Linkage control method for multiple associated movement mechanisms in material bag recovery working condition and automatic bale breaker

Abstract

The invention provides a linkage control method for a plurality of associated movement mechanisms in a material bag recovery working condition and an automatic bale breaker. In the process that a main controller controls a moving device to drive a hooking device hooking a material bag to move towards an inner partition double door, the inner partition double door and a bag extrusion mechanism are independently driven to turn over; the first inner partition door and the second inner partition door do not interfere with the bag squeezing mechanism; when it is detected that the inner partition double door is opened to a first target angle, the moving device is controlled to drive the hooking device to pass through the inner partition double door; and when it is detected that the hooking device moves to a recycling position in the recycling bin and the inner partition double door is completely closed, unhooking operation and bag squeezing operation are controlled to be executed. Therefore, in the application, the overturning movement of the first inner partition door, the second inner partition door and the bag extruding mechanism is independently controlled, so that the interference between the inner partition double doors and the bag extruding mechanism is avoided, and the efficiency, the stability and the safety of the whole control process of executing the material bag recycling working condition by the automatic bag opening machine are improved.

Description

Technical Field

[0001] The present application relates to the technical field of unpacking equipment, and in particular to a linkage control method for multiple associated motion mechanisms in a material bag recovery condition and an automatic unpacking machine. Background Art

[0002] At present, the flipping drive mechanism can drive the bag squeezing mechanism to flip and cover the recovery port of the recovery bin, so as to avoid interference between the ton bag hooked by the hooking device and the bag collecting device. However, there is still interference between the motion control of the inner partition double door and the flipping mechanism, and it is necessary to manually control the emergency switch. Summary of the invention

[0003] The present application provides a linkage control method for multiple related motion mechanisms in a material bag recovery condition and an automatic bag unpacking machine. By independently controlling the flipping motion of a first inner partition door, a second inner partition door, and a bag squeezing mechanism, interference between the inner partition double doors and the bag squeezing mechanism is avoided, thereby improving the efficiency, stability, and safety of the entire control process of the automatic bag unpacking machine in executing the material bag recovery condition.

[0004] In the first aspect, the present application provides a linkage control method for multiple associated motion mechanisms in a material bag recovery condition, which is applied to a main controller of an automatic unpacking machine, wherein the automatic unpacking machine includes a recovery bin, a material breaking bin, a moving device, and a hooking device, wherein the hooking device is used to hook the material bag, and the moving device is used to drive the hooking device to move between the recovery bin and the material breaking bin, wherein a bag collecting device, a flipping mechanism, and a bag squeezing mechanism are provided in the recovery bin, and the flipping mechanism is used to drive the bag squeezing mechanism to flip and cover the recovery port of the bag collecting device; an inner partition double door is provided between the recovery bin and the material breaking bin; the method comprises: controlling the moving device to drive the hooking device hooked with the material bag to move toward the inner partition double door, and driving the first inner partition door of the inner partition double door to flip at a first driving speed, and controlling the flipping mechanism to drive the bag squeezing mechanism to flip at a first driving speed. The second driving speed flips, and drives the second inner door of the inner partition double door to flip at a third driving speed, so that the first inner door and the second inner door do not interfere with the bag squeezing mechanism; when it is detected that the first inner door and the second inner door are opened to the first target angle, the moving device is controlled to drive the hooking device to pass through the inner partition double door and continue to move; when it is detected that the hooking device moves to the target position of the recycling bin, the first inner door and the second inner door are controlled to close, and the target position refers to the position where the inner partition double door will not interfere with the material bag, the bag squeezing mechanism, and the hooking device during the closing process; when it is detected that the hooking device moves to the recycling position in the recycling bin and that the inner partition double door is completely closed, the hooking device is controlled to perform a unhooking operation, and the flipping mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation.

[0005] In the second aspect, the present application provides an automatic unpacking machine, which includes a recovery bin, a material breaking bin, a moving device, and a hooking device. The hooking device is used to hook the material bag, and the moving device is used to drive the hooking device to move between the recovery bin and the material breaking bin. A bag collecting device, a flipping mechanism, and a bag squeezing mechanism are provided in the recovery bin. The flipping mechanism is used to drive the bag squeezing mechanism to flip and cover the recovery port of the bag collecting device; an inner partition double door is provided between the recovery bin and the material breaking bin; a main controller is used to execute the step instructions as described in any method of the first aspect.

[0006] In the third aspect, the present application provides a linkage control device for multiple associated motion mechanisms in a material bag recovery condition, which is applied to the main controller of an automatic unpacking machine, wherein the automatic unpacking machine includes a recovery bin, a material breaking bin, a moving device, and a hooking device, wherein the hooking device is used to hook the material bag, and the moving device is used to drive the hooking device to move between the recovery bin and the material breaking bin, and a bag collecting device, a flipping mechanism, and a bag squeezing mechanism are provided in the recovery bin, and the flipping mechanism is used to drive the bag squeezing mechanism to flip and cover the recovery port of the bag collecting device; an inner partition double door is provided between the recovery bin and the material breaking bin; the linkage control device includes: a control unit, used to control the moving device to drive the hooking device hooked with the material bag to move toward the inner partition double door, and to drive the first inner partition door of the inner partition double door to flip at a first driving speed, and to control the flipping mechanism to drive the squeezing mechanism The bag mechanism flips at a second driving speed, driving the second inner door of the inner partition double door to flip at a third driving speed, so that the first inner door and the second inner door do not interfere with the bag squeezing mechanism; when it is detected that the first inner door and the second inner door are opened to a first target angle, the moving device is controlled to drive the hooking device to pass through the inner partition double door and continue to move; when it is detected that the hooking device moves to the target position of the recovery bin, the first inner door and the second inner door are controlled to close, and the target position refers to the position where the inner partition double door will not interfere with the material bag, the bag squeezing mechanism, and the hooking device during the closing process; when it is detected that the hooking device moves to the recovery position in the recovery bin and that the inner partition double door is completely closed, the hooking device is controlled to perform a unhooking operation, and the flipping mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation.

[0007] It can be seen that in the present application, in the process of the main controller controlling the mobile device to drive the hooking device hooked with the material bag to move toward the inner partition double door, the first inner partition door of the inner partition double door is driven to flip at a first driving speed, the flipping mechanism is controlled to drive the bag squeezing mechanism to flip at a second driving speed, and the second inner partition door of the inner partition double door is driven to flip at a third driving speed, so that the first inner partition door and the second inner partition door do not interfere with the bag squeezing mechanism; when it is detected that the first inner partition door and the second inner partition door are opened to the first target angle, the mobile device is controlled to drive the hooking device to pass through the inner partition double door and continue to move; when it is detected that the hooking device moves to the target position of the recovery bin, the first inner partition door and the second inner partition door are controlled to close, and the target position refers to the position where the inner partition double door will not interfere with the material bag, the bag squeezing mechanism, and the hooking device during the closing process; when it is detected that the hooking device moves to the recovery position in the recovery bin and it is detected that the inner partition double door is completely closed, the hooking device is controlled to perform a unhooking operation, and the flipping mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation. Therefore, in the present application, by independently controlling the flipping movement of the first inner partition door, the second inner partition door, and the bag squeezing mechanism, interference between the inner partition double doors and the bag squeezing mechanism is avoided, thereby improving the efficiency, stability, and safety of the entire control process of the automatic bag opening machine in performing the material bag recovery operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them,

