Automatic ton bag material processing equipment and automatic processing method

Abstract

The application discloses a ton bag material automatic processing equipment and automatic processing method, which can automatically complete ton bag conveying, lifting belt arrangement, bag breaking, material qualification detection, material pouring and unqualified ton bag conveying and other actions without manual intervention and has high production efficiency.

Description

Technical Field

[0001] This application relates to the field of automated processing equipment technology, and in particular to an equipment and method for automatically processing materials in ton bags. Background Technology

[0002] BOOM bags, also known as ton bags or flexible container bags, are a type of medium-sized bulk container. They are commonly used in industries such as chemical, plastics, coal, wastewater treatment, and infrastructure to store powdery or granular materials.

[0003] There are generally two ways to unload and feed ton bags: 1. Lift the ton bag to the unloading port using a forklift or electric hoist, and manually cut the bottom of the ton bag with a blade, so that the material inside the ton bag falls into the feeding equipment by gravity; 2. Lift the ton bag to the support platform, and the unloading knife (blade facing up) arranged on the support platform directly punctures the bottom of the ton bag, so that the material falls into the feeding port below the support platform.

[0004] Both of these methods involve opening from the bottom, which is not conducive to the recycling of ton bags. Furthermore, both require operation on a platform, which is inconvenient for personnel and poses safety risks. Moreover, the first unloading method requires manual bag breaking, generating significant dust, which is detrimental to worker health. After breaking the bag, empty bags must be manually collected, resulting in a heavy workload and a harsh working environment. While the second unloading method uses a cutting tool to puncture the bottom of the ton bag, eliminating the need for manual breaking, empty bags still require timely removal after the material is poured out. Therefore, personnel are needed on the support platform to participate in pouring material and collecting empty bags, leading to a heavy workload and a harsh working environment. In addition, in traditional production processes, unloading and feeding ton bags primarily relies on manual visual inspection of the material inside the bag before feeding, checking for abnormalities such as clumping. If the material is normal, the bag is broken and fed; if abnormal, the ton bag is removed using forklifts or other transport equipment.

[0005] Therefore, the traditional methods of unloading and feeding ton bags require manual intervention, which is detrimental to the health of personnel. In addition, the labor costs of production are high and the production efficiency is low. It is necessary to propose a new technical solution to solve the problems existing in the current technology. Summary of the Invention

[0006] This application provides an automatic material handling equipment and method for ton bags to solve the problem of low material unloading and feeding efficiency in current ton bag materials.

[0007] To achieve the above objectives, this application provides the following technical solution:

[0008] On the one hand, this application provides an automatic material handling equipment for ton bags, including a conveying device. The conveying device is provided with a feeding station, a bag breaking detection station and a material unloading station in sequence. The conveying device is used to transfer the ton bags to be processed that are fed to the feeding station to the bag breaking detection station and the material unloading station in sequence.

[0009] The bag-breaking inspection station is equipped with a bag-breaking inspection robot. The end effector of the bag-breaking inspection robot is equipped with a flexible gripper, an electrothermal knife, and a vision inspection device. The vision inspection device is used to identify the lifting straps on the ton bag and to identify whether the material inside the bag is qualified from the pouring port on the ton bag. The flexible gripper is used to clamp or release the lifting straps under the action of the bag-breaking inspection robot. The electrothermal knife is used to cut open the top of the ton bag to form the pouring port.

[0010] The unloading station is equipped with an unloading device, which is used to place the qualified ton bags after they have been broken above the hopper and flip the ton bags so that the material falls into the hopper from the unloading port. The unloading device is also used to transfer the unqualified ton bags after they have been broken to the unqualified conveyor line.

[0011] In one embodiment of this application, the bag-breaking detection robot includes a six-axis robot. The end effector of the six-axis robot is provided with a flange, and a connecting frame is installed on the flange. A flange connecting seat for adapting to the flange is provided at the first end of the connecting frame, and the vision detection device is provided on the flange connecting seat. The flexible gripper is installed at the second end of the connecting frame, and the electrothermal knife is installed at the third end of the connecting frame. The vision detection device includes a camera for identifying and locating the lifting strap on the ton bag. The six-axis robot is used to move the flexible gripper to the target position to clamp the lifting strap, and then release the lifting strap after moving it to the side of the ton bag.

[0012] In one embodiment of this application, the visual inspection device includes a camera and an image processor. The camera is used to acquire material image information at the discharge port and send the material image information to the image processor. The image processor is used to process the material image information received from the camera and output a signal to the discharge device indicating whether the material in the ton bag is qualified based on the processing result.

[0013] In one embodiment of this application, the discharging device includes a rotary frame and a lifting mechanism, a gripping claw mechanism, a tilting mechanism, and a shaking rod disposed on the rotary frame; the gripping claw mechanism is used to grip the broken ton bag tightly; the shaking rod is used to insert the ton bag through the discharging port; the lifting mechanism is used to lift the qualified ton bag gripped by the gripping claw mechanism to above the discharging station; the rotary frame is used to rotate the ton bag lifted to above the discharging station to above the hopper; and the tilting mechanism is used to tilt the ton bag located above the hopper so that the discharging port faces the hopper. During the material unloading process into the hopper, the shaking rod is driven to move up and down to shake the material and support the ton bags. After unloading is completed, the flipping mechanism resets and the empty bags fall. The lifting mechanism lifts the defective ton bags held by the gripping claw mechanism to above the unloading station. The rotating frame rotates the defective ton bags lifted to above the unloading station to above the defective conveyor line. The lifting mechanism lowers the defective ton bags onto the defective conveyor line, which then transports them to the target station.

[0014] In one embodiment of this application, a base is provided below the rotary frame, and a first motor and a first rotary table connected to the power output shaft of the first motor are provided on the base. The first rotary table is horizontally arranged, and the rotary frame is rotatably connected to the base through the first rotary table. The rotary frame has a box-type structure, a counterweight is provided on a first side of the rotary frame, and a lifting mechanism is provided on a second side of the rotary frame. The counterweight and the lifting mechanism are arranged opposite to each other. The lifting mechanism includes a slide rail vertically arranged on the side wall of the rotary frame, a slider is provided on the slide rail, a lifting mounting plate is installed on the slider, the lifting mounting plate is connected to the hydraulic rod of a lifting cylinder, and the lifting mounting plate moves up and down along the slide rail under the action of the lifting cylinder.

