Method and device for controlling unloading working condition of automatic bale breaker

Abstract

The invention provides a control method and device for the unloading working condition of an automatic bale breaker. A main controller obtains first sensing data of a weight sensor of a hooking device and second sensing data of a force sensor of a bag pushing device; detecting the in-place state of the ton bag according to the first sensing data and the second sensing data; switching an unloading mode according to the change condition of the first sensing data; and after it is detected that the first sensing data belongs to a first preset weight range, the flapping piece and the bag pushing device are controlled to stop working, the bag breaking device returns, and the first preset weight range is used for representing that unloading operation is stopped after the ton bags are in the empty bag state. It can be known that the different unloading modes are switched through the change of the weight data of the ton bags in the unloading process, and the different unloading modes are matched to solve the unloading operation of the unloading device under different stacking conditions, so that the operation efficiency and stability of the unloading working condition of the automatic bale breaker are improved, the refinement degree is improved, and material waste is reduced.

Description

Technical Field

[0001] This application relates to the technical field of unpacking equipment, and particularly to a control method and device for the discharging condition of an automatic unpacking machine. Background Art

[0002] The automatic unpacking machine includes a bag-breaking bin. In the prior art, the discharging condition of the bag-breaking bin mainly relies on natural gravity discharging. Even if there are auxiliary discharging mechanisms, they are only fixed patting or gentle pushing of specific areas of the ton bags. It is very difficult to effectively discharge the material accumulation caused by abnormal stacking in the area near the ton bag lifting ears and the material accumulation in the area of the ton bag corners. Summary of the Invention

[0003] This application provides a control method and device for the discharging condition of an automatic unpacking machine. By switching different discharging modes according to the change of the weight data of the ton bag during the discharging process, different discharging modes are adapted to solve the discharging operations of the discharging device under different stacking conditions, so as to improve the operation efficiency, stability and refinement degree of the discharging condition of the automatic unpacking machine, and reduce material waste.

[0004] In a first aspect, this application provides a control method for the discharging condition of an automatic unpacking machine, which is applied to the main controller of the automatic unpacking machine. The automatic unpacking machine includes: a cabinet including a bag-breaking bin; a hanging device including at least two hook assemblies, a weight sensor and a patting member, the at least two hook assemblies being used to hook the ton bag, and the patting member being used to pat the ton bag; a moving device for connecting with the hanging device and driving the hanging device to translate in the cabinet; a bag-breaking device including a cutting member, a driving structure and a gas supply structure, the cutting member being in transmission connection with the driving structure, the cutting member being used to cut the ton bag, and the driving structure being used to drive the cutting member to approach or move away from the ton bag; the gas supply structure being used to blow air into the inner space of the ton bag after the cutting member cuts open the ton bag; a bag-pushing device including a bending plate and its driver and a force sensor, and being used to drive the bending plate to squeeze or pat the ton bag through the driver; the method includes: periodically obtaining first sensing data of the weight sensor of the hanging device and second sensing data of the force sensor of the bag-pushing device; detecting that the ton bag is in place according to the first sensing data and the second sensing data, and controlling the patting member, the bag-breaking device and the bag-pushing device to perform a first discharging operation according to a first discharging mode, so that the powder in the ton bag flows out; switching the discharging mode according to the change situation of the first sensing data; detecting that the first sensing data belongs to a first preset weight range, the first preset weight range being used to represent that the ton bag is in an empty bag state; controlling the patting member to stop, and controlling the bag-breaking device to return to its original position and keep blowing air, and controlling the bag-pushing device to stop the pushing and patting operation.

[0005] In a second aspect, the present application provides an automatic unpacking machine, comprising: a cabinet including a bag-breaking bin; a hanging device including at least two hook assemblies, a weight sensor and a flapping member, the at least two hook assemblies being configured to hang a ton bag, and the flapping member being configured to flap the ton bag; a moving device configured to be connected to the hanging device and drive the hanging device to translate in the cabinet; a bag-breaking device including a cutting member, a driving structure, and a gas supply structure, the cutting member being in transmission connection with the driving structure, the cutting member being configured to cut the ton bag, and the driving structure being configured to drive the cutting member to approach or move away from the ton bag; the gas supply structure being configured to blow air into the inner space of the ton bag after the cutting member cuts open the ton bag; a bag-pushing device including a bending plate and its driver and a force sensor, configured to squeeze or flap the ton bag by driving the bending plate through the driver; and a main controller configured to execute the step instructions in the method according to any one of the first aspect.

[0006] In a third aspect, the present application provides a control device for the discharging working condition of an automatic unpacking machine, comprising: a receiving unit configured to periodically obtain first sensed data of the weight sensor of the hanging device and second sensed data of the force sensor of the bag-pushing device; a control unit configured to detect that the ton bag is in place according to the first sensed data and the second sensed data, control the flapping member, the bag-breaking device, and the bag-pushing device to perform a first discharging operation according to a first discharging mode, so that the powder in the ton bag flows out; and switch the discharging mode according to the change of the first sensed data; and detect that the first sensed data belongs to a first preset weight range, the first preset weight range being used to represent that the ton bag is in an empty bag state; and control the flapping member to stop, and control the bag-breaking device to return to its original position and keep blowing air, and control the bag-pushing device to stop the pushing and softening operation.

[0007] In a fourth aspect, a main controller includes a processor and a memory, and one or more programs are stored on the memory, and the one or more programs are called by the processor to execute the step instructions in the method according to any one of the first aspect.

