Bagged material breaking and feeding device

Abstract

According to the bagged material bag breaking and feeding device with the rotary cutting blade for bag breaking and the fan for dust removal, a multi-shaft mechanical arm carrying mode is adopted, packaging bags are scratched through the rotary cutting blade, materials fall into the hopper under the action of gravity, and raised dust is collected and captured by the dust removal fan. The discharging bin and the dustproof curtain form an approximately sealed space, the dust removal fan on the top works to enable the space to form negative pressure, no dust overflows in the bag breaking and feeding process, and the environment is not affected; the bag breaking and feeding process is completed by the equipment, personnel operate and monitor the equipment operation through a control system, the labor intensity is low, and the overall operation automation degree and high efficiency are high; the participation of the multi-axis mechanical arm thoroughly liberates people from physical labor; the whole operation process is automatic, and unmanned bag breaking and feeding can be achieved after the operation area is closed.

Description

Technical Field

[0001] The invention relates to an electromechanical device for breaking bags and feeding powdery and granular materials packaged in bags. Background Art

[0002] In industrial production, powdered and granular materials are often used in bags. The simplest operation is that workers unseal the bag and pour the material into the container. This directly leads to two prominent problems: first, the labor intensity of workers working continuously is high; second, there is a lot of dust, the working environment is poor, and occupational hazards occur. Summary of the invention

[0003] In order to overcome the problems of high labor intensity and poor environment in the prior art, the present invention provides a bag breaking and feeding device for bagged materials with a rotating cutting blade and a dust removal fan for dust removal. The device adopts a multi-axis robotic arm handling method, and the packaging bag is cut by a rotating cutting blade. The material falls into the hopper due to gravity, and the dust is collected and captured by the dust removal fan.

[0004] The technical solution adopted by the present invention to solve its technical problem is: a bag breaking and feeding device for bagged materials, including a frame, a hopper, a discharge bin, a multi-axis mechanical arm, a waste bag box, an image recognition system and a main control system. The frame and the hopper are fixedly connected and support the discharge bin above. The hopper and the discharge bin are hollow inside and penetrated from top to bottom. A cutting motor and a driving shaft and a plurality of cutting blades spaced parallel to each other are arranged in the middle below the discharge bin. An opening is opened above the front of the discharge bin and a dust curtain is installed. A filter element is arranged inside the top of the discharge bin. A dust removal fan is provided on the outside of the top, and a back-blowing nozzle is provided in the filter element; an image recognition system is provided above the material bag stacking grabbing area; a multi-axis robotic arm and a waste bag box are provided next to the frame; a platform is provided in front of the unloading bin at the height of the cutting disc, and a pair of parallel long grooves are provided on the surface of the platform; the operating range of the multi-axis robotic arm covers the material bag stacking grabbing area, the platform, the unloading bin and the waste bag box; the last stage of the multi-axis robotic arm is equipped with a needle plate and a suction cup with a weighing module in sequence, and the needle plate and the suction cup with the weighing module are connected by a compression spring.

[0005] The image recognition system consists of an industrial-grade 3D high-precision structured light camera, a machine vision industrial computer and a stacking recognition algorithm. The stacking recognition algorithm runs on the machine vision industrial computer. The machine vision industrial computer is connected to the industrial-grade 3D high-precision structured light camera via Ethernet. It captures the stacking image in the camera's field of view in real time, calculates the 3D coordinates of the stacking material packages and converts the coordinates into the coordinates of the multi-axis robot arm motion coordinate system, and sends the recognition results to the multi-axis robot arm.

[0006] The image recognition system identifies the location of the target material bag and sends it to the main control system and the multi-axis robot arm. The multi-axis robot arm moves to the top of the target material bag and grabs the target material bag with a suction cup and puts it on the platform. The multi-axis robot arm pierces the material bag with the needle on the needle plate with the weighing module, picks up the material bag and extends it into the unloading bin. The bottom of the material bag is cut by the rotating cutting blade, and the material in the material bag falls into the hopper. The raised dust is collected by the filter element installed in front of the dust removal fan. After the multi-axis robot arm detects that the bag has been unloaded through the weighing module, The multi-axis robotic arm moves the empty material bag to the waste bag box through the pin on the needle plate with a weighing module. The pin is horizontally placed in the middle of the bag unloading slot, the pin tip and the empty bag are in the waste bag box, and the needle plate with a weighing module is outside the waste bag box. The multi-axis robotic arm pulls out the pin and the empty bag falls into the waste bag box. The multi-axis robotic arm returns to the operating origin and starts the image recognition command. If the image recognition system recognizes the material bag, it enters the next working cycle. Otherwise, the user is prompted to fork the empty pallet away and put it back into the new material bag stack.