[0015] In one embodiment of this application, the flipping mechanism includes a second motor mounted on the lifting mounting plate and a second rotary table connected to the power output end of the second motor. The table surface of the second rotary table is vertically arranged. The gripper mechanism includes a mounting base plate mounted on the second rotary table. A first telescopic cylinder and a second telescopic cylinder are arranged opposite to each other on the mounting base plate. The output end of the first telescopic cylinder is connected to the first gripper, and the output end of the second telescopic cylinder is connected to the second gripper. The first gripper and the second gripper are arranged opposite to each other in the horizontal direction. When the output ends of both the first telescopic cylinder and the second telescopic cylinder are retracted, the first gripper and the second gripper move closer to each other to complete the gripping action of the ton bag. When the output ends of both the first telescopic cylinder and the second telescopic cylinder are extended, the first gripper and the second gripper move away from each other to complete the release action of the ton bag.

[0016] In one embodiment of this application, the mounting base plate includes a first vertical plate connected to the second rotary table and a second horizontal plate perpendicular to the first vertical plate. The first telescopic cylinder and the second telescopic cylinder are both disposed on the first vertical plate. A shaking cylinder is mounted on the second horizontal plate. The output end of the shaking cylinder forms the shaking rod. The shaking rod is vertically disposed and located between the first gripper and the second gripper. When the mounting base plate descends along the slide rail with the lifting mounting plate driven by the lifting cylinder, the first gripper and the second gripper separate and fall to both sides of the ton bag respectively. The shaking rod is inserted into the bag from the pouring port at the top of the ton bag.

[0017] In one embodiment of this application, an empty bag picking robot is installed next to the hopper. Empty bags, after being unloaded, fall into the hopper. The empty bag picking robot picks up the empty bags from the hopper and places them on a bag-tying and conveying device. The empty bag picking robot includes a six-axis robot. A flange is installed at the end effector of the six-axis robot. A gripper and a camera are installed on the flange. The camera is used to locate the empty bags, and the gripper is used to grab or release the empty bags that fall into the hopper under the action of the empty bag picking robot. The bag-tying and conveying device includes a roller conveyor line and a drive motor that drives the roller conveyor line. The conveyor line includes a feeding end and a discharging end. An empty bag strapping machine is installed between the feeding end and the discharging end. The feeding end is used to place empty bags, and the discharging end is equipped with a recycling bin for collecting the strapped empty bags. A six-axis robot is used to stack the picked-up empty bags sequentially on the feeding end, and the six-axis robot is used to count the number of stacked empty bags. When the number of stacked empty bags reaches the target number, the six-axis robot outputs a signal to control the drive motor to start, so as to transport the stacked stack of empty bags to the strapping station of the empty bag strapping machine, which automatically straps the stacked stack of empty bags.

[0018] On the other hand, this application provides an automatic processing method for ton bag materials, using the aforementioned automatic processing equipment for ton bag materials, the automatic processing method for ton bag materials includes the following steps:

[0019] S1: The unmanned overhead crane loads the ton bags to be processed to the loading station of the conveying device;

[0020] S2: The ton bag is transported to the inspection and breaking station by the conveying device. The inspection and breaking robot uses the flexible gripper to open the lifting strap of the ton bag, and then uses the electric hot knife to cut open the top of the ton bag to form a pouring port. Then, the visual inspection device identifies whether the material inside the bag is qualified.

[0021] S3: After the ton bags are broken, they are transported to the unloading station. The unloading device places qualified ton bags above the hopper and flips the ton bags so that the material falls into the hopper from the unloading port, realizing automatic feeding. The unloading device transfers unqualified ton bags to the unqualified conveyor line.

[0022] In one embodiment of this application, the above-mentioned automatic processing method for ton bag materials further includes setting up an empty bag picking robot, a bag tying and transporting device, and an empty bag strapping machine to automatically tie and recycle the empty bags that have been unloaded in step S3: the empty bag picking robot picks up the empty bags that have fallen into the hopper, and stacks multiple empty bags in sequence on the bag tying and transporting device, and then transports the stack of empty bags to the empty bag strapping machine for automatic tying, and the tied stack of empty bags is transported to the recycling bin by the bag tying and transporting device.

[0023] Compared with the prior art, this application has at least the following beneficial effects:

[0024] 1. This application provides an automatic material handling device for ton bags. The device uses a conveyor to sequentially transfer the ton bags to be processed from the loading station to the bag-breaking inspection station and the unloading station. The bag-breaking inspection station is equipped with a bag-breaking robot. This robot uses a vision inspection device to locate the lifting straps on the ton bags and uses flexible grippers to pry open the straps to expose the top of the ton bag. Then, an electrothermal knife cuts an unloading port at the top of the ton bag. Afterwards, the bag-breaking inspection robot uses its vision inspection device to check the quality of the material inside the ton bag. After inspection and breaking, the ton bags are transported to the unloading station. Qualified ton bags are moved to the top of the hopper by the unloading device and automatically flipped so that the material falls into the hopper from the unloading port, completing the automatic feeding. Unqualified ton bags are moved to the unqualified conveyor line by the unloading device. Therefore, the automatic ton bag material handling equipment provided in this application can automatically complete a series of actions such as ton bag conveying, ton bag hoisting and sorting, ton bag breaking, material qualification inspection, unloading, and transfer of unqualified ton bags without manual intervention, achieving the goal of reducing manpower and increasing efficiency, and improving production efficiency.

[0025] 2. In one embodiment of this application, the bag-breaking robot is a six-axis robot. The six-axis robot has a high degree of spatial freedom and can perform various actions to meet production needs. The six-axis robot is equipped with a vision inspection device, a flexible gripper, and an electrothermal knife. The six-axis robot can identify and locate the lifting strap on the ton bag through the camera of the vision inspection device, and then drive the flexible gripper to grasp the lifting strap and move the lifting strap to both sides of the ton bag, so that the electrothermal knife can break the ton bag. Moving the lifting strap apart can prevent the electrothermal knife from damaging the lifting strap, thus ensuring the integrity of the ton bag as much as possible and facilitating the reuse of the ton bag.

[0026] 3. In one embodiment of this application, the visual inspection device includes a camera and an image processor. The image processor can acquire material image information from the camera, thereby realizing automatic determination of material qualification. Compared with traditional human visual inspection, the visual inspection device can make scientific comparisons and judgments, improve judgment efficiency and accuracy, avoid human intervention, and reduce labor costs.