[0009] Figure 1 A cross-sectional view of an automatic unpacking system provided in an embodiment of the present application;

[0010] Figure 2 A structural block diagram of the automatic unpacking machine provided in an embodiment of the present application;

[0011] Figure 3 A schematic diagram of the structure of the recycling bin provided in the embodiment of the present application;

[0012] Figure 4 A schematic flow chart of a linkage control method for multiple associated motion mechanisms in a material bag recycling condition provided by an embodiment of the present application;

[0013] Figure 5 A partial schematic diagram of the upper and lower double doors of the automatic unpacking machine provided in an embodiment of the present application;

[0014] Figure 6 A schematic diagram of the trajectory of the bag squeezing mechanism and the upper and lower double doors provided in the embodiment of the present application;

[0015] Figure 7 A schematic diagram of another bag squeezing mechanism and upper and lower double doors provided in an embodiment of the present application;

[0016] Figure 8 A partial schematic diagram of the left and right double doors of the automatic unpacking machine provided in an embodiment of the present application;

[0017] Fig. 9 A schematic diagram of the trajectory of the bag squeezing mechanism and the left and right double doors provided in the embodiment of the present application;

[0018] Fig.10 A schematic diagram of the bag squeezing mechanism and the trajectory of the material bag provided in an embodiment of the present application;

[0019] Fig.11 A schematic diagram of the trajectory of the material bag and the left and right double doors provided in the embodiment of the present application;

[0020] Fig.12 A functional unit structure block diagram of a linkage control device for multiple associated motion mechanisms in a material bag recovery condition provided by an embodiment of the present application;

[0021] Fig.13 A schematic diagram of the structure of a main controller provided in this application. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but in some embodiments also includes steps or units that are not listed, or in some embodiments also includes other steps or units inherent to these processes, methods, products or devices.

[0024] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] In the embodiments of the present application, "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist at the same time; B exists alone. Among them, A and B can be singular or plural.

[0026] In the embodiment of the present application, the symbol " / " can indicate that the objects associated with each other are in an "or" relationship. In addition, the symbol " / " can also indicate a division sign, that is, performing a division operation. For example, A / B can indicate A divided by B.

[0027] In the embodiments of the present application, "at least one item" or similar expressions refer to any combination of these items, including any combination of single items or plural items, and refer to one or more, and multiple refers to two or more. For example, at least one item of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0028] In the embodiments of the present application, "equal to" can be used in conjunction with greater than, and is applicable to the technical solution adopted when greater than, and can also be used in conjunction with less than, and is applicable to the technical solution adopted when less than. When equal to is used in conjunction with greater than, it is not used in conjunction with less than; when equal to is used in conjunction with less than, it is not used in conjunction with greater than. The present application provides a parameter input method and an infusion device for an infusion device. By setting an input mode switching control on a parameter editing interface, medical staff can flexibly select a suitable input mode from at least two input modes for parameter input according to actual applications, thereby improving the efficiency and accuracy of parameter input.

[0029] In order to solve the above problems, the present application provides a linkage control method for multiple related motion mechanisms in a material bag recovery condition and an automatic bag unpacking machine. By independently controlling the flipping movement of the first inner partition door, the second inner partition door, and the bag squeezing mechanism, interference between the inner partition double doors and the bag squeezing mechanism is avoided, thereby improving the efficiency, stability and safety of the entire control process of the automatic bag unpacking machine in performing the material bag recovery condition.

[0030] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0031] Please also read Figure 1-Figure 3 , Figure 1 A cross-sectional view of the automatic unpacking system provided in an embodiment of the present application. Figure 2 This is a structural block diagram of the automatic unpacking machine provided in an embodiment of the present application. Figure 3 A schematic diagram of the structure of the recycling bin provided in an embodiment of the present application.

[0032] The automatic unpacking system 1000 comprises a material bag 1a and an automatic unpacking machine 100. The automatic unpacking machine 100 comprises a main controller 10, a cabinet 1, a moving device 20, and a hooking device 30.

[0033] Among them, see Figure 2 The cabinet 1 includes at least one recovery bin 11 and a broken bin 12, and the cabinet 1 may also include at least one feed bin 13. The moving device 20 is arranged at the top of the cabinet 1 in the height direction Z of the automatic unpacking machine 100, and is used to drive the hooking device 30 to move in the length direction X of the automatic unpacking machine 100. The hooking device 30 is used to hook the material bag 1a.

[0034] Among them, the material breaking bin 12 includes a bag breaking device 121. In the embodiment of the present application, the hooking device 30 hooks the material bag 1a and moves it from the feed bin 13 to the material breaking bin 12. The material bag 1a is broken by the bag breaking device 121, and the material is unloaded from the material bag 1a. Then, the hooking device 30 moves the material bag 1a that has completed the unloading operation to the recovery bin 11 for recycling, which is beneficial to reducing costs.

[0035] The recovery bin 11 is provided with a bag collecting device 110, a turning mechanism 120 and a bag squeezing mechanism 130. Figure 2 , Figure 3 The bag collecting device 110 is provided with a recovery port 111 for communicating with the recovery bin 11. The bag collecting device 110 is used to collect the material bags 1a. The number of bag collecting devices 110 corresponds to the number of recovery bins 11. The bag collecting device 110 can be detachably mounted on the cabinet 1, for example, by Figure 3The slide groove 112 cooperates with the walking wheel 113 to facilitate the installation and disassembly of the bag collecting device 110. Therefore, the automatic unpacking machine 100 provided in the embodiment of the present application can flexibly disassemble the bag collecting device 110 from the cabinet 1, which is convenient for the bag taking, maintenance, cleaning and other operations of the bag collecting device 110. The flipping mechanism 120 is installed on the outer side wall of the bag collecting device 110, and is used to drive the bag squeezing mechanism 130 to flip relative to the bag collecting device 110. The bag squeezing mechanism 130 includes an extrusion drive member 131 and an extrusion plate 132, and the extrusion drive member 131 is transmission-connected to the extrusion plate 132, and is used to drive the extrusion plate 132 to squeeze the material bag 1a stored in the bag collecting device 110 in the height direction Z of the bag collecting device 110.

[0036] The flipping mechanism 120 provided in the embodiment of the present application drives the bag squeezing mechanism 130 to flip at a preset angle to open the recovery port 111, and recycles the material bag 1a into the bag collecting device 110, and drives the bag squeezing mechanism 130 to flip at a preset angle to close the recovery port 111, and controls the squeezing driving member 131 to drive the squeezing plate 132 to squeeze the material bag 1a stored in the bag collecting device 110 in the height direction Z of the bag collecting device 110, thereby improving the recycling effect of the bag collecting device 110 on the material bag 1a. Among them, the preset angle can be 0°-90°. The flipping angle of the bag squeezing mechanism 130 can be, but is not limited to, 0°, 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80° or 90°. It can be understood that the larger the maximum flipping angle of the bag squeezing mechanism 130, the easier it is for the material bag 1a to enter the bag collecting device 110.

[0037] In some embodiments, the bag collecting device 110 further includes a handle 114 , which can facilitate the user to move the bag collecting device 110 , thereby improving the user experience.