[0008] It can be seen that in this application, the main controller of the automatic unpacking machine periodically obtains the first sensed data of the weight sensor of the hanging device and the second sensed data of the force sensor of the bag pushing device; detects that the ton bag is in place according to the first sensed data and the second sensed data, and controls the beating member, the bag breaking device, and the bag pushing device to perform the first unloading operation according to the first unloading mode, so that the powder in the ton bag flows out; switches the unloading mode according to the change of the first sensed data; detects that the first sensed data belongs to the first preset weight range, and the first preset weight range is used to represent that the ton bag is in an empty bag state; controls the beating member to stop, and controls the bag breaking device to return to its position and keep blowing, and controls the bag pushing device to stop the pushing operation. It can be seen that this application switches to different unloading modes according to the change of the ton bag weight data during the unloading process, and different unloading modes are adapted to solve the unloading operations of the unloading device under different stacking conditions, so as to improve the operation efficiency, stability, and refinement degree of the unloading condition of the automatic unpacking machine, and reduce material waste. Description of the Drawings

[0009] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings. Among them,

[0010] Figure 1 is a schematic structural diagram of the automatic unpacking system provided by the embodiment of this application;

[0011] Figure 2 is provided by the embodiment of this application Figure 1 a cross-sectional view of the automatic unpacking system in

[0012] Figure 3 is a schematic diagram of the ton bag provided by the embodiment of this application;

[0013] Figure 4 is a schematic structural diagram of the hanging device provided by the embodiment of this application;

[0014] Figure 5 is a schematic structural diagram of the bag breaking bin provided by the embodiment of this application;

[0015] Figure 6 is a schematic structural diagram of the bag breaking device provided by the embodiment of this application;

[0016] Figure 7 is a schematic structural diagram of the bag pushing device provided by the embodiment of this application;

[0017] Figure 8 is a schematic block diagram of the structure of the automatic unpacking machine provided by the embodiment of this application;

[0018] Figure 9 It is a schematic flowchart of a control method for the discharging condition of an automatic unpacking machine provided by an embodiment of the present application;

[0019] Figure 10 It is a functional unit structure block diagram of a control device for the discharging condition of an automatic unpacking machine provided by an embodiment of the present application;

[0020] Figure 11 It is a schematic structural diagram of a main controller provided by the present application. Specific embodiments

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0022] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but in some embodiments also includes steps or units not listed, or in some embodiments also includes other steps or units inherent to these processes, methods, products or devices.

[0023] Referring to "embodiments" herein means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0024] The "and / or" in the embodiments of the present application describes the association relationship of associated objects and indicates 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.

[0025] In the embodiments of the present application, the symbol " / " can represent an "or" relationship between the associated objects before and after. In addition, the symbol " / " can also represent a division sign, that is, perform a division operation. For example, A / B can represent A divided by B.

[0026] The "at least one (piece)" or its similar expression in the embodiments of the present application refers to any combination of these items, including any combination of a single item (piece) or plural items (pieces), meaning one or more, and multiple means two or more. For example, at least one (piece) of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0027] "Equal to" in the embodiments of the present application can be used in combination with "greater than" and is applicable to the technical solutions adopted when it is greater than, or can also be used in combination with "less than" and is applicable to the technical solutions adopted when it is less than. When "equal to" is used in combination with "greater than", it is not used in combination with "less than"; when "equal to" is used in combination with "less than", it is not used in combination with "greater than".

[0028] To solve the above problems, the present application provides a control method and device for the discharging working condition of an automatic unpacking machine. By switching different discharging modes according to the change of the ton bag weight data during the discharging process, different discharging modes are adapted to solve the discharging operations of the discharging device under different stacking situations, so as to improve the operation efficiency, stability, and refinement degree of the discharging working condition of the automatic unpacking machine, and reduce material waste.

[0029] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0030] Please refer to Figures 1-7 , Figure 1 , which is a schematic structural diagram of the automatic unpacking system provided by the embodiments of the present application. Figure 2 For Figure 1 is a cross-sectional view of the automatic unpacking system in

[0031] The automatic unpacking system 1000 includes a ton bag 1a and an automatic unpacking machine 100.

[0032] Among them, ton bag 1a is a large-capacity, strong load-bearing freight packaging bag used for packaging and transportation, usually used for the transportation of solid goods, such as granular materials, powdered materials and block materials. Ton bag 1a is used to load materials, such as but not limited to battery materials, food materials, pharmaceutical materials, fertilizer materials, building materials, etc., and the materials loaded by ton bag 1a are not limited here. For example, in an embodiment of the present application, ton bag 1a is used to load battery materials. Battery materials include but are not limited to positive electrode materials, negative electrode materials, conductive agents or dispersants, etc.; alternatively, various materials are mixed to form battery mixture materials. See Figure 3 , Figure 3 yes Figure 2 Schematic diagram of the structure of the ton bag 1a of the automatic unpacking system 1000 in FIG. The ton bag 1a includes a bag body 11a and a lifting lug 12a. In this embodiment, the lifting lug 12a can be arranged on the outer side wall of the bag body 11a. Of course, in some embodiments, the lifting lug 12a can also be arranged at the top or other positions of the four corners of the bag body 11a. The number of the lifting lug 12a can be set to one or more. Exemplarily, in this embodiment, two lifting lugs 12a are arranged on the outer side wall of the bag body 11a. The two lifting lugs 12a are symmetrically arranged relative to the central axis of the ton bag 1a, thereby improving the uniformity of the force of the ton bag 1a after being hooked by the hooking device 2. The bag body 11a includes an inner bag 111a and an outer bag 112a. The inner bag 111a is located in the inner cavity of the outer bag 112a, and the inner bag 111a is used to contain materials and is in direct contact with the materials. The outer bag 112a is used to bear the weight of the materials and to be connected with other mechanisms during the transportation of the materials. Exemplarily, in one embodiment, the outer bag 112a is made of polyester fiber, and the inner bag 111a is made of aluminum-plastic composite material. Polyester fiber material has the advantages of high strength and good wear resistance, and the outer bag 112a is made of polyester fiber material, which is conducive to bearing. The inner bag 111a is made of aluminum-plastic composite material, which is conducive to meeting the requirements of moisture-proof, UV-proof and pollution-proof of materials. In the embodiment of the present application, a feed opening 1120a is provided at the bottom of the outer bag 112a, and the inner bag 111a is at least partially visible at the feed opening 1120a. Thus, in the bag breaking process, the bag breaking device 4 can directly break the inner bag 111a through the feed opening 1120a to avoid damage to the outer bag 112a. Since the inner bag 111a is made of aluminum-plastic composite material, it is not easy to generate debris when breaking the inner bag 111a, which is conducive to preventing the woven shreds or debris from falling with the material.

