecting mechanism, such as an iron plate or a wooden board, and is fixed to the external support structure by bolts. The external support structure can be, for example, a hanger or a wall.

[0107] The second connecting arm 42 is hinged to the first connecting arm 41. Specifically, holes, rings, and other structures can be provided on the first connecting arm 41 and the second connecting arm 42, and their holes and rings can be connected together. A pin passes through the holes and rings to achieve a hinged connection, that is, the second connecting arm 42 can rotate around the hinge position.

[0108] The second connecting arm 42 is driven by the first driving assembly 43. The first driving assembly 43 can be connected by a corresponding rod-shaped connector, such as a cylinder or linear module, to push the second connecting arm 42 to swing.

[0109] The elastic component 44 and the hook 45 are both mounted on the second connecting arm 42. When the second connecting arm 42 rotates, it drives the elastic component 44 and the hook 45 to rotate synchronously.

[0110] As one embodiment, by adjusting the installation position of the first connecting arm 41, the hook 45 is positioned facing the left. When the second connecting arm 42 is driven to swing to the left, the hook 45 performs a gripping action and adheres to the side of the ton bag; when the second connecting arm 42 is driven to swing to the right, the hook 45 performs a releasing action and disengages from the side of the ton bag.

[0111] In another embodiment, by adjusting the installation position of the first connecting arm 41 so that the hook 45 is set to the right, the gripping and releasing actions of the hook 45 are the opposite of those when it is set to the left.

[0112] Regardless of whether the hook 45 is positioned to the left or right, the elastic component 44 acts as a buffer for the hook 45 during the gripping action. That is, when the hook 45 is in close contact with the side of the ton bag, the weight of the ton bag causes the elastic component 44 to deform. The hook 45 floats with the deformation of the elastic component 44, allowing it to fully conform to the side of the ton bag without puncturing its surface. The deformation of the elastic component 44 changes according to the weight of the ton bag, thus adapting to ton bags of different weights and improving compatibility.

[0113] The gripper 40 also includes a protective cover 46, one end of which is connected to the first connecting arm 41, and the other end extends toward one side of the second connecting arm 42; wherein, when the second connecting arm 42 rotates, it causes the hook 45 to extend out of the protective cover 46 or retract into the protective cover 46.

[0114] On one hand, the protective cover 46 is used for dust and water protection, preventing corrosion of electronic components or metal parts on the inner wall. On the other hand, the hook 45 has a short distance from the surface of the protective cover 46, meaning it fits snugly against the surface of the protective cover 46. Therefore, when the hook 45 needs to loosen the ton bag, simply rotating the second connecting arm 42 back will work with the protective cover 46 to push the side of the ton bag away from the hook 45.

[0115] Further, please refer to Figures 2-4 The bag-breaking mechanism 10 includes a discharge hopper 11 and a bag-breaking knife 12. The discharge hopper 11 is disposed between the feeding mechanism and the recycling mechanism 70. The bag-breaking knife 12 is disposed inside the discharge hopper 11, and the blade of the bag-breaking knife 12 is disposed on one side facing the moving component 20.

[0116] The unloading hopper 11 has an unloading chamber and an inlet 113 and an outlet 114 that are connected to and opposite to the unloading chamber; the inlet 113 faces upward and the outlet 114 faces downward. The bag-breaking knife 12 is disposed in the unloading chamber, and the blade of the bag-breaking knife 12 faces the inlet 113.

[0117] The controller executes step S20, which specifically includes the following steps:

[0118] Step S21: Control the gripper to return to its initial height;

[0119] Step S22: Control the moving component to move the gripper onto the recycling mechanism;

[0120] Step S23: Control the gripper to descend to a second preset height, so as to break the bag of material in the ton bag on the bag breaking mechanism and recover the material.

[0121] First, the gripper 40 is controlled to return to its initial height to avoid interference between the ton bag and other equipment due to excessive length. Alternatively, step S21 can be omitted by setting a height difference between the feeding mechanism 80 and the bag breaking mechanism 10.

