Bagged material breaking and feeding system

Abstract

According to the full-automatic bagged material bag breaking and feeding system, AGV forklift carrying, multi-axis mechanical arm grabbing, rotary cutting piece bag breaking and fan dust removal are achieved, the AGV forklift is adopted for carrying in a reciprocating mode, the multi-axis mechanical arm is adopted for grabbing and forking material bags, then the rotary cutting piece is adopted for scratching the packaging bags, the materials fall into the hopper under the action of gravity, and raised dust is collected and captured by the dust removal fan. The unloading bin and the dustproof curtain form an approximately sealed space, the 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 system, personnel operate and monitor equipment operation through the control system, the labor intensity is low, and the overall operation automation degree and high efficiency are high; the participation of the AGV forklift and the multi-shaft mechanical arm completely liberates people from physical labor; according to the whole operation process, automation is achieved in the whole process from the material bag stacking area to feeding of each material bag into the discharging bin, and a safe and efficient unmanned operation mode can be achieved after the operation area is closed.

Description

Technical Field

[0001] The invention relates to a bag breaking and feeding system for 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 fully automatic bagged material breaking and feeding system with AGV forklift transportation, multi-axis mechanical arm grabbing, rotary cutting blade bag breaking and fan dust removal. The system adopts AGV forklift reciprocating transportation, multi-axis mechanical arm grabbing and forking the material bag, and then the rotating cutting blade cuts the packaging bag. The material falls into the hopper by 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 system for bagged materials includes a bag breaking machine for bagged materials, a multi-axis mechanical arm, a waste bag box, an image recognition system, an AGV forklift, an AGV charging pile and a main control system; The bag breaking machine for bagged materials consists of a frame, a hopper, a discharge bin, a cutting motor, and a dust removal fan; The frame and the hopper are fixedly connected and support the discharge bin above. The hopper and the discharge bin are hollow inside and connected from top to bottom. A cutting motor and a driving shaft and multiple parallel and spaced cutting blades are arranged in the middle of the lower part of the discharge bin. The upper front of the discharge bin is open and a dust curtain is installed. A filter element is arranged inside the top of the discharge bin, and a dust removal fan is arranged outside the top of the discharge bin. A back-blowing nozzle is arranged in the filter element. An image recognition system is set above the bag stack grabbing area; A multi-axis robotic arm and waste bag box are set up next to the rack; A platform is provided on the front of the unloading bin at the height of the cutting blade, and a pair of parallel long grooves are provided on the surface of the platform; The multi-axis robot arm’s operating range covers the bag stacking grabbing area, platform, unloading bin and waste bag box; The final stage of the multi-axis robot arm is equipped with a needle plate with a weighing module and a suction cup in sequence, and the needle plate with the weighing module and the suction cup are connected by means of a compression spring; The AGV forklift automatically navigates and runs between the material bag stacking area, the material bag stacking grabbing area and the charging pile; The main control system coordinates the AGV forklift, multi-axis robotic arm, bag breaking machine for bagged materials and image recognition system to work together. Under the unified control of the main control system, the AGV forklift picks up the material bag stack from the stacking area and transfers it to the grabbing area. The AGV forklift puts down the material bag stack and then automatically navigates to the charging pile to charge. The image recognition system identifies the location of the target material bag and sends it to the main control system and the multi-axis robotic arm. The multi-axis robotic arm runs to the top of the target material bag and grabs the target material bag with a suction cup and puts it down on the platform. The multi-axis robotic arm pierces the material bag with the pin on the needle plate with a 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. 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 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 on the unloading bin. At the middle position of the bag slot height, the pin tip and the empty bag are in the waste bag box, and the needle plate with the 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 operation origin and starts the image recognition command. The image recognition system recognizes the material bag and enters the next working cycle. Otherwise, the main control system issues the next instruction based on the material storage status of the stacking area; if the material storage status is empty, an empty warehouse signal is issued to prompt the user to fill the material warehouse; if there is still material stored, a pallet change command is issued to the AGV forklift; after receiving the pallet change command, the AGV forklift ends charging from the charging pile and automatically navigates to the grasping area, picks up the empty pallet and automatically navigates to transport it to the empty pallet area, and unloads the empty pallet; the main control system sends the target stacking position to the AGV forklift, and the AGV forklift automatically navigates to the target stacking position, picks up the material bag stack and automatically navigates to transfer it to the grasping area; the AGV forklift puts down the material bag stack and then automatically navigates to the charging pile position for charging.