[0038] Among them, an inner partition double door 200 is arranged between the recovery bin 11 and the material breaking bin 12, including an upper and lower double door or a left and right double door. The two inner partition doors are independent of each other and are rotatably connected to the recovery bin 11 body, and are used to separate the recovery bin 11 and the material breaking bin 12. When the material bag 1a enters the material breaking bin 12 for unloading, the inner partition double door 200 is closed. When the material bag 1a enters the recovery bin 11 for recycling, the dust generated during the bag breaking process is prevented from polluting other chambers.

[0039] In some embodiments, the inner partition double door 200 includes a first inner partition door 21 and a second inner partition door 22. A sealing device (not shown in the figure) is provided on the first inner partition door 21. The first inner partition door 21 is started before the second inner partition door 22, and the first inner partition door 21 is closed later than the second inner partition door 22 to avoid a conflict between the first inner partition door 21 and the second inner partition door 22.

[0040] Since the inner partition double-opening door 200 is in a flipping motion, it is easy to interfere with the bag squeezing mechanism and the hooking device 30 during the flipping process, and interference may also occur between the two inner partition doors.

[0041] In order to solve the above problems, the present application provides a linkage control method for multiple associated motion mechanisms in a material bag recycling condition. The main controller 10 is used to control the various components of the automatic unpacking machine 100 to execute the above method. Figure 4 , Figure 4 A schematic flow chart of a linkage control method for multiple associated motion mechanisms in a material bag recycling condition provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the linkage control method includes the following steps S401 to S405:

[0042] Step S401 , controlling the moving device 20 to drive the hooking device 30 hooking the material bag 1 a to move toward the inner partition double door 200 .

[0043] The main controller 10 determines that the material in the material bag 1a has been unloaded by obtaining the sensing data of the relevant sensors of the material breaking bin 12, and at this time, the inner partition double doors 200 are tightly closed. At this time, the empty material bag 1a needs to be recovered into the bag collecting device 110.

[0044] First, the moving device 20 drives the hooking device 30 hooking the material bag 1a to move toward the inner partition double-opening door 200, and then the inner partition double-opening door 200 is controlled to open so that the material bag 1a moves to the recovery bin 11, and the bag squeezing mechanism 130 is controlled to flip open the recovery port 111, so that the material bag 1a can fall into the bag collecting device 110. Specifically:

[0045] Step S402, drive the first inner door 21 of the inner partition double door 200 to flip at a first driving speed, control the flipping mechanism 120 to drive the bag squeezing mechanism 130 to flip at a second driving speed, drive the second inner door 22 of the inner partition double door 200 to flip at a third driving speed, so that the first inner door 21 and the second inner door 22 do not interfere with the bag squeezing mechanism 130.

[0046] Among them, see Figure 5-Figure 7 , taking the upper and lower double doors as an example, the specific control process of the main controller 10 on the inner partition double doors 200, the bag squeezing mechanism 130, and the hooking device 3 is described:

[0047] In some embodiments, see Figure 5 The inner partition double door 200 is an upper and lower double door, the first inner partition door 21 is an upper inner partition door, the second inner partition door 22 is a lower inner partition door, the first inner partition door 21 rotates around the upper flip axis 211, and the second inner partition door 22 rotates around the lower flip axis 221. The flip track of the first inner partition door 21 is as follows: Figure 6The upward flip trajectory G 上 The turning trajectory of the second inner partition door 22 is as follows: Figure 6 The downward flip trajectory G 下 .

[0048] In some embodiments, the inner partition double door 200 is an upper and lower double door, the first inner partition door 21 is the upper inner partition door, and the second inner partition door 22 is the lower inner partition door. The calculation process of the first driving speed and the second driving speed is as follows: obtain the first initial driving speed of the first inner partition door 21 and the second initial driving speed of the bag squeezing mechanism 130, and obtain the first flipping radius R1 of the first inner partition door 21 and the second flipping radius R2 of the bag squeezing mechanism 130; determine whether the bag squeezing mechanism 130 and the first inner partition door 21 interfere with each other according to the first initial driving speed, the second initial driving speed, the first flipping radius R1, and the second flipping radius R2; if no interference occurs, determine the first driving speed to be the first initial driving speed and the second driving speed to be the second initial driving speed; if interference occurs, adjust the initial driving speed or flipping start time of the bag squeezing mechanism 130 or the first inner partition door 21 so that there is no interference between the bag squeezing mechanism 130 and the first inner partition door 21.

[0049] In the process of controlling the movement of the material bag 1a from the material breaking bin 12 to the recycling bin 11, it is necessary to open the inner partition double door 200 and the bag squeezing mechanism 130 to open the recycling port 111 of the bag collecting device 110. However, in the process of controlling the flipping, the inner partition double door 200 and the bag squeezing mechanism 130 are prone to interference. Therefore, it is necessary to accurately determine whether interference occurs based on the current working parameters of the automatic unpacking machine 100. If interference occurs, the flipping speed or flipping start time of the inner partition double door 200 or the bag squeezing mechanism 130 is adjusted accordingly to avoid interference; if no interference occurs, it operates normally. The specific judgment process of whether interference occurs is as shown in the following embodiment:

[0050] In some embodiments, determining whether the bag squeezing mechanism 130 and the first inner door 21 interfere with each other is performed based on the first initial driving speed, the second initial driving speed, the first flipping radius R1, and the second flipping radius R2, including: determining whether there is a possibility of interference between the bag squeezing mechanism 130 and the first inner door 21 based on the first flipping radius R1 and the second flipping radius R2; if so, obtaining the first flipping angle O1 corresponding to the first inner door 21 and the second flipping angle O2 corresponding to the bag squeezing mechanism 130 when the bag squeezing mechanism 130 and the first inner door 21 interfere with each other; calculating the first time between the first flipping angle O1 and the first initial driving speed, and calculating the second time between the second flipping angle O2 and the second initial driving speed; if the first time is greater than or less than the second time, the bag squeezing mechanism 130 and the first inner door 21 do not interfere with each other; if the first time is equal to the second time, the bag squeezing mechanism 130 and the first inner door 21 will interfere with each other; if not, the bag squeezing mechanism 130 and the first inner door 21 will not interfere with each other.

[0051] Depend on Figure 6 It can be seen that during the turning process of the inner partition double door 200 and the bag squeezing mechanism 130, whether the first inner partition door 21 and the bag squeezing mechanism 130 turn over is related to the second turning radius R2 of the bag squeezing mechanism 130 and the first turning radius R1 of the first inner partition door 21. Figure 6 When the first inner partition door 21 turns upward along the trajectory G 上 When the first turning track G1 of the bag squeezing mechanism 130 does not intersect, it indicates that the first inner partition door 21 and the bag squeezing mechanism 130 will not interfere with each other, and the driving speed is irrelevant at this time. Figure 7 When the first inner partition door 21 turns upward along the trajectory G 上 When the first turning track G1 of the bag squeezing mechanism 130 intersects, it indicates that the first inner partition door 21 and the bag squeezing mechanism 130 may interfere with each other. At this time, the driving speeds of the two need to be accurately controlled to avoid interference.

[0052] Among them, for the second inner partition door 22, see Figure 6 , Figure 7 , the downward turning trajectory G of the second inner partition door 22 下 There is an intersection with the first flipping trajectory G1 of the bag squeezing mechanism 130, which means that there is a possibility of interference between the second inner partition door 22 and the bag squeezing mechanism 130. At this time, it is necessary to accurately control the driving speeds of the two to avoid interference.