[0033] The automatic unpacking machine 100 is used to automatically unpack, feed and collect ton bags 1a. Therefore, the embodiment of the present application integrates the functions of unpacking, feeding and collecting bags into the automatic unpacking machine 100, thereby realizing automated work, reducing human intervention, and further improving the working efficiency of the automatic unpacking machine 100. Specifically:

[0034] The automatic unpacking machine includes a cabinet 1, a hanging device 2, a moving device 3, a bag-breaking device 4, and a bag-pushing device 5.

[0035] Among them, see Figure 2 , the cabinet includes at least one bag-breaking bin 11, and the cabinet 1 may further include at least one feeding bin 13 and at least one recycling bin 12. The moving device 3 is arranged at the top of the cabinet 1 in the height direction Z of the automatic unpacking machine 100 and is used to drive the hanging device 2 to move in the length direction X of the automatic unpacking machine 100.

[0036] See Figure 4 , the hanging device 2 includes at least two hook assemblies 21, a weight sensor (not shown in the figure), and a flapping member 22. The at least two hook assemblies 21 are used to hook the ton bag 1a, and the flapping member 22 is used to flap the ton bag 1a, thereby improving the fluidity of the material in the ton bag 1a during blanking, reducing the residual amount, and further improving the unloading efficiency and unloading effect.

[0037] In some embodiments, the first sensed data of the weight sensor has a positive correlation with the weight of the ton bag 1a. That is, the first sensed data directly reflects the weight of the ton bag 1a. When the hook assembly 21 hooks the ton bag 1a, the first sensed data of the weight reaches the maximum value. When the ton bag 1a starts to unload, the first sensed data gradually decreases. Therefore, through the weight sensor, on the one hand, the weight sensor can be used to detect whether the hook assembly 21 hooks the lug 12a of the ton bag 1a, thereby improving the reliability and safety of the hook assembly 21 for hooking the ton bag 1a; on the other hand, the weight sensor can also be used to detect the residual amount of the material in the ton bag 1a when the ton bag 1a is broken and unloaded. Specifically, in some embodiments, the weight sensor may be arranged on the hook body of the hook assembly 21.

[0038] In some embodiments, the first sensed data of the weight sensor has a negative correlation with the weight of the ton bag 1a. Specifically, the hanging device 2 further includes a spring assembly (not shown in the figure). A conduction device that can contact the weight sensor is arranged on the spring assembly. When the hook assembly 21 hooks the ton bag 1a, under the gravity of the ton bag 1a, the spring assembly stretches so that the conduction device is separated from the weight sensor, and the first sensed data of the weight sensor becomes 0; during the unloading process, the weight of the ton bag 1a gradually becomes smaller. When the weight of the ton bag 1a is less than the elastic force of the spring and the self-weight of the spring and the conduction device, the conduction device starts to contact the weight sensor, and the first sensed data gradually becomes larger. When the ton bag 1a is unloaded, the first sensed data reaches the maximum.

[0039] In some embodiments, the hooking device 2 further includes an in-position sensor (not shown in the figure) for generating an induction signal when detecting that the ton bag 1a reaches the hooking position. Thus, when detecting that the ton bag 1a reaches the hooking position, it indicates that the hook assembly 21 is in contact with the ton bag 1a, thereby improving the success rate of the hook assembly 21 hooking the lug 12a of the ton bag 1a and improving the safety of the automatic unpacking machine 100. The in-position sensor can be, but is not limited to, a photoelectric encoder, a magnetic encoder, a laser distance sensor, an ultrasonic sensor, etc.

[0040] See Figure 5 , Figure 6 The bag breaking device 4 includes a cutting member 41, a driving structure 42, and an air supply structure 43. The cutting member 41 and the driving structure 42 are connected in a transmission manner. The cutting member 41 is used to cut the ton bag 1a. The driving structure 42 is used to drive the cutting member 41 to move closer to or away from the ton bag 1a. The bag breaking device 4 also includes a mounting frame 44. The mounting frame 44 is used to connect the cutting member 41 and the driving structure 42. A ventilation pipe (not shown in the figure) is arranged in the mounting frame 44. An air outlet 441 connected to the ventilation pipe is arranged on the mounting frame 44 near the cutting member 41. The ventilation pipe is used to connect to the air supply structure 43. The air supply structure 43 is used to pump gas into the ventilation pipe. In this way, after the cutting piece 41 cuts open the ton bag 1a, the air outlet 441 on the mounting frame 44 can blow air into the ton bag 1a. The gas can improve the flow pattern of the powder and maintain a positive pressure in the ton bag 1a, thereby increasing the falling speed of the powder and blowing off the powder attached to the inner wall of the ton bag 1a to prevent the powder from remaining in the ton bag 1a.

[0041] The number of the air outlet holes 441 on each mounting frame 44 can be specifically set according to actual needs, and this application does not make a specific limitation. For example, the number of the air outlet holes 441 on each mounting frame 44 can be 1, 2, 3, 4, 5, etc.