[0122] When the controller controls the gripper 40 to pick up the material in the ton bag, it controls the moving component 20 to move the gripper 40 above the bag breaking mechanism 10 for unloading.

[0123] During unloading, the material in the ton bag is moved to be directly above the inlet 113. The controller controls the gripper 40 to descend to the second preset height, so that the position of the ton bag is lower than the blade height of the bag-breaking knife 12. Under the combined action of the ton bag's own weight and the external handling mechanism, the bag-breaking knife 12 can break the ton bag to form an opening, allowing the material inside the ton bag to fall into the unloading hopper 11 through the opening. The material is then introduced into the external recycling mechanism 70 through the unloading hopper 11.

[0124] In special circumstances, such as when the ton bag is large or the bottom of the ton bag is irregularly shaped, the opening formed by the bag-breaking knife 12 on the ton bag cannot cover the entire bottom of the ton bag, resulting in some material remaining at the top corners of the ton bag.

[0125] Furthermore, the bag-breaking mechanism 10 also includes a second detection element, which is disposed at the bottom of the bag-breaking knife 12. The second detection element is used to detect the pressure information on the bag-breaking knife 12; the controller is communicatively connected to the second detection element.

[0126] After executing step S23, the controller further includes the following steps:

[0127] Step S24: Receive the pressure information;

[0128] Step S25: Determine whether the pressure information is less than or equal to the preset pressure;

[0129] Step S26: When the pressure information is less than or equal to the preset pressure, control the gripper to rise to a third preset height.

[0130] The second detection element can also be a pressure sensor, etc. After the ton bag is damaged, the material is recovered through the bottom discharge port 114, and the pressure detected by the second detection element gradually decreases accordingly.

[0131] After a period of time, the material inside the ton bag tends to accumulate at the bottom due to gravity, causing blockage at the inlet 113. Therefore, the material blocking the inlet 113 can be cleared by controlling the gripper 40 to rise to the third preset height.

[0132] The third preset height can be adjusted based on the operator's experience.

[0133] Specifically, the remaining amount of material in the ton bag is determined by the pressure information of the second detection element, thereby controlling the gripper 40 to perform an upward operation at an appropriate time.

[0134] The controller receives the pressure information and determines whether the pressure information is less than or equal to a preset pressure; when the pressure information is less than or equal to the preset pressure, it controls the gripper 40 to rise to a third preset height.

[0135] The preset pressure can be adjusted according to the load capacity of the ton bag and the on-site test results.

[0136] Furthermore, a sensor can be installed on the lifting drive component 30 of the gripper 40 to detect the current height of the gripper 40 and generate position information. The position information includes a high position and a low position; for example, when the gripper is above a certain position, the position information is considered high, and when it is below a certain position, the position information is considered low. This can be adjusted according to the stroke of the lifting drive component 30.

[0137] The gripper is also used to generate position information and send it to the controller; before executing step S25, the controller further includes performing the following steps:

[0138] Step S27: Receive the location information;

[0139] Step S28: Determine whether the gripper has successfully broken the bag based on the position information and the pressure information;

[0140] Step S29: When the position information is low and the pressure information is greater than 0, it is determined that the gripper has successfully broken the bag, and step S25 is executed;

[0141] Step S210: When the position information is high or the pressure information is less than or equal to 0, it is determined that the gripper has failed to break the bag, and the process returns to step S28.

[0142] When the material in the ton bag descends onto the bag-breaking knife 12, the gravity borne by the bag-breaking knife 12 is detected by the second detection element. By combining the position information of the gripper 40 and the pressure information, it is determined whether the gripper 40 has descended to the correct position and whether the ton bag has been broken normally, thereby improving accuracy and ensuring that unloading can be completed smoothly.

