Linkage control method for multiple related motion mechanisms in material bag recycling operation and automatic bag unpacking machine

Abstract

This application provides a linkage control method for multiple related motion mechanisms in the material bag recycling process and an automatic bag unpacking machine. During the process of the main controller controlling the moving device to drive the hook device holding the material bag towards the inner double-leaf door, the main controller independently drives the inner double-leaf door and the bag squeezing mechanism to rotate, ensuring that the first and second inner double-leaf doors do not interfere with the bag squeezing mechanism. When the inner double-leaf door is detected to open to a first target angle, the main controller controls the moving device to drive the hook device through the inner double-leaf door. When the hook device is detected to have moved to the recycling position in the recycling bin and the inner double-leaf door is fully closed, the main controller controls the execution of the unhooking operation and the bag squeezing operation. Therefore, in this application, by independently controlling the rotation movements of the first inner double-leaf door, the second inner double-leaf door, and the bag squeezing mechanism, interference between the inner double-leaf door and the bag squeezing mechanism is avoided, improving the efficiency, stability, and safety of the entire control process of the automatic bag unpacking machine in the material bag recycling process.

Description

Technical Field

[0001] This application relates to the field of unpacking equipment technology, and in particular to a linkage control method for multiple related motion mechanisms in the material bag recycling process and an automatic unpacking machine. Background Technology

[0002] Currently, the tilting drive mechanism can drive the bag squeezing mechanism to tilt and cover the recycling port of the recycling bin, thereby avoiding interference between the ton bags hooked by the hook device and the bag collection device. However, interference still occurs between the motion control of the inner double door and the tilting mechanism, requiring manual activation of the emergency switch. Summary of the Invention

[0003] This application provides a linkage control method for multiple related motion mechanisms in the material bag recycling process and an automatic bag unpacking machine. By independently controlling the flipping motion 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 the material bag recycling process.

[0004] In a first aspect, this application provides a linkage control method for multiple related motion mechanisms in a material bag recycling process, applied to the main controller of an automatic unpacking machine. The automatic unpacking machine includes a recycling bin, a 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 recycling bin and the breaking bin. The recycling bin is equipped with a bag collecting device, a flipping mechanism, and a bag squeezing mechanism. The flipping mechanism is used to drive the bag squeezing mechanism to flip and cover the recycling port of the bag collecting device. An inner double-door is provided between the recycling bin and the breaking bin. The method includes: controlling the moving device to drive the hooking device with the material bag hooked to move towards the inner double-door; and driving the first inner door of the inner double-door to flip at a first driving speed; and controlling the flipping mechanism to drive the bag squeezing mechanism to flip at a second driving speed. The second drive speed flips the second inner partition door of the double-leaf inner partition at a third drive speed, ensuring that the first and second inner partition doors do not interfere with the bag squeezing mechanism. When the first and second inner partition doors are detected to be open to a first target angle, the moving device is controlled to drive the hook device through the double-leaf inner partition and continue moving. When the hook device is detected to have moved to the target position in the recycling bin, the first and second inner partition doors are controlled to close. The target position refers to the position where the double-leaf inner partition doors will not interfere with the material bag, the bag squeezing mechanism, or the hook device during the closing process. When the hook device is detected to have moved to the recycling position in the recycling bin and the double-leaf inner partition doors are detected to be fully closed, the hook device is controlled to perform a disengagement operation, and the flipping mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation.

[0005] Secondly, this application provides an automatic bag unpacking machine, which includes a recycling bin, a 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 recycling bin and the breaking bin. The recycling bin is provided with a bag collecting device, a flipping mechanism, and a bag squeezing mechanism. The flipping mechanism is used to drive the bag squeezing mechanism to flip and cover the recycling port of the bag collecting device. An inner double door is provided between the recycling bin and the breaking bin. A main controller is used to execute the step instructions as described in any of the methods in the first aspect.

[0006] Thirdly, this application provides a linkage control device for multiple related motion mechanisms in a material bag recycling process, applied to the main controller of an automatic unpacking machine. The automatic unpacking machine includes a recycling bin, a 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 recycling bin and the breaking bin. The recycling bin is equipped with a bag collecting device, a flipping mechanism, and a bag squeezing mechanism. The flipping mechanism is used to drive the bag squeezing mechanism to flip and cover the recycling port of the bag collecting device. An inner double-door is provided between the recycling bin and the breaking bin. The linkage control device includes: a control unit, used to control the moving device to drive the hooking device with the material bag hooked to move towards the inner double-door, and to drive the first inner door of the inner double-door to flip at a first driving speed, and to control the flipping mechanism to drive the squeezing mechanism to flip. The bag mechanism flips at a second driving speed, driving the second inner partition door of the double-leaf inner partition to flip at a third driving speed, so that the first and second inner partition doors do not interfere with the bag squeezing mechanism; when the first and second inner partition doors are detected to be open to a first target angle, the moving device is controlled to drive the hook device through the double-leaf inner partition and continue to move; when the hook device is detected to have moved to the target position of the recycling bin, the first and second inner partition doors are controlled to close, the target position being the position where the double-leaf inner partition will not interfere with the material bag, the bag squeezing mechanism, and the hook device during the closing process; when the hook device is detected to have moved to the recycling position in the recycling bin, and the double-leaf inner partition is detected to be fully closed, the hook device is controlled to perform a disengagement operation, and the flipping mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation.