[0053] When there is a possibility of interference between the first inner partition door 21 and the bag squeezing mechanism 130, Figure 7, according to the intersection of the trajectories, the first flip angle O1 of the first inner partition door 21 and the second flip angle O2 of the bag squeezing mechanism 130 when the interference occurs are determined, the first time when the first inner partition door 21 reaches the interference position D1 can be calculated according to the first initial driving speed of the first inner partition door 21 and the first flip angle O1, and the second time when the bag squeezing mechanism 130 flips to the interference position D1 can be calculated according to the second initial driving speed of the bag squeezing mechanism 130 and the second flip angle O2. If the first time is equal to the second time, since the first inner partition door 21 and the bag squeezing mechanism 130 are driven simultaneously by default, it is determined that there is interference between the two, and it is necessary to adjust the initial flip speed or flip start time of the first inner partition door 21 or the bag squeezing mechanism 130, wherein the flip start time refers to the moment when the main controller 10 controls the first inner partition door 21 or the bag squeezing mechanism 130 to start flipping. When the first time is not equal to the second time, it means that the first inner partition door 21 and the bag squeezing mechanism 130 do not reach the interference position D1 at the same time, and no interference will occur.

[0054] When there are two track intersections, the above method steps are performed for each location where interference exists to determine whether actual interference will occur.

[0055] It can be seen that in this embodiment, the initial driving speed of the first inner partition door 21, the first turning radius R1, the initial driving speed of the bag squeezing mechanism 130, and the second turning radius R2 can accurately determine whether there is interference between the control of the first inner partition door 21 and the bag squeezing mechanism 130, and measures can be taken in advance to optimize the control program or adjust the mechanical structure. For example, if interference is found, the driving speed or the turning start time can be adjusted so that the actions of the first inner partition door 21 and the bag squeezing mechanism 130 can be reasonably distributed in time and space to avoid mutual collision or interference, so that the equipment can be more stable and reliable during operation, reduce downtime and maintenance time caused by accidental collision, jamming, etc., and improve the efficiency of the entire production process.

[0056] In some embodiments, adjusting the initial driving speed or flipping start time of the bag squeezing mechanism 130 or the first inner partition door 21 includes: increasing or slowing down the first initial driving speed according to the first flipping angle O1 and the second time, so that the first time is not equal to the second time; or, increasing or slowing down the second initial driving speed according to the second flipping angle O2 and the first time, so that the first time is not equal to the second time; or, controlling the flipping start time of the first inner partition door 21 to be earlier or later than the flipping start time of the bag squeezing mechanism 130.

[0057] The first initial driving speed of the first inner door 21 can be changed and adjusted according to the first flip angle O1, so that the time taken by the first inner door 21 to flip the first flip angle O1 is not equal to the second time of the bag squeezing mechanism 130. Or,

[0058] The second initial driving speed of the bag squeezing mechanism 130 is changed, and the second initial driving speed is adjusted according to the second flip angle O2, so that the time taken by the bag squeezing mechanism 130 to flip the second flip angle O2 is not equal to the first time of the first inner partition door 21. Or,

[0059] The turning start time of the first inner partition door 21 is controlled to be earlier or later than the turning start time of the bag squeezing mechanism 130 , so that the first inner partition door 21 and the bag squeezing mechanism 130 do not reach the interference occurrence position at the same time.

[0060] The main controller 10 can select any one or a combination of the above three methods. In actual operation, since the flipping speed and time of the bag squeezing mechanism 130 will also affect the second inner partition door 22, the first and third methods are preferably used to stabilize the flipping parameters of the bag squeezing mechanism 130.

[0061] In some embodiments, before driving the second inner door 22 of the inner partition double door 200 to flip at a third driving speed, the method also includes: controlling the bag squeezing mechanism 130 to flip to a second target angle; wherein, the calculation process of the second target angle is as follows: obtaining the third driving speed of the second inner door 22 and the third flipping radius R3 of the second inner door 22; determining the third flipping angle O3 of the bag squeezing mechanism 130 and the fourth flipping angle O4 of the second inner door 22 when interference occurs between the bag squeezing mechanism 130 and the second inner door 22 according to the second flipping radius R2 and the third flipping radius R3; determining whether interference occurs between the bag squeezing mechanism 130 and the second inner door 22 according to the third flipping angle O3, the fourth flipping angle O4, the second driving speed, and the third driving speed; if interference occurs, determining the target angle to be the first flipping angle O1; if no interference occurs, determining the target angle to be 0.

[0062] Among them, see Figure 6 If the second inner partition door 22 reaches the interference position D2 before the bag squeezing mechanism 130, interference will definitely occur between the second inner partition door 22 and the bag squeezing mechanism 130. Therefore, firstly, the third flipping angle O3 of the bag squeezing mechanism 130 and the fourth flipping angle O4 of the second inner partition door 22 when the second inner partition door 22 and the bag squeezing mechanism 130 interfere with each other are determined according to the third flipping radius R3 of the second inner partition door 22 and the second flipping radius R2 of the bag squeezing mechanism 130, and whether interference occurs is determined according to the third flipping angle O3, the fourth flipping angle O4, the second driving speed, and the third driving speed. In order to simplify the calculation, if interference occurs, the second inner partition door 22 is directly controlled to flip after the bag squeezing mechanism 130 flips to the target angle. If no interference occurs, the second inner partition door 22 and the bag squeezing mechanism 130 are synchronously controlled to flip. The specific judgment process of whether interference occurs is as shown in the following embodiment:

[0063] In some embodiments, determining whether the bag squeezing mechanism 130 and the second inner door 22 interfere with each other based on the third flip angle O3, the fourth flip angle O4, the second driving speed, and the third driving speed includes: calculating the third time of the third flip angle O3 and the second driving speed; and, calculating the fourth time of the fourth flip angle O4 and the third driving speed; if the third time is greater than or equal to the fourth time, it is determined that the bag squeezing mechanism 130 and the second inner door 22 will interfere with each other; if the third time is less than the fourth time, it is determined that the bag squeezing mechanism 130 and the second inner door 22 will not interfere with each other.

[0064] See Figure 6 According to the downward turning trajectory G of the second inner partition door 22 下 , the intersection of the first turning trajectory G1 of the bag squeezing mechanism 130 determines the third turning angle O3 of the bag squeezing mechanism 130 and the fourth turning angle O4 of the second inner partition door 22 when interference occurs. According to the third driving speed of the second inner partition door 22 and the fourth turning angle O4, the fourth time when the second inner partition door 22 turns to the interference position D2 can be calculated. According to the second driving speed of the bag squeezing mechanism 130 and the third turning angle O3, the third time when the bag squeezing mechanism 130 turns to the interference position D2 can be calculated. If the third time is greater than or equal to the fourth time, it means that the bag squeezing mechanism 130 arrives at the interference position later than the second inner partition door 22 or arrives at the interference position at the same time as the second inner partition door 22, and interference will occur. If the third time is less than the fourth time, no conflict will occur.