[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] After receiving the start command from the main control system, the multi-axis robot arm first sucks and then forks the material bag to transfer it to the unloading bin. After unloading, it continues to fork the material bag to transfer it to the waste bag box, unloads the material bag through the bag unloading chute, and then returns to the working origin.

[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] During the cycle operation, when the material level is higher than the upper material level sensor, the main control system receives a high material level signal to suspend the operation; when the material level is lower than the lower material level sensor, the main control system receives a low material level signal to resume the cycle operation.

[0009] The AGV forklift automatically navigates to the charging station for charging when the current task is completed or the battery power is lower than the set value.

[0010] Anti-blocking nozzles are provided around the discharge opening at the bottom of the hopper.

[0011] A bag unloading groove is arranged on the top of the side wall of the waste bag box.

[0012] During operation, the AGV forklift picks up the material bag stack from the stacking area and transfers it to the grabbing area. The AGV forklift puts down the material bag stack and then automatically navigates to the charging pile to charge. The image recognition system identifies the position of the target material bag and sends it to the main control system and the multi-axis robotic arm. The multi-axis robotic arm runs to the top of the target material bag and grabs the target material bag with a suction cup and puts it down on the platform. The multi-axis robotic arm pierces the material bag with the pin on the needle plate with a 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. 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 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 height of the bag unloading slot, and the tip of the pin and the empty bag are in the waste bag box. The needle plate with the weighing module is outside the waste bag box. The multi-axis robotic arm pulls out the pins 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. The image recognition system recognizes the material bag and enters the next working cycle. Otherwise, the main control system issues the next instruction based on the material storage status of the stacking area; if the material storage status is empty, an empty warehouse signal is issued to prompt the user to fill the material warehouse; if there is still material stored, a pallet change command is issued to the AGV forklift; after receiving the pallet change command, the AGV forklift ends charging from the charging pile and automatically navigates to the grasping area, picks up the empty pallet and automatically navigates to transport it to the empty pallet area, and unloads the empty pallet; the main control system sends the target stacking position to the AGV forklift, the AGV forklift automatically navigates to the target stacking position, picks up the material bag stack and automatically navigates to transfer it to the grasping area; the AGV forklift puts down the material bag stack and then automatically navigates to the charging pile position for charging.

[0013] The upper material level sensor and the lower material level sensor installed 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 main control system issues a bag breaking and feeding command, and the bag breaking and feeding system 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 main control system issues a bag breaking and feeding suspension command; when the subsequent work section consumes the material in the hopper, the material level continues to drop. When the material level is lower than the lower material level sensor, the main control system issues a bag breaking and feeding resumption command, and this is repeated to ensure that there is always sufficient material in the hopper to ensure the supply of subsequent work sections.

[0014] 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 nozzle can be cleared by backblowing the anti-blocking nozzle with compressed air to ensure continuous supply of materials.

[0015] 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.

[0016] 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 system, and personnel operate and monitor the equipment through the control system, with low labor intensity and high overall operation automation and efficiency; the participation of AGV forklifts and multi-axis robotic arms completely liberates people from physical labor; the entire operation process is fully automated from the material bag stacking area to the feeding of each bag of material into the unloading bin, and a safe and efficient unmanned operation mode can be achieved after the operation area is closed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 It is the front view of the present invention.