[0143] When the position information is high, it indicates that the gripper 40 has not descended to its proper position, meaning the ton bag and the rupture knife 12 are not in contact, thus preventing normal bag rupture. When the position information is low, it indicates that the gripper 40 has descended to its proper position. To improve detection accuracy, the pressure information needs to be considered. When a change in the pressure information is detected, it indicates that the ton bag and the rupture knife 12 are in normal contact, and the bag rupture is successful. If no change in the pressure information is detected, an abnormal situation may have occurred, and the result will show that the bag rupture was unsuccessful, to avoid unexpected situations when executing the next step.

[0144] Furthermore, before executing step S23, the controller is also configured to perform the following steps:

[0145] Step S211: Determine whether the bag-breaking mechanism is blocked based on the position information and the pressure information;

[0146] Step S212: When the position information is high and the pressure information is greater than 0, determine that the bag breaking mechanism is blocked, and return to execute step S211;

[0147] Step S213: When the position information is high and the pressure information is less than 0, it is determined that the bag breaking mechanism is not blocked, and step S23 is executed.

[0148] During the unloading process, if the ton bag is damaged and the gap is large, resulting in a fast discharge speed, or if there is a large amount of material, the inlet 113 of the unloading hopper 11 may become blocked.

[0149] Therefore, in order to prevent the gripper 40 from continuing to move the next ton bag to the bag-breaking knife 12 for bag breaking when the unloading hopper 11 is blocked, the position information and the pressure information are used for comprehensive detection and judgment, thereby improving the accuracy of the judgment.

[0150] Specifically, when the position information is low, it indicates that the gripper 40 is performing a bag-breaking or material-discharging operation, and therefore no blockage is detected. When the position information is high, that is, after the gripper 40 has finished unloading, the unloading hopper 11 is detected. It can be understood that when blocked, the material presses on the bag-breaking knife 12, thus creating pressure on the second detection element. Therefore, when the position information is high and a change in pressure information is detected, the unloading hopper 11 is determined to be blocked, and an alarm can be triggered to prompt the operator to clear the blockage promptly.

[0151] If there is no blockage, the gripper 40 performs the next operation.

[0152] Furthermore, after executing step S26, the controller is also configured to execute the following steps:

[0153] Step S214: At each preset interval, the gripper is alternately controlled to descend to a fourth preset height and then rise to the fourth preset height.

[0154] After the ton bag is broken and the gripper 40 is raised to the third preset height, in order to ensure the unblocking effect, the gripper 40 can be raised and lowered repeatedly to ensure that the material can be unloaded smoothly.

[0155] The preset cycle is set according to a certain duration, that is, the corresponding operation is performed after each interval of this duration. For example, after rising to the third preset height, the gripper 40 is controlled to descend to the fourth preset height, and after the cycle duration, the gripper 40 is controlled to rise to the fourth preset height, and so on.

[0156] In this embodiment, the gripper 40 can be continuously controlled to alternately descend and rise until the material in the ton bag is completely unloaded. Alternatively, a preset number of times can be set, and the gripper 40 will stop descending and rising after a preset number of times.

[0157] Furthermore, the bag breaking mechanism 10 also includes a dust collector, and the bag breaking mechanism 10 is provided with a dust collection port 14. The dust collector is installed on the dust collection port 14 and is communicatively connected to the controller.

[0158] During the material unloading process, since the central area is blocked by the ton bag, the dust can only escape from the gap between the ton bag and the inner wall of the unloading hopper. By opening the dust removal port 14 on the side wall of the unloading hopper and installing the dust collector, a negative pressure is formed at the dust removal port 14 to perform dust removal operation, preventing dust materials from escaping and contaminating other parts of the equipment when the ton bag breaks and the material is unloaded.

[0159] The dust collector can achieve dust removal by using equipment such as a vacuum source. The controller is also used to determine whether the pressure information is greater than 0; the processing module is also used to control the dust collector to turn on when the pressure information is greater than 0, and to control the dust collector to turn off when the pressure information is less than or equal to 0. Therefore, this ensures that the dust collector can be automatically turned on promptly after the bag is broken, improving the automation level and reliability of the automatic unpacking device of this invention.