[0007] As can be seen in this application, during the process of the main controller controlling the moving device to drive the hook device with the material bag to move towards the inner double door, the first inner door of the inner double door is driven to rotate at a first driving speed, the rotating mechanism is controlled to drive the bag squeezing mechanism to rotate at a second driving speed, and the second inner door of the inner double door is driven to rotate at a third driving speed, so that the first and second inner doors do not interfere with the bag squeezing mechanism; when the first and second inner doors are detected to be open to the first target angle, the moving device is controlled to drive the hook device through the inner double door and continue to move; when the hook device is detected to have moved to the target position of the recycling bin, the first and second inner doors are controlled to close, the target position refers to the position where the inner double door will not interfere with the material bag, the bag squeezing mechanism, and the hook device during the closing process; when the hook device is detected to have moved to the recycling position in the recycling bin, and the inner double door is detected to be fully closed, the hook device is controlled to perform a disengagement operation, and the rotating mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation. Therefore, in this application, by independently controlling the flipping motion 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 recycling operation. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 A cross-sectional view of the automatic unpacking system provided in the embodiments of this application;

[0010] Figure 2 This is a structural block diagram of the automatic unpacking machine provided in the embodiments of this application;

[0011] Figure 3 This is a schematic diagram of the structure of the recycling bin provided in an embodiment of this application;

[0012] Figure 4 A schematic flowchart illustrating a method for the linkage control of multiple related motion mechanisms in a material bag recycling process, provided in an embodiment of this application;

[0013] Figure 5 A partial schematic diagram of the double doors of the automatic unpacking machine provided in the embodiments of this 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 embodiments of this application;

[0015] Figure 7 A schematic diagram of the trajectory of another bag squeezing mechanism and double doors provided for embodiments of this application;

[0016] Figure 8 A partial schematic diagram of the left and right double doors of the automatic package unpacking machine provided in the embodiments of this application;

[0017] Figure 9 A schematic diagram of the trajectory of the bag squeezing mechanism and the left and right double doors provided in the embodiments of this application;

[0018] Figure 10 A schematic diagram of the trajectory of the extrusion mechanism and the material bag provided in the embodiments of this application;

[0019] Figure 11 A schematic diagram of the trajectory of the material bag and the left and right double doors provided in the embodiments of this application;

[0020] Figure 12 A functional unit structure block diagram of a linkage control device for multiple related motion mechanisms in a material bag recycling process provided in this application embodiment;

[0021] Figure 13 This is a schematic diagram of the structure of a main controller provided in this application. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0023] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but in some embodiments includes steps or units not listed, or in some embodiments includes other steps or units inherent to these processes, methods, products, or apparatuses.

[0024] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

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

[0026] In this embodiment, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. Alternatively, the symbol " / " can also represent a division sign, i.e., performing a division operation. For example, A / B can mean A divided by B.

[0027] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0028] In this application, the term "equal to" can be used with "greater than" and is applicable to technical solutions using the "greater than" condition, or it can be used with "less than" and is applicable to technical solutions using the "less than" condition. When "equal to" is used with "greater than," it is not used with "less than"; conversely, when "equal to" is used with "less than," it is not used with "greater than." This application provides a parameter input method and an infusion device. By setting an input mode switching control on the parameter editing interface, medical personnel 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] To address the aforementioned issues, this application provides a linkage control method for multiple related motion mechanisms in the material bag recycling process, as well as an automatic bag unpacking machine. By independently controlling the flipping motion 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 the material bag recycling process.

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

[0031] Please refer to the following: Figures 1-3 , Figure 1 This is a cross-sectional view of the automatic unpacking system provided in an embodiment of this application. Figure 2 This is a structural block diagram of the automatic unpacking machine provided in an embodiment of this application. Figure 3 This is a schematic diagram of the structure of the recycling bin provided in an embodiment of this application.

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

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

[0034] The material breaking bin 12 includes a bag breaking device 121. In this embodiment, the hook device 30 hooks the material bag 1a and moves it from the feeding bin 13 to the material breaking bin 12. The bag breaking device 121 breaks the material bag 1a, and the material is unloaded from the material bag 1a. Then, the hook device 30 moves the material bag 1a that has completed the unloading operation to the recycling bin 11 for recycling, which helps to reduce costs.

[0035] The recycling bin 11 is equipped with a bag collecting device 110, a flipping mechanism 120, and a bag squeezing mechanism 130, as shown below. Figure 2 , Figure 3 The bag collecting device 110 is equipped with a collection port 111 for connecting to the collection bin 11. The bag collecting device 110 is used to collect material bags 1a. The number of bag collecting devices 110 corresponds one-to-one with the number of collection bins 11. The bag collecting devices 110 are detachably mounted on the cabinet 1, for example, via... Figure 3The sliding groove 112 in the middle cooperates with the traveling wheel 113 to facilitate the installation and disassembly of the bag collection device 110. Therefore, the automatic unpacking machine 100 provided in this embodiment can flexibly disassemble the bag collection device 110 from the cabinet 1, facilitating bag removal, maintenance, cleaning, and other operations of the bag collection device 110. The flipping mechanism 120 is installed on the outer wall of the bag collection device 110 and is used to drive the bag squeezing mechanism 130 to flip relative to the bag collection device 110. The bag squeezing mechanism 130 includes a squeezing drive member 131 and a squeezing plate 132. The squeezing drive member 131 is tractively connected to the squeezing plate 132 and is used to drive the squeezing plate 132 to squeeze the material bag 1a stored in the bag collection device 110 in the height direction Z of the bag collection device 110.