[0019] Figure 2 It is a left view of the present invention.

[0020] Figure 3 It is a top view of the present invention.

[0021] Figure 4 This is an axonometric drawing of the present invention.

[0022] In the figure, 1. frame, 2. hopper, 3. platform, 4. cutting disc, 5. dust curtain, 6. filter element, 7. backblowing nozzle, 8. fan, 9. unloading bin, 10. motor, 11. anti-blocking nozzle, 12. upper material level sensor, 13. lower material level sensor, 14. multi-axis robotic 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, 21. AGV forklift, 22. charging pile, 23. pallet, 24. AGV track. DETAILED DESCRIPTION

[0023] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the bagged material breaking and feeding system includes a bagged material breaking machine, a multi-axis robotic arm 14, a waste bag box 20, an image recognition system 18, an AGV forklift 21, an AGV navigation path diagram 24, a charging pile 22 and a main control system; The bag breaking machine for bagged materials is composed of a frame 1, a hopper 2, a discharge bin 9, a cutting motor 10, and a dust removal fan 8; 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 from top to bottom. A cutting motor 10 and a driving shaft and a plurality of 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. A dust removal fan 8 is arranged outside the top of the discharge bin 9. A back-blowing nozzle 7 is arranged inside the filter element 6. An image recognition system 18 is provided above the bag stack grabbing area; A multi-axis robot arm 14 and a waste bag box 20 are arranged next to the frame 1; A platform 3 is provided on the front of the unloading bin 9 at the height of the cutting blade 4 and in the front, and a pair of parallel long grooves are provided on the surface of the platform 3; The operation range of the multi-axis robot arm 14 covers the bag stacking grabbing area, the platform 3, the unloading bin 9 and the waste bag box 20; The final stage of the multi-axis robot arm 14 is equipped with a needle plate 16 with a weighing module and a suction cup 17 in sequence, and the needle plate 16 with a weighing module and the suction cup 17 are connected by means of a compression spring; The AGV forklift 21 runs along the AGV navigation path diagram 24 between the material bag stacking area, the material bag stacking grabbing area and the charging pile 22; The main control system coordinates the AGV forklift 21, the multi-axis robot arm 14, the bagging material breaker and the image recognition system 18 to work together. Under the unified control of the main control system, the AGV forklift 21 picks up the material bag stack from the stacking area and transfers it to the grabbing area. The AGV forklift puts down the material bag stack and then automatically navigates to the charging pile position for charging. The image recognition system 18 identifies the location 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 runs to the top of the target material bag and grabs the target material bag 17 with the suction cup 15 to the flat The platform 3 is put down, and the multi-axis robot arm 14 uses the pin on the needle plate 16 with the weighing module to pierce the material bag 17, pick up the material bag 17 and extend it into the unloading bin 9. The bottom of the material bag 17 is cut by the rotating cutting blade, 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 moves the unloaded material bag to the waste bag box 20 through the pin on the needle plate 16 with the weighing module. The multi-axis robot arm 14 moves the unloaded material bag to the waste bag box through the pin on the needle plate 16 with the weighing module. 20, the pin is horizontally placed in the middle of the bag unloading slot 19, the pin tip and the empty bag are in the waste bag box 20, the needle plate 16 with the weighing module is outside the waste bag box 20, the multi-axis robot 14 pulls out the pin and the empty bag falls into the waste bag box 20, the multi-axis robot 14 returns to the operation 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 main control system sends the next step instruction in combination with the material storage status of the stacking area; if the material storage status is empty, an empty warehouse signal is sent to prompt the user to fill the warehouse ; If there is still material in stock, a pallet change command is issued to the AGV forklift 21; after receiving the pallet change command, the AGV forklift 21 stops charging from the charging pile 22 and automatically navigates to the grabbing area, picks up the empty pallet and automatically navigates to transport it to the empty pallet area, and unloads the empty pallet; the main control system sends the target stacking position to the AGV forklift 21, the AGV forklift 21 automatically navigates to the target stacking position, picks up the material bag stack and automatically navigates to transfer it to the grabbing area; the AGV forklift 21 puts down the material bag stack and then automatically navigates to the charging pile 22 position to charge.