[0027] 4. In one embodiment of this application, the material pouring device includes a rotating frame and a lifting mechanism, a gripping claw mechanism, a flipping mechanism, and a shaking rod disposed on the rotating frame. After the qualified ton bag with the broken bag is gripped by the gripping claw mechanism and inserted by the shaking rod, it is first lifted by the lifting mechanism, then rotated by the rotating frame to the top of the hopper, and finally flipped by the flipping mechanism so that the pouring port faces the hopper. During the pouring process, the shaking rod is driven to move up and down to shake the material and support the ton bag. After the pouring is completed, the flipping mechanism is reset and the empty bag falls. It can be seen that the material pouring device in this application realizes automated flipping and pouring through the cooperation of various mechanisms. Compared with the traditional method of opening the bottom of the ton bag, this application opens the top of the ton bag and then flips it to pour the material, which ensures the integrity of the ton bag as much as possible. The ton bag can still be filled with material after the top is opened. After filling with material, the top can be sealed, realizing the reuse of the ton bag and saving production costs.

[0028] 5. In one embodiment of this application, after the defective ton bag with a broken bag is gripped by the gripper mechanism, it is first lifted by the lifting mechanism, then rotated by the rotary frame to the top of the defective conveyor line, and then lowered by the lifting mechanism onto the defective conveyor line. The gripper mechanism releases, and the defective ton bag is transported to the target workstation. Compared with the traditional method of using forklifts and other transfer equipment to remove defective ton bags, this application realizes the automatic transfer of defective ton bags through the unloading device and the defective conveyor line. The unloading device has two functions in one machine, is easy to operate, and has high production efficiency.

[0029] 6. In one embodiment of this application, a lifting mechanism is provided on the rotary frame. The lifting mechanism is a slide rail slider structure and is driven by a lifting cylinder. The slide rail plays a guiding and limiting role to ensure reliable lifting and lowering actions.

[0030] 7. In one embodiment of this application, the flipping mechanism is disposed on the lifting mounting plate of the lifting mechanism. The flipping mechanism consists of a motor and a rotary table. The gripping mechanism includes a mounting base plate mounted on the second rotary table and a first gripping claw and a second gripping claw mounted on the mounting base plate. The first gripping claw and the second gripping claw are driven by a telescopic hydraulic cylinder to realize the clamping and release of the ton bag. A shaking hydraulic cylinder is also provided on the mounting base plate. The output end of the shaking hydraulic cylinder forms a shaking rod. When the first gripping claw and the second gripping claw descend to clamp the ton bag, the shaking rod descends along with it and inserts into the bag from the discharge port. When the ton bag is flipped to discharge material, the shaking rod can support the bottom of the ton bag and play a shaking role to ensure that there is no residual material in the ton bag.

[0031] 8. In one embodiment of this application, an empty bag picking robot is provided next to the hopper. After the empty bags are poured into the hopper, they can be picked up by the empty bag picking robot and placed on the bag-tying and transporting device for automatic tying. Then, the tied ton bags are transported to the recycling bin to realize the automatic recycling of empty bags.

[0032] 9. Based on the automatic material handling equipment for ton bags provided in this application, this application provides an automatic material handling method for ton bags. Using this method, the material handling operation of ton bags can be carried out systematically. The handling process is orderly and reasonable, requiring no manual intervention, thereby achieving the goal of reducing manpower and increasing efficiency, and improving production efficiency. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings. It should be understood that the specific shapes and structures shown in the drawings should not generally be regarded as limiting conditions for implementing this application; for example, those skilled in the art, based on the technical concepts disclosed in this application and the exemplary drawings, are capable of making conventional adjustments or further optimizations to the addition / reduction / classification, specific shapes, positional relationships, connection methods, and size ratios of certain units (components).

[0034] Figure 1 This is a schematic diagram of the overall structure of the automatic material handling equipment for ton bags provided in this application in one embodiment;

[0035] Figure 2 This is a schematic diagram of the structure of the bag-breaking detection robot in this application in one embodiment;

[0036] Figure 3 This is a schematic diagram of the end effector of the bag-breaking robot in this application in one embodiment, mainly showing the installation position relationship of the flexible gripper, the electrothermal knife and the vision inspection device installed at the end effector;

[0037] Figure 4 This is a side view of the material pouring device in one embodiment of the present application;

[0038] Figure 5 This is a three-dimensional structural schematic diagram of the material pouring device in one embodiment of the present application;

[0039] Figure 6 This is a schematic diagram of the remaining structure after disassembling the base, gripper mechanism and mounting plate of the material pouring device in this application in one embodiment. It mainly shows the second motor and the second rotary table that constitute the flipping mechanism.

[0040] Figure 7 This is a schematic diagram of the end effector of the empty bag picking robot in this application in one embodiment, mainly showing the installation position relationship between the gripper and the camera installed at the end effector.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1. Conveying device;

[0043] 2. Bag-breaking robot for inspection; 21. Flexible gripper; 22. Electrothermal knife; 23. Vision inspection device; 24. Connecting frame;

[0044] 3. Material feeding device; 31. Base; 32. First motor; 33. First rotary table; 34. Rotary frame; 35. Counterweight; 36. Slide rail; 37. Lifting mounting plate; 38. Lifting cylinder; 39. Second motor; 310. Second rotary table; 311. Mounting base plate; 312. First vertical plate; 313. Second horizontal plate; 314. First telescopic cylinder; 315. Second telescopic cylinder; 316. First gripper; 317. Second gripper; 318. Shaking cylinder; 319. Shaking rod;

[0045] 4. Hopper;

[0046] 5. Substandard conveyor lines;

[0047] 6. Empty bag picking robot; 61. Gripper; 62. Camera;

[0048] 7. Bag-tying and transport device;

[0049] 8. Empty bag strapping machine;

[0050] 9. Recycling bins;

[0051] 10. Ton bags; 101. Lifting slings;

[0052] 11. Manual feeding port. Detailed Implementation

[0053] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] In the description of this application: unless otherwise stated, "a plurality of" means two or more. The terms "first," "second," etc., in this application are intended to distinguish the objects referred to and do not have any special meaning in terms of technical connotation (e.g., they should not be construed as an emphasis on importance or order). Expressions such as "comprising," "including," and "having" also mean "not limited to" (certain units, components, materials, steps, etc.).