[0042] See Figure 5 , Figure 7 The bag pushing device 5 includes a bending plate 51 and its driver 52, and a force sensor (not shown in the figure), which is used to drive the bending plate 51 to squeeze or beat the ton bag 1a through the driver 52; the bending plate 51 pushes the corners of the ton bag 1a to move toward the center of the ton bag 1a, accelerates the outflow of powder, and makes the powder remaining at the corners flow out along the incision at the bottom of the ton bag 1a, and when the ton bag 1a contacts the bending plate 51, the driver 52 drives the bending plate 51 to squeeze the ton bag 1a to achieve the wrapping degree of the ton bag 1a, so as to improve the gathering effect of the bending plate 51 on the ton bag 1a and make the unloading more complete.

[0043] Among them, the bag-breaking device 4 and the bag-pushing device 5 are arranged in the material-breaking bin 11. In some embodiments, the bag-breaking bin 11 further includes a feeding hopper 6 and a discharging hopper 7. The side wall of the feeding hopper 6 and the bending plate 51 of the bag-pushing device 5 will form a supporting force on the ton bag 1a. The discharging hopper 7 is used for the outflow of materials.

[0044] In some embodiments, the bag-pushing device 5 further includes a seal 53. The seal 53 is connected to the bending plate 51 and the feeding hopper 6 and is used to protect the driver 52. The seal 53 is configured as a telescopic structure or an elastic structure. When the driver 52 drives the bending plate 51 to move, the seal 53 can deform with the movement of the bending plate 51.

[0045] In some embodiments, the bag-pushing device 5 further includes a force sensor (not shown in the figure). The lowering distance of the ton bag 1a can be determined by the change of the pressure data of the force sensor and the torque of the driver 52 of the bending plate 51, so as to avoid the pressure borne by the bending plate 51 exceeding its torque range due to the excessive lowering of the ton bag 1a, resulting in the failure of the extrusion effect of the bending plate 51. On the other hand, the residual amount of the material in the ton bag 1a can also be detected. Specifically, in some embodiments, the force sensor can also be arranged on the bending plate 51.

[0046] Please refer to Figure 8 , Figure 8 which is a structural schematic block diagram of an automatic unpacking machine provided by an embodiment of the present application. The automatic unpacking machine 100 includes a hanging device 2, a moving device 3, a bag-breaking device 4, a bag-pushing device 5 and a main controller 10.

[0047] Among them, the main controller 10 is used to control the hanging device 2, the moving device 3, the bag-breaking device 4 and the bag-pushing device 5 to execute the control method of the unloading working condition of the automatic unpacking machine 100, so as to solve the problem that the materials in the abnormal deformation area of the ton bag cannot be effectively unloaded during the unloading process in the prior art. Please refer to Figure 9 , Figure 9 which is a schematic flow chart of a control method for the unloading working condition of an automatic unpacking machine provided by an embodiment of the present application. The method includes the following steps S901-S904:

[0048] Step S901, the main controller 10 periodically obtains the first sensing data of the weight sensor of the hanging device 2 and the second sensing data of the force sensor of the bag-pushing device 5.

[0049] Among them, after the mobile device 3 drives the hooking device 2 to move to the unloading station of the breaking bin 11, the unloading station is the position corresponding to the blanking port 1120a of the ton bag 1a and the cutting member 41. The hooking device 2 controls the lowering of the ton bag 1a. During the lowering process, the side wall of the feeding hopper 6 and the bending plate 51 of the bag pushing device 5 will exert a supporting force on the ton bag 1a, causing the first sensing data of the weight sensor on the hook and the second sensing data of the force sensor of the bending plate 51 to change. The main controller 10 determines whether the ton bag 1a is in place according to the change amounts of the first sensing data and the second sensing data.

[0050] Step S902, when the main controller 10 detects that the ton bag 1a is in place according to the first sensing data and the second sensing data, it controls the beating member 22, the bag breaking device 4, and the bag pushing device 5 to perform the first unloading operation according to the first unloading mode, so that the powder in the ton bag 1a flows out.

[0051] Step S903, the main controller 10 switches the unloading mode according to the change situation of the first sensing data.

[0052] Step S904, the main controller 10 detects that the first sensing data belongs to the first preset weight range.

[0053] Among them, the first preset weight range is used to represent that the ton bag 1a is in an empty bag state.

[0054] Step S905, the main controller 10 controls the beating member 22 to stop, and controls the bag breaking device 4 to return to its original position and keep blowing, and controls the bag pushing device 5 to stop the pushing and softening operation.

[0055] It can be seen that in this application, the main controller 10 of the automatic unpacking machine 100 periodically obtains the first sensing data of the weight sensor of the hooking device 2 and the second sensing data of the force sensor of the bag pushing device 5; detects that the ton bag 1a is in place according to the first sensing data and the second sensing data, and controls the beating member 22, the bag breaking device 4, and the bag pushing device 5 to perform the first unloading operation according to the first unloading mode, so that the powder in the ton bag 1a flows out; switches the unloading mode according to the change situation of the first sensing data; detects that the first sensing data belongs to the first preset weight range, and the first preset weight range is used to represent that the ton bag 1a is in an empty bag state; controls the beating member 22 to stop, and controls the bag breaking device 4 to return to its original position and keep blowing, and controls the bag pushing device 5 to stop the pushing and softening operation. It can be known that in this application, different unloading modes are switched according to the change of the weight data of the ton bag 1a during the unloading process, and different unloading modes are adapted to solve the unloading operations of the unloading device under different stacking conditions, so as to improve the operation efficiency, stability and refinement degree of the unloading working conditions of the automatic unpacking machine 100, and reduce material waste.

