Automatic intelligent unpacking system and unpacking method

Abstract

The invention discloses an automatic intelligent unpacking system and an unpacking method. The automatic intelligent unpacking system comprises a low-position feeding line, a low-feeding high-feeding line, an unpacking frame and a discharging line. The low-position feeding line is used for receiving material packages at the low position and conveying the material packages to the low position of the low-to-high feeding line, the low position of the low-to-high feeding line is in butt joint with the low-position feeding line, and the high position of the low-to-high feeding line is in butt joint with the unpacking frame; the discharging line is arranged in the middle of the main body frame so as to receive materials and send the materials to a designated position. Material packages can be placed at a very low position by arranging the conveying line, the slope feeding line is arranged to be conveyed to the main body frame, manual lifting is not needed, and manpower is saved; the system is high in automation degree, does not need manual intervention, and is suitable for intelligent warehousing.

Description

Technical Field

[0001] The invention relates to unpacking, and in particular to an automated intelligent unpacking system and an unpacking method. Background Art

[0002] Powdered and granular materials are transported in ton bags. When unpacking, the bags need to be manually placed in the designated location, then manually lifted to the unpacking cutter position, pushed into the hopper, and manually shaken to take out the bags, which is inefficient and inconvenient to use. Summary of the invention

[0003] In order to solve the defects of the above-mentioned prior art, the present invention provides an automated intelligent unpacking system and unpacking method. The present invention arranges a conveyor line capable of placing material bags at a very low position, and arranges a sloped loading line to deliver the material bags to the main frame, without the need for manual lifting, thus saving manpower. The present invention has a high degree of automation, does not require manual intervention, and is suitable for intelligent warehousing.

[0004] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: an automated intelligent unpacking system, including a low-level feeding line, a low-feeding and high-feeding line, an unpacking rack, and a discharge line;

[0005] The low-position feeding line is used to receive the material packages at a low position and transport them to the low position of the low-feeding and high-feeding line. The low position of the low-feeding and high-feeding line is connected to the low-position feeding line, and the high position is connected to the unpacking rack.

[0006] The unpacking frame is provided with a walking assembly located at the top and a gripper assembly connected to the walking assembly, and also includes a cutter. The gripper assembly includes a main lifting part, a shaking part, a clamping claw part, and a material pushing part. The main lifting part is connected to the walking assembly and is used for circulating in the main frame area to convey the material bag. The bottom end of the main lifting part is connected to the shaking part and cooperates with the shaking driving member to make the material bag shake and quickly unload the material. The clamping claw part is connected to the shaking part and is used to grab or release the material bag. The material pushing part is connected to the clamping claw part and is used to push the material so that the material can be unloaded quickly.

[0007] The walking assembly is capable of moving the gripper assembly to the front of the main frame to grab a material bag, to the middle of the main frame to make the material bag contact the cutter and cut the material bag, and to the rear of the main frame to release an empty material bag.

[0008] The discharge line is arranged in the middle of the main frame to receive materials and deliver them to a designated position.

[0009] The low-level feeding line includes multiple sub-conveyor units and a bidirectional conveyor unit. The multiple sub-conveyor units are arranged in sequence and have the same conveying direction. The bidirectional conveyor unit is interspersed in the conveying line composed of the multiple sub-conveyor units to achieve bidirectional conveying of the low-level feeding line.

[0010] The low-feed and high-feed line adopts a conveyor, and the conveying direction is from bottom to top.

[0011] The main lifting part includes a main support cross plate, a guide member, a main cylinder, a connecting block, and a connecting plate. The main support cross plate spans the top of the main frame, and the connecting blocks are respectively installed at both ends of the bottom surface of the main support cross plate, and the connecting blocks at both ends are respectively connected to the walking components to realize the reciprocating motion of the gripper component; the fixed end of the main cylinder is fixed to the main support cross plate, and the driving end passes through the main support cross plate and extends downward and is fixedly connected to the connecting plate to drive the connecting plate to move up and down, the sleeve of the guide member is fixed to the connecting plate and passes through the main support cross plate, and the telescopic rod of the guide member is fixed on the limit frame and is connected with the sleeve to make the connecting plate rise and fall in the vertical direction.