[0055] This application provides an automatic material handling device for ton bags. The term "handling" has a broad meaning, encompassing the feeding, transfer, detection, sorting, clamping, and turning of materials in ton bags. In this application, ton bag material refers to any material packaged in a ton bag. The material in the ton bag can be any powder, such as aluminum powder, or other granular materials. The following detailed description, in conjunction with specific embodiments, illustrates the structural composition and processing process of the automatic material handling device for ton bags provided in this application.

[0056] In one embodiment, see Figure 1 This application provides an automatic material handling equipment for ton bags, mainly comprising a conveying device 1, a bag-breaking detection robot 2, a dumping device 3, a hopper 4, and a non-conforming conveyor line 5. The conveying device 1 sequentially forms a loading station, a bag-breaking detection station, and a dumping station. The conveying device is used to transfer the ton bags 10 to be processed from the loading station to the bag-breaking detection station and the dumping station. The loading station is used to receive the ton bags to be processed. In the actual production process, an overhead crane can be used to place the ton bags to be processed at the loading station. The ton bag 10 to be processed is transported from the loading station to the inspection and breaking station. An inspection and breaking robot 2 is installed at the inspection and breaking station. The end effector of the inspection and breaking robot 2 is equipped with a flexible gripper 21, an electrothermal knife 22, and a vision inspection device 23. The vision inspection device 23 can identify the lifting strap 101 on the ton bag 10 and determine whether the material inside the bag is qualified from the discharge port on the ton bag 10. The inspection and breaking robot 2 uses the flexible gripper 21 to open the lifting strap 101 and then uses the electrothermal knife 22 to cut open the top of the ton bag to form a discharge port. After being broken by the inspection and breaking robot 2, the ton bag 10 is transported to the discharge station, where a discharge device 3 is installed. The discharge device 3 is used to place the qualified ton bag after breaking it above the hopper 4 and flip the ton bag so that the material falls into the hopper 4 from the discharge port. The discharge device 3 is also used to transfer the unqualified ton bags after breaking them to the unqualified conveyor line 5.

[0057] Therefore, the automatic material handling equipment for ton bags provided in this application can use the bag-breaking robot 2 to perform hoisting, sorting, bag breaking, and material qualification testing on the ton bags, replacing manual bag breaking and visual material inspection, reducing labor costs and avoiding the harm of dust environment to the human body. At the same time, this application also automates the material pouring process by setting up a material pouring device 3 at the pouring station. The material pouring device 3 can also transfer the unqualified ton bags detected by the bag-breaking robot 2 to the unqualified conveyor line 5, realizing automated sorting and pouring, realizing unmanned production, improving production efficiency, and reducing production costs.

[0058] In one embodiment, a crossbeam can be built above the ton bag material automatic processing equipment provided in this application for unmanned overhead cranes to travel on. The unmanned overhead cranes will load the ton bags in the silo to the loading station to achieve unmanned automatic loading.

[0059] In one embodiment, the conveying device 1 of the automatic material handling equipment for ton bags provided in this application can be a belt conveyor or a roller conveyor, as long as it can realize the transfer of ton bags. Sensors and other detection instruments can also be installed on the conveying device 1 according to the needs of use. For example, the sensors can detect whether there are ton bags at the feeding station, and then control the overhead crane to feed the materials based on the detection information of the sensors.

[0060] In one embodiment, the bag-breaking detection robot 2 of this application is set on a robot platform, and the robot platform is equipped with a ladder connected to the ground to facilitate personnel to go up and down for inspection and maintenance.

[0061] In one embodiment, see Figure 2 , 3 The bag-breaking robot 2 in this application can be a six-axis robot. The end effector of the six-axis robot is equipped with a flange, and a connecting frame 24 is mounted on the flange. The first end of the connecting frame 24 is equipped with a flange connecting seat adapted to the flange, and a vision inspection device 23 is mounted on the flange connecting seat. A flexible gripper 21 is mounted on the second end of the connecting frame 24, and an electrothermal knife 22 is mounted on the third end of the connecting frame 24. The connecting frame 24 can rotate and move under the drive of the six-axis robot, realizing the sorting, breaking, and material qualification inspection of the lifting strap 101 of the ton bag. The vision inspection device 23 mainly includes a camera. During operation, the six-axis robot identifies and positions the lifting strap 101 on the ton bag 10 through the camera. The six-axis robot drives the flexible gripper 21 to move to the target position to clamp the lifting strap 101 and pull the lifting strap 101 to the side of the ton bag to expose the top of the ton bag. The electrothermal knife 22 in this application cuts open the inner plastic film bag of the ton bag by heating. In this embodiment, the flexible gripper 21 mainly includes a left gripper, a right gripper, and a driving component. The left and right grippers can move closer or further apart under the action of the driving component to achieve gripping and releasing of the lifting sling 101. This application uses the flexible gripper 21 to pry open the lifting sling 101, making it easier to break open the plastic film bag inside the ton bag. In other embodiments, to achieve anti-slip, a rubber sleeve can be provided on the flexible gripper 21, and anti-slip texture can be provided on the rubber sleeve.

[0062] In another embodiment, the aforementioned visual inspection device 23 may include not only a camera but also an image processor connected to the camera signal. In use, the camera captures material image information at the dispensing port, the image processor acquires this material image information from the camera, processes it, and outputs a signal to the dispensing device 3 indicating whether the material in the ton bag is qualified. In a specific application example, the material in the ton bag is aluminum powder, which is prone to clumping. Therefore, an image of qualified aluminum powder can be stored in the image processor of the visual inspection device 23 as a reference image. During inspection, the actual photo taken by the camera is compared with the reference image to quickly and accurately determine whether the material is qualified, without manual intervention, thus improving production efficiency and accuracy.

[0063] In one embodiment, see Figure 1 The unloading station is located at the end of the conveying device 1, and the unloading device 3 is located at the unloading station. A hopper 4 is located to the left of the unloading device 3, a non-conforming transport line is located to the right of the unloading device 3, and the conveying device 1 is located in front of the unloading device 3. The unloading device 3 mainly includes: a rotary frame 34 and a lifting mechanism, a gripping mechanism, a tilting mechanism, and a shaking rod 319 mounted on the rotary frame 34. (See [reference]). Figures 4 to 6 The specific structure of the material pouring device 3 is as follows:

[0064] A base 31 is provided below the rotary frame 34. A first motor 32 and a first rotary table 33 are provided on the base 31. The power output shaft of the first motor 32 is connected to the first rotary table 33. The first rotary table 33 is horizontally set on the base 31. The rotary frame 34 is rotatably connected to the base 31 through the first rotary table 33. That is, when the first motor 32 starts in the forward or reverse direction, it can drive the rotary frame 34 to rotate clockwise or counterclockwise through the first rotary table 33. The first rotary table 33 plays a role in rotational support.

