An automatic bag unpacking system based on intelligent robot

Abstract

The application discloses an automatic bag opening system based on an intelligent robot, which comprises a truss, a mechanical arm and a 3D camera, the top of the truss is provided with a grabbing mechanism, the grabbing mechanism is used for grabbing a ton bag, a cutting unit is installed on the mechanical arm, the 3D camera is in communication connection with an upper controller, and is used for sending point cloud data of the bottom of the ton bag to the upper controller, the upper controller is used for calculating the center point position and the posture of a rope, and then sends a control instruction to the mechanical arm to cut and open the bag, the application can improve the defects of the prior art, and the accuracy of the automatic bag opening system is improved.

Description

Technical Field

[0001] This invention relates to the field of automatic bag opening technology, and in particular to an automatic bag opening system based on an intelligent robot. Background Technology

[0002] In modern industrial production, the processing of powdered materials, such as alkali powder for glass raw materials, typically requires large-scale packaging in ton bags. This process easily generates harmful substances and dust. Due to the rapid development of manufacturing and the continuous improvement of industrial automation, the use of machines to replace manual labor has become an inevitable trend. Compared with traditional manual labor, robots have greater load-bearing capacity, higher accuracy, and are virtually unaffected by dust. Therefore, using robots for automatic ton bag unpacking can improve work efficiency. However, existing automatic bag unpacking systems lack precision, easily leading to bag damage that renders the bags unusable, thus wasting resources and increasing production costs. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic bag opening system based on an intelligent robot, which can overcome the shortcomings of the prior art and improve the accuracy of the automatic bag opening system.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows.

[0005] An automated bag-opening system based on an intelligent robot includes a truss, a robotic arm, and a 3D camera. A gripping mechanism is installed on the top of the truss to grip the ton bag material. A cutting unit is installed on the robotic arm. The 3D camera is connected to a host controller to send point cloud data of the bottom of the ton bag material to the host controller. The host controller calculates the center point position and attitude of the rope and then sends control commands to the robotic arm to perform bag opening and cutting.

[0006] Preferably, the cutting unit includes a drive end, a hook body fixedly connected to the top of the drive end, a hook barb integrally formed at the front end of the hook body, a hook body groove provided on the inner side of the hook body, the hook body groove penetrating the inner side of the hook body, a positioning groove provided on the inner side of the hook body, a connecting rod shaft provided on the hook body, the connecting rod shaft hinges the upper connecting rod and the lower connecting rod of the cutter, the upper connecting rod and the lower connecting rod of the cutter are integrally formed, one end of the drive end is connected to a return spring, the other end of the return spring is fixedly connected to the lower connecting rod of the cutter, and a combination tool that cooperates with the positioning groove is provided at the end of the upper connecting rod of the cutter.

[0007] Preferably, the combined cutting tool includes a first leg and a second leg, which are symmetrically fixed to the free end of the connecting rod on the cutting tool. A large cutting motor is fixedly connected to the top of the first leg, and a large cutting blade is provided on the large cutting motor. The large cutting blade is shaped like a frustum and has cutting teeth on its outer edge. A small cutting motor is fixedly installed on the top of the second leg, and the small cutting blade is shaped like a frustum.

[0008] Preferably, a hobbing shaft is provided at the center of the inner side of the small cutter. A cuboid metal key is provided on the outer cylindrical surface of the hobbing shaft along the axial direction. The metal key extends to the middle of the hobbing shaft. A hobbing body is provided on the outside of the hobbing shaft. The hobbing body is provided with a hobbing shaft hole and a keyway hole along the central axial direction. The hobbing shaft hole and the keyway hole are connected and fit the hobbing shaft and the metal key. A large cutter shaft hole is provided at the center of the bottom of the large cutter cone. The large cutter shaft hole fits the front end of the hobbing shaft and is slidably connected to the end of the hobbing shaft. A pair of torsion springs are provided on the bottom of the small cutter cone. One end of the torsion spring is connected to the small cutter, and the other end of the torsion spring is connected to the end face of the hobbing body.

[0009] Preferably, the large cutter motor and the small cutter motor rotate in opposite directions and on the same axis. The diameter of the large cutter is larger than that of the small cutter. The cone surface of the large cutter is provided with a triangular pyramidal blade and a swing ramp. The swing ramp is arranged from low to high along the rotation direction.

[0010] Preferably, the cylindrical surface of the hob body is provided with hob burrs, which are triangular pyramids with an obtuse triangle cross-section. The maximum angle of the obtuse triangle is 100° to 120°, and any side of the obtuse triangle is parallel to the hob axis.