[0007] An upper material level sensor is provided on the upper side of the hopper, and a lower material level sensor is provided on the lower side of the hopper.

[0008] Anti-blocking nozzles are provided around the discharge opening at the bottom of the hopper.

[0009] A bag unloading groove is arranged on the top of the side wall of the waste bag box.

[0010] During operation, the forklift places the multi-layer material bag together with the pallet in the material bag stacking grabbing area. After the forklift exits the working area, the safety door is closed. The main control system issues a start command, and the multi-axis robotic arm runs to the working origin and issues an image recognition instruction to the machine vision industrial computer. The machine vision industrial computer connects to the industrial-grade 3D high-precision structured light camera through Ethernet to collect the stacking image in the field of view, and uses the demolition recognition algorithm to calculate the 3D coordinates of the target material bag and convert the coordinates into the coordinates of the multi-axis robotic arm motion coordinate system. The recognition result is sent to the multi-axis robotic arm and the main control system. The main control system controls the multi-axis robotic arm to move above the target material bag, the suction cup presses down the center of the material bag, and the compressed air is turned on to suck up the material bag. The multi-axis robotic arm moves the material bag to the platform through the suction cup, and the compressed air is turned off. The suction cup is separated from the material bag, and the multi-axis robotic arm adjusts the angle and aligns the pins on the needle plate with the weighing module with the parallel long grooves on the platform. The needle plate with the weighing module moves downward to pierce the material bag, and the multi-axis robotic arm adjusts its posture to pick up the material bag and push away the dustproof The curtain extends into the unloading bin, the cutting motor has been started to drive the cutting blade to rotate, the bottom of the picked up material bag is cut by the cutting blade, and the material in the bag falls into the hopper below due to gravity. The dust removal fan has been started to form a negative pressure in the unloading bin, and the raised dust is adsorbed on the surface of the filter element under the action of the airflow formed by the dust removal fan. After the multi-axis robotic arm detects that the material bag has been unloaded through the weighing module, the multi-axis robotic arm moves the unloaded material bag to the waste bag box through the pins on the needle plate with the weighing module. The roots of the pins on the needle plate with the weighing module fall into the bag unloading slot, the pins are pulled out horizontally, and the empty bag falls into the waste bag box. The multi-axis robotic arm returns to the working origin and sends a command to the image recognition system. The image recognition system recognizes the material bag and enters the next working cycle, otherwise it sends a pallet change command.

[0011] The upper material level sensor and the lower material level sensor arranged on the side of the hopper monitor the material level in the hopper. When the material level is lower than the lower material level sensor, the control system issues a bag breaking and feeding command, and the bag breaking and feeding device for bagged materials is put into operation. The material level continues to rise and gradually exceeds the lower material level sensor, and the bag breaking and feeding continues. When the material level exceeds the upper material level sensor, the bag breaking and feeding control system issues a pause command; when the subsequent work section consumes the material in the hopper, the material level continues to decrease. When the material level is lower than the lower material level sensor, the control system issues a bag breaking and feeding resumption command, and this is repeated to always ensure that there is sufficient material in the hopper to ensure the supply of subsequent work sections.

[0012] If the subsequent work section finds that the material taking is interrupted during the material taking process and the material level in the hopper is above the lower material level sensor, the anti-blocking nozzle can be cleared by backblowing with compressed air to ensure continuous supply of materials.

[0013] The dust on the surface of the filter element increases with the increase of operation time. The filter element can be back-blown through the back-blowing nozzle with compressed air in the gap between bag breaking and feeding. The back-blown dust falls into the hopper below, and the filter element is cleaned and the dust removal effect is restored.