[0160] Further, please refer to Figure 8 The automatic unpacking device further includes a third detection element 90, which is disposed between the moving component 20 and the gripper 40. The third detection element 90 is used to detect the tension information on the gripper 40, and the controller is communicatively connected to the third detection element 90.

[0161] The controller is used to perform the following steps:

[0162] Step S40: Receive the tension information;

[0163] Step S50: Determine whether the gripper is overloaded based on the tension information;

[0164] Step S60: When the tension information is greater than or equal to the first preset tension, determine that the gripper is overloaded and issue an alarm.

[0165] The third detection element 90 can be installed at the connection position between the mobile trolley 21 and the gripper 40, so that when the gripper 40 grabs the material of the ton bag, it generates a downward pulling force on the gripper 40, which is detected by the third detection element 90 and the pulling force information is generated.

[0166] During the process of the gripper 40 gripping the material in the ton bag, the third detection element 90 detects the tension information in real time, thereby preventing the tension borne by the gripper 40 from exceeding its threshold range, that is, preventing the gripper 40 from being overloaded and causing safety hazards.

[0167] Specifically, by determining whether the tension information is greater than or equal to the first preset tension, if it is greater than or equal to the first preset tension, it indicates that the gripper 40 is overloaded, and an alarm is triggered by a buzzer to prompt the operator to handle the situation in a timely manner and avoid potential safety hazards.

[0168] The magnitude of the first preset tension can be adjusted according to the material of the gripper 40 and the connection stiffness between it and the mobile trolley 21 to ensure the stability and safety of the equipment during operation.

[0169] The push-knead rod 13 is also provided on the unloading hopper 11. The angle of the ton bag or the installation position of the push-knead rod 13 on the unloading hopper 11 can be adjusted by an external handling mechanism so that the push-knead rod 13 is aligned with the four corners of the ton bag. By controlling the extension of the push-knead rod 13, the material remaining in the four corners is pushed out of the ton bag to the opening position.

[0170] It should be noted that under normal assembly conditions, the inlet 113 is positioned above the outlet 114, and the ton bag unloads material from top to bottom under gravity. However, due to the weight of the material, the top corners of the ton bag sag below the height of the opening, preventing the material from being unloaded normally.

[0171] Therefore, in order to ensure that the material can be unloaded normally, the moving direction of the pushing and kneading rod 13 is set towards the feed inlet 113, that is, the pushing and kneading rod 13 pushes the top corners of the ton bag diagonally upward, so as to ensure that the material moves upward and is finally unloaded from the middle opening.

[0172] For different application scenarios, the moving direction of the feed inlet 113 and the kneading rod 13 can be adjusted accordingly, as long as the kneading rod 13 moves toward the feed inlet 113.

[0173] In addition, the unloading bin includes a dust removal section 112 and a material dropping section 111 arranged sequentially from the inlet 113 to the outlet 114; the material dropping section 111 is gradually tapered along the direction from the inlet 113 to the outlet 114, the pushing and kneading rod 13 is arranged on the material dropping section 111, and the moving direction of the pushing and kneading rod 13 is perpendicular to the side wall of the material dropping section 111.

[0174] The material drop section 111 narrows from the inlet 113 to the outlet 114, forming a funnel shape from top to bottom. This facilitates material collection. Furthermore, the material drop section 111 is inclined, forming an angle with the vertical direction. Therefore, when the moving direction of the pushing rod 13 is set to be perpendicular to the side wall of the material drop section 111, it ensures that the pushing rod 13 pushes the material upward.

[0175] Furthermore, the inlet 113 is located at the center of the discharge hopper 11, and the moving direction of the pushing rod 13 is set to be perpendicular to the side wall of the discharge hopper 11, so that when the pushing rod 13 extends, it pushes the material towards the center of the inlet 113. It is understood that the opening of the ton bag is usually located at the center of the bottom surface; therefore, ensuring that the pushing rod 13 pushes the material from the four corners towards the central opening improves the reliability of unloading.