[0011] The beneficial effects of adopting the above technical solution are as follows: The 3D camera of this invention acquires point cloud data of the bottom of the ton bag, including the positions of the bag and the rope. This point cloud data provides detailed information about the bag and the rope, providing important data for the robot's automated bag-opening operation and enabling precise identification and positioning of the cutting unit. Then, by optimizing the structure of the cutting unit, precise cutting of the rope at the bottom of the ton bag is achieved. Attached Figure Description

[0012] Figure 1 This is a structural diagram of a specific embodiment of the present invention.

[0013] Figure 2 This is a structural diagram of the cutting unit in a specific embodiment of the present invention.

[0014] Figure 3 This is a left view of the hook body in a specific embodiment of the present invention.

[0015] Figure 4 This is a structural diagram of a combined cutting tool in a specific embodiment of the present invention.

[0016] Figure 5 This is a radial cross-sectional view of the hob shaft in a specific embodiment of the present invention.

[0017] Figure 6 This is a side view of the large cutter in a specific embodiment of the present invention.

[0018] Figure 7 This is a structural diagram of the large blade shaft hole in a specific embodiment of the present invention.

[0019] Figure 8 This is a structural diagram of a swinging slope in a specific embodiment of the present invention.

[0020] Figure 9 This is a structural diagram of the hob shaft in a specific embodiment of the present invention. Detailed Implementation

[0021] Reference Figure 1-9 One specific embodiment of the present invention includes a truss 100, a robotic arm 200, and a 3D camera 300. A gripping mechanism 101 is mounted on the top of the truss 100, used to grip a ton bag material bundle 400. A cutting unit 201 is mounted on the robotic arm 200. The 3D camera 300 is communicatively connected to a host controller, used to send point cloud data of the bottom of the ton bag material bundle 400 to the host controller. The host controller calculates the center point position and attitude of the rope, and then sends control commands to the robotic arm 200 for bag opening and cutting. At the start of the automatic bag opening operation, the key task of the gripping mechanism 101 is to accurately move the ton bag material bundle 400 into the scanning range of the 3D camera 300, providing crucial data for subsequent operations. Once the ton bag material bundle 400 is in the appropriate position, the 3D camera 300 begins acquiring point cloud data, capturing and collecting raw point cloud data through bottom scanning to accurately identify the rope's position. This crucial data is then transmitted to the host controller via TCP protocol. The host controller uses this data to calculate the center point position and orientation of the rope, and then sends instructions to the robotic arm 200. The cutting unit 201, located at the end of the robotic arm 200, then precisely cuts the rope using a rotary cutting method according to these instructions. After cutting, the gripping mechanism 101 intervenes again to remove the processed ton bag material 400, preparing for the disassembly operation of the next ton bag material 400.

[0022] The cutting unit 201 includes a drive end 1, a hook body 22 fixedly connected to the top of the drive end 1, a hook barb 3 integrally formed at the front end of the hook body 22, a hook body groove 24 provided on the inner side of the hook body 22, the hook body groove 24 penetrating the inner side of the hook body 22, a positioning groove 2 provided on the inner side of the hook body 22, a connecting rod shaft 7 provided on the hook body 22, the connecting rod shaft 7 hinges the upper connecting rod 5 and the lower connecting rod 6 of the cutter, the upper connecting rod 5 and the lower connecting rod 6 of the cutter are integrally formed, one end of the drive end 1 is connected to one end of a return spring 8, the other end of the return spring 8 is fixedly connected to the lower connecting rod 6 of the cutter, and a combination cutter 25 that cooperates with the positioning groove 2 is provided at the end of the upper connecting rod 5 of the cutter. In this embodiment, the hook body 22 and the hook barb 3 Four positioning grooves 2 are provided on the hook body 22. The hook body grooves 24 penetrate through the inner side of the hook body 22, and the combined cutter 25 can pass through the hook body grooves 24 without contact. When not in use, the combined cutter 25 is engaged in the last positioning groove 2 under the joint action of the return spring 8, the upper connecting rod 5 of the cutter, and the lower connecting rod 6 of the cutter, ensuring the safety of the combined cutter 25. When cutting the rope, the hook 3 at the front end of the hook body 22 is first inserted into the gap between the rope and the ton bag. Depending on the thickness of the rope, the rope falls into the positioning grooves 2 of different sizes. Due to the presence of the hook body 22, the combined cutter 25 is separated from the bottom fabric of the ton bag, effectively protecting the ton bag body and ensuring reuse.