[0036] The flipping mechanism 120 provided in this embodiment drives the bag squeezing mechanism 130 to flip by a preset angle to open the recovery port 111, recovering the material bag 1a into the bag collecting device 110. It also drives the bag squeezing mechanism 130 to flip by a preset angle to close the recovery port 111. Furthermore, it controls the squeezing drive member 131 to drive the squeezing plate 132 to squeeze the material bag 1a stored in the bag collecting device 110 along the height direction Z, thereby improving the recovery effect of the bag collecting device 110 on the material bag 1a. 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°. Understandably, 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 collection device 110 also includes a handle 114, which facilitates the user's movement of the bag collection device 110 and improves the user experience.

[0038] The recycling bin 11 and the crushing bin 12 are provided with an inner double door 200, which includes an upper and lower double door or a left and right double door. The two inner doors are independent of each other and are rotatably connected to the recycling bin 11 body to separate the recycling bin 11 and the crushing bin 12. When the material bag 1a enters the crushing bin 12 for unloading, the inner double door 200 is closed. When the material bag 1a enters the recycling bin 11 for recycling, it prevents dust generated during the bag breaking process from polluting other bins.

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

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

[0041] To address the aforementioned issues, this application provides a method for the coordinated control of multiple related motion mechanisms in a material bag recycling process. The main controller 10 is used to control the various components of the automatic unpacking machine 100 to execute the above method. Please refer to [link to relevant documentation]. Figure 4 , Figure 4 This is a schematic flowchart illustrating a method for the linkage control of multiple related motion mechanisms in a material bag recycling process, as provided in an embodiment of this application. Figure 4 As shown, the linkage control method includes the following steps S401-S405:

[0042] Step S401: Control the moving device 20 to drive the hook device 30 that hooks the material bag 1a to move inward through the double door 200.

[0043] The main controller 10 determines that the material in the material bag 1a has been unloaded by acquiring sensor data from the relevant sensors in the crushing hopper 12. At this point, both inner double doors 200 are tightly closed. The empty material bag 1a then needs to be recycled into the bag collecting device 110.

[0044] First, the driving device 20 drives the hook device 30, which is holding the material bag 1a, to move towards the inner double door 200. Second, it controls the inner double door 200 to open, allowing the material bag 1a to move to the recycling bin 11. It also controls the bag squeezing mechanism 130 to flip and open the recycling port 111, allowing the material bag 1a to fall into the bag collecting device 110. Specifically:

[0045] In step S402, the first inner partition door 21 of the double-opening inner partition door 200 is driven to flip at a first driving speed, the flipping mechanism 120 is controlled to drive the squeezing mechanism 130 to flip at a second driving speed, and the second inner partition door 22 of the double-opening inner partition door 200 is driven to flip at a third driving speed, so that the first inner partition door 21 and the second inner partition door 22 do not interfere with the squeezing mechanism 130.

[0046] Please refer to Figure 5-Figure 7 Taking the double-door design as an example, the specific control process of the main controller 10 for the inner double-door 200, the bag squeezing mechanism 130, and the hook device 3 is explained:

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

[0048] In some embodiments, the inner double door 200 is an upper and lower double door, the first inner door 21 is the upper inner door, and the second inner door 22 is the lower inner 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 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 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 door 21 interfere with each other based on 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 as the first initial driving speed and the second driving speed as 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 door 21 so that the bag squeezing mechanism 130 and the first inner door 21 do not interfere with each other.

[0049] In the process of moving the material bag 1a from the breaking bin 12 to the recycling bin 11, it is necessary to open the inner double door 200 and the bag squeezing mechanism 130 to open the recycling port 111 of the bag collecting device 110. However, during the control of the flipping process, the inner double door 200 and the bag squeezing mechanism 130 are prone to interference. Therefore, it is necessary to accurately determine whether interference has occurred based on the current operating parameters of the automatic unpacking machine 100. If interference occurs, the flipping speed or flipping start time of the inner double door 200 or the bag squeezing mechanism 130 should be adjusted accordingly to avoid interference; if no interference occurs, normal operation is maintained. The specific process for determining whether interference has occurred is illustrated in the following embodiment:

[0050] In some embodiments, determining whether the bag squeezing mechanism 130 and the first inner partition door 21 interfere with each other based on the first initial driving speed, the second initial driving speed, the first flipping radius R1, and the second flipping radius R2 includes: determining whether there is a possibility of interference between the bag squeezing mechanism 130 and the first inner partition door 21 based on the first flipping radius R1 and the second flipping radius R2; if interference exists, obtaining the first flipping angle O1 of the first inner partition door 21 and the second flipping angle O2 of the bag squeezing mechanism 130 when interference occurs; 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 partition door 21 do not interfere; if the first time is equal to the second time, the bag squeezing mechanism 130 and the first inner partition door 21 will interfere; if no interference exists, the bag squeezing mechanism 130 and the first inner partition door 21 will not interfere.

[0051] Depend on Figure 6 It can be seen that during the flipping process of the inner double door 200 and the bag squeezing mechanism 130, whether the first inner door 21 and the bag squeezing mechanism 130 flip together depends on the second flipping radius R2 of the bag squeezing mechanism 130 and the first flipping radius R1 of the first inner door 21. See Figure 6 When the upward flipping trajectory G of the first inner partition door 21 上 When the first flipping trajectory G1 of the bag squeezing mechanism 130 does not intersect, it indicates that the first inner partition door 21 will not interfere with the bag squeezing mechanism 130, and this is independent of the driving speed. See Figure 7 When the upward flipping trajectory G of the first inner partition door 21 上 When the first flipping trajectory G1 of the squeezing mechanism 130 intersects with the first inner partition door 21, it indicates that there is a possibility of interference between the squeezing mechanism 130 and the first inner partition door 21. At this time, it is necessary to precisely control the driving speed of the two to avoid interference.