[0176] Furthermore, the controller is communicatively connected to the kneading rod 13;

[0177] After performing step 23, the controller is further configured to perform the following steps:

[0178] Step S215: Control the kneading rod to open according to the tension information;

[0179] Step S216: When the pressure information is less than or equal to the second preset tension, control the push-knead rod to open.

[0180] It is understandable that during the unloading process, the material flows out of the ton bag, so the weight of the ton bag gradually decreases, and the tensile force detected by the third detection component also gradually decreases.

[0181] To further improve the level of automation, the push-knead rod 13 is activated when the pulling force signal is less than the second preset pulling force.

[0182] The second preset tension can be adjusted based on experience. When the second preset tension is reached, some of the material inside the ton bag has already fallen out, the surface tension of the ton bag decreases, and the ton bag flattens, which may result in material remaining at the bend of the ton bag.

[0183] Therefore, when the force is less than the second preset tension, the pusher rod 13 is activated in time to push the material in the ton bag to ensure that it falls smoothly.

[0184] Further, please refer to Figure 7 The bag breaking mechanism 10 also includes a bag beater 50, which is rotatably disposed above the unloading hopper 11. When the bag beater 50 rotates, it comes into contact with the ton bag material located above the unloading hopper 11. The bag beater 50 is communicatively connected to the controller.

[0185] After executing step S23, the controller is further configured to execute the following steps:

[0186] Step S217: Control the kneading rod to open according to the tension information;

[0187] Step S218: When the pressure information is less than or equal to the third preset tension, control the bag-tapping device to rotate.

[0188] The bag-beating device 50 includes a support mechanism 51, a rotating component 52, a beating component 53, and a second drive component 54. The rotating component 52 is rotatably mounted on the support mechanism 51. One end of the beating component 53 is connected to the rotating component 52, and the other end extends out of the support mechanism 51. The second drive component 54 is movably mounted on the support mechanism 51 and is connected to the rotating component 52. The second drive component 54 is used to drive the rotating component 52 to rotate, and when the rotating component 52 rotates, it drives the beating component 53 to rotate to perform a beating action.

[0189] The support mechanism 51 includes a bracket 511 and a mounting plate 512. One end of the bracket 511 is used to support the external support surface. The mounting plate 512 is disposed on the other end of the bracket 511. The rotating component 52 and the drive shaft component are respectively disposed on both sides of the mounting plate 512.

[0190] The bracket 511 can be connected by multiple strip-shaped connecting columns of varying lengths. The height can be adjusted by increasing or decreasing the number of connecting columns. When tapping ton bags of different sizes, the height can be adjusted to adapt to the target, thus improving compatibility.

[0191] The mounting plate 512 has a flat plate structure. The bracket 511 and the mounting plate 512 can be made of wood or metal to ensure support strength.

[0192] As one embodiment, the second drive component 54 can be a motor, with its output shaft connected to the rotating component 52, thereby driving the rotating component 52 to rotate.

[0193] In another embodiment, the second drive component 54 can also be a cylinder, with the piston rod of the cylinder connected to the edge of the rotating component 52, so that the rotating component 52 can be rotated when the piston rod extends or retracts.

[0194] The specific assembly method can be adjusted according to the application scenario. This embodiment uses a cylinder-driven method for explanation.

[0195] When the rotating component 52 rotates, it drives the striking component 53 to rotate synchronously. The support mechanism 51 is installed on the edge of the ton bag unloading position, so that the striking component 53 abuts against the ton bag when it rotates, realizing a simulated striking effect.

[0196] The striking component 53 adopts a slender rod-shaped structure, which makes its contact surface with the ton bag smaller, so that when rotating at a faster speed, the striking component 53 can strike the ton bag with greater force, without causing the ton bag to shake.

[0197] During the tapping process, the sides of the ton bag vibrate under force, preventing the internal material from accumulating or sticking to the inner surface, allowing it to fall out normally.

[0198] Multiple beating devices are arranged sequentially at intervals along the axial direction around the edge of the unloading hopper 11 of the bag-breaking device. This allows for simultaneous beating of the ton bag from all sides, ensuring the material falls smoothly.