[0012] The shaking part includes an L-shaped frame, a shaking plate, and a hinge shaft. The first vertical surface of the L-shaped frame is fixedly connected to the connecting plate, and the end of the second vertical surface is connected to the shaking plate via the hinge shaft. The shaking driving component includes a shaking cylinder. The fixed end of the shaking cylinder is connected to the connecting plate via a second hinge seat, and the driving end is connected to the shaking plate via a second hinge seat. When the shaking cylinder is extended and then contracted, the shaking plate can shake up and down with the hinge shaft as the center.

[0013] The clamping part includes a clamping cylinder, an action transmission group, two clamping shafts, and a plurality of grabbing teeth. The fixed end of the clamping cylinder is fixed to the shaking plate, and the driving end is connected to the action transmission group. The action transmission group has two power output ends, and each is connected to one of the clamping shafts. The clamping shaft is installed on the bottom surface of the shaking plate through a seat bearing. The plurality of grabbing teeth are respectively installed on the two clamping shafts. When the clamping cylinder is extended or retracted, the action transmission group drives the two clamping shafts to rotate relative to or oppositely, so as to achieve the clamping or loosening of the material bag by the plurality of grabbing teeth.

[0014] The pushing part includes a pushing cylinder, a transverse plate, and a plurality of pushing plates. The fixed end of the pushing cylinder is fixedly connected to the shaking plate, and the driving end passes through the shaking plate and is connected to the transverse plate. The plurality of pushing plates are fixed on the transverse plate at intervals and are spaced apart by one of the grabbing teeth.

[0015] It also includes a detection group, including a first photoelectric switch, a second photoelectric switch, a third photoelectric switch, a fourth photoelectric switch, and a fifth photoelectric switch; a plurality of the first photoelectric switches are respectively installed on the low-level feeding line to detect the presence of materials, and adjacent first photoelectric switches are interlocked; the second photoelectric switch is installed on the low-feed and high-feed line, and stops conveying when a material bag is detected, and feeds back a signal to the gripper assembly, waiting for grasping; the third photoelectric switch is installed on the front of the main frame to detect the bottom of the material bag, and after detecting that the material bag is separated from the third photoelectric switch, the material bag is slowly moved to the cutting position; the fourth photoelectric switch is installed in front of the cutter to detect the head of the material bag, and after detecting the head of the material bag, the material bag is slowly lifted up for cutting; the fifth photoelectric switch is installed behind the cutter to detect the tail of the material bag, and after detecting the tail of the material bag, the material bag is slowly lowered for cutting.

[0016] An automated intelligent unpacking method comprises the following steps:

[0017] Receive the material package at the low position and send it to the front of the main frame at the high position;

[0018] Control the walking assembly to move to the front of the main frame, control the main cylinder of the main lifting part to extend, so that the clamping claw part descends to the material bag position;

[0019] Control the action of the clamping cylinder of the clamping jaw part so that the grabbing teeth of the two clamping jaw shafts grab the material bag;

[0020] Control the main cylinder of the main lifting part to retract, so that the material bag rises to the height of the cutter;

[0021] Control the walking assembly to move to the front of the cutter in the middle of the main frame so that the material bag contacts the cutter, and control the walking assembly to continue moving until the material bag is cut;

[0022] Control the material shaking cylinder to cyclically extend and retract, so that the shaking part drives the material bag to shake;

[0023] Control the pushing cylinder of the pushing part to extend so that the pushing plate pushes the material in the material bag out;

[0024] Control the walking assembly to move to the rear of the main frame, control the grabbing teeth of the two clamping claw shafts to release the empty material bag, and control the walking assembly to move to the front of the main frame to wait for the next material bag;

[0025] Control the conveyor movement of the discharge line to deliver the materials to the designated location.