[0065] The aforementioned slewing frame 34 is a box-type structure, preferably a rectangular box-type structure. The slewing frame 34 is vertically mounted on the base 31. A counterweight 35 is provided on the first side of the slewing frame 34, and a lifting mechanism is provided on the second side of the slewing frame 34. The counterweight 35 and the lifting mechanism are arranged opposite to each other.

[0066] The aforementioned lifting mechanism includes a slide rail 36 vertically mounted on the side wall of the rotary frame 34 facing the conveying device 1. Preferably, two slide rails 36 are mounted on the rotary frame 34, with the two slide rails 36 arranged in parallel and spaced apart. Each slide rail 36 is provided with one or more sliders, and a lifting mounting plate 37 is mounted on the slider. The lifting mounting plate 37 is connected to the hydraulic rod of the lifting cylinder 38. Under the action of the lifting cylinder 38, the lifting mounting plate 37 can move up and down along the slide rail 36.

[0067] The aforementioned flipping mechanism includes a second motor 39 and a second rotary table 310 mounted on a lifting mounting plate 37. The power output end of the second motor 39 is connected to the second rotary table 310. The table surface of the second rotary table 310 is vertically arranged, and the gripper mechanism can be mounted on the second rotary table 310. That is, when the second motor 39 starts in the forward or reverse direction, it can drive the gripper mechanism to rotate clockwise or counterclockwise through the second rotary table 310 to achieve the flipping of the ton bag.

[0068] The aforementioned gripper mechanism includes a mounting base plate 311 mounted on a second rotary table 310. A first telescopic cylinder 314 and a second telescopic cylinder 315 are disposed opposite each other on the mounting base plate 311. The output end of the first telescopic cylinder 314 is connected to the first gripper 316, and the output end of the second telescopic cylinder 315 is connected to the second gripper 317. The first gripper 316 and the second gripper 317 are disposed opposite each other in the horizontal direction. When the output ends of the first telescopic cylinder 314 and the second telescopic cylinder 315 are both retracted, the first gripper 316 and the second gripper 317 move closer to each other to complete the gripping action of the ton bag; when the output ends of the first telescopic cylinder 314 and the second telescopic cylinder 315 are both extended, the first gripper 316 and the second gripper 317 move further apart to complete the release action of the ton bag. In specific manufacturing applications, to ensure that the first gripper 316 and the second gripper 317 can move stably in the horizontal direction, multiple horizontal channels can be provided on the mounting base plate 311. At least one first connecting rod adapted to and slidably connected to the horizontal channel is provided at the mounting connection end of the first gripper 316. The first connecting rod can slide back and forth along the horizontal channel, and the horizontal channel plays a sliding guiding role to ensure the stable sliding of the first gripper 316. Similarly, at least one second connecting rod adapted to and slidably connected to the horizontal channel is also provided at the mounting connection end of the second gripper 317. The second connecting rod can slide back and forth along the horizontal channel, and the horizontal channel plays a sliding guiding role to ensure the stable sliding of the second gripper 317.

[0069] The aforementioned mounting base plate 311 mainly includes a first vertical plate 312 connected to the second rotary table 310 and a second horizontal plate 313 perpendicular to the first vertical plate 312. A first telescopic cylinder 314 and a second telescopic cylinder 315 are mounted on the first vertical plate 312. A shaking cylinder 318 is provided on the second horizontal plate 313. The output end of the shaking cylinder 318 forms a shaking rod 319. The shaking rod 319 is vertically arranged and located between the first gripper 316 and the second gripper 317. When the mounting base plate 311 descends along the slide rail 36 with the lifting mounting plate 37 under the drive of the lifting cylinder 38, the first gripper 316 and the second gripper 317 separate from each other and fall to both sides of the ton bag. The shaking rod 319 is inserted into the bag from the pouring port at the top of the ton bag.

[0070] Therefore, the working process of the material pouring device 3 in this application is as follows:

[0071] After the qualified ton bags are delivered to the unloading station, the gripper mechanism descends under the drive of the lifting cylinder of the hoisting mechanism. Once in position, the first telescopic cylinder 314 and the second telescopic cylinder 315 retract, and the first gripper 316 and the second gripper 317 move closer together to grip the ton bag tightly. Simultaneously, the output end of the shaking cylinder 318 extends, and the shaking rod 319 inserts into the bag through the unloading port. Then, the hoisting mechanism lifts the gripper mechanism holding the ton bag into position, the first motor 32 starts forward, and the rotating frame 34 drives the gripper mechanism to rotate. The material is moved to the top of hopper 4, and then the second motor 39 starts in the forward direction. The second rotary table 310 drives the gripper mechanism to rotate 180 degrees, so that the discharge port faces hopper 4. During the discharge process, the shaking rod 319 is driven by the shaking cylinder 318 to move up and down to shake the material and support the ton bag. The shaking rod 319 can support the bottom of the bag and shake out the residual material in the ton bag. After the discharge is completed, the second motor 39 starts in the reverse direction. The second rotary table 310 drives the gripper mechanism to rotate 180 degrees to reset, and the empty bag falls from the shaking rod 319 to hopper 4.

[0072] After the defective ton bags with broken bags are sent to the unloading station, the gripper mechanism descends under the drive of the lifting mechanism. Once in position, the first telescopic cylinder 314 and the second telescopic cylinder 315 retract, and the first gripper 316 and the second gripper 317 move closer together to grip the ton bag tightly. Simultaneously, the output end of the shaking cylinder 318 extends, and the shaking rod 319 inserts into the bag through the unloading port. Then, the lifting mechanism raises the gripper mechanism holding the ton bag to its position, the first motor 32 starts in reverse, and the rotating frame 34 drives the gripper mechanism to rotate. Above the non-conforming conveyor line 5, the lifting cylinder 38 of the lifting mechanism retracts, causing the gripper mechanism to descend. The ton bag is placed on the non-conforming conveyor line 5. Then, the first telescopic cylinder 314 and the second telescopic cylinder 315 extend outward, and the first gripper 316 and the second gripper 317 move away from each other to release the ton bag. Then, the lifting cylinder 38 of the lifting mechanism extends, causing the gripper mechanism and the shaking rod 319 to rise. The shaking rod 319 is pulled out of the ton bag, and the broken non-conforming ton bag is transported to the non-conforming product collection point via the non-conforming conveyor line 5.

