Automatic unpacking equipment for mixed materials

Abstract

The invention provides mixed material automatic unpacking equipment which comprises at least two bag unpacking devices, at least two feeding bins, a robot arm, at least two 3D vision devices and at least two material stacks, a material bag gripper is arranged on the robot arm to convey material bags of the material stacks to the bag unpacking devices, and a code scanning table and an unpacking table are arranged on the bag unpacking devices. The 3D vision detects the material bag conditions of the corresponding material stacks, the robot arm places the material bags on the code scanning table for code scanning according to 3D vision detection feedback signals and then conveys the material bags to the unpacking table, the unpacking device unpacks the material bags on the unpacking table and pours out materials in the material bags, and the poured-out materials are conveyed to the feeding bin through the channel. According to the equipment, continuous treatment of material carrying, material code scanning and recognition, bag opening, material mixing in proportion and waste bag recycling is achieved, efficient feeding production is facilitated, the occupied area of the machine is small, and a series of centralized working procedures can be completed within a small range.

Description

Technical Field

[0001] The invention relates to automatic mixed material unpacking equipment. Background Art

[0002] In China, many companies still use manual feeding for the supply of packaging raw materials, which is labor-intensive and adds a lot of workload to workers. Although some manufacturers have also produced robotic automatic unpacking equipment, the handling, unpacking and bag collection work involved in the process is all completed by robotic arms, resulting in low work efficiency and inability to increase production capacity. Summary of the invention

[0003] The present invention proposes an automatic unpacking device for mixed materials, comprising at least two bag unpacking devices, at least two feeding bins, a robot arm, at least two 3D visions and at least two material stacks, wherein the robot arm is provided with a bag gripper to deliver the bags of the material stack to the bag unpacking device, the bag unpacking device is provided with a code scanning table and an unpacking table, the 3D vision detects the material bag situation corresponding to the material stack, the robot arm places the material bag on the code scanning table for scanning according to the 3D vision detection feedback signal and then delivers it to the unpacking table, the unpacking device unpacks the material bag on the unpacking table and pours out the material in the material bag, and the poured out material is delivered to the feeding bin through a channel.

[0004] In one or more embodiments, the bag unpacking device includes a frame, an unpacking mechanism and a waste bag recovery mechanism. The unpacking mechanism is provided with an unpacking table and a cutter. The cutter is located at the front end of the unpacking table and can reciprocate along the lateral direction of the unpacking table. The unpacking table is provided with a positioning mechanism. The positioning mechanism positions the material bags on the unpacking table and prevents them from falling. The unpacking table is axially connected to the frame and can be flipped around the connecting axis. The waste bag recovery mechanism transports the waste bags on the unpacking table to the set position.

[0005] In one or more embodiments, a flip cylinder is disposed on the frame, the flip cylinder is connected to the shaft of the unpacking table, and the flip cylinder drives the unpacking table to flip toward the cutting direction.

[0006] In one or more embodiments, a beating rod is further provided on the unpacking table. The beating rod is arranged along the radial direction of the unpacking table and close to the side plate of the unpacking table. The beating rod is axially connected to the unpacking table and one end of the beating rod is connected to the beating cylinder.

[0007] In one or more embodiments, the positioning mechanism is provided with a positioning rod and a positioning cylinder, the positioning cylinder drives the positioning rod to move toward the center line of the unpacking table, and the positioning mechanism is arranged on the left and right sides of the unpacking table and away from the cutting direction.

[0008] In one or more embodiments, one end of the positioning rod forms a pointed tip.

[0009] In one or more embodiments, a slide rail is provided on the frame, and the waste bag recovery mechanism can move along the slide rail to approach the unpacking station or leave the unpacking station.

[0010] In one or more embodiments, the waste bag recovery mechanism is provided with a mounting plate, a recovery rod and a recovery cylinder, the recovery rod is axially connected to the shell of the recovery cylinder, the recovery cylinder is axially connected to the recovery rod, and the recovery cylinder drives the recovery rod to rotate.