[0056] In some embodiments, the control of the flapping member 22, the bag-breaking device 4, and the bag-pushing device 5 to perform the first discharging operation according to the first discharging mode includes: determining the corresponding bag-breaking range height according to the model of the bulk bag 1a; and controlling the cutting member 41 to rise to the bag-breaking range height through the driving structure 42 to implement the cutting operation on the discharging opening 1120a of the bulk bag 1a.

[0057] In some embodiments, a label is provided on the outer bag 112a of the bulk bag 1a. The label includes, but is not limited to, at least one of a two-dimensional code, a bar code, numbers, characters, and symbols. Exemplarily, in one embodiment, the label is used to identify the material information. The material information includes, but is not limited to, the material name, weight, production date, etc. The label can be used to identify the information carried by the label through an identification device. The identification method is simple and reliable, with low cost, and the label itself can also be used to identify other information, realizing the reuse of the label. In some embodiments, the label is also used to identify the model of the bulk bag 1a. Different models of the bulk bag 1a have different weights, resulting in different extrusion forces on the bending plate 51 and different deformation amounts of the sealing member 53, and further resulting in different bag-breaking range heights for different models of the bulk bag 1a. The bag-breaking range height refers to the height at which the cutting member 41 rises from the initial position to be able to cut the discharging opening 1120a of the bulk bag 1a.

[0058] In some embodiments, the automatic unpacking machine 100 further includes a label identifier for identifying the label of the bulk bag 1a and obtaining material information, bulk bag 1a model information, etc.

[0059] It can be seen that in this embodiment, obtaining the bag-breaking range height through the model of the bulk bag 1a enables the main controller 10 to accurately control the driving structure 42 to drive the cutting member 41 to rise to the target height, realizing the smooth cutting of the bulk bag 1a and improving the working efficiency.

[0060] In some embodiments, the method further includes: controlling the cutting member 41 to rise to the maximum gear range height through the driving structure 42; controlling the air supply structure 43 to blow air in the internal space of the bulk bag 1a; controlling the flapping member 22 to perform the first flapping operation on the bulk bag 1a; and controlling the bending plate 51 of the bag-pushing device 5 to perform the first pushing and softening operation on the bulk bag 1a according to the first pushing and softening mode, where the first pushing and softening mode is used to represent the synchronous pushing and softening state of the plurality of bending plates 51 of the bag-pushing device 5.

[0061] Among them, the maximum gear range heights of different models of the bulk bag 1a are different because the lengths, widths, and heights of different models are different. When the driving structure 42 drives the cutting member 41 to move up and down, it is necessary to determine the corresponding moving height according to the model of the bulk bag 1a to avoid the cutting member 41 cutting the feeding surface opposite to the discharging opening 1120a during the process of continuing to rise after cutting the discharging opening 1120a of the bulk bag 1a.

[0062] Among them, since the air outlet hole 441 of the air supply structure 43 is arranged on the mounting frame 44, during the upward movement of the cutting member 41, the position of the air outlet hole 441 will also change up and down. Therefore, after the cutting member 41 cuts through the ton bag 1a, further driving the cutting member 41 to rise or fall can change the blowing range of the air outlet hole 441, thereby accelerating the material outflow speed and preventing the material from being blocked in the deformed area.

[0063] In some embodiments, the left and right lengths of the flapping member 22 are equal. In some embodiments, the left and right lengths of the flapping member 22 are not equal. The flapping member 22 can be lifted and lowered to a suitable position to flap the ton bag 1a, thereby improving the fluidity of the material in the ton bag 1a during blanking, reducing the residual amount, and further improving the unloading efficiency and unloading effect.

[0064] Among them, the synchronous pushing and softening state means that multiple bending plates 51 of the pushing and softening device simultaneously generate a thrust on the ton bag 1a to squeeze and gather the ton bag 1a and accelerate the falling speed.

[0065] In some embodiments, the unloading mode is switched according to the change of the first sensing data, including: detecting that the first sensing data belongs to the second preset weight range, and then controlling the flapping member 22, the bag-breaking device 4, and the bag-pushing device 5 to switch to the second unloading mode to perform the second unloading operation; the second preset weight range is used to represent that the powder in at least one of the bottom area, the corner area, and the abnormal deformation area of the lifting lug of the ton bag 1a is in a state of relatively more remaining; detecting that the first sensing data belongs to the third preset weight range, and then controlling the flapping member 22, the bag-breaking device 4, and the bag-pushing device 5 to switch to the third unloading mode to perform the third unloading operation until the first sensing data is less than the first preset weight range; the third preset weight range is used to represent that the powder in at least one of the bottom area, the corner area, and the abnormal deformation area of the lifting lug is in a state of relatively less remaining.

[0066] Among them, when the first sensing data of the weight sensor has a positive correlation with the weight of the ton bag 1a, during the material blanking process, the first sensing data continuously decreases. When it is detected that the first sensing data belongs to the second preset weight range, it indicates that the powder in at least one of the bottom area, the corner area, and the abnormal deformation area of the lifting lug of the ton bag 1a is in a state of relatively more remaining. At this time, the main controller 10 controls the switch from the first unloading mode to the second cutting mode; in the second unloading mode, when it is detected that the first sensing data belongs to the third preset weight range, it indicates that the powder in at least one of the bottom area, the corner area, and the abnormal deformation area of the lifting lug of the ton bag 1a is in a state of relatively less remaining. At this time, the main controller 10 controls the switch from the second unloading mode to the third unloading mode. At this time, the second preset weight range > the third preset weight range > the first preset weight range.