[0024] 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. It captures the stacking image within the camera's field of view in real time, calculates the 3D coordinates of the stacking material package and converts the coordinates into the coordinates of the multi-axis robot arm 14 motion coordinate system, and sends the recognition results to the multi-axis robot arm 14.

[0025] After receiving the start command from the main control system, the multi-axis robot arm 14 first sucks and then forks the material bag 17 to transfer it to the unloading bin 9. After unloading, it continues to fork the material bag to transfer it to the waste bag box 20, unloads the material bag through the bag unloading slot 19, and returns to the working origin.

[0026] An upper material level sensor 12 is provided above the hopper 2, and a lower material level sensor 13 is provided below the hopper.

[0027] During the cycle operation, when the material level is higher than the upper material level sensor 12, the main control system receives a high material level signal to suspend the operation, and when the material level is lower than the lower material level sensor 13, the main control system receives a low material level signal to resume the cycle operation.

[0028] When the current operation is completed or the battery power is lower than the set value, the AGV forklift 21 follows the AGV navigation path 24 to the charging station for charging.

[0029] An anti-blocking nozzle 11 is provided around the discharge opening at the bottom of the hopper 2.

[0030] A bag discharge slot 19 is provided on the top of the side wall of the waste bag box 20 .

[0031] During operation, the AGV forklift 21 picks up the material bag stack from the stacking area and transfers it to the grabbing area. The AGV forklift puts down the material bag stack and then automatically navigates to the charging pile to charge. The image recognition system 18 identifies the location 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 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 and picks up the material bag 17. The multi-axis robot arm 14 extends into the unloading bin 9, and the bottom of the material bag 17 is cut by the rotating cutting blade, 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 moves the unloaded material bag to the waste bag box 20 through the pin on the needle plate 16 with the weighing module. The multi-axis robot arm 14 moves the unloaded material bag to the waste bag box 20 through the pin on the needle plate 16 with the weighing module. The pin is horizontally placed in the middle of the height of the bag unloading slot 19, and the tip of the pin is close to the empty bag. In the waste bag box 20, the needle plate 16 with the weighing module is outside the waste bag box 20, the multi-axis robot arm 14 pulls out the pin empty bag and drops it into the waste bag box 20, the multi-axis robot arm 14 returns to the operation 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 main control system issues the next step instruction in combination with the material storage status of the stacking area; if the material storage status is empty, an empty warehouse signal is issued to prompt the user to fill the material warehouse; if there is still material stored, a pallet change command is issued to the AGV forklift 21; after receiving the pallet change command, the AGV forklift 21 ends charging from the charging pile 22 and automatically navigates to the grabbing area, picks up the empty pallet and automatically navigates to transport it to the empty pallet area, and unloads the empty pallet; the main control system sends the target stacking position to the AGV forklift 21, the AGV forklift 21 automatically navigates to the target stacking position, picks up the material bag stack and automatically navigates to transfer it to the grabbing area; the AGV forklift 21 puts down the material bag stack and then automatically navigates to the charging pile 22 position for charging.

[0032] 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. When the material level is lower than the lower material level sensor 13, the main control system issues a bag breaking and feeding instruction, and the bag breaking and feeding system 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 main control system issues a bag breaking and feeding suspension 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 lower material level sensor 13, the main 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.

[0033] 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.

[0034] 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.