[0052] Regarding the second inner partition door 22, see Figure 6 , Figure 7 The downward flipping trajectory G of the second inner partition door 22 下 The fact that the second inner partition door 22 intersects with the first flipping trajectory G1 of the bag squeezing mechanism 130 indicates that there is a possibility of interference between the second inner partition door 22 and the bag squeezing mechanism 130. In this case, it is necessary to precisely control the driving speed of both to avoid interference.

[0053] When there is a possibility of interference between the first inner partition door 21 and the bag squeezing mechanism 130, see Figure 7Based on the trajectory intersection points, the first flip angle O1 of the first inner partition door 21 and the second flip angle O2 of the squeezing mechanism 130 when interference occurs are determined. The first time the first inner partition door 21 reaches the interference position D1 can be calculated based on its first initial drive speed and first flip angle O1. Similarly, the second time the squeezing mechanism 130 flips to the interference position D1 can be calculated based on its second initial drive speed and second flip angle O2. If the first time equals the second time, since the first inner partition door 21 and the squeezing mechanism 130 are typically driven simultaneously, interference is confirmed. Therefore, the initial flip speed or flip start time of either the first inner partition door 21 or the squeezing mechanism 130 needs to be adjusted. The flip start time refers to the moment when the main controller 10 starts controlling the first inner partition door 21 or the squeezing mechanism 130 to begin flipping. When the first time is not equal to the second time, it indicates that the first inner partition door 21 and the squeezing mechanism 130 do not reach the interference position D1 simultaneously, and therefore no interference occurs.

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

[0055] As can be seen, in this embodiment, the initial driving speed of the first inner partition 21, the first flipping radius R1, and the initial driving speed and the second flipping radius R2 of the bag squeezing mechanism 130 can accurately determine whether there is interference between the control of the first inner partition 21 and the bag squeezing mechanism 130. Measures can be taken in advance to optimize the control program or adjust the mechanical structure. For example, if interference is detected, adjusting the driving speed or the flipping start time allows the actions of the first inner partition 21 and the bag squeezing mechanism 130 to be reasonably allocated in time and space, avoiding mutual collisions or interference. This makes the equipment more stable and reliable during operation, reducing downtime and maintenance time caused by accidental collisions, jamming, etc., and improving the efficiency of the entire production process.

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

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

[0058] Change the second initial drive speed of the bag squeezing mechanism 130, and adjust the second initial drive speed according to the second flip angle O2, so that the time taken for 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 starting time of the flipping of the first inner partition door 21 is controlled to be earlier or later than the starting time of the flipping of the bag squeezing mechanism 130, so that the first inner partition door 21 and the bag squeezing mechanism 130 do not arrive at the location where the interference occurs at the same time.

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

[0061] In some embodiments, before the second inner partition door 22 of the driving inner double door 200 flips at a third driving speed, the method further includes: controlling the 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 partition door 22 and the third flipping radius R3 of the second inner partition door 22; determining the third flipping angle O3 of the squeezing mechanism 130 and the fourth flipping angle O4 of the second inner partition door 22 when the squeezing mechanism 130 and the second inner partition door 22 interfere with each other based on the second flipping radius R2 and the third flipping radius R3; determining whether the squeezing mechanism 130 and the second inner partition door 22 interfere with each other based on the third flipping angle O3, the fourth flipping angle O4, the second driving speed, and the third driving speed; if interference occurs, the target angle is determined to be the first flipping angle O1; if no interference occurs, the target angle is determined 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, based on the third flipping radius R3 of the second inner partition door 22 and the second flipping radius R2 of the bag squeezing mechanism 130, 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 interference occurs are determined. Then, based on the third flipping angle O3, the fourth flipping angle O4, the second driving speed, and the third driving speed, it is determined whether interference occurs. 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 simultaneously controlled to flip. The specific judgment process for whether interference occurs is as follows:

[0063] In some embodiments, determining whether the bag squeezing mechanism 130 and the second inner partition 22 are interfered with based on the third flip angle O3, the fourth flip angle O4, the second driving speed, and the third driving speed includes: calculating a third time for the third flip angle O3 and the second driving speed; and calculating a fourth time for 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 partition 22 will be interfered with; if the third time is less than the fourth time, it is determined that the bag squeezing mechanism 130 and the second inner partition 22 will not be interfered with.

[0064] See Figure 6 According to the downward flipping trajectory G of the second inner partition door 22 下 The intersection point of the first flipping trajectory G1 of the bag squeezing mechanism 130 determines the third flipping angle O3 of the bag squeezing mechanism 130 and the fourth flipping angle O4 of the second inner partition 22 when interference occurs. Based on the third driving speed of the second inner partition 22 and the fourth flipping angle O4, the fourth time when the second inner partition 22 flips to the interference position D2 can be calculated. Based on the second driving speed of the bag squeezing mechanism 130 and the third flipping angle O3, the third time when the bag squeezing mechanism 130 flips to the interference position D2 can be calculated. If the third time is greater than or equal to the fourth time, it indicates that the bag squeezing mechanism 130 arrives at the interference position later than or simultaneously with the second inner partition 22, thus causing interference. If the third time is less than the fourth time, no conflict will occur.

[0065] Among them, see Figures 8-9 Taking a double-door design as an example, the specific control process of the main controller 10 for the inner double-door 200, the bag squeezing mechanism 130, and the hook device 3 is explained:

[0066] In some embodiments, see Figure 8 The inner double door 200 is a left-right double door. The first inner door 21 is the left inner door, and the second inner door 22 is the right inner door. The first inner door 21 rotates around the left rotation axis 311, and the second inner door 22 rotates around the right rotation axis 321. The rotation trajectory of the inner double door 200 is as follows: Figure 9 The second flipping trajectory G2 in the automatic unpacking machine 100 first lengthens in the length direction X. If the inner double door 200 is a 90° flipping door, then the second flipping trajectory reaching the flipping radius indicates that the flipping has reached the maximum angle of 90°. If the inner double door 200 is a 180° flipping door, then the second flipping trajectory changes from small to the flipping radius, and then from the flipping radius to 0. When the second flipping trajectory reaches the flipping radius, it indicates that the flipping angle has reached 90°.