[0065] Among them, see Figure 8-Figure 9 The specific control process of the main controller 10 on the inner partition double door 200, the bag squeezing mechanism 130, and the hooking device 3 is described by taking the left and right double doors as an example:

[0066] In some embodiments, see Figure 8 The inner partition double door 200 is a left and right double door, the first inner partition door 21 is a left inner partition door, the second inner partition door 22 is a right inner partition door, the first inner partition door 21 rotates around the left flip axis 311, and the second inner partition door 22 rotates around the right flip axis 321. The flip track of the inner partition double door 200 is as follows: Fig. 9 The second flip track G2 in the automatic unpacking machine 100 first becomes longer in the length direction X of the automatic unpacking machine 100. If the inner partition double door 200 is a 90° flip door, the second flip track reaches the flip radius, indicating that the flip angle reaches the maximum angle of 90°. If the inner partition double door 200 is a 180° flip door, the second flip track changes from a small value to a flip radius, and then changes from the flip radius to 0. When the second flip track reaches the flip radius, it indicates that the flip angle reaches 90°.

[0067] In some embodiments, the inner partition double door 200 is a left and right double door, the first inner partition door 21 is a left inner partition door, and the second inner partition door 22 is a right inner partition door. The first inner partition door 21 of the inner partition double door 200 is driven to flip at a first driving speed, the flipping mechanism 120 is controlled to drive the bag squeezing mechanism 130 to flip at a second driving speed, and the second inner partition door 22 of the inner partition double door 200 is driven to flip at a third driving speed, including: obtaining a first initial driving speed of the first inner partition door 21, a second initial driving speed of the bag squeezing mechanism 130, and a third initial driving speed of the second inner partition door 22, and obtaining a first flipping radius R1 of the first inner partition door 21, a second flipping radius R2 of the bag squeezing mechanism 130, and a third flipping radius R3 of the second inner partition door 22; according to the first initial driving speed, the second initial driving speed, and the third initial driving speed, The initial driving speed and the first flipping radius R1, the second flipping radius R2, and the third flipping radius R3 are used to determine whether the mapped lengths of the first inner partition door 21 and the second inner partition door 22 in the length direction are both smaller than the mapped length of the bag squeezing mechanism 130 in the length direction in the same time period; the length direction is the direction in which the moving device moves; if so, it is determined that the bag squeezing mechanism 130 and the inner partition double-opening door 200 will not interfere with each other; if not, it is determined that the bag squeezing mechanism 130 and the inner partition double-opening door 200 will interfere with each other, and the first initial driving speed, the second initial driving speed, and the third initial driving speed are adjusted or the flipping start time of the bag squeezing mechanism 130 and the inner partition double-opening door 200 is changed, so that the mapped lengths of the first inner partition door 21 and the second inner partition door 22 in the length direction are both smaller than the mapped length of the bag squeezing mechanism 130 in the length direction.

[0068] In the process of controlling the material bag 1a to move from the material breaking bin 12 to the recovery bin 11, it is necessary to open the inner partition double door 200 and the bag squeezing mechanism 130 to open the recovery port 111 of the bag collecting device 110. However, in the process of controlling the flipping, the inner partition double door 200 and the bag squeezing mechanism 130 are prone to interference. Since the inner partition double door 200 will always be above the bag collecting device 110 during the flipping process and block the flipping of the bag squeezing mechanism 130, in this embodiment, it is necessary to control the mapping length change of the bag squeezing mechanism 130 in the length direction to always be greater than the mapping length change of the inner partition double door 200 in the length direction.

[0069] In some embodiments, the first inner door 21 is activated before the second inner door 22, and the first inner door 21 is closed later than the second inner door 22. Since the first inner door 21 is provided with a sealing device, the first inner door 21 blocks the opening and closing of the second inner door 22. The first inner door 21 is activated before the second inner door 22, and the first inner door 21 is closed later than the second inner door 22, which can avoid interference between the first inner door 21 and the second inner door 22.

[0070] In some embodiments, the length of the first inner partition door 21 and the length of the second inner partition door 22 may be equal or unequal.

[0071] For specific implementation, see Fig. 9 , within the time t1-t2, the first mapping length L1 of the first flipping trajectory G1 of the bag squeezing mechanism 130 in the length direction X is obtained; within the time t1-t2, the second mapping length L2 of the second flipping trajectory of the inner partition double door 200 in the length direction is obtained. If L1 is greater than L2, it indicates that the bag squeezing mechanism 130 and the inner partition double door 200 will not interfere with each other. If L1 is less than or equal to L2, it indicates that the bag squeezing mechanism 130 and the inner partition double door 200 will interfere with each other.

[0072] Therefore, according to the above content, it can be determined that if the inner partition double-open door 200 and the bag squeezing mechanism 130 are driven synchronously, in order to ensure that the bag squeezing mechanism 130 and the inner partition double-open door 200 do not interfere with each other, the first driving speed and the second driving speed satisfy the following relationship:

[0073] |R1·sin(ω1·t1)-R1·sin(ω1·t2)|<|R2·cos(ω2·t1)-R2·cos(ω2·t2)|, wherein R1 is the first turning radius R1 of the first inner partition door 21, ω1 is the first driving speed, R2 is the turning radius of the bag squeezing mechanism 130, and ω2 is the second driving speed;

[0074] The second driving speed and the third driving speed satisfy the following relationship:

[0075] |R3·sin(ω3·t1)-R3·sin(ω3·t2)|<|R2·cos(ω2·t1)-R2·cos(ω2·t2)|, wherein R3 is the third turning radius R3 of the first inner partition door 21, ω3 is the third driving speed, R2 is the turning radius of the bag squeezing mechanism 130, and ω2 is the second driving speed.

[0076] In addition, if the inner partition double-open door 200 and the bag squeezing mechanism 130 are driven asynchronously, the bag squeezing mechanism 130 can be controlled to flip to a preset angle before driving the inner partition double-open door 200 to flip, thereby avoiding the problem of flip interference.

[0077] Step S403, when it is detected that the first inner partition door 21 and the second inner partition door 22 are opened to the first target angle, the moving device 20 is controlled to drive the hooking device 30 to pass through the inner partition double-opening door 200 and continue to move.

[0078] The first target angle refers to an angle through which the material bag 1 a can pass, so as to avoid interference between the material bag 1 a and the inner partition double-opening door 200 .

[0079] Among them, the main controller 10 is set with corresponding first target angles for the upper and lower double doors and the left and right double doors. When the double doors are opened to the first target angle, the efficiency of the recycling process can be improved by hooking the hook device 30 with the material bag 1a.

[0080] In some embodiments, after the first inner partition door 21 and the second inner partition door 22 are opened to the first target angle, the mobile device 20 is controlled to drive the hooking device 30 to pass through the inner partition double-opening door 200. During the process of passing through the inner partition double-opening door 200, the inner partition double-opening door 200 can stop opening or maintain the speed and continue to open, ensuring that the inner partition double-opening door 200 does not interfere with the hooking device 30 and the bag squeezing mechanism 130.

[0081] Step S404 , it is detected that the hook device 30 moves to the target position of the recovery bin 11 , and the first inner partition door 21 and the second inner partition door 22 are controlled to be closed.

[0082] The target position refers to a position where the inner partition double door 200 will not interfere with the material bag 1a, the bag squeezing mechanism 130, and the hooking device 30 during the closing process.