[0026] In summary, the present invention has achieved the following technical effects:

[0027] The present invention sets a conveyor line to place the material bag at a very low position, and sets a sloped material feeding line to deliver the material bag to the main frame, without manual lifting, thus saving manpower;

[0028] The present invention is provided with a gripper assembly, which cooperates with the main lifting cylinder to realize descending to grab the material bag and ascending to the cutting knife, and a material shaking cylinder is provided to replace manual material shaking, so that material unloading is faster, a clamping claw transmission assembly is provided to more conveniently grab the material bag, and a push plate is provided to quickly unload the material;

[0029] The invention has a high degree of automation, does not require manual intervention, and is suitable for intelligent warehousing. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a main view of an automated intelligent unpacking system;

[0031] Figure 2 yes Figure 1 Partial right view

[0032] Figure 3 yes Figure 1 Top view;

[0033] Figure 4 yes Figure 1 A first partial enlarged schematic diagram of;

[0034] Figure 5 yes Figure 1 A second partial enlarged schematic diagram of;

[0035] Figure 6 It is a schematic diagram of the main frame;

[0036] Figure 7 is a schematic diagram of the gripper assembly;

[0037] Figure 8 It is a schematic diagram of the main lifting unit;

[0038] Fig. 9 It is a schematic diagram of the shaking part;

[0039] Fig.10 is a schematic diagram of the clamping jaw portion;

[0040] Fig.11 yes Fig.10 Schematic diagram from another angle. DETAILED DESCRIPTION

[0041] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0042] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0043] In the description of the present invention, it should 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" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and 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.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not 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 one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] 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.

[0047] Example:

[0048] Figure 1 It is an automated intelligent unpacking system main view. Figure 2 yes Figure 1 Partial right view, Figure 3 yes Figure 1 The top view includes a low-level feeding line 200, a low-feed and high-feed feeding line 300, a packing rack 400, and a discharge line 500;

[0049] The low-position feeding line 200 is used to receive the material packages at a low position and transport them to the low position of the low-feeding and high-feeding line 300. The low position of the low-feeding and high-feeding line 300 is connected to the low-position feeding line 200, and the high position is connected to the unpacking rack 400.

[0050] The unpacking frame 400 is provided with a walking assembly 450 located at the top and a gripper assembly 410 connected to the walking assembly 450, and also includes a cutter 440. The gripper assembly 410 includes a main lifting part 1, a shaking part 2, a clamping claw part 4, and a material pushing part 5. The main lifting part 1 is connected to the walking assembly 450 and is used for circulating in the area of ​​the main frame 400 to convey the material bag. The bottom end of the main lifting part 1 is connected to the shaking part 2 and cooperates with the shaking driving member 3 to make the material bag shake and quickly unload the material. The clamping claw part 4 is connected to the shaking part 2 to grab or release the material bag. The material pushing part 5 is connected to the clamping claw part 4 to push the material so that the material can be unloaded quickly.

[0051] The walking assembly 450 can move the gripper assembly 410 to the front of the main frame 400 to grab the material bag, move it to the middle of the main frame 400 to make the material bag contact the cutter 440 and cut the material bag, and move it to the rear of the main frame 400 to release the empty material bag.

[0052] The material discharge line 500 is disposed in the middle of the main frame 400 to receive materials and deliver them to a designated location.

[0053] The present invention sets the low-level feeding line 200 at a relatively low position, and can receive material bags from a low position, which is convenient for workers to unload materials. The low-level feeding line 200 is relatively long, which can store more material bags and does not occupy the space above, which is convenient for workers to manage unpacked material bags. The low-feed high-feeding line 300 can deliver material bags to a high place, and unpacking at a high place facilitates the falling of materials. The present invention sets the main frame as the main position point for unpacking, uses the gripper assembly to grab the material bags, and uses the cutter to cut the material bags, which has a high degree of automation and is easy to use.

[0054] A sloped loading line 100 is also provided at the head of the low-position feeding line 200, so that the conveyor belt is positioned lower and loading is more convenient.

[0055] Figure 4 yes Figure 1 In the first partial enlarged schematic diagram, the low-level feeding line 200 includes a plurality of sub-conveyor units 210 and a bidirectional conveyor unit 220. The plurality of sub-conveyor units 210 are arranged in sequence and have the same conveying direction. The bidirectional conveyor unit 220 is interspersed in the conveying line composed of a plurality of sub-conveyor units 210 to realize bidirectional conveying of the low-level feeding line 200.

[0056] The sub-conveyor unit 210 is provided with a sub-motor 230, and the bidirectional conveyor unit 220 is provided with a forward motor 250 and a reverse motor 240, which can control the conveyor belt of the bidirectional conveyor unit 220 to transmit in two directions, thereby conveying the material bags in two directions.