[0073] In one embodiment, a weight sensor can be installed on the pouring device 3 of this application to detect whether all the material in the ton bag has been poured out. For example, the weight sensor can be installed on the second horizontal plate 313 of the mounting base plate 311. When the gripper mechanism flips the ton bag to pour out the material, the second horizontal plate 313 not only serves to install the shaking cylinder 318, but also to support the ton bag. The second horizontal plate 313 is provided with a channel that allows the material to be poured out from the pouring port. Therefore, the second horizontal plate 313 will not affect the pouring and can support the ton bag. When the material in the ton bag is basically poured out, the shaking rod 319 moves up and down under the action of the shaking cylinder 318 to shake out the remaining material in the bag. The weight sensor detects the weight of the ton bag in real time during the pouring process. When the detected weight value reaches the benchmark value, it is determined that the pouring is completed and a reverse start signal is sent to the second motor 39. The second motor 39 starts in reverse and drives the gripper mechanism to flip and reset through the second rotary table 310. The empty bag falls from the shaking rod 319 to the hopper 4.

[0074] In one embodiment, the automated material handling equipment for ton bags in this application further includes an empty bag picking robot 6, see [link to relevant documentation]. Figure 1 An empty bag picking robot 6 can be set up next to the hopper 4 and surrounded by a fence for protection. After the empty bags are unloaded, they fall into the hopper 4. The empty bag picking robot 6 can pick up the empty bags from the hopper 4 and place them on the bag-tying and transporting device 7 for bundling and collection.

[0075] In one embodiment, see Figure 7 The aforementioned empty bag picking robot 6 includes a six-axis robot. The end effector of the six-axis robot is equipped with a flange, on which a gripper 61 and a camera 62 are mounted. The six-axis robot uses the camera 62 to locate the empty bag and uses the gripper 61 to pick it up. See also... Figure 1 The aforementioned bag-tying and conveying device 7 includes a roller conveyor (which can also be replaced by a belt conveyor) and a drive motor for the roller conveyor. The roller conveyor includes a feeding end for placing empty bags and a discharging end for outputting and recycling the bundled ton bags. An empty bag tying machine 8 is installed between the feeding end and the discharging end. In practical application, the empty bag picking robot 6 picks up empty bags from the hopper 4 and stacks them sequentially at the feeding end of the bag-tying and conveying device 7. During this process, the empty bag picking robot 6 counts the number of stacked empty bags. When the number of stacked empty bags reaches the target number, the empty bag picking robot 6 outputs a signal to control the drive motor of the bag-tying and conveying device 7 to start, so as to transport the stacked stack of empty bags to the tying station of the empty bag tying machine 8 for automatic tying. The tied empty bags are then conveyed by the bag-tying and conveying device 7 to the recycling bin 9 at its discharging end. The empty bags in the recycling bin 9 can be manually picked up and transported to the target storage bin, or they can be automatically transported to the target storage bin by a transfer robot.

[0076] Therefore, the automatic material handling equipment for ton bags provided in this application can automatically feed materials using an unmanned overhead crane. The bag-breaking robot 2 automatically sorts the ton bag lifting belt 101, breaks the ton bags, and detects the conformity of the materials inside the ton bags. Qualified ton bags are automatically fed into the hopper 4 by the unloading device 3. The material is output to the feeding pipe through the discharge port at the bottom of the hopper 4, realizing automatic material feeding. Unqualified ton bags are transferred to the unqualified transport line by the unloading device 3. The empty bags that have been unloaded can be picked up by the empty bag picking robot 6 and placed on the bag-tying transport device 7. Finally, they are automatically tied by the empty bag strapping machine 8 and output for recycling. The entire processing process is fully automatic and does not require manual intervention, freeing workers from harsh environments, reducing labor costs, and improving production efficiency.

[0077] In one embodiment, one or more feed branches can be provided on the feed pipe connected to the bottom of the hopper 4. Each feed branch can be connected to a manual feeding port 11, and materials can be added to the feed branch through the manual feeding port 11 during equipment maintenance.

[0078] Based on the above-mentioned automatic material handling equipment for ton bags, this application also provides an automatic material handling method for ton bags, which is briefly described as follows:

[0079] 1. Load the ton bags to be processed to the loading station of conveyor device 1 using an unmanned overhead crane or other loading device.

[0080] 2. The ton bag is transported to the inspection and breaking station by the conveyor device 1. The inspection and breaking robot 2 identifies the lifting strap 101 of the ton bag through the vision inspection device 23 and drives the flexible gripper 21 to move to clamp the lifting strap 101 and push it to both sides of the ton bag. Then, the inspection and breaking robot 2 locates the top of the ton bag through the vision inspection device 23 and drives the electric heating knife 22 to cut open the top of the ton bag to form a pouring port. Finally, the vision inspection device 23 identifies whether the material inside the bag is qualified.

[0081] 3. After the qualified ton bags are broken, they are transported to the unloading station. The gripping mechanism of the unloading device 3 is lowered by the lifting cylinder 38 of the lifting mechanism. After it is lowered to the position, the first telescopic cylinder 314 and the second telescopic cylinder 315 retract, and the first gripping claw 316 and the second gripping claw 317 move closer to each other to grip the ton bag tightly. At the same time, the output end of the shaking cylinder 318 extends, and the shaking rod 319 is inserted into the bag from the unloading port of the ton bag. Then, the lifting mechanism lifts the gripping mechanism that grips the ton bag to the position, the first motor 32 starts in the forward direction, and the rotary frame 34 drives... The gripper mechanism rotates to the top of the hopper 4, and then the second motor 39 starts in the forward direction. The second rotary table 310 drives the gripper mechanism to rotate 180 degrees, so that the discharge port faces the hopper 4. During the discharge process, the shaking rod 319 is driven by the shaking cylinder 318 to move up and down to shake the material and support the ton bag. The shaking rod 319 can support the bottom of the bag and shake out the residual material in the ton bag. After the discharge is completed, the second motor 39 starts in the reverse direction. The second rotary table 310 drives the gripper mechanism to rotate 180 degrees to reset, and the empty bag falls from the shaking rod 319 to the hopper 4.