[0067] Among them, when the first sensed data of the weight sensor is negatively correlated with the weight of the ton bag 1a, when the ton bag 1a is hung on the hook assembly 21, the first sensed data becomes 0. During the process of discharging materials, the first sensed data gradually increases. When it is detected that the first sensed data belongs to the second preset range, it indicates that the powder in at least one of the bottom area, corner area, and abnormal deformation area of the lifting lugs of the ton bag 1a is in a state of relatively more remaining. At this time, the main controller 10 controls the switching from the first discharging mode to the second discharging mode; in the second discharging mode, when it is detected that the first sensed data belongs to the third preset weight range, it indicates that the powder in at least one of the bottom area, corner area, and abnormal deformation area of the lifting lugs of the ton bag 1a is in a state of relatively less remaining. At this time, the main controller 10 controls the switching from the second discharging mode to the third discharging mode; in the third discharging mode, when it is detected that the first sensed data belongs to the first preset weight range, it indicates that the discharging is completed. At this time, the first preset weight range > the third preset weight range > the second preset weight range.

[0068] That is to say, in the present application, the main controller 10 will switch the corresponding discharging mode according to the remaining situation of the materials in the ton bag 1a to improve the pertinence of the discharging operation. The first discharging mode is adopted when there is more material, and it is switched to the second discharging mode when there is less remaining material but more remaining material in the bottom, corners or other deformed areas, and it is switched to the third discharging mode when there is less remaining material and less remaining material in the bottom, corners or other deformed areas, which can effectively improve the effectiveness and efficiency of the discharging operation.

[0069] In some embodiments, controlling the flapping member 22, the bag-breaking device 4, and the bag-pushing device 5 to switch to the second discharging mode to perform the second discharging operation includes: controlling the flapping member 22 to perform the first flapping operation on the ton bag 1a; and, controlling the cutting member 41 to descend to the low-range height through the driving structure 42, and controlling the air supply structure 43 to blow air in the internal space of the ton bag 1a; and, controlling the bending plate 51 of the bag-pushing device 5 to perform the second pushing and softening operation on the ton bag 1a according to the second pushing and softening mode, and the second pushing and softening mode is used to represent the asynchronous pushing and softening state of the plurality of bending plates 51 of the bag-pushing device 5.

[0070] Among them, when there is more remaining material in the bottom, corners or abnormal deformation area of the lifting lugs in the ton bag 1a, the flapping member 22 is still controlled to perform the flapping operation; at the same time, the cutting member 41 is controlled to descend to the low-range height through the driving structure 42, and the air supply is controlled to blow air into the bottom internal space of the ton bag 1a to reduce the remaining material at the bottom; and, the plurality of bending plates 51 are controlled to perform the second pushing and softening operation, and the second pushing and softening operation is an asynchronous pushing and softening operation. Among them, the asynchronous pushing and softening state includes the cross pushing and softening mode and the polling pushing and softening mode.

[0071] Exemplarily, if the bag pushing device 5 includes 4 bending plates 51, wherein, in the cross pushing and softening mode, the control sequence of the four bending plates 51 is as follows: first, synchronously control the first bending plate 51 and the third bending plate 51, then synchronously control the second bending plate 51 and the fourth bending plate 51, and cycle; in the polling pushing and softening mode, the control sequence of the four bending plates 51 is as follows: sequentially control the first bending plate 51, the second bending plate 51, the third bending plate 51, and the fourth bending plate 51, and cycle.

[0072] It can be seen that in this embodiment, when there is still a large amount of residual material in the ton bag 1a, the blowing height of the air supply structure 43 can be adjusted to dynamically adjust the blowing range of the air supply structure 43, so that the blowing range can adapt to the residual position; and the asynchronous pushing and softening method is adopted to form a dynamic height difference in the ton bag 1a, so as to improve the discharging degree of the remaining material in the bottom area and the corner area of the ton bag 1a, reduce the possibility of abnormal material accumulation, and further reduce the material residue in the ton bag 1a.

[0073] In some embodiments, controlling the flapping member 22, the bag breaking device 4, and the bag pushing device 5 to switch to the third discharging mode to perform the third discharging operation includes: detecting that the powder in the abnormal deformation area of the lifting lug is in a state of less remaining; controlling a preset height difference to be formed between the first hook assembly and the second hook assembly among at least two hook assemblies; if the abnormal deformation area of the lifting lug returns to the normal state, controlling the height difference between the first hook assembly and the second hook assembly to be 0; if the abnormal deformation area of the lifting lug fails to return to the normal state, controlling the bag breaking device 4 to rise to the height where the abnormal deformation area of the lifting lug is located through the driving structure 42, and controlling the bag breaking device 4 to rotate through the driving structure 42 to adjust the blowing direction of the air supply structure 43, so that the blowing direction adapts to the spatial direction where the abnormal deformation area is located; and adjusting the height of the flapping member 22 to the abnormal deformation area of the lifting lug; and controlling the air supply structure 43 to blow air, controlling the flapping member 22 to perform the flapping operation, and when the weight sensor obtains the first sensing data, controlling the flapping member 22 to stop the flapping operation and controlling the air supply structure 43 to stop blowing air until the first sensing data belongs to the first preset weight range.

[0074] Among them, when there is less remaining material at the bottom, in the corners, or in the abnormal deformation area of the lifting lug of the ton bag 1a, the visual device of the bag breaking bin continuously monitors the shape change of the ton bag 1a, and the abnormal deformation material accumulation area of the ton bag 1a is obtained in real time. The abnormal deformation material accumulation area includes the corner area of the ton bag 1a and the abnormal deformation area of the lifting lug.

[0075] In addition, it should be noted that during the discharging process, the main controller 10 periodically obtains the first sensed data of the weight sensor and the second sensed data of the force sensor. When obtaining the first sensed data and the second sensed data, if structures such as the flapping member 22, the bag pushing device 5, and the air supply structure 43 continue to work, since a certain force will be exerted on the ton bag 1a, it will cause errors in the readings of the weight sensor and the force sensor. Therefore, when the main controller 10 obtains the first sensed data and the second sensed data, the work of structures such as the flapping member 22, the bag pushing device 5, and the air supply structure 43 can be paused to avoid errors in the detection data of the weight sensor and the force sensor caused by flapping, pushing, and blowing operations.