[0057] The low-feed high-feed line 300 uses a conveyor with a conveying direction from bottom to top and an angle of 23°.

[0058] Figure 5 yes Figure 1 The second partial enlarged schematic diagram, Figure 6 This is a schematic diagram of the main frame. Figure 7 This is a schematic diagram of the gripper assembly. Figure 8 This is a schematic diagram of the main lifting unit. Fig. 9 This is a schematic diagram of the jitter section. Fig.10 This is a schematic diagram of the clamping jaws. Fig.11 yes Fig.10 Schematic diagram from another angle.

[0059] like Figure 8 As shown, the main lifting part 1 includes a main support cross plate 11, a guide member 12, a main cylinder 13, a connecting block 15, and a connecting plate 16. The main support cross plate 11 spans the top of the main frame 400, and connecting blocks 15 are respectively installed at both ends of the bottom surface of the main support cross plate 11. The connecting blocks 15 at both ends are respectively connected to the walking assembly 450 to realize the reciprocating motion of the gripper assembly 410; the fixed end of the main cylinder 13 is fixed on the main support cross plate 11, and the driving end passes through the main support cross plate 11 and then extends downward and is fixedly connected to the connecting plate 16 to drive the connecting plate 16 to move up and down, the sleeve of the guide member 12 is fixed on the connecting plate 16 and passes through the main support cross plate 11, and the telescopic rod of the guide member 12 is fixed on the limit frame 14 and is connected with the sleeve to make the connecting plate 16 rise and fall in the vertical direction.

[0060] The main support cross plate 11 of the present invention spans across the top of the main frame 400 to achieve the movement function. The walking component 450 adopts the form of a motor, a sprocket, and a chain. The connecting block 15 is fixedly connected to the chain and cooperates with the guide track to achieve horizontal movement.

[0061] like Fig. 9 As shown, the shaking part 2 includes an L-shaped frame 21, a shaking plate 22, and a hinge shaft 23. The first vertical surface of the L-shaped frame 21 is fixedly connected to the connecting plate 16, and the end of the second vertical surface is connected to the shaking plate 22 through the hinge shaft 23; the shaking driving component 3 includes a shaking cylinder 31, the fixed end of the shaking cylinder 31 is connected to the connecting plate 16 through the second hinge seat 33, and the driving end is connected to the shaking plate 22 through the second hinge seat 32. When the shaking cylinder 31 is extended and then contracted, the shaking plate 22 can shake up and down with the hinge shaft 23 as the center.

[0062] The right-angle space of the L-shaped frame 21 of the present invention is provided with diagonal braces to enhance the strength. The diagonal braces are located on both sides. The middle space can provide sufficient shaking space for the shaking plate 22 and can accommodate the material pusher 5. After the material bag is caught and cut, the material cannot fall all at once and needs to be shaken. One end of the shaking plate 22 is hinged and the other end is free. The free end can make the material bag shake up and down and shake, which can accelerate the falling of the material.

[0063] like Fig.10 As shown, the jaw part 4 includes a jaw cylinder 41, an action transmission group 42, two jaw shafts 43, and a plurality of grabbing teeth 44. The fixed end of the jaw cylinder 41 is fixed to the shaking plate 22, and the driving end is connected to the action transmission group 42. The action transmission group 42 has two power output ends, and each is connected to a jaw shaft 43. The jaw shaft 43 is installed on the bottom surface of the shaking plate 22 through a seat bearing 45. The plurality of grabbing teeth 44 are respectively installed on the two jaw shafts 43. When the jaw cylinder 41 is extended or retracted, the action transmission group 42 drives the two jaw shafts 43 to rotate relative to or oppositely, so as to realize the clamping or loosening of the material bag by the plurality of grabbing teeth 44.