[0014] The beneficial effects of the present invention are that the unloading bin and the dust-proof curtain form a nearly sealed space, the dust removal fan on the top works to form a negative pressure in this space, there is no dust spillover during the bag breaking and feeding process, and the environment is not affected; the bag breaking and feeding process is completed by the equipment, and personnel operate and monitor the equipment operation through the control system, the labor intensity is low, and the overall operation is highly automated and efficient; the participation of the multi-axis robotic arm completely liberates people from physical labor; the entire operation process is automated, and unmanned bag breaking and feeding can be achieved after the operation area is closed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0016] Figure 1 It is the front view of the present invention.

[0017] Figure 2 It is a left view of the present invention.

[0018] Figure 3 It is a top view of the present invention.

[0019] In the figure, 1. frame, 2. hopper, 3. platform, 4. cutting disc, 5. dust curtain, 6. filter element, 7. backblowing nozzle, 8. dust removal fan, 9. unloading bin, 10. cutting motor, 11. anti-blocking nozzle, 12. upper material level sensor, 13. lower material level sensor, 14. multi-axis robot arm, 15. suction cup, 16. needle plate with weighing module, 17. material bag, 18. image recognition system, 19. bag unloading chute, 20. waste bag box. DETAILED DESCRIPTION

[0020] like Figure 1 , Figure 2 , Figure 3 As shown, the bag breaking and feeding device for bagged materials comprises a frame 1, a hopper 2, a discharge bin 9, a multi-axis mechanical arm 14, a waste bag box 20, an image recognition system 18 and a main control system. The frame 1 and the hopper 2 are fixedly connected and support the discharge bin 9 above. The hopper 2 and the discharge bin 9 are hollow inside and connected up and down. A cutting motor 10 and a driving shaft and a plurality of mutually parallel and spaced cutting blades 4 are arranged in the middle of the lower part of the discharge bin 9. The upper front of the discharge bin 9 is open and a dust curtain 5 is installed. A filter element 6 is arranged inside the top of the discharge bin 9, and a dust removal fan 8 is arranged outside the top of the discharge bin 9. The filter element 6 has a dust filter 6. A back-blowing nozzle 7 is provided; an image recognition system 18 is provided above the stacking and grabbing area of ​​the material bag 17; a multi-axis robot arm 14 and a waste bag box 20 are provided next to the frame 1; a platform 3 is provided in front of the unloading bin 9 at the height of the cutting blade 4, and a pair of parallel long grooves are provided on the surface of the platform 3; the operating range of the multi-axis robot arm 14 covers the stacking and grabbing area of ​​the material bag 17, the platform 3, the unloading bin 9 and the waste bag box 20; the last stage of the multi-axis robot arm 14 is equipped with a needle plate 16 with a weighing module and a suction cup 15 in sequence, and the needle plate 16 with the weighing module and the suction cup 15 are connected by means of a compression spring.

[0021] The image recognition system 18 is composed of an industrial-grade 3D high-precision structured light camera, a machine vision industrial computer and a stacking recognition algorithm. The stacking recognition algorithm runs on the machine vision industrial computer. The machine vision industrial computer is connected to the industrial-grade 3D high-precision structured light camera via Ethernet, and captures the stacking image within the camera's field of view in real time, calculates the 3D coordinates of the stacking material package 17 and converts the coordinates into the coordinates of the motion coordinate system of the multi-axis robot arm 14, and sends the recognition results to the multi-axis robot arm 14.

[0022] The image recognition system 18 identifies the position of the target material bag and sends it to the main control system and the multi-axis robot arm 14. The multi-axis robot arm 14 moves to the top of the target material bag 17 and grabs the target material bag 17 with the suction cup 15 and puts it on the platform 3. The multi-axis robot arm 14 pierces the material bag 17 with the needle on the needle plate 16 with the weighing module, picks up the material bag 17 and extends it into the unloading bin 9. The bottom of the material bag 17 is cut by the rotating cutting blade 4, and the material in the material bag 17 falls into the hopper 2. The raised dust is collected by the filter element 6 set in front of the dust removal fan 8. The multi-axis robot arm 14 detects the material bag through the weighing module. After unloading, the multi-axis robot 14 moves the emptied material bag to the waste bag box 20 through the pins on the needle plate 16 with the weighing module. The pins are horizontally placed in the middle of the height of the bag unloading slot 19, the pin tips and the empty bag are in the waste bag box, and the needle plate 16 with the weighing module is outside the waste bag box 20. The multi-axis robot 14 pulls out the pins and the empty bag falls into the waste bag box 20. The multi-axis robot 14 returns to the operating origin and then starts the image recognition command. The image recognition system 18 recognizes the material bag 17 and enters the next working cycle, otherwise the user is prompted to fork the empty pallet away and put it back into the new material bag stack.