[0011] In one or more embodiments, the mounting plate is provided with an extension portion extending toward the recovery rod, and the extension portion and the recovery rod form a clamping structure to clamp the waste bag.

[0012] Beneficial effects of the present invention: The equipment realizes the continuous processing of transporting, scanning code to identify materials, unpacking bags, mixing materials in proportion and recycling waste bags, which is conducive to efficient feeding production, and the machine occupies a small area, and can complete a series of concentrated processes in a small range. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the automatic unpacking equipment for mixed materials.

[0014] Figure 2 This is a schematic diagram of the bag removal device.

[0015] Figure 3 It is a partial structural schematic diagram of the bag removing device.

[0016] Figure 4 This is a schematic diagram of the unpacking station structure.

[0017] Figure 5 This is another structural diagram of the unpacking station.

[0018] Figure 6 This is a schematic diagram of the waste bag recycling mechanism. DETAILED DESCRIPTION

[0019] The present application scheme is further described as follows in conjunction with the accompanying drawings:

[0020] See attached Figure 1-6A mixed material automatic unpacking device comprises at least two bag unpacking devices 4, at least two feeding bins 5, a robot arm 6, at least two 3D vision devices 8 and at least two material stacks 9. The robot arm 6 is provided with a bag gripper 7 to deliver the bags of the material stack 9 to the bag unpacking device 4. The bag unpacking device 4 is provided with a code scanning table 41 and an unpacking table 21. The code scanning table 41 is provided with a code scanner. The 3D vision detects the bag situation of the corresponding material stack 9. The robot arm 6 places the bag on the code scanning table 41 for scanning according to the feedback signal of the 3D vision 8 and then delivers it to the unpacking table 21. The unpacking device 4 unpacks the bag on the unpacking table 21 and pours out the material in the bag. The poured material is delivered to the feeding bin 5 through a channel 51.

[0021] Furthermore, the bag unpacking device includes a frame 1, an unpacking mechanism 2 and a waste bag recovery mechanism 3. The unpacking mechanism 2 is provided with an unpacking table 21 and a cutter 22. The cutter 22 is located at the front end of the unpacking table 21 and can reciprocate along the lateral direction of the unpacking table 21. A positioning mechanism 23 is provided on the unpacking table 21. The positioning mechanism 23 positions the material bags on the unpacking table 21 and prevents them from falling. The unpacking table 21 is axially connected to the frame 1 and can be flipped around the connecting axis. The waste bag recovery mechanism 3 transports the waste bags on the unpacking table 21 to a set position for recovery.

[0022] Furthermore, a turning cylinder 24 is provided on the frame 1 , and the turning cylinder 24 is connected to the axis of the unpacking table 21 , and the turning cylinder 24 drives the unpacking table 21 to turn toward the cutting knife 22 .

[0023] Furthermore, a beating rod 25 is provided on the unpacking table 21 . The beating rod 25 is arranged along the radial direction of the unpacking table 21 and close to the side plate of the unpacking table 21 . The beating rod 25 is axially connected to the unpacking table 21 and one end of the beating rod is connected to the beating cylinder 26 .

[0024] Furthermore, the positioning mechanism 23 is provided with a positioning rod 232 and a positioning cylinder 231 , and the positioning cylinder 231 drives the positioning rod 232 to move toward the center line of the unpacking table 21 . The positioning mechanism 23 is arranged on the left and right sides of the unpacking table 21 and away from the direction of the cutter 22 .

[0025] Furthermore, one end of the positioning rod 232 forms a pointed tip.

[0026] Furthermore, a slide rail 31 is provided on the frame 1 , and the waste bag recovery mechanism 3 can move along the slide rail 31 to approach the unpacking table 21 or leave the unpacking table 21 .