[0067] In some embodiments, the inner double door 200 is a left and right double door, the first inner door 21 is the left inner door, and the second inner door 22 is the right inner door. Driving the first inner door 21 of the inner double door 200 to rotate at a first driving speed, controlling the rotating mechanism 120 to drive the squeezing mechanism 130 to rotate at a second driving speed, and driving the second inner door 22 of the inner double door 200 to rotate at a third driving speed includes: obtaining the first initial driving speed of the first inner door 21, the second initial driving speed of the squeezing mechanism 130, and the third initial driving speed of the second inner door 22; and obtaining the first rotating radius R1 of the first inner door 21, the second rotating radius R2 of the squeezing mechanism 130, and the third rotating radius R3 of the second inner door 22; and based on the first initial driving speed, the second initial driving speed, and the third initial driving speed... The initial drive speed and the first flip radius R1, second flip radius R2, and third flip radius R3 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 less than the mapped length of the squeezing mechanism 130 in the length direction within the same time period; the length direction is the direction of movement of the moving device; if yes, it is determined that the squeezing mechanism 130 and the inner double door 200 will not interfere; if no, it is determined that the squeezing mechanism 130 and the inner double door 200 will interfere, and the first initial drive speed, the second initial drive speed, and the third initial drive speed are adjusted or the flip start time of the squeezing mechanism 130 and the inner double 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 less than the mapped length of the squeezing mechanism 130 in the length direction.

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

[0069] In some embodiments, the first inner partition door 21 is activated before the second inner partition door 22, and the first inner partition door 21 is closed after the second inner partition door 22. Since the first inner partition door 21 is provided with a sealing device, the first inner partition door 21 will block the opening and closing of the second inner partition door 22. The fact that the first inner partition door 21 is activated before the second inner partition door 22 and the first inner partition door 21 is closed after the second inner partition door 22 can avoid interference between the first inner partition door 21 and the second inner partition door 22.

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

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

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

[0073] |R1·sin(ω1·t1)-R1·sin(ω1·t2)|<|R2·cos(ω2·t1)-R2·cos(ω2·t2)|, where R1 is the first turning radius 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)|, where R3 is the third turning radius of the first inner partition 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 double door 200 and the bag squeezing mechanism 130 are not driven synchronously, the bag squeezing mechanism 130 can be controlled to flip at a preset angle before driving the inner double door 200 to flip, thereby avoiding the problem of flipping interference.

[0077] In step S403, when the first inner partition door 21 and the second inner partition door 22 are detected to be opened to the first target angle, the control moving device 20 drives the hook device 30 to pass through the inner double door 200 and continue to move.

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

[0079] The main controller 10 has a corresponding first target angle for the top and bottom double doors and the left and right double doors. When the double doors are opened to the first target angle, the material bag 1a is hooked by the hook device 30, which can improve the efficiency of the recycling process.

[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 control moving device 20 drives the hook device 30 through the inner double door 200. During the process of passing through the inner double door 200, the inner double door 200 can stop opening or continue to open at a constant speed, ensuring that the inner double door 200 does not interfere with the hook device 30 and the bag squeezing mechanism 130.

[0081] In step S404, it is detected that the hook device 30 has moved to the target position of the recycling bin 11, and the first inner partition door 21 and the second inner partition door 22 are closed.

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

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

[0084] First, see Figure 10 To determine the interference between the material bag 1a and the extrusion mechanism 130, the movement trajectory G3 of the material bag 1a is obtained, and it is determined whether there is an intersection between the movement trajectory of the material bag 1a and the first flipping trajectory G1 of the extrusion mechanism 130. If there is an intersection, it indicates that interference may occur; if there is no intersection, it indicates that the material bag 1a will not interfere with the extrusion mechanism 130.

[0085] In the event that the material bag 1a may interfere with the extrusion mechanism 130, the fifth flip angle O5 of the extrusion mechanism 130 at the interference position is determined. The interference time is determined based on the second driving speed of the extrusion mechanism 130 and the fifth flip angle O5. The material bag 1a is controlled to arrive at the interference position later than the interference time to avoid interference.

[0086] Secondly, regarding the interference judgment between material bag 1a and inner double door 200, when material bag 1a moves from inner double door 200 to recycling bin 11, see... Figure 11 (Taking a double door with left and right openings as an example), when the distance that the material bag 1a moves exceeds the mapped length L3 of the inner double door 200 in the length direction X, the inner double door 200 can start to close. At this time, the inner double door 200 will not interfere with the material bag 1a during the closing process.

[0087] In step S405, it is detected that the hook device 30 has moved to the recycling position in the recycling bin 11 and that the inner double door 200 is fully closed. The hook device 30 is controlled to perform a disengagement operation, and the flipping mechanism 120 is controlled to drive the bag squeezing mechanism 130 to perform a bag squeezing operation.