[0199] In this embodiment, the bag-tapping device 50 is also automatically opened by controlling the tension information.

[0200] When the tension signal is less than the third preset tension, the bag-tapping device 50 is activated.

[0201] The third preset tension can be adjusted based on experience. When the third preset tension is reached, some of the material inside the ton bag has already fallen out, the surface tension of the ton bag decreases, and the ton bag flattens, which may result in material remaining at the bend of the ton bag.

[0202] Therefore, when the tension is less than the third preset tension, the bag beater 50 is activated in time to beat the material in the ton bag to ensure that it falls smoothly.

[0203] Furthermore, after executing step S23, the controller is also configured to execute the following steps:

[0204] Step S219: Control the swinging of the moving component according to the tension information;

[0205] Step S220: When the pressure information is less than or equal to the fourth preset tension, control the moving component to move left and right back and forth a preset distance at a preset frequency.

[0206] To further improve the unloading effect and prevent material residue, when the tension information is less than the fourth preset tension, the moving trolley 21 is controlled to move back and forth at a preset frequency, for example, 30 times per minute. The distance moved is the preset distance.

[0207] The preset frequency and the preset distance can be adjusted according to the device size.

[0208] When the mobile trolley 21 moves back and forth, it causes the ton bag at the bottom to swing back and forth, thereby improving the unloading effect.

[0209] Furthermore, the recycling mechanism 70 includes a bag sorter, which is disposed on one side of the bag breaking mechanism 10 and is communicatively connected to the controller. After the gripper 40 is controlled to descend to a second preset height, the controller is also used to wait for a preset time, control the moving component 20 to move the gripper 40 above the bag sorter, and control the gripper 40 to descend to a fifth preset height to place the ton bag material on the bag sorter.

[0210] By setting a delay, the average unloading time of the ton bags can be detected experimentally. A corresponding delay time, i.e., the preset time, is then set based on this average time. Thus, after the gripper 40 has moved above the bag-breaking mechanism 10 for the preset time, the moving trolley 21 is automatically controlled to move the gripper 40 above the bag sorter, and the empty ton bag is placed on the bag sorter.

[0211] In addition, the pressure signal can also be used to determine whether the material has been unloaded. When the pressure signal is 0, it indicates that the material in the ton bag has been unloaded, so the gripper 40 can be controlled to move onto the bag sorter to recycle the empty ton bag.

[0212] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An automatic unpacking device, characterized in that, The automatic unpacking device includes: The feeding mechanism, bag-breaking mechanism, and recycling mechanism are arranged in sequence at intervals. A movable component and a gripper, wherein the gripper is movably mounted on the movable component, and the movable component is movably mounted between the feeding mechanism, the bag breaking mechanism, and the recycling mechanism; The controller is communicatively connected to the feeding mechanism, the moving component, and the gripper. The bag-breaking mechanism includes a discharge hopper and a bag-breaking knife. The discharge hopper is disposed between the feeding mechanism and the recycling mechanism. The bag-breaking knife is disposed inside the discharge hopper, with its blade facing the side of the moving component. The automatic unpacking device also includes a second detection element, which is disposed on the bag-breaking mechanism and at the bottom of the bag-breaking knife. The second detection element is used to detect the pressure information on the bag-breaking knife, and the controller is communicatively connected to the second detection element. The controller executes the steps of controlling the moving component to move the gripper to the bag-breaking mechanism, and controlling the gripper to descend so as to break the ton bag of material on the bag-breaking mechanism and recover the material. Specifically, the steps include: Control the gripper to return to its initial height; The moving component is controlled to move the gripper onto the bag-breaking mechanism; The gripper is controlled to descend to a second preset height so as to break the bag of material in the bag breaking mechanism and recover the material; Receive the pressure information; Determine whether the pressure information is less than or equal to the preset pressure; When the pressure information is less than or equal to the preset pressure, control the gripper to rise to a third preset height; The gripper is also used to generate position information and send it to the controller; Before performing the step of determining whether the pressure information is less than or equal to a preset pressure, the controller is also configured to: Receive the location information; Based on the location information and the pressure information, determine whether the gripper has successfully broken the bag; When the position information is low and the pressure information is greater than 0, it is determined that the gripper has successfully broken the bag, and the step of determining whether the pressure information is less than or equal to the preset pressure is executed. When the position information is high or the pressure information is less than or equal to 0, it is determined that the gripper has failed to break the bag, and the process returns to the step of determining whether the gripper has successfully broken the bag based on the position information and the pressure information.