[0076] Furthermore, since the weight of the ton bag 1a is relatively large in the first discharging mode and the second discharging mode, the error ratio caused by various flapping, bag pushing, blowing and other operations on the weight sensor is relatively small, and the first sensed data does not need to obtain accurate readings, only indicating that there is still a large amount of material in the ton bag. At this time, when the weight sensor obtains the first sensed data in the first and second discharging modes, it is not necessary to control the structures such as the flapping member 22, the bag pushing device 5, and the air supply structure 43 to stop working, so as to avoid frequently controlling the working states of the structures such as the flapping member 22, the bag pushing device 5, and the air supply structure 43 and increasing the complexity of the operation. In the third discharging mode, there is less material in the ton bag 1a and the self-weight of the ton bag 1a is lighter. At this time, the error caused by various flapping, bag pushing, blowing and other operations on the weight sensor is relatively large. In the third discharging mode, the main controller 10 should pause the work of structures such as the flapping member 22, the bag pushing device 5, and the air supply structure 43 when obtaining the first sensed data and the second sensed data, so as to avoid errors in the detection data of the weight sensor and the force sensor caused by flapping, pushing, and blowing operations. After obtaining the first sensed data and / or the second sensed data, then control the structures such as the flapping member 22, the bag pushing device 5, and the air supply structure 43 to continue working.

[0077] In some embodiments, the vision device may be a camera.

[0078] In some embodiments, when it is detected that the abnormally deformed material accumulation area is the abnormal deformation area of ​​the lifting ear, the main controller 10 can preferentially restore the abnormal deformation area of ​​the lifting ear of the ton bag 1a to a normal state by differentially controlling the height of the hook components on both sides; if it can be restored, it will be adjusted back to the same height after restoration; if it cannot be restored, the bag breaking device 4 will be linked to rise under the maximum inclination state (not restored to the same height), so that the blowing range of the air outlet 441 of the air supply structure 43 covers the abnormal deformation area of ​​the lifting ear, and the height of the flapping member 22 is adjusted so that the flapping member 22 can also flap the abnormal deformation area of ​​the lifting ear; the current control state is continued for a period of time until it is detected that the first perception data belongs to the first preset weight range, or a preset time is set. If the current control state is continued for more than the preset time, the unloading operation is stopped, specifically, the flapping member 22 is controlled to stop, and the bag breaking device 4 is controlled to return and keep blowing, and the bag pushing device 5 is controlled to stop the pushing operation, and the ton bag 1a recovery operation is continued.

[0079] In some embodiments, when it is detected that the abnormally deformed material accumulation area is the corner area of ​​the ton bag 1a, the main controller 10 can preferentially control the hook device 2 to rise until the ton bag 1a is separated from the side wall of the upper hopper 6 and the pushing device, control the flapping member 22 to flap the ton bag 1a, and then lower the ton bag 1a until the first perception data and the second perception data change, control the bending plate 51 of the bag pushing device 5 to perform the bag pushing operation in the asynchronous pushing mode, and repeat the above operations until it is detected that the first perception data belongs to the first preset weight range, or set a preset time. If the current control state continues for more than the preset time, stop the unloading operation, specifically control the flapping member 22 to stop, and control the bag breaking device 4 to return and keep blowing, and control the bag pushing device 5 to stop the pushing operation and continue to perform the ton bag 1a recovery operation.

[0080] In some embodiments, the ton bag 1a is detected in place based on the first perception data and the second perception data, including: determining the number of bending plates 51 performing the pushing operation at the same time according to the pushing mode of the bag pushing device 5; determining the target change range of the first perception data and the second perception data according to the number of bending plates 51 and the maximum torque of the driver of the bending plate 51; and determining that the ton bag 1a is in place by detecting that the change in the first perception data and the second perception data falls within the target change range.

[0081] It can be seen that in this embodiment, by setting a clear target change range and monitoring the sensed data, the system can accurately determine whether the ton bag 1a has reached the position under automatic control, thereby reducing manual intervention, improving work efficiency and operation safety, and reducing the risk brought by human errors. At the same time, controlling the change amounts of the first sensed data and the second sensed data to be within the target change range can also avoid the problem that the weight of the ton bag 1a excessively falls on the bending plate 51 of the bag pushing device 5, resulting in the force exceeding the maximum torque of the driver of the bag pushing device 5 and causing the bag pushing device 5 to fail.

[0082] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process on the method side. It can be understood that in order for the server to implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0083] The embodiment of the present application can divide the server into functional units according to the above method examples. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated unit can be implemented in the form of hardware or in the form of a software program module. It should be noted that the division of units in the embodiment of the present application is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0084] In the case of adopting an integrated unit, please refer to Figure 10 , Figure 10 which is a functional unit structure block diagram of a control device for the discharging working condition of an automatic unpacking machine provided by the embodiment of the present application. The control device includes:

[0085] A receiving unit 1001, configured to periodically obtain first sensed data of a weight sensor of a hanging device and second sensed data of a force sensor of a bag pushing device;

[0086] The control unit 1002 is configured to detect that the bulk bag is in place based on the first sensing data and the second sensing data, and control the flapping member, the bag-breaking device, and the bag-pushing device to perform a first discharging operation according to a first discharging mode, so that the powder material in the bulk bag flows out; and switch the discharging mode according to the change of the first sensing data; and detect that the first sensing data belongs to a first preset weight range, where the first preset weight range is used to indicate that the bulk bag is in an empty bag state; and control the flapping member to stop, and control the bag-breaking device to return to its original position and keep blowing air, and control the bag-pushing device to stop the pushing and softening operation.