[0088] In some embodiments, controlling the hook device 30 to perform a disengagement operation and controlling the flipping mechanism 120 to drive the squeezing mechanism 130 to perform a squeezing operation includes: controlling the moving device 20 to drive the hook device 30 to move downward until the material bag 1a enters the collection port 111 of the bag collecting device 110; controlling the hook device 30 to disengage, so that the material bag 1a falls into the bag collecting device 110; controlling the moving device 20 to drive the hook device 30 to move upward; controlling the flipping mechanism 120 to drive the squeezing mechanism 130 to flip, so that the squeezing mechanism 130 covers the collection port 111 of the bag collecting device 110; and controlling the flipping mechanism 120 to drive the 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 its maximum angle is less than or equal to the time taken for the material bag 1a to move from the breaking bin 12 to the unhooking point.

[0090] Therefore, in the implementation of this application, the time when the flipping mechanism 120 is flipped into place should be no later than the time of disengagement, so as to avoid additional time loss due to failure to flip into place.

[0091] As can be seen in this application, during the process of the main controller controlling the moving device to drive the hook device with the material bag to move towards the inner double door, the first inner door of the inner double door is rotated at a first driving speed, the rotating mechanism is controlled to drive the bag squeezing mechanism to rotate at a second driving speed, and the second inner door of the inner double door is driven to rotate at a third driving speed, so that the first and second inner doors do not interfere with the bag squeezing mechanism; when the first and second inner doors are detected to be opened to the target angle, the moving device is controlled to drive the hook device through the inner double door and continue to move; when the hook device is detected to have moved to the target position in the recycling bin, the first and second inner doors are controlled to close, the target position being the position where the inner double door will not interfere with the material bag, the bag squeezing mechanism, and the hook device during the closing process; when the hook device is detected to have moved to the recycling position in the recycling bin, and the inner double door is detected to be fully closed, the hook device is controlled to perform a disengagement operation, and the rotating mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation. Therefore, in this application, by independently controlling the flipping motion 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 recycling operation.

[0092] The above primarily describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the server includes the corresponding hardware structure and / or software modules for executing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0093] This application embodiment can divide the server into functional units according to the above method example. For example, each function can be divided into different functional units, or two or more functions can be integrated into one processing module. The integrated unit can be implemented in hardware or as a software program module. It should be noted that the unit division in this application embodiment is illustrative and only represents a logical functional division, while other division methods may be used in actual implementation.

[0094] In the case of using integrated units, please refer to Figure 12 , Figure 12 This application provides a functional unit structural block diagram of a linkage control device for multiple related motion mechanisms in a material bag recycling process. The linkage control device 1200 includes:

[0095] Control unit 1201 is used to control the moving device to drive the hook device with the material bag attached to it to move towards the inner double door, and to drive the first inner door of the inner double door to rotate at a first driving speed, control the rotating mechanism to drive the bag squeezing mechanism to rotate at a second driving speed, and drive the second inner door of the inner double door to rotate at a third driving speed, so that the first and second inner doors do not interfere with the bag squeezing mechanism; when the first and second inner doors are detected to be open to a first target angle, control the moving device to drive the hook device through the inner double door and continue to move; when the hook device is detected to have moved to the target position in the recycling bin, control the first and second inner doors to close, the target position being the position where the inner double door will not interfere with the material bag, the bag squeezing mechanism, and the hook device during the closing process; when the hook device is detected to have moved to the recycling position in the recycling bin and the inner double door is detected to be fully closed, control the hook device to perform a disengagement operation, and control the rotating mechanism to drive the bag squeezing mechanism to perform a bag squeezing operation.

[0096] As can be seen in this application, during the process of the main controller controlling the moving device to drive the hook device with the material bag to move towards the inner double door, the first inner door of the inner double door is driven to rotate at a first driving speed, the rotating mechanism is controlled to drive the bag squeezing mechanism to rotate at a second driving speed, and the second inner door of the inner double door is driven to rotate at a third driving speed, so that the first and second inner doors do not interfere with the bag squeezing mechanism; when the first and second inner doors are detected to be open to the first target angle, the moving device is controlled to drive the hook device through the inner double door and continue to move; when the hook device is detected to have moved to the target position of the recycling bin, the first and second inner doors are controlled to close, the target position refers to the position where the inner double door will not interfere with the material bag, the bag squeezing mechanism, and the hook device during the closing process; when the hook device is detected to have moved to the recycling position in the recycling bin, and the inner double door is detected to be fully closed, the hook device is controlled to perform a disengagement operation, and the rotating mechanism is controlled to drive the bag squeezing mechanism to perform a bag squeezing operation. Therefore, in this application, by independently controlling the flipping motion 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 recycling 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 based on 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 as the first initial driving speed and the second driving speed as 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 the bag squeezing mechanism and the first inner partition door do not interfere with each other.

[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. This includes: 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 interference exists, obtaining the first flipping angle of the first inner partition door and the second flipping angle of the bag squeezing mechanism when interference occurs; 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 no interference exists, 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 drive speed or the flipping start time of the bag squeezing mechanism or the first inner partition door, including: increasing or decreasing the first initial drive speed according to the first flipping angle and the second time, such that the first time is not equal to the second time; or, increasing or decreasing the second initial drive speed according to the second flipping angle and the first time, such 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 partition door of the double-opening inner partition to flip at the third driving speed, the control unit 1201 is further configured to: control the squeezing mechanism to flip to the second target angle; wherein, the calculation process of the second target angle is as follows: obtaining the third driving speed of the second inner partition door and the third flipping radius of the second inner partition door; determining the third flipping angle of the squeezing mechanism and the fourth flipping angle of the second inner partition door when the squeezing mechanism and the second inner partition door interfere with each other based on the second flipping radius and the third flipping radius; determining whether the squeezing mechanism and the second inner partition door interfere with each other based on the third flipping angle, the fourth flipping angle, the second driving speed, and the third driving speed; if interference occurs, the target angle is determined to be the first flipping angle; if no interference occurs, the target angle is determined to be 0.