2. The automatic unpacking device according to claim 1, characterized in that, The automatic unpacking device further includes a first detection element, which is disposed on the feeding mechanism and used to detect material information. The controller is communicatively connected to the first detection element. The steps of the controller executing the movement component to move the gripper to the feeding mechanism and controlling the gripper to descend to pick up the material from the ton bag specifically include: Receive the material information; Based on the material information, the moving component is controlled to move the gripper to the feeding mechanism; The gripper is controlled to descend to a first preset height to grab the ton bag material on the transmission component.

3. The automatic unpacking device according to claim 1, characterized in that, Before performing the step of controlling the gripper to descend to a second preset height, the controller is also configured to: Based on the location information and the pressure information, determine whether the bag-breaking mechanism is blocked; When the position information is high and the pressure information is greater than 0, it is determined that the bag breaking mechanism is blocked, and the process returns to the step of determining whether the bag breaking mechanism is blocked based on the position information and the pressure information. When the position information is high and the pressure information is less than 0, it is determined that the bag breaking mechanism is not blocked, and the step of controlling the gripper to descend to a second preset height is executed.

4. The automatic unpacking device according to claim 1, characterized in that, After performing the step of controlling the gripper to rise to a third preset height, the controller is further configured to: At each preset interval, the gripper is alternately controlled to descend to a fourth preset height and then rise to the fourth preset height.

5. The automatic unpacking device according to claim 1, characterized in that, The bag breaking mechanism also includes a dust collector, which has a dust collection port. The dust collector is installed on the dust collection port and is communicatively connected to the controller. After performing the step of receiving the pressure information, the controller is further configured to: The dust collector is turned on or off based on the pressure information. When the pressure information is greater than 0, the dust collector is controlled to turn on; When the pressure information is less than or equal to 0, the dust collector is controlled to shut down.

6. The automatic unpacking device according to claim 1, characterized in that, The automatic unpacking device further includes a third detection element, which is disposed between the moving component and the gripper. The third detection element is used to detect the tension information on the gripper, and the controller is communicatively connected to the third detection element. The controller is used for: Receive the tension information; Determine whether the gripper is overloaded based on the tension information; When the tension information is greater than or equal to the first preset tension, the gripper is determined to be overloaded and an alarm is triggered.

7. The automatic unpacking device according to claim 6, characterized in that, The bag-breaking mechanism also includes a pushing and kneading rod, which is mounted on the bag-breaking mechanism, and the controller is communicatively connected to the pushing and kneading rod. After performing the step of controlling the gripper to descend a second preset height, the controller is further configured to: The push-knead rod is opened based on the tension information; When the pressure information is less than or equal to the second preset tension, the push-knead rod is activated.

8. The automatic unpacking device according to claim 7, characterized in that, The bag breaking mechanism also includes a bag beater, which is rotatably mounted above the bag breaking mechanism. When the bag beater rotates, it comes into contact with the material in the ton bag located above the unloading hopper. The bag beater is communicatively connected to the controller. After performing the step of controlling the gripper to descend a second preset height, the controller is further configured to: The push-knead rod is opened based on the tension information; When the pressure information is less than or equal to the third preset tension, the bag-tapping device is controlled to rotate.

9. The automatic unpacking device according to claim 6, characterized in that, After performing the step of controlling the gripper to descend a second preset height, the controller is further configured to: The moving component is controlled to swing according to the tension information; When the pressure information is less than or equal to the fourth preset tension, the moving component is controlled to move left and right back and forth a preset distance at a preset frequency.

Images