[0082] 4. After the defective ton bags with broken bags are sent to the unloading station, the gripping mechanism of the unloading device 3 descends under the drive of the lifting cylinder 38 of the lifting mechanism. After descending to the position, the first telescopic cylinder 314 and the second telescopic cylinder 315 retract, and the first gripping claw 316 and the second gripping claw 317 move closer to each other to grip the ton bag tightly. At the same time, the output end of the shaking cylinder 318 extends, and the shaking rod 319 is inserted into the bag from the unloading port of the ton bag. Then, the lifting mechanism lifts the gripping mechanism that grips the ton bag to the position, the first motor 32 starts in reverse, and the rotating frame 34 drives... The moving gripper mechanism rotates to above the non-conforming conveyor line 5, the lifting cylinder 38 of the lifting mechanism retracts, driving the gripper mechanism to descend, and the ton bag is placed on the non-conforming conveyor line 5. Then, the first telescopic cylinder 314 and the second telescopic cylinder 315 extend outward, and the first gripper 316 and the second gripper 317 move away from each other to release the ton bag. Then, the lifting cylinder 38 of the lifting mechanism extends, driving the gripper mechanism and the shaking rod 319 to rise. The shaking rod 319 is pulled out from the ton bag, and the broken non-conforming ton bag is transported to the non-conforming product collection point via the non-conforming conveyor line 5.

[0083] 5. After the empty bags are poured out and fall into the hopper 4, they are picked up by the empty bag picking robot 6. The empty bag picking robot 6 stacks the picked-up empty bags in a row on the bag-tying and conveying device 7. When the target number of empty bags is reached, the bag-tying and conveying device 7 transports the stack of empty bags to the empty bag strapping machine 8 for automatic binding. The bundled stack of empty bags is then transported by the bag-tying and conveying device 7 to the recycling bin 9.

[0084] In summary, the automated material handling equipment and method for ton bags provided in this application can achieve unmanned operation. During the operation, an unmanned overhead crane lifts the ton bags onto the conveyor device, and then a bag-breaking robot breaks, inspects, and sorts the lifting straps on the ton bags. After breaking, the ton bags flow to the unloading station, where the gripper mechanism of the unloading device holds and lifts the ton bags. Unqualified bags are set aside, while qualified bags are poured into the hopper. The material enters the pipeline from the hopper and finally enters the material-using equipment (if the ton bags contain aluminum powder, the aluminum powder is ultimately put into the aluminum furnace). The empty bags after unloading are then... For recycling, the gripper drops the bags into the hopper, where an empty bag picking robot picks them up and places them onto a bag-tying and conveying device. Once a certain number of bags have been stacked on the device, it moves forward until it stops at the empty bag strapping machine. The bags are then automatically bundled by the machine and flow into the recycling bin. Therefore, this application can automatically complete a series of actions, including ton bag feeding, hoisting strap sorting, ton bag breaking, material qualification testing, unloading, transfer of non-conforming ton bags, and empty bag bundling and recycling, without manual intervention, achieving the goal of reducing manpower and increasing efficiency, and improving production efficiency.

[0085] The technical features of the above embodiments can be combined in any way (as long as there is no contradiction in the combination of these technical features). For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described; these embodiments not explicitly written should also be considered to be within the scope of this specification.

[0086] The present application has been described in a relatively specific and detailed manner above through general descriptions and specific embodiments. It should be understood that, based on the technical concept of the present application, several conventional adjustments or further innovations can be made to these specific embodiments; however, as long as they do not depart from the technical concept of the present application, the technical solutions obtained by these conventional adjustments or further innovations also fall within the protection scope of the claims of the present application.

Claims

1. An automatic material handling device for ton bags, characterized in that, Includes a conveying device (1), on which a feeding station, a bag breaking detection station and a dumping station are sequentially arranged. The conveying device is used to transfer the ton bags (10) to be processed that are fed to the feeding station to the bag breaking detection station and the dumping station in sequence. A bag-breaking detection robot (2) is set up at the bag-breaking detection station. The execution end of the bag-breaking detection robot (2) is equipped with a flexible gripper (21), an electric hot knife (22) and a vision detection device (23). The vision detection device (23) is used to identify the lifting strap (101) on the ton bag (10) and to identify whether the material inside the bag is qualified from the pouring port on the ton bag. The flexible gripper (21) is used to clamp the lifting strap (101) under the drive of the bag-breaking detection robot (2) or to release the lifting strap (101) after moving it to the side of the ton bag. The electric hot knife (22) is used to cut open the top of the ton bag to form the pouring port. The material pouring station is equipped with a material pouring device (3). The material pouring device (3) is used to place the qualified ton bag after the bag is broken above the hopper (4) and flip the ton bag so that the material falls into the hopper (4) from the pouring port. The material pouring device (3) is also used to transfer the unqualified ton bag after the bag is broken to the unqualified conveyor line (5). The unloading device (3) includes a rotating frame (34) and a lifting mechanism, a gripping claw mechanism, a flipping mechanism, and a shaking rod (319) mounted on the rotating frame (34). The gripping claw mechanism is used to hold the broken ton bag tightly. The shaking rod (319) is used to insert the ton bag from the unloading port. The lifting mechanism is used to lift the qualified ton bag held by the gripping claw mechanism to the unloading station. The rotating frame (34) is used to rotate the ton bag lifted to the unloading station to the hopper (4). The flipping mechanism is used to flip the ton bag located above the hopper (4) so ​​that the unloading port faces the hopper (4). During the unloading process, the shaking rod (319) is driven to move up and down to shake the material and support the ton bag. After the unloading is completed, the flipping mechanism is reset and the empty bag falls.

2. The automatic material handling equipment for ton bags according to claim 1, characterized in that, The bag-breaking detection robot (2) includes a six-axis robot. The execution end of the six-axis robot is provided with a flange. A connecting frame (24) is installed on the flange. The first end of the connecting frame (24) is provided with a flange connecting seat for matching the flange. The visual inspection device (23) is provided on the flange connecting seat. The flexible gripper (21) is installed on the second end of the connecting frame (24). The electric heating knife (22) is installed on the third end of the connecting frame (24). The visual inspection device (23) includes a camera for identifying and locating the lifting strap (101) on the ton bag, and the six-axis robot for moving the flexible gripper (21) to the target position to grip the lifting strap (101).

3. The automatic material handling equipment for ton bags according to claim 1, characterized in that, The visual inspection device (23) includes a camera and an image processor. The camera is used to collect material image information at the discharge port and send the material image information to the image processor. The image processor is used to process the material image information received from the camera and output a signal to the discharge device (3) indicating whether the material in the ton bag is qualified based on the processing result.