[0101] In some embodiments, the control unit 1201 drives the first inner partition door of the double-door inner compartment to flip at a first driving speed, controls the flipping mechanism to drive the squeezing mechanism to flip at a second driving speed, and drives the second inner partition door of the double-door inner compartment to flip at a third driving speed, including: acquiring a first initial driving speed of the first inner partition door, a second initial driving speed of the squeezing mechanism, and a third initial driving speed of the second inner partition door; and acquiring a first flipping radius of the first inner partition door, a second flipping radius of the squeezing mechanism, and a third flipping radius of the second inner partition door; and based on the first initial driving speed, the second initial driving speed, the third initial driving speed, and the first flipping radius, the second initial driving speed, the third initial driving speed, and the third initial driving speed, the control unit 1201 drives the first inner partition door to flip at a first driving speed, controls the flipping mechanism to drive the squeezing mechanism to flip at a second driving speed, and drives the second inner partition door to flip at a third driving speed. The flip radius and the third flip radius determine whether the mapped lengths of the first inner partition door and the second inner partition door in the length direction are both less than the mapped length of the squeezing mechanism in the length direction within the same time period; the length direction is the direction of movement of the moving device; if yes, it is determined that the squeezing mechanism and the inner partition double door will not interfere; if no, it is determined that the squeezing mechanism and the inner partition double door will interfere, and the first initial drive speed, the second initial drive speed, and the third initial drive speed are adjusted or the flip start time of the squeezing mechanism and the inner partition double door 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 less than the mapped length of the squeezing mechanism in the length direction.

[0102] In some embodiments, the control unit 1201 controls the hook device to perform a disengagement operation and controls the flipping mechanism to drive the squeezing mechanism to perform a squeezing operation, including: controlling the moving device to drive the hook device to move downward until the material bag enters the collection port of the bag collecting device; controlling the hook device to disengage so that the material bag falls into the bag collecting device; controlling the moving device to drive the hook device to move upward; controlling the flipping mechanism to drive the squeezing mechanism to flip so that the squeezing mechanism covers the collection port of the bag collecting device; and controlling the flipping mechanism to drive the 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 its maximum angle is less than or equal to the time taken for the material bag to move from the breaking bin to the unhooking point.

[0104] Please see Figure 13 , Figure 13 A schematic diagram of the structure of a main controller provided in this application is shown below. Figure 13 As shown, the main controller 10 includes a processor 1301, a memory 1303, a communication interface 1302, and one or more programs 13031. The one or more programs 13031 are stored in the memory 1303 and configured to be executed by the processor 1301. Each program 13031 includes instructions for performing any step in the above method embodiments.

[0105] This application provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of the method described in any possible embodiment.

[0106] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0107] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0108] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

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

[0110] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0111] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0112] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0113] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for linkage control of multiple related motion mechanisms in a material bag recycling process, characterized in that, The main controller is applied to an automatic bag unpacking machine. The automatic bag unpacking machine includes a recycling bin, a breaking bin, a moving device, and a hooking device. The hooking device is used to hook the material bag. The moving device is used to drive the hooking device to move between the recycling bin and the breaking bin. The recycling bin is equipped with a bag collecting device, a flipping mechanism, and a bag squeezing mechanism. The flipping mechanism is used to drive the bag squeezing mechanism to flip and cover the recycling port of the bag collecting device. A double-door inner partition is provided between the recycling bin and the crushing bin; the method includes: The control mechanism drives the hooking device with the material bag attached to it to move toward the inner double door, and drives the first inner door of the inner 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 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 the first inner partition door and the second inner partition door are detected to be opened to the first target angle, the moving device is controlled to drive the hook device through the double inner partition door and continue to move. When the hook device is detected to have moved to the target position of the recycling bin, the first inner partition door and the second inner partition door are controlled to close. The target position refers to the position where the double inner partition door will not interfere with the material bag, the bag squeezing mechanism, or the hook device during the closing process. When the hook device is detected to have moved to the recycling position in the recycling bin and the inner double door is detected to be fully closed, the hook device is controlled to perform a disengagement 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 for the first driving speed and the second driving speed is as follows: The first initial driving speed of the first inner partition door and the second initial driving speed of the bag squeezing mechanism are obtained, as well as the first flipping radius of the first inner partition door and the second flipping radius of the bag squeezing mechanism are obtained. Determine whether the bag squeezing mechanism interferes with the first inner partition door based on the first initial driving speed, the second initial driving speed, the first flipping radius, and the second flipping radius. If no interference occurs, the first driving speed is determined to be the first initial driving speed and the second driving speed is determined to be the second initial driving speed. If interference occurs, the initial drive speed or flipping 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 step of determining whether the bag squeezing mechanism interferes with the first inner partition door based on the first initial driving speed, the second initial driving speed, the first flipping radius, and the second flipping radius includes: Based on the first flip radius and the second flip radius, determine whether there is a possibility of interference between the bag squeezing mechanism and the first inner partition door; If present, obtain the first flip angle of the first inner partition door when the bag squeezing mechanism and the first inner partition door interfere with each other, and the second flip angle of the bag squeezing mechanism. Calculate the first time between the first flip angle and the first initial drive speed, and calculate the second time between the second flip angle and the second initial drive speed; If the first time is greater than or less than the second time, the bag squeezing mechanism will not interfere with the first inner partition door; If the first time is equal to the second time, the bag squeezing mechanism will interfere with the first inner partition door; 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, Adjusting the initial drive speed or flipping start time of the bag squeezing mechanism or the first inner partition door includes: The initial drive speed may be increased or decreased based on the first flip angle and the second time, such that the first time is not equal to the second time; or... The second initial drive speed is increased or decreased based on the second flip angle and the first time, such that the first time is not equal to the second time; or... The starting time of the flipping of the first inner partition door is earlier or later than the starting time of the flipping of the bag squeezing mechanism.