[0083] The process of determining the target position is as follows:

[0084] First, see Fig.10 For the interference judgment between the material bag 1a and the bag squeezing mechanism 130, the moving trajectory G3 of the material bag 1a is obtained, and it is determined whether the moving trajectory of the material bag 1a and the first flipping trajectory G1 of the bag squeezing mechanism 130 intersect. If so, it indicates that interference may occur; if not, it indicates that the material bag 1a will not interfere with the bag squeezing mechanism 130.

[0085] In the case where interference may occur between the material bag 1a and the bag squeezing mechanism 130, the fifth flip angle O5 of the bag squeezing mechanism 130 at the interference position is determined, and the interference time when the interference occurs is determined according to the second driving speed of the bag squeezing mechanism 130 and the fifth flip angle O5, and the time when the material bag 1a arrives at the interference position is controlled to be later than the interference time to avoid interference.

[0086] Secondly, regarding the interference judgment between the material bag 1a and the inner partition double-open door 200, when the material bag 1a moves from the inner partition double-open door 200 to the recovery bin 11, Fig.11 (Take the left and right double doors as an example), when the distance moved by the material bag 1a exceeds the mapping length L3 of the inner partition double door 200 in the length direction X, the inner partition double door 200 can start to close. At this time, the inner partition double door 200 will not interfere with the material bag 1a during the closing process.

[0087] Step S405, detecting that the hooking device 30 moves to the recovery position in the recovery bin 11 and that the inner partition double door 200 is completely closed, controls the hooking device 30 to perform a decoupling operation, and controls the flipping mechanism 120 to drive the bag squeezing mechanism 130 to perform a bag squeezing operation.

[0088] In some embodiments, controlling the hooking device 30 to perform an unhooking operation, and controlling the flipping mechanism 120 to drive the bag squeezing mechanism 130 to perform a bag squeezing operation, includes: controlling the moving device 20 to drive the hooking device 30 to move downward until the material bag 1a enters the recovery port 111 of the bag collecting device 110; controlling the hooking device 30 to unhook so that the material bag 1a falls into the bag collecting device 110; controlling the moving device 20 to drive the hooking device 30 to move upward; controlling the flipping mechanism 120 to drive the bag squeezing mechanism 130 to flip so that the bag squeezing mechanism 130 covers the recovery port 111 of the bag collecting device 110; controlling the flipping mechanism 120 to drive the bag squeezing mechanism 130 to move downward to squeeze the material bag 1a.

[0089] In some embodiments, the time taken for the bag squeezing mechanism 130 to flip to the maximum angle is less than or equal to the time taken for the material bag 1a to move from the breaking bin 12 to be unhooked.

[0090] It can be seen that in the implementation of the present application, the time for the flipping mechanism 120 to flip into place should be determined to be no later than the time node of the uncoupling, so as to avoid additional loss of time due to the failure to flip into place.

[0091] It can be seen that in the present application, in the process of the main controller controlling the mobile device to drive the hooking device hooked with the material bag to move toward the inner partition double door, the first inner partition door of the inner partition double door is driven to flip at a first driving speed, the flipping mechanism is controlled to drive the bag squeezing mechanism to flip at a second driving speed, and the second inner partition door of the inner partition double door is driven to flip at a third driving speed, so that the first inner partition door and the second inner partition door do not interfere with the bag squeezing mechanism; when it is detected that the first inner partition door and the second inner partition door are opened to the target angle, the mobile device is controlled to drive the hooking device to pass through the inner partition double door and continue to move; when it is detected that the hooking device moves to the target position of the recovery bin, the first inner partition door and the second inner partition door are controlled to close, and the target position refers to the position where the inner partition double door will not interfere with the material bag, the bag squeezing mechanism, and the hooking device during the closing process; when it is detected that the hooking device moves to the recovery position in the recovery bin and it is detected that the inner partition double door is completely closed, the hooking device is controlled to perform a unhooking operation, and the flipping mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation. Therefore, in the present application, by independently controlling the flipping movement of the first inner partition door, the second inner partition door, and the bag squeezing mechanism, interference between the inner partition double doors and the bag squeezing mechanism is avoided, thereby improving the efficiency, stability, and safety of the entire control process of the automatic bag opening machine in performing the material bag recovery operation.

[0092] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that, in order to realize the above functions, the server includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0093] The embodiment of the present application can divide the server into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated unit can be implemented in the form of hardware or in the form of a software program module. It should be noted that the division of units in the embodiment of the present application is schematic, which is only a logical function division, and there may be other division methods in actual implementation.

[0094] In the case of integrated units, see Fig.12 , Fig.12 This is a functional unit structure block diagram of a linkage control device for multiple associated motion mechanisms in a material bag recovery condition provided by an embodiment of the present application. The linkage control device 1200 includes:

[0095] The control unit 1201 is used to control the mobile device to drive the hooking device hooked with the material bag to move toward the inner partition double door, and drive the first inner partition door of the inner partition double door to flip at a first driving speed, control the flipping mechanism to drive the bag squeezing mechanism to flip at a second driving speed, and drive the second inner partition door of the inner partition double door to flip at a third driving speed, so that the first inner partition door and the second inner partition door do not interfere with the bag squeezing mechanism; when it is detected that the first inner partition door and the second inner partition door are opened to the first target angle, control the mobile device to drive the hooking device to pass through the inner partition double door and continue to move; when it is detected that the hooking device moves to the target position of the recycling bin, control the first inner partition door and the second inner partition door to close, and the target position refers to the position where the inner partition double door will not interfere with the material bag, the bag squeezing mechanism, and the hooking device during the closing process; when it is detected that the hooking device moves to the recycling position in the recycling bin and it is detected that the inner partition double door is completely closed, control the hooking device to perform a decoupling operation, and control the flipping mechanism to drive the bag squeezing mechanism to perform a bag squeezing operation.

[0096] It can be seen that in the present application, in the process of the main controller controlling the mobile device to drive the hooking device hooked with the material bag to move toward the inner partition double door, the first inner partition door of the inner partition double door is driven to flip at a first driving speed, the flipping mechanism is controlled to drive the bag squeezing mechanism to flip at a second driving speed, and the second inner partition door of the inner partition double door is driven to flip at a third driving speed, so that the first inner partition door and the second inner partition door do not interfere with the bag squeezing mechanism; when it is detected that the first inner partition door and the second inner partition door are opened to the first target angle, the mobile device is controlled to drive the hooking device to pass through the inner partition double door and continue to move; when it is detected that the hooking device moves to the target position of the recovery bin, the first inner partition door and the second inner partition door are controlled to close, and the target position refers to the position where the inner partition double door will not interfere with the material bag, the bag squeezing mechanism, and the hooking device during the closing process; when it is detected that the hooking device moves to the recovery position in the recovery bin and it is detected that the inner partition double door is completely closed, the hooking device is controlled to perform a unhooking operation, and the flipping mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation. Therefore, in the present application, by independently controlling the flipping movement of the first inner partition door, the second inner partition door, and the bag squeezing mechanism, interference between the inner partition double doors and the bag squeezing mechanism is avoided, thereby improving the efficiency, stability, and safety of the entire control process of the automatic bag opening machine in performing the material bag recovery operation.