[0023] In addition, the combined cutter 25 includes a first leg 26 and a second leg 27. The first leg 26 and the second leg 27 are symmetrically fixed to the free end of the upper connecting rod 5 of the cutter. The top of the first leg 26 is fixedly connected to a large cutter motor 10. A large cutter 4 is provided on the large cutter motor 10. The large cutter 4 is frustum-shaped and has cutting teeth 23 on its outer edge. A small cutter motor 9 is fixedly installed on the top of the second leg 27. The small cutter 15 is frustum-shaped. The large cutter motor 10 and the small cutter motor 9 are connected to the power supply. The large cutter motor 10 and the small cutter motor 9 are set separately and rotate in opposite directions.

[0024] A hobbing shaft 12 is located at the center of the inner side of the small cutter 15. A cuboid metal key 19 is axially arranged on the cylindrical outer surface of the hobbing shaft 12, extending to the middle of the hobbing shaft 12. A hobbing body 14 is located on the outside of the hobbing shaft 12. The hobbing body 14 has a hobbing shaft hole 18 and a keyway hole 17 along its central axial direction. The hobbing shaft hole 18 and the keyway hole 17 are interconnected and fit the hobbing shaft 12 and the metal key 19. A large cutter shaft hole 11 is located at the center of the conical bottom surface of the large cutter 4. The large cutter shaft hole 11 fits the front end of the hobbing shaft 12 and is slidably connected to the end of the hobbing shaft 12. A pair of torsion bars are provided on the conical bottom surface of the small cutter 15. Spring 16, one end of torsion spring 16 is connected to small cutter 15, and the other end of torsion spring 16 is connected to the end face of cutter body 14. During cutting, the cutting teeth 23 of large cutter 4 first contact the rope and begin to cut the rope surface. The swing ramp 21 periodically increases the thickness of large cutter 4, pulls the rope laterally, loosens the rope fibers, and separates the cut. At the same time, the triangular blades 20 on the conical surface of large cutter 4 begin to cut the cross-section of the rope to prevent large cutter 4 from being stuck by the rope. The combination of cutter shaft 12 and metal key shaft 19 allows the cutter body 14 to rotate together with the cutter shaft 12, while repeatedly sliding axially under the combined action of lateral force and torsion spring 16.

[0025] The large cutter motor 10 and the small cutter motor 9 rotate in opposite directions and coaxially. The diameter of the large cutter 4 is larger than that of the small cutter 15. The conical surface of the large cutter 4 is provided with a triangular pyramidal blade 20 and a swing ramp 21, which is arranged from low to high along the direction of rotation. After the large cutter 4 is embedded in the rope, the small cutter 15 begins to cut in the opposite direction. Under the combined shearing force of the large cutter 4 and the small cutter 15, the rope experiences increased local tearing force. At the same time, the opposite rotation ensures that the rope can be fixed in the corresponding positioning groove 2 and will not come out.

[0026] The cylindrical surface of the cutter body 14 is provided with cutter spikes 13. The cutter spikes 13 are triangular pyramids with an obtuse triangle cross-section. The maximum angle of the obtuse triangle is 100-120 degrees. Any side of the obtuse triangle is parallel to the cutter shaft 12. The cutter body 14 rotates and cuts the rope under the drive of the cutter shaft 12 and the metal key shaft 19. The shape and arrangement of the cutter spikes 13 generate a lateral force when they come into contact with the rope being cut, pulling the rope and opening the rope cut created by the small cutter 15, preventing the small cutter 15 from getting stuck.

[0027] When the taut binding rope is cut, the hook 3 at the front end of the hook 22 is first inserted into the gap between the rope and the ton bag. Depending on the thickness of the rope, the rope falls into positioning grooves 2 of different sizes. Due to the presence of the hook 22, the combined blade 25 is separated from the bottom fabric of the ton bag, effectively protecting the ton bag body and ensuring reuse. The drive end 1 is driven by pneumatic or electric components to control the cutting position of the combined blade 25. The large blade motor 10 and the small blade motor 9 are powered on. The large blade motor 10 and the small blade motor 9 are set separately and rotate in opposite directions on the same axis. The diameter of the large cutter 4 is larger than that of the small cutter 15. During cutting, the blade teeth 23 of the large cutter 4 first contact the rope and begin to cut the rope surface. As the cutting depth increases, the blade surface of the large cutter 4 sinks into the cross-section of the rope. The oscillating ramp 21 of the blade surface periodically squeezes the rope cut and pulls the rope laterally, causing the rope fibers to loosen and the cut to separate repeatedly. At the same time, the triangular blade 20 on the conical surface of the large cutter 4 begins to cut off the fibers in the cross-section of the rope. By increasing the slit width, after the large cutter 4 enters the rope, the small cutter 15 begins to cut in the opposite direction. This counter-rotation ensures that the rope is fixed in the corresponding positioning groove 2 and will not come out. Subsequently, the roller body 14 begins to contact the rope surface. Driven by the roller shaft 12, the roller body 14 rotates and cuts the rope. The shape and arrangement of the roller blades 13 generate a lateral force on the roller body 14, pulling the torsion spring 16 to produce a lateral offset, pulling the cut rope, and opening the rope slit cut by the small cutter 15 to prevent the small cutter 15 from getting stuck, while simultaneously tearing the rope fibers. When not in use, the combined cutter 25, under the combined action of the return spring 8, the upper connecting rod 5, and the lower connecting rod 6, engages in the last positioning groove 2, ensuring the safety of the combined cutter 25.