[0027] Furthermore, the waste bag recovery mechanism 3 is provided with a mounting plate 32, a recovery rod 34 and a recovery cylinder 33, the recovery rod 34 is axially connected to the shell of the recovery cylinder 33, the recovery cylinder 33 is axially connected to the recovery rod 34, and the recovery cylinder 33 drives the recovery rod 34 to rotate.

[0028] Furthermore, the mounting plate 32 is provided with an extension portion 321 extending toward the recovery rod 34 , and the extension portion 321 and the recovery rod 34 form a clamping structure to clamp the waste bag.

[0029] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0033] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0034] The above-mentioned preferred implementation modes should be regarded as illustrative examples of the implementation modes of the present application scheme. Any technical deductions, replacements, improvements, etc. that are identical or similar to the present application scheme or made based on this scheme should be regarded as within the scope of protection of this patent.

Claims

1. A mixed material automatic unpacking device, characterized in that: It includes at least two bag unpacking devices, at least two feeding bins, a robot arm, at least two 3D visions and at least two material stacks. The robot arm is provided with a bag gripper to deliver the bags of the material stack to the bag unpacking device. The bag unpacking device is provided with a code scanning table and an unpacking table. The 3D vision detects the bag conditions of the corresponding material stack. The robot arm places the bag on the code scanning table for scanning according to the 3D vision detection feedback signal and then delivers it to the unpacking table. The unpacking device unpacks the bag on the unpacking table and pours out the material in the bag, and the poured material is delivered to the feeding bin through a channel.

2. The automatic unpacking equipment for mixed materials according to claim 1 is characterized in that: The bag unpacking device includes a frame, an unpacking mechanism and a waste bag recovery mechanism. The unpacking mechanism is provided with an unpacking table and a cutter. The cutter is located at the front end of the unpacking table and can reciprocate along the lateral direction of the unpacking table. The unpacking table is provided with a positioning mechanism. The positioning mechanism positions the material bags on the unpacking table and prevents them from falling. The unpacking table is axially connected to the frame and can be flipped around the connecting axis. The waste bag recovery mechanism transports the waste bags on the unpacking table to the set position.

3. The automatic unpacking equipment for mixed materials according to claim 2 is characterized in that: The frame is provided with a turning cylinder, which is connected to the shaft of the unpacking table and drives the unpacking table to turn toward the cutting direction.

4. The automatic unpacking equipment for mixed materials according to claim 2 or 3, characterized in that: The unpacking table is also provided with a beating rod, which is arranged along the radial direction of the unpacking table and close to the side plate of the unpacking table. The beating rod is axially connected to the unpacking table and one end of the beating rod is connected to the beating cylinder.

5. The automatic unpacking equipment for mixed materials according to claim 2, characterized in that: The positioning mechanism is provided with a positioning rod and a positioning cylinder. The positioning cylinder drives the positioning rod to move toward the center line of the unpacking table. The positioning mechanism is arranged on the left and right sides of the unpacking table and away from the cutting direction.

6. The automatic unpacking equipment for mixed materials according to claim 5, characterized in that: One end of the positioning rod forms a pointed tip.

7. The automatic unpacking equipment for mixed materials according to claim 2, characterized in that: The frame is provided with a slide rail, and the waste bag recovery mechanism can move along the slide rail to approach the unpacking station or leave the unpacking station.

8. The automatic unpacking equipment for mixed materials according to claim 2 or 7, characterized in that: The waste bag recovery mechanism is provided with a mounting plate, a recovery rod and a recovery cylinder. The recovery rod is axially connected to the housing of the recovery cylinder, the recovery cylinder is axially connected to the recovery rod, and the recovery cylinder drives the recovery rod to rotate.

9. The automatic unpacking equipment for mixed materials according to claim 8, characterized in that: The mounting plate is provided with an extension portion extending toward the recovery rod, and the extension portion and the recovery rod form a clamping structure to clamp the waste bag.

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