[0064] The action transmission group 42 includes a first connecting plate 421, a second connecting plate 422, two third connecting plates 423, and two fourth connecting plates 424. A third connecting plate 423 and a fourth connecting plate 424 form a group and cooperate with a clamping claw shaft 43. The first connecting plate 421 is connected to the driving end of the clamping claw cylinder 41, the second connecting plate 422 is fixed to the first connecting plate 421, one end of the third connecting plate 423 is hinged to the second connecting plate 422, and the other end is hinged to the fourth connecting plate 424, and the other end of the fourth connecting plate 424 is fixedly connected to the clamping claw shaft 43. When the clamping claw cylinder 41 is extended or retracted, it drives the clamping claw shaft 43 to rotate inward or outward, so that the grabbing teeth 44 grab the material bag inward or release it outward.

[0065] The present invention utilizes the transmission of the connecting plate to realize the grasping and releasing operations, which can firstly slow down the speed of the action and be more stable, and secondly replace the clamping claw cylinder to realize grasping, so the effect is better and the cost is lower.

[0066] The multiple grabbing teeth 44 of the present invention are arranged at intervals, so that human fingers can grab the material bag, which makes the grabbing more stable and not easy to drop.

[0067] like Fig.10 and Fig.11 As shown, the pushing part 5 includes a pushing cylinder 51, a transverse plate 52, and a plurality of pushing plates 53. The fixed end of the pushing cylinder 51 is fixedly connected to the shaking plate 22, and the driving end passes through the shaking plate 22 and is connected to the transverse plate 52. The plurality of pushing plates 53 are fixed on the transverse plate 52 at intervals and are spaced apart by a grabbing tooth 44.

[0068] The push plate and the grab teeth of the present invention are arranged crosswise with each other, which not only meets the requirements of grabbing, but also meets the requirements of pushing, saves space, reduces the volume and occupied area of ​​the gripper assembly, and makes the whole device compact and easy to use.

[0069] like Figure 1 and Figure 2 As shown, the main frame is also provided with a hopper 430 for receiving materials, and the discharge line 500 includes an inclined conveyor belt 510 and a silo 520. The conveying direction of the inclined conveyor belt 510 is from bottom to top, which is convenient for conveying to the silo 520. The inclined angle of the inclined conveyor belt 510 is 13°.

[0070] The cutter 440 cooperates with components such as a motor and a seat bearing to realize the rotation function of the cutter.

[0071] It also includes a detection group, including a first photoelectric switch 601, a second photoelectric switch 602, a third photoelectric switch 603, a fourth photoelectric switch 604, and a fifth photoelectric switch 605; the first photoelectric switch 601 is a plurality of first photoelectric switches 601 respectively installed on the low-level feeding line 200 for detecting the presence of materials, and adjacent first photoelectric switches 601 are interlocked; the second photoelectric switch 602 is installed on the low-feed and high-feeding line 300, and stops conveying when a material bag is detected, and feeds back a signal to the gripper assembly 410, waiting for grasping; the third photoelectric switch 603 is installed at the front of the main frame 400 for detecting the bottom of the material bag, and after detecting that the material bag is separated from the third photoelectric switch 603, the material bag is slowly moved to the cutting position; the fourth photoelectric switch 604 is installed in front of the cutter 440 for detecting the head of the material bag, and after detecting the head of the material bag, the material bag is slowly lifted up for cutting; the fifth photoelectric switch 605 is installed at the rear of the cutter 440 for detecting the tail of the material bag, and after detecting the tail of the material bag, the material bag is slowly lowered for cutting.

[0072] An automated intelligent unpacking method comprises the following steps:

[0073] The material package is received at a low position and sent to the front of the main frame 400 at a high position;

[0074] Control the walking assembly 450 to move to the front of the main frame 400, and control the main cylinder 13 of the main lifting part 1 to extend, so that the clamping claw part 4 descends to the material bag position;

[0075] Control the action of the clamping cylinder 41 of the clamping jaw part 4 so that the grabbing teeth 44 of the two clamping jaw shafts 43 grab the material bag;

[0076] Control the main cylinder 13 of the main lifting part 1 to retract, so that the material bag rises to the height of the cutter 440;

[0077] Control the walking assembly 450 to move to the front of the cutter 440 in the middle of the main frame 400 so that the material bag contacts the cutter 440, and control the walking assembly 450 to continue moving until the material bag is cut;

[0078] Control the material shaking cylinder 31 to cyclically extend and retract, so that the shaking part 2 drives the material bag to shake;

[0079] Control the pushing cylinder 51 of the pushing part 5 to extend so that the pushing plate 53 pushes the material in the material bag out;

[0080] Control the walking assembly 450 to move to the rear of the main frame 400, control the grabbing teeth 44 of the two clamping claw shafts 43 to release the empty material bag, and control the walking assembly 450 to move to the front of the main frame 400 to wait for the next material bag;

[0081] The conveyor of the discharge line 500 is controlled to deliver the materials to the designated location.