5. The method according to any one of claims 2-4, characterized in that, Before the second inner partition door, which drives the inner double-leaf door, flips at the third driving speed, the method further includes: Control the bag squeezing mechanism to flip to the second target angle; The calculation process for the second target angle is as follows: Obtain the third driving speed of the second inner partition door and the third flipping radius of the second inner partition door; The third flip angle of the bag squeezing mechanism and the fourth flip angle of the second inner partition door are determined based on the second flip radius and the third flip radius when the bag squeezing mechanism and the second inner partition door interfere with each other. Whether the bag squeezing mechanism and the second inner partition door interfere with each other is determined based on the third flip angle, the fourth flip angle, the second driving speed, and the third driving speed. If interference occurs, the second target angle is determined to be the third flip angle; If no interference occurs, the angle of the second target is determined to be 0.

6. The method according to claim 1, characterized in that, The method of driving the first inner partition door of the double-opening inner partition door to flip at a first driving speed, controlling the flipping mechanism to drive the squeezing mechanism to flip at a second driving speed, and driving the second inner partition door of the double-opening inner partition door to flip at a third driving speed includes: The first initial driving speed of the first inner partition door, the second initial driving speed of the bag squeezing mechanism, and the third initial driving speed of the second inner partition door are obtained; and the first flipping radius of the first inner partition door, the second flipping radius of the bag squeezing mechanism, and the third flipping radius of the second inner partition door are obtained. Based on the first initial driving speed, the second initial driving speed, the third initial driving speed, and the first flipping radius, the second flipping radius, and the third flipping 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 less than the mapped length of the bag squeezing mechanism in the length direction within the same time period; the length direction is the direction in which the moving device moves; If so, then it is determined that the bag squeezing mechanism and the inner double door will not interfere with each other; If not, it is determined that the bag squeezing mechanism and the inner double-door will interfere with each other. The first initial drive speed, the second initial drive speed, and the third initial drive speed are adjusted or the flipping start time of the bag squeezing mechanism and the inner double-door is changed so that the mapped lengths of the first inner door and the second inner door in the length direction are both less than the mapped length of the bag squeezing mechanism in the length direction.

7. The method according to claim 1, characterized in that, The control of the hook device to perform the unhooking operation and the control of the flipping mechanism to drive the squeezing mechanism to perform the squeezing operation include: The mobile device is controlled to drive the hook device to move downwards until the material bag enters the recycling port of the bag collecting device; Control the hook device to disengage, so that the material bag falls into the bag collecting device; The control mechanism drives the hook device to move upward. The flipping mechanism is controlled to drive the bag squeezing mechanism to flip, so that the bag squeezing mechanism covers the recycling port of the bag collecting device; The flipping mechanism is controlled to drive the squeezing mechanism to move downwards to squeeze the material bag.

8. The method according to claim 1, characterized in that, The time taken for the bag squeezing mechanism to rotate to its maximum angle is less than or equal to the time taken for the material bag to move from the breaking bin to the point of disengagement.

9. An automatic package unpacking machine, characterized in that, The automatic unpacking machine includes a recycling bin, a breaking bin, a moving device, and a hooking device. The hooking device is used to hook the material bags, and the moving device is used to drive the hooking device to move between the recycling bin and the breaking bin. The recycling bin is equipped with a bag collecting device, a flipping mechanism, and a bag squeezing mechanism. The flipping mechanism is used to drive the bag squeezing mechanism to flip and cover the recycling port of the bag collecting device. An inner double door is provided between the recycling bin and the breaking bin. The main controller is used to execute the step instructions as described in any one of claims 1-8.

10. A linkage control device for multiple related motion mechanisms in a material bag recycling process, characterized in that, The main controller is applied to an automatic bag unpacking machine. The automatic bag unpacking machine includes a recycling bin, a breaking bin, a moving device, and a hooking device. The hooking device is used to hook the material bag. The moving device is used to drive the hooking device to move between the recycling bin and the breaking bin. The recycling bin is equipped with a bag collecting device, a flipping mechanism, and a bag squeezing mechanism. The flipping mechanism is used to drive the bag squeezing mechanism to flip and cover the recycling port of the bag collecting device. A double-door inner partition is provided between the recycling bin and the crushing bin; the linkage control device includes: The control unit is configured to control the moving device to drive the hook-hanging device with the material bag attached to it to move towards the inner double-door, and to drive the first inner door of the inner double-door to rotate at a first driving speed, control the rotating mechanism to drive the bag squeezing mechanism to rotate at a second driving speed, and drive the second inner door of the inner double-door to rotate at a third driving speed, so that the first and second inner doors do not interfere with the bag squeezing mechanism; when the first and second inner doors are detected to be open to a first target angle, the control unit is configured to drive the hook-hanging device through the inner double-door and continue moving; when the hook-hanging device is detected to have moved to the target position in the recycling bin, the control unit is configured to close the first and second inner doors, the target position being the position where the inner double-door will not interfere with the material bag, the bag squeezing mechanism, or the hook-hanging device during the closing process; when the hook-hanging device is detected to have moved to the recycling position in the recycling bin and the inner double-door is detected to be fully closed, the control unit is configured to perform a disengagement operation on the hook-hanging device and to control the rotating mechanism to drive the bag squeezing mechanism to perform a bag squeezing operation.

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