[0023] An upper material level sensor 12 is provided above the hopper 2, and a lower material level sensor 13 is provided below the hopper.

[0024] An anti-blocking nozzle 11 is provided around the discharge opening at the bottom of the hopper 2.

[0025] A bag discharge slot 19 is provided on the top of the side wall of the waste bag box 20 .

[0026] During operation, the forklift places the multi-layer material bag 17 together with the pallet in the material bag stacking grabbing area, and closes the safety door after the forklift exits the working area. The main control system issues a start command, and the multi-axis robot arm 14 runs to the working origin and issues an image recognition instruction to the machine vision industrial computer. The machine vision industrial computer connects to the industrial-grade 3D high-precision structured light camera through Ethernet to collect the stacking image in the field of view, and uses the demolition recognition algorithm to calculate the 3D coordinates of the target material bag 17 and convert the coordinates into the coordinates of the multi-axis robot arm 14 motion coordinate system, and sends the recognition result to the multi-axis robot arm 14 and the main control system. The main control system controls the multi-axis robot arm 14 to move to the top of the material bag 17, and the suction cup 15 presses down the center of the material bag, and the compressed air is turned on to suck up the material bag 17. The multi-axis robot arm 14 moves the material bag to the platform 3 through the suction cup 15, and the compressed air is turned off. The suction cup 15 is separated from the material bag 17, and the multi-axis robot arm 14 adjusts the angle and aligns the pins on the needle plate 16 with the weighing module with the parallel long grooves on the platform 3 , the needle plate 16 with the weighing module moves downward to pierce the material bag 17, the multi-axis robot arm 14 adjusts its posture to pick up the material bag 17, pushes open the dust curtain 5 and extends into the unloading bin 9, the cutting motor 10 has been started to drive the cutting blade 4 to rotate, the bottom of the picked up material bag 17 is cut by the cutting blade 4, and the material in the bag falls into the hopper 2 below under the action of gravity, the dust removal fan 8 has been started to form a negative pressure in the unloading bin 9, and the raised dust is adsorbed on the surface of the filter element 6 under the action of the airflow formed by the dust removal fan 8, and the multi-axis robot arm 1 After the weighing module detects that the bag has been emptied, the multi-axis robot arm 14 moves the emptied bag to the waste bag box 20 through the pins on the needle plate 16 with the weighing module. The pins on the needle plate 16 with the weighing module drop into the bag unloading slot 19, and the pins are pulled out horizontally, and the empty bag falls into the waste bag box 20. The multi-axis robot arm 14 returns to the work origin and sends a command to the image recognition system 18. If the image recognition system 18 recognizes the bag, it will enter the next work cycle, otherwise it will send a pallet change command.

[0027] The upper material level sensor 12 and the lower material level sensor 13 arranged on the side of the hopper 2 monitor the material level in the hopper 2. When the material level is lower than the lower material level sensor 13, the control system issues a bag breaking and feeding instruction, and the bag breaking and feeding device for bagged materials is put into operation. The material level continues to rise and gradually exceeds the lower material level sensor 13, and the bag breaking and feeding continues. When the material level exceeds the upper material level sensor 12, the bag breaking and feeding control system issues a pause instruction; when the subsequent work section consumes the material in the hopper, the material level continues to decrease. When the material level is lower than the material level sensor 13, the control system issues a bag breaking and feeding resumption instruction, and this is repeated to always ensure that there is sufficient material in the hopper 2 to ensure the supply of the subsequent work section.