[0028] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An automatic bag-opening system based on an intelligent robot, characterized in that: The system includes a truss (100), a robotic arm (200), and a 3D camera (300). A gripping mechanism (101) is installed on the top of the truss (100) to grip the ton bag material bag (400). A cutting unit (201) is installed on the robotic arm (200). The 3D camera (300) is connected to a host controller to send point cloud data of the bottom of the ton bag material bag (400) to the host controller. The host controller calculates the center point position and attitude of the rope and then sends control commands to the robotic arm (200) to perform bag opening and cutting. The cutting unit (201) includes a drive end (1), and a hook (22) is fixedly connected to the top of the drive end (1). (22) The front end is integrally formed with a hook (3). The inner side of the hook body (22) is provided with a hook body groove (24). The hook body groove (24) penetrates the inner side of the hook body (22). The inner side of the hook body (22) is provided with a positioning groove (2). A connecting rod shaft (7) is provided on the hook body (22). The connecting rod shaft (7) is hinged to the upper connecting rod (5) of the cutter and the lower connecting rod (6) of the cutter. The upper connecting rod (5) of the cutter and the lower connecting rod (6) of the cutter are integrally formed. The driving end (1) is connected to one end of the return spring (8). The other end of the return spring (8) is fixedly connected to the lower connecting rod (6) of the cutter. The end of the upper connecting rod (5) of the cutter is provided with a combination tool (25) that cooperates with the positioning groove (2). The device includes a first leg (26) and a second leg (27). The first leg (26) and the second leg (27) are symmetrically fixed to the free end of the upper connecting rod (5) of the cutter. The top of the first leg (26) is fixedly connected to a large cutter motor (10). A large cutter (4) is provided on the large cutter motor (10). The large cutter (4) is frustum-shaped and has cutting teeth (23) on its outer edge. The top of the second leg (27) is fixedly installed with a small cutter motor (9). The small cutter (15) is frustum-shaped. A hobbing shaft (12) is provided at the center of the inner side of the small cutter (15). A cuboid metal key (19) is provided along the axial direction on the cylindrical outer surface of the hobbing shaft (12). The metal key (19) extends to the hobbing shaft ( 12) In the middle, a hob body (14) is provided outside the hob shaft (12). The hob body (14) is provided with a hob shaft hole (18) and a keyway hole (17) along the central axial direction. The hob shaft hole (18) and the keyway hole (17) are connected and are sleeved with the hob shaft (12) and the metal shaft key (19). The large cutter (4) has a large cutter shaft hole (11) at the center of the conical bottom surface. The large cutter shaft hole (11) is sleeved with the front end of the hob shaft (12). The large cutter shaft hole (11) is slidably connected with the end of the hob shaft (12). A pair of torsion springs (16) are provided on the conical bottom surface of the small cutter (15). One end of the torsion spring (16) is connected to the small cutter (15), and the other end of the torsion spring (16) is connected to the end face of the hob body (14).

2. The automatic bag-opening system based on an intelligent robot according to claim 1, characterized in that: The large cutter motor (10) and the small cutter motor (9) rotate in opposite directions and on the same axis. The diameter of the large cutter (4) is larger than that of the small cutter (15). The cone surface of the large cutter (4) is provided with a triangular pyramidal thorn (20) and a swing ramp (21). The swing ramp (21) is set from low to high along the rotation direction.

3. The automatic bag-opening system based on an intelligent robot according to claim 2, characterized in that: The cylindrical surface of the cutter body (14) is provided with a cutter spike (13). The cutter spike (13) is a triangular pyramid. The cross section of the cutter spike (13) is an obtuse triangle. The maximum angle of the obtuse triangle is 100° to 120°. Any side of the obtuse angle is parallel to the cutter shaft (12).

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