[0097] In some embodiments, the calculation process of the first driving speed and the second driving speed is as follows: obtain the first initial driving speed of the first inner partition door and the second initial driving speed of the bag squeezing mechanism, and obtain the first flipping radius of the first inner partition door and the second flipping radius of the bag squeezing mechanism; determine whether the bag squeezing mechanism and the first inner partition door interfere with each other according to the first initial driving speed, the second initial driving speed, the first flipping radius and the second flipping radius; if no interference occurs, determine the first driving speed to be the first initial driving speed and the second driving speed to be the second initial driving speed; if interference occurs, adjust the initial driving speed or flipping start time of the bag squeezing mechanism or the first inner partition door so that there is no interference between the bag squeezing mechanism and the first inner partition door.

[0098] In some embodiments, the control unit 1201 determines whether the bag squeezing mechanism and the first inner partition door interfere with each other based on the first initial driving speed, the second initial driving speed, the first flipping radius, and the second flipping radius, including: determining whether there is a possibility of interference between the bag squeezing mechanism and the first inner partition door based on the first flipping radius and the second flipping radius; if so, obtaining the first flipping angle corresponding to the first inner partition door when the bag squeezing mechanism and the first inner partition door interfere with each other, and the second flipping angle corresponding to the bag squeezing mechanism; calculating the first time between the first flipping angle and the first initial driving speed, and calculating the second time between the second flipping angle and the second initial driving speed; if the first time is greater than or less than the second time, the bag squeezing mechanism and the first inner partition door do not interfere with each other; if the first time is equal to the second time, the bag squeezing mechanism and the first inner partition door will interfere with each other; if not, the bag squeezing mechanism and the first inner partition door will not interfere with each other.

[0099] In some embodiments, the control unit 1201 adjusts the initial driving speed or flipping start time of the bag squeezing mechanism or the first inner partition door, including: increasing or slowing down the first initial driving speed according to the first flipping angle and the second time, so that the first time is not equal to the second time; or, increasing or slowing down the second initial driving speed according to the second flipping angle and the first time, so that the first time is not equal to the second time; or, controlling the flipping start time of the first inner partition door to be earlier or later than the flipping start time of the bag squeezing mechanism.

[0100] In some embodiments, before the control unit 1201 drives the second inner door of the inner partition double door to flip at a third driving speed, the control unit 1201 is also used to: control the bag squeezing mechanism to flip to a second target angle; wherein, the calculation process of the second target angle is as follows: obtain the third driving speed of the second inner door and the third flipping radius of the second inner door; determine the third flipping angle of the bag squeezing mechanism and the fourth flipping angle of the second inner door when interference occurs between the bag squeezing mechanism and the second inner door according to the second flipping radius and the third flipping radius; determine whether interference occurs between the bag squeezing mechanism and the second inner door according to the third flipping angle, the fourth flipping angle, the second driving speed and the third driving speed; if interference occurs, determine the target angle to be the first flipping angle; if no interference occurs, determine the target angle to be 0.

[0101] In some embodiments, the control unit 1201 drives the first inner door of the inner partition double door to flip at a first driving speed, controls the flipping mechanism to drive the bag squeezing mechanism to flip at a second driving speed, and drives the second inner door of the inner partition double door to flip at a third driving speed, including: obtaining a first initial driving speed of the first inner door, a second initial driving speed of the bag squeezing mechanism, and a third initial driving speed of the second inner door, and obtaining a first flipping radius of the first inner door, a second flipping radius of the bag squeezing mechanism, and a third flipping radius of the second inner door; according to the first initial driving speed, the second initial driving speed, the third initial driving speed, and the first flipping radius, the second The flipping radius and the third flipping radius determine whether the mapped lengths of the first inner partition door and the second inner partition door in the length direction are both smaller than the mapped length of the bag squeezing mechanism in the length direction in the same time period; the length direction is the direction in which the moving device moves; if so, it is determined that the bag squeezing mechanism and the inner partition double doors will not interfere with each other; if not, it is determined that the bag squeezing mechanism and the inner partition double doors will interfere with each other, and the first initial driving speed, the second initial driving speed, and the third initial driving speed are adjusted or the flipping start time of the bag squeezing mechanism and the inner partition double doors is changed, so that the mapped lengths of the first inner partition door and the second inner partition door in the length direction are both smaller than the mapped length of the bag squeezing mechanism in the length direction.

[0102] In some embodiments, the control unit 1201 controls the hooking device to perform an unhooking operation, and controls the flipping mechanism to drive the bag squeezing mechanism to perform a bag squeezing operation, including: controlling the mobile device to drive the hooking device to move downward until the material bag enters the recovery port of the bag collecting device; controlling the hooking device to unhook so that the material bag falls into the bag collecting device; controlling the mobile device to drive the hooking device to move upward; controlling the flipping mechanism to drive the bag squeezing mechanism to flip so that the bag squeezing mechanism is covered on the recovery port of the bag collecting device; controlling the flipping mechanism to drive the bag squeezing mechanism to move downward to squeeze the material bag.

[0103] In some embodiments, the time taken for the bag squeezing mechanism to flip to the maximum angle is less than or equal to the time taken for the material bag to move from the breaking bin to be unhooked.

[0104] See also Fig.13 , Fig.13 A schematic diagram of the structure of a main controller provided in this application, such as Fig.13 As shown, the main controller 10 includes a processor 1301, a memory 1303, a communication interface 1302, and one or more programs 13031. Among them, the one or more programs 13031 are stored in the memory 1303 and are configured to be executed by the processor 1301, and the one or more programs 13031 include instructions for executing any step in the above method embodiment.

[0105] An embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the method described in any possible embodiment are implemented.

[0106] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0107] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0108] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0109] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0110] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0111] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or CD-ROM and other media that can store program codes.

[0112] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.

[0113] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A linkage control method for multiple associated motion mechanisms in a material bag recovery condition, characterized in that: A main controller applied to an automatic bagging machine, the automatic bagging machine comprising a recovery bin, a material breaking bin, a moving device, and a hooking device, the hooking device being used to hook the material bags, the moving device being used to drive the hooking device to move between the recovery bin and the material breaking bin, the recovery bin being provided with a bag collecting device, a turning mechanism, and a bag squeezing mechanism, the turning mechanism being used to drive the bag squeezing mechanism to turn over and cover the recovery port of the bag collecting device; An inner partition double door is provided between the recovery bin and the broken material bin; the method comprises: Control the moving device to drive the hooking device hooking the material bag to move toward the inner partition double door, and drive the first inner partition door of the inner partition double door to flip at a first driving speed, control the flipping mechanism to drive the bag squeezing mechanism to flip at a second driving speed, and drive the second inner partition door of the inner partition double door to flip at a third driving speed, so that the first inner partition door and the second inner partition door do not interfere with the bag squeezing mechanism; When it is detected that the first inner partition door and the second inner partition door are opened to a first target angle, the moving device is controlled to drive the hook device to pass through the inner partition double doors and continue to move; It is detected that the hook device moves to the target position of the recovery bin, and the first inner partition door and the second inner partition door are controlled to close, wherein the target position refers to the position where the inner partition double doors will not interfere with the material bag, the bag squeezing mechanism, and the hook device during the closing process; It is detected that the hooking device moves to the recovery position in the recovery bin, and it is detected that the inner partition double door is completely closed, the hooking device is controlled to perform an unhooking operation, and the flipping mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation.