[0028] If the subsequent work section finds that the material taking is interrupted during the material taking process and the material level in the hopper is above the lower material level sensor 13, the anti-blocking nozzle 11 can be cleared by backblowing with compressed air to ensure continuous supply of materials.

[0029] The dust on the surface of the filter element 6 increases with the increase of operation time. The filter element can be back-blown by compressed air through the back-blowing nozzle 7 in the gap between bag breaking and feeding. The back-blown dust falls into the hopper 2 below, and the filter element 6 is cleaned and the dust removal effect is restored.

[0030] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A bag breaking and feeding device for bagged materials, characterized by: The bag breaking and feeding device for bagged materials comprises a frame, a hopper, a discharge bin, a multi-axis mechanical arm, a waste bag box, an image recognition system and a main control system. The frame and the hopper are fixedly connected and support the discharge bin above. The inside of the hopper and the discharge bin are hollow and connected from top to bottom. A cutting motor and a driving shaft and a plurality of mutually parallel and spaced cutting blades are arranged in the middle of the lower part of the discharge bin. An opening is opened above the front of the discharge bin and a dust curtain is installed. A filter element is arranged inside the top of the discharge bin, a dust removal fan is arranged outside the top of the discharge bin, and a back-blowing nozzle is arranged in the filter element; an image recognition system is arranged above the material bag stacking grasping area; a multi-axis mechanical arm and a waste bag box are arranged beside the frame; a platform is arranged forward at the height of the cutting blade on the front of the discharge bin, and a pair of parallel long grooves are arranged on the surface of the platform; the operation range of the multi-axis mechanical arm covers the material bag stacking grasping area, the platform, the discharge bin and the waste bag box; the last stage of the multi-axis mechanical arm is equipped with a needle plate and a suction cup with a weighing module in sequence, and the needle plate and the suction cup with the weighing module are connected by a compression spring.

2. The bag breaking and feeding device for bagged materials according to claim 1 is characterized in that: The image recognition system consists of an industrial-grade 3D high-precision structured light camera, a machine vision industrial computer and a stacking recognition algorithm. The stacking recognition algorithm runs on the machine vision industrial computer. The machine vision industrial computer is connected to the industrial-grade 3D high-precision structured light camera via Ethernet. It captures the stacking image in the camera's field of view in real time, calculates the 3D coordinates of the stacking material packages and converts the coordinates into the coordinates of the multi-axis robot arm motion coordinate system, and sends the recognition results to the multi-axis robot arm.

3. The bag breaking and feeding device for bagged materials according to claim 1 is characterized in that: The image recognition system identifies the location of the target material bag and sends it to the main control system and the multi-axis robot arm. The multi-axis robot arm moves to the top of the target material bag and grabs the target material bag with a suction cup and puts it on the platform. The multi-axis robot arm pierces the material bag with the needle on the needle plate with the weighing module, picks up the material bag and extends it into the unloading bin. The bottom of the material bag is cut by the rotating cutting blade, and the material in the material bag falls into the hopper. The raised dust is collected by the filter element installed in front of the dust removal fan. After the multi-axis robot arm detects that the bag has been unloaded through the weighing module, The multi-axis robotic arm moves the empty material bag to the waste bag box through the pin on the needle plate with a weighing module. The pin is horizontally placed in the middle of the bag unloading slot, the pin tip and the empty bag are in the waste bag box, and the needle plate with a weighing module is outside the waste bag box. The multi-axis robotic arm pulls out the pin and the empty bag falls into the waste bag box. The multi-axis robotic arm returns to the operating origin and starts the image recognition command. If the image recognition system recognizes the material bag, it enters the next working cycle. Otherwise, the user is prompted to fork the empty pallet away and put it back into the new material bag stack.

4. The bag breaking and feeding device for bagged materials according to claim 1 is characterized in that: An upper material level sensor is provided on the upper side of the hopper, and a lower material level sensor is provided on the lower side of the hopper.

5. The bag breaking and feeding device for bagged materials according to claim 1 is characterized in that: Anti-blocking nozzles are provided around the discharge opening at the bottom of the hopper.

6. The bag breaking and feeding device for bagged materials according to claim 1 is characterized in that: A bag unloading groove is arranged on the top of the side wall of the waste bag box.

Images