[0035] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A bag breaking and feeding system for bagged materials, characterized by: The bagged material breaking and feeding system includes a bagged material breaking machine, a multi-axis robotic arm, a waste bag box, an image recognition system, an AGV forklift, an AGV charging station and a main control system; The bag breaking machine for bagged materials consists of a frame, a hopper, a discharge bin, a cutting motor, and a dust removal fan; The frame and the hopper are fixedly connected and support the discharge bin above. The hopper and the discharge bin are hollow inside and connected from top to bottom. A cutting motor and a driving shaft and multiple parallel and spaced cutting blades are arranged in the middle of the lower part of the discharge bin. The upper front of the discharge bin is open and a dust curtain is installed. A filter element is arranged inside the top of the discharge bin, and a dust removal fan is arranged outside the top of the discharge bin. A back-blowing nozzle is arranged in the filter element. An image recognition system is set above the bag stack grabbing area; A multi-axis robotic arm and waste bag box are set up next to the rack; A platform is provided on the front of the unloading bin at the height of the cutting blade, and a pair of parallel long grooves are provided on the surface of the platform; The multi-axis robot arm’s operating range covers the bag stacking grabbing area, platform, unloading bin and waste bag box; The final stage of the multi-axis robot arm is equipped with a needle plate with a weighing module and a suction cup in sequence, and the needle plate with the weighing module and the suction cup are connected by means of a compression spring; The AGV forklift automatically navigates and runs between the material bag stacking area, the material bag stacking grabbing area and the charging pile; The main control system coordinates the AGV forklift, multi-axis robotic arm, bag breaking machine for bagged materials and image recognition system to work together. Under the unified control of the main control system, the AGV forklift picks up the material bag stack from the stacking area and transfers it to the grabbing area. The AGV forklift puts down the material bag stack and then automatically navigates to the charging pile to charge. The image recognition system identifies the location of the target material bag and sends it to the main control system and the multi-axis robotic arm. The multi-axis robotic arm runs to the top of the target material bag and grabs the target material bag with a suction cup and puts it down on the platform. The multi-axis robotic arm pierces the material bag with the pin on the needle plate with a 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 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 pin on the needle plate with the weighing module, and the pin is horizontal in the middle of the height of the bag unloading slot. The multi-axis robot arm pulls out the pin and the empty bag and drops it into the waste bag box. The multi-axis robot arm returns to the operation origin and starts the image recognition command. The image recognition system recognizes the material bag and enters the next working cycle. Otherwise, the main control system issues the next instruction based on the material storage status of the stacking area. If the material storage status is empty, an empty warehouse signal is issued to prompt the user to fill the material warehouse. If there is still material stored, a pallet change command is issued to the AGV forklift. After receiving the pallet change command, the AGV forklift ends charging from the charging pile and automatically navigates to the grabbing area, picks up the empty pallet and automatically navigates to transport it to the empty pallet area, and unloads the empty pallet. The main control system sends the target stacking position to the AGV forklift, which automatically navigates to the target stacking position, picks up the material bag stack and automatically navigates to transfer it to the grabbing area. The AGV forklift puts down the material bag stack and then automatically navigates to the charging pile position for charging.

2. A bag breaking and feeding system for bagged materials according to claim 1, 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. A bag breaking and feeding system for bagged materials according to claim 1, characterized in that: After receiving the start command from the main control system, the multi-axis robot arm first sucks and then forks the material bag to transfer it to the unloading bin. After unloading, it continues to fork the material bag to transfer it to the waste bag box, unloads the material bag through the bag unloading chute, and then returns to the working origin.

4. A bag breaking and feeding system for bagged materials according to claim 1, 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 system for bagged materials according to claim 1 is characterized by: During the cycle operation, when the material level is higher than the upper material level sensor, the main control system receives a high material level signal to suspend the operation; when the material level is lower than the lower material level sensor, the main control system receives a low material level signal to resume the cycle operation.

6. The bag breaking and feeding system for bagged materials according to claim 1 is characterized by: The AGV forklift automatically navigates to the charging station for charging when the current task is completed or the battery power is lower than the set value.

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

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

Images