4. The automatic material handling equipment for ton bags according to claim 1, characterized in that, The lifting mechanism is used to lift the non-conforming ton bag held by the gripper mechanism to above the unloading station. The rotary frame (34) is used to rotate the non-conforming ton bag lifted to above the unloading station to above the non-conforming conveyor line (5). The lifting mechanism is used to lower the non-conforming ton bag onto the non-conforming conveyor line (5). The non-conforming conveyor line (5) is used to transport the non-conforming ton bag to the target station.

5. The automatic material handling equipment for ton bags according to claim 4, characterized in that, A base (31) is provided below the rotary frame (34). A first motor (32) and a first rotary table (33) connected to the power output shaft of the first motor (32) are provided on the base (31). The first rotary table (33) is horizontally arranged, and the rotary frame (34) is rotatably connected to the base (31) through the first rotary table (33). The rotating frame (34) is a box-type structure. A counterweight (35) is provided on the first side of the rotating frame (34), and a lifting mechanism is provided on the second side of the rotating frame (34). The counterweight (35) and the lifting mechanism are arranged opposite to each other. The lifting mechanism includes a slide rail (36) vertically mounted on the side wall of the rotary frame (34), a slider is provided on the slide rail (36), a lifting mounting plate (37) is mounted on the slider, the lifting mounting plate (37) is connected to the hydraulic rod of the lifting cylinder (38), and the lifting mounting plate (37) moves up and down along the slide rail (36) under the action of the lifting cylinder (38).

6. The automatic material handling equipment for ton bags according to claim 5, characterized in that, The flipping mechanism includes a second motor (39) mounted on the lifting mounting plate (37) and a second rotary table (310) connected to the power output end of the second motor (39), the table surface of the second rotary table (310) being vertically arranged; The gripper mechanism includes a mounting base plate (311) mounted on the second rotary table (310). A first telescopic cylinder (314) and a second telescopic cylinder (315) are arranged opposite to each other on the mounting base plate (311). The output end of the first telescopic cylinder (314) is connected to the first gripper (316), and the output end of the second telescopic cylinder (315) is connected to the second gripper (317). The first gripper (316) and the second gripper (317) are arranged opposite to each other in the horizontal direction. When the output ends of the first telescopic cylinder (314) and the second telescopic cylinder (315) are both retracted, the first gripper (316) and the second gripper (317) move closer to each other to complete the gripping action of the ton bag. When the output ends of the first telescopic cylinder (314) and the second telescopic cylinder (315) are both extended, the first gripper (316) and the second gripper (317) move further apart to complete the release action of the ton bag.

7. The automatic material handling equipment for ton bags according to claim 6, characterized in that, The mounting base plate (311) includes a first vertical plate (312) connected to the second rotary table (310) and a second horizontal plate (313) perpendicular to the first vertical plate (312). The first telescopic cylinder (314) and the second telescopic cylinder (315) are both mounted on the first vertical plate (312). A shaking cylinder (318) is mounted on the second horizontal plate (313), and the output end of the shaking cylinder (318) forms the shaking rod (319). The shaking rod (319) is vertically arranged and located between the first gripper (316) and the second gripper (317). When the mounting base plate (311) descends along the slide rail (36) under the drive of the lifting cylinder (38) along the lifting mounting plate (37), the first gripper (316) and the second gripper (317) separate from each other and fall to both sides of the ton bag respectively. The shaking rod (319) is inserted into the bag from the pouring port at the top of the ton bag.

8. The automatic material handling equipment for ton bags according to claim 1 or 4, characterized in that, An empty bag picking robot (6) is set up next to the hopper (4). The empty bags that have finished unloading fall into the hopper (4). The empty bag picking robot (6) is used to pick up the empty bags from the hopper (4) and place them on the bag-tying and transporting device (7). The empty bag picking robot (6) includes a six-axis robot. The end of the six-axis robot is equipped with a flange. A clamp (61) and a camera (62) are installed on the flange. The camera is used to locate the position of the empty bag. The clamp (61) is used to grab or release the empty bag that falls into the hopper under the drive of the empty bag picking robot (6). The bag-tying and transporting device (7) includes a roller conveyor line and a drive motor for driving the roller conveyor line. The roller conveyor line includes a feeding end and a discharging end. An empty bag tying machine (8) is set between the feeding end and the discharging end. The feeding end is used to place empty bags. The discharging end is equipped with a recycling box (9). The recycling box (9) is used to collect the tied empty bags. The six-axis robot is used to stack the picked-up empty bags sequentially on the feeding end, and the six-axis robot is used to count the number of stacked empty bags. When the number of stacked empty bags reaches the target number, the six-axis robot outputs a signal to control the drive motor to start, so as to transport the stacked stack of empty bags to the bundling station of the empty bag bundling machine (8). The empty bag bundling machine (8) is used to automatically bundle the stacked stack of empty bags.

9. An automatic processing method for ton bag materials, characterized in that, The automatic material handling equipment for ton bags according to any one of claims 1 to 8, and the automatic material handling method for ton bags, include the following steps: S1: The unmanned overhead crane loads the ton bags to be processed to the loading station of the conveying device (1); S2: The ton bag is transported to the inspection and breaking station by the conveying device (1). The inspection and breaking robot (2) uses the flexible gripper (21) to open the lifting strap (101) of the ton bag, and then uses the electric hot knife (22) to cut open the top of the ton bag to form a pouring port. Then, the visual inspection device (23) identifies whether the material inside the bag is qualified. S3: The ton bags after being broken are transported to the unloading station. The unloading device (3) places the qualified ton bags above the hopper (4) and flips the ton bags so that the material falls into the hopper (4) from the unloading port, realizing automatic feeding. The unloading device (3) transfers the unqualified ton bags to the unqualified conveyor line (5).

10. The automatic material handling method for ton bags according to claim 9, characterized in that, It also includes the steps of using an empty bag picking robot (6), a bag-tying and transporting device (7), and an empty bag strapping machine (8) to automatically tie and recycle the empty bags that have been unloaded in step S3: the empty bag picking robot (6) picks up the empty bags that have fallen into the hopper (4), and stacks multiple empty bags in sequence on the bag-tying and transporting device (7), and then transports the stack of empty bags to the empty bag strapping machine (8) for automatic binding. The bundled stack of empty bags is then transported to the recycling bin (9) by the bag-tying and transporting device (7).

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