[0082] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. An automated intelligent unpacking system, characterized in that: It includes a low-position feeding line (200), a low-feeding and high-feeding line (300), a packing unpacking rack (400), and a discharging line (500); The low-position feeding line (200) is used to receive material packages at a low position and transport them to the low position of the low-feeding and high-feeding line (300); the low position of the low-feeding and high-feeding line (300) is connected to the low-position feeding line (200), and the high position is connected to the unpacking rack (400); The unpacking frame (400) is provided with a walking assembly (450) located at the top and a gripper assembly (410) connected to the walking assembly (450), and also includes a cutter (440). The gripper assembly (410) includes a main lifting part (1), a shaking part (2), a clamping claw part (4), and a material pushing part (5). The main lifting part (1) is connected to the walking assembly (450) and is used for cyclic movement in the area of ​​the main frame (400) to convey the material bag. The bottom end of the main lifting part (1) is connected to the shaking part (2) and cooperates with the shaking driving part (3) to make the material bag shake and quickly discharge. The clamping claw part (4) is connected to the shaking part (2) and is used for grabbing or releasing the material bag. The material pushing part (5) is connected to the clamping claw part (4) and is used for pushing the material so that it can be quickly discharged. The walking assembly (450) is capable of moving the gripper assembly (410) to the front of the main frame (400) to grab a material bag, moving to the middle of the main frame (400) to make the material bag contact the cutter (440) and cut the material bag, and moving to the rear of the main frame (400) to release an empty material bag. The material discharge line (500) is arranged in the middle of the main frame (400) to receive materials and deliver them to a designated location.

2. The automated intelligent unpacking system according to claim 1, characterized in that: The low-level feeding line (200) comprises a plurality of sub-conveyor units (210) and a bidirectional conveyor unit (220); the plurality of sub-conveyor units (210) are arranged in sequence and have the same conveying direction; the bidirectional conveyor unit (220) is inserted into a conveying line composed of the plurality of sub-conveyor units (210) to achieve bidirectional conveying of the low-level feeding line (200).

3. The automated intelligent unpacking system according to claim 1, characterized in that: The low-feed and high-feed line (300) uses a conveyor, and the conveying direction is from bottom to top.

4. The automated intelligent unpacking system according to claim 1, characterized in that: The main lifting part (1) comprises a main support cross plate (11), a guide member (12), a main cylinder (13), a connecting block (15), and a connecting plate (16); the main support cross plate (11) spans the top of the main frame (400); the connecting blocks (15) are respectively installed at both ends of the bottom surface of the main support cross plate (11); the connecting blocks (15) at both ends are respectively connected to the walking assembly (450) to realize the reciprocating motion of the gripper assembly (410); the main cylinder (13) The fixed end of the guide member (12) is fixed on the main bracket transverse plate (11), the driving end passes through the main bracket transverse plate (11) and then extends downward and is fixedly connected to the connecting plate (16) to drive the connecting plate (16) to move up and down. The sleeve of the guide member (12) is fixed on the connecting plate (16) and passes through the main bracket transverse plate (11). The telescopic rod of the guide member (12) is fixed on the limiting frame (14) and is connected with the sleeve to enable the connecting plate (16) to move up and down in the vertical direction.

5. The automated intelligent unpacking system according to claim 4, characterized in that: The shaking part (2) includes an L-shaped frame (21), a shaking plate (22), and a hinge shaft (23). The first vertical surface of the L-shaped frame (21) is fixedly connected to the connecting plate (16), and the end of the second vertical surface is connected to the shaking plate (22) via the hinge shaft (23); the shaking driving component (3) includes a shaking cylinder (31). The fixed end of the shaking cylinder (31) is connected to the connecting plate (16) via a second hinge seat (33), and the driving end is connected to the shaking plate (22) via a second hinge seat (32). When the shaking cylinder (31) is extended and then contracted, the shaking plate (22) can shake up and down with the hinge shaft (23) as the center.