2. The method according to claim 1, characterized in that The calculation process of the first driving speed and the second driving speed is as follows: Obtaining a first initial driving speed of the first inner partition door and a second initial driving speed of the bag squeezing mechanism, and obtaining a first turning radius of the first inner partition door and a second turning radius of the bag squeezing mechanism; determining whether the bag squeezing mechanism interferes with the first inner partition door according to the first initial driving speed, the second initial driving speed, the first turning radius, and the second turning radius; If no interference occurs, determining the first driving speed to be the first initial driving speed and the second driving speed to be the second initial driving speed; If interference occurs, the initial driving speed or the turning start time of the bag squeezing mechanism or the first inner partition door is adjusted so that the bag squeezing mechanism and the first inner partition door do not interfere with each other.

3. The method according to claim 2, characterized in that The determining whether the bag squeezing mechanism interferes with the first inner partition door according to the first initial driving speed, the second initial driving speed, the first turning radius, and the second turning radius includes: Determine whether there is a possibility of interference between the bag squeezing mechanism and the first inner partition door according to the first turning radius and the second turning radius; If so, obtaining a first flip angle corresponding to the first inner partition door when the bag squeezing mechanism and the first inner partition door interfere with each other, and a second flip angle corresponding to the bag squeezing mechanism; calculating a first time between the first flip angle and the first initial driving speed, and calculating a second time between the second flip angle and the second initial driving speed; If the first time is greater than or less than the second time, the bag squeezing mechanism and the first inner partition door do not interfere with each other; If the first time is equal to the second time, the bag squeezing mechanism and the first inner partition door will interfere with each other; If it does not exist, the bag squeezing mechanism will not interfere with the first inner partition door.

4. The method according to claim 3, characterized in that The adjusting of the initial driving speed or the turning start time of the bag squeezing mechanism or the first inner partition door comprises: increasing or slowing down the first initial driving speed according to the first flip angle and the second time, so that the first time is not equal to the second time; or, increasing or slowing down the second initial driving speed according to the second flip angle and the first time, so that the first time is not equal to the second time; or, The turning start time of the first inner partition door is controlled to be earlier than or later than the turning start time of the bag squeezing mechanism.

5. The method according to any one of claims 2 to 4, characterized in that: Before driving the second inner partition door of the inner partition double door to flip at a third driving speed, the method further includes: Controlling the bag squeezing mechanism to flip to a second target angle; The calculation process of the second target angle is as follows: Acquire the third driving speed of the second inner partition door and the third turning radius of the second inner partition door; Determining a third flip angle of the bag squeezing mechanism and a fourth flip angle of the second inner partition door when the bag squeezing mechanism and the second inner partition door interfere with each other according to the second flip radius and the third flip radius; Determine whether the bag squeezing mechanism and the second inner partition door interfere with each other according to the third flipping angle, the fourth flipping angle, the second driving speed, and the third driving speed; If interference occurs, determining the target angle to be the first flip angle; If no interference occurs, the target angle is determined to be 0.

6. The method according to claim 1, characterized in that The method of driving the first inner door of the inner partition double door to flip at a first driving speed, controlling the flipping mechanism to drive the bag squeezing mechanism to flip at a second driving speed, and driving the second inner door of the inner partition double door to flip at a third driving speed comprises: Obtaining a first initial driving speed of the first inner door, a second initial driving speed of the bag squeezing mechanism, and a third initial driving speed of the second inner door, and obtaining a first turning radius of the first inner door, a second turning radius of the bag squeezing mechanism, and a third turning radius of the second inner door; According to the first initial driving speed, the second initial driving speed, the third initial driving speed, the first turning radius, the second turning radius, and the third turning radius, it is determined whether the mapped lengths of the first inner partition door and the second inner partition door in the length direction are both smaller than the mapped length of the bag squeezing mechanism in the length direction in the same time period; the length direction is the direction in which the moving device moves; If so, it is determined that the bag squeezing mechanism and the inner partition double door will not interfere with each other; If not, it is determined that the bag squeezing mechanism and the inner partition double door will interfere with each other, and the first initial driving speed, the second initial driving speed, and the third initial driving speed are adjusted, or the flipping start time of the bag squeezing mechanism and the inner partition double door is changed, so that the mapping lengths of the first inner partition door and the second inner partition door in the length direction are both smaller than the mapping length of the bag squeezing mechanism in the length direction.

7. The method according to claim 1, characterized in that The controlling the hooking device to perform the unhooking operation, and controlling the flipping mechanism to drive the bag squeezing mechanism to perform the bag squeezing operation, comprises: Controlling the moving device to drive the hooking device to move downward until the material bag enters the recovery port of the bag collecting device; Controlling the hooking device to unhook so that the material bag falls into the bag collecting device; Controlling the moving device to drive the hooking device to move upward; Controlling the flipping mechanism to drive the bag squeezing mechanism to flip, so that the bag squeezing mechanism covers the recovery port of the bag collecting device; The overturning mechanism is controlled to drive the bag squeezing mechanism to move downward to squeeze the material bag.

8. The method according to claim 1, characterized in that The time taken for the bag squeezing mechanism to flip to the maximum angle is less than or equal to the time taken for the material bag to move from the breaking bin to be unhooked.

9. An automatic unpacking machine, characterized in that: The automatic bag unpacking machine comprises a recovery bin, a material breaking bin, a moving device, and a hooking device. The hooking device is used to hook the material bags. The moving device is used to drive the hooking device to move between the recovery bin and the material breaking bin. A bag collecting device, a turning mechanism, and a bag squeezing mechanism are arranged in the recovery bin. The turning mechanism is used to drive the bag squeezing mechanism to turn over and cover the recovery port of the bag collecting device. An inner partition double-opening door is arranged between the recovery bin and the material breaking bin. A main controller, used to execute the step instructions of any method according to claims 1-8.

10. A linkage control device for multiple associated motion mechanisms in a material bag recovery condition, characterized in that: A main controller applied to an automatic bagging machine, the automatic bagging machine comprising a recovery bin, a material breaking bin, a moving device, and a hooking device, the hooking device being used to hook the material bags, the moving device being used to drive the hooking device to move between the recovery bin and the material breaking bin, the recovery bin being provided with a bag collecting device, a turning mechanism, and a bag squeezing mechanism, the turning mechanism being used to drive the bag squeezing mechanism to turn over and cover the recovery port of the bag collecting device; An inner partition double door is provided between the recovery bin and the crushing bin; the linkage control device comprises: A control unit is used to control the mobile device to drive the hooking device hooking the material bag to move toward the inner partition double door, and drive the first inner door of the inner partition double door to flip at a first driving speed, control the flipping mechanism to drive the bag squeezing mechanism to flip at a second driving speed, and drive the second inner door of the inner partition double door to flip at a third driving speed, so that the first inner door and the second inner door do not interfere with the bag squeezing mechanism; when it is detected that the first inner door and the second inner door are opened to a first target angle, control the mobile device to drive the hooking device to pass through the inner partition double door and continue to move; when it is detected that the hooking device moves to the target position of the recovery bin, control the first inner door and the second inner door to close, and the target position refers to the position where the inner partition double door will not interfere with the material bag, the bag squeezing mechanism, and the hooking device during the closing process; when it is detected that the hooking device moves to the recovery position in the recovery bin and that the inner partition double door is completely closed, control the hooking device to perform a decoupling operation, and control the flipping mechanism to drive the bag squeezing mechanism to perform a bag squeezing operation.

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