6. The automated intelligent unpacking system according to claim 5, characterized in that: The clamping jaw part (4) comprises a clamping jaw cylinder (41), an action transmission group (42), two clamping jaw shafts (43), and a plurality of grabbing teeth (44). The fixed end of the clamping jaw cylinder (41) is fixed to the shaking plate (22), and the driving end is connected to the action transmission group (42). The action transmission group (42) has two power output ends, and each is connected to one of the clamping jaw shafts (43). The clamping jaw shaft (43) is installed on the bottom surface of the shaking plate (22) through a seat bearing (45). The plurality of grabbing teeth (44) are respectively installed on the two clamping jaw shafts (43). When the clamping jaw cylinder (41) is extended or retracted, the action transmission group (42) drives the two clamping jaw shafts (43) to rotate relative to or oppositely, so as to achieve the clamping or loosening of the material bag by the plurality of grabbing teeth (44).

7. The automated intelligent unpacking system according to claim 6, characterized in that: The pushing part (5) comprises a pushing cylinder (51), a transverse plate (52), and a plurality of pushing plates (53). The fixed end of the pushing cylinder (51) is fixedly connected to the shaking plate (22), and the driving end passes through the shaking plate (22) and is connected to the transverse plate (52). The plurality of pushing plates (53) are fixed on the transverse plate (52) at intervals and are spaced apart by one of the grab teeth (44).

8. The automated intelligent unpacking system according to claim 1, characterized in that: It also includes a detection group, including a first photoelectric switch (601), a second photoelectric switch (602), a third photoelectric switch (603), a fourth photoelectric switch (604), and a fifth photoelectric switch (605); the first photoelectric switches (601) are multiple and are respectively installed on the low-position feeding line (200) to detect whether there is material, and the adjacent first photoelectric switches (601) are interlocked; the second photoelectric switch (602) is installed on the low-feed and high-feed feeding line (300), and stops conveying when a material bag is detected, and feeds back a signal to the gripper assembly (410) to wait for grasping; the third photoelectric switch (603) is installed on the front of the main frame (400) to detect the bottom of the material bag, and after detecting that the material bag is separated from the third photoelectric switch (603), the material bag is slowly moved to the cutting position; The fourth photoelectric switch (604) is installed in front of the cutter (440) to detect the head of the material bag, and after the head of the material bag is detected, the material bag is slowly lifted up for cutting; The fifth photoelectric switch (605) is installed behind the cutter (440) to detect the tail of the material bag. After the tail of the material bag is detected, the material bag is slowly lowered and cut.

9. An automated intelligent unpacking method, characterized in that: An automated intelligent unpacking system as claimed in any one of claims 1 to 8, comprising the following steps: Receiving the material bag at a low position and delivering it to the front of the main frame (400) at a high position; Controlling the walking assembly (450) to move to the front of the main frame (400), controlling the main cylinder (13) of the main lifting part (1) to extend, so that the clamping claw part (4) descends to the material bag position; Controlling the action of the clamping cylinder (41) of the clamping jaw part (4) so ​​that the grasping teeth (44) of the two clamping jaw shafts (43) grasp the material bag; Controlling the main cylinder (13) of the main lifting part (1) to retract so that the material bag rises to the height of the cutter (440); Controlling the walking assembly (450) to move to the front of the cutter (440) in the middle of the main frame (400) so that the material bag contacts the cutter (440), and controlling the walking assembly (450) to continue moving until the material bag is cut; Controlling the material shaking cylinder (31) to cyclically extend and retract, so that the shaking part (2) drives the material bag to shake; Controlling the pushing cylinder (51) of the pushing portion (5) to extend so that the pushing plate (53) pushes the material in the material bag out; Controlling the walking assembly (450) to move to the rear of the main frame (400), controlling the grab teeth (44) of the two clamping claw shafts (43) to release the empty material bag, and controlling the walking assembly (450) to move to the front of the main frame (400) to wait for the next material bag; The conveyor of the material discharge line (500) is controlled to move so as to deliver the materials to the designated location.

Images