[0087] It can be seen that in this application, the main controller of the automatic unpacking machine periodically obtains the first sensing data of the weight sensor of the hanging device and the second sensing data of the force sensor of the bag-pushing device; detects that the bulk bag is in place based on the first sensing data and the second sensing data, and controls the flapping member, the bag-breaking device, and the bag-pushing device to perform a first discharging operation according to a first discharging mode, so that the powder material in the bulk bag flows out; switches the discharging mode according to the change of the first sensing data; detects that the first sensing data belongs to a first preset weight range, where the first preset weight range is used to indicate that the bulk bag is in an empty bag state; controls the flapping member to stop, and controls the bag-breaking device to return to its original position and keep blowing air, and controls the bag-pushing device to stop the pushing and softening operation. It can be known that this application switches to different discharging modes according to the change of the bulk bag weight data during the discharging process, and different discharging modes are adapted to solve the discharging operations of the discharging device under different stacking conditions, so as to improve the operation efficiency, stability, and refinement degree of the discharging condition of the automatic unpacking machine, and reduce material waste.

[0088] In some embodiments, the control unit 1002 controls the flapping member, the bag-breaking device, and the bag-pushing device to perform a first discharging operation according to a first discharging mode, including: determining a corresponding bag-breaking range height according to the model of the bulk bag; and controlling the cutting member to rise to the bag-breaking range height through a driving structure to perform a cutting operation on the discharging opening of the bulk bag.

[0089] In some embodiments, the control unit 1002 is further configured to: control the cutting member to rise to the highest gear range height through a driving structure; and control the air supply structure to blow air in the internal space of the bulk bag; and control the flapping member to perform a first flapping operation on the bulk bag; and control the bending plate of the bag-pushing device to perform a first pushing and softening operation on the bulk bag according to a first pushing and softening mode, where the first pushing and softening mode is used to indicate the synchronous pushing and softening state of multiple bending plates of the bag-pushing device.

[0090] In some embodiments, the control unit 1002 switches the discharging mode according to the change of the first sensing data, including: when it is detected that the first sensing data belongs to the second preset weight range, controlling the flapping member, the bag-breaking device, and the bag-pushing device to switch to the second discharging mode to perform the second discharging operation; the second preset weight range is used to represent that the powder in at least one of the bottom area, the corner area, and the abnormal deformation area of the lifting lugs of the ton bag is in a state of relatively large remaining amount; when it is detected that the first sensing data belongs to the third preset weight range, controlling the flapping member, the bag-breaking device, and the bag-pushing device to switch to the third discharging mode to perform the third discharging operation until the first sensing data belongs to the first preset weight range; the third preset weight range is used to represent that the powder in at least one of the bottom area, the corner area, and the abnormal deformation area of the lifting lugs is in a state of relatively small remaining amount.

[0091] In some embodiments, the control unit 1002 controls the flapping member, the bag-breaking device, and the bag-pushing device to switch to the second discharging mode to perform the second discharging operation, including: controlling the flapping member to perform the first flapping operation on the ton bag; and, controlling the cutting member to descend to the low-range height through the driving structure, and controlling the air supply structure to blow air in the internal space of the ton bag; and, controlling the bending plate of the bag-pushing device to perform the second pushing and softening operation on the ton bag according to the second pushing and softening mode, and the second pushing and softening mode is used to represent the asynchronous pushing and softening state of the plurality of bending plates of the bag-pushing device.

[0092] In some embodiments, the control unit 1002 controls the flapping member, the bag-breaking device, and the bag-pushing device to switch to the third discharging mode to perform the third discharging operation, including: detecting that the powder in the abnormal deformation area of the lifting lugs is in a state of relatively small remaining amount; controlling a preset height difference to be formed between the first hook assembly and the second hook assembly among at least two hook assemblies; if the abnormal deformation area of the lifting lugs returns to the normal state, controlling the height difference between the first hook assembly and the second hook assembly to be 0; if the abnormal deformation area of the lifting lugs fails to return to the normal state, controlling the bag-breaking device to rise to the height where the abnormal deformation area of the lifting lugs is located through the driving structure, and, controlling the bag-breaking device to rotate through the driving structure to adjust the blowing direction of the air supply structure so that the blowing direction adapts to the spatial direction where the abnormal deformation area is located; and, adjusting the height of the flapping member to the abnormal deformation area of the lifting lugs; and, controlling the air supply structure to blow air, controlling the flapping member to perform the flapping operation, and when the weight sensor obtains the first sensing data, controlling the flapping member to stop the flapping operation and controlling the air supply structure to stop blowing air until the first sensing data belongs to the first preset weight range.

[0093] In some embodiments, the control unit 1002 detects that the ton bag is in place based on the first sensing data and the second sensing data, including: determining the number of bending plates performing the pushing and softening operations at the same time according to the pushing and softening mode of the bag pushing device; determining the target change range of the first sensing data and the second sensing data according to the number of bending plates and the maximum torque of the drivers of the bending plates; detecting that the change amounts of the first sensing data and the second sensing data belong to the target change range, and determining that the ton bag is in place.

[0094] Please refer to Figure 11 , Figure 11 which is a schematic structural diagram of a main controller provided by the present application. As Figure 11 shown, the main controller 10 includes a processor 111, a memory 113, a communication interface 112, and one or more programs 1131. Among them, the one or more programs 1131 are stored on the memory 113 and are configured to be executed by the above-mentioned processor 111. The one or more programs 1131 include instructions for performing any step in the above method embodiments.

[0095] The embodiment of the present application provides a computer-readable storage medium, on which a computer program / instructions are stored. When the computer program / instructions are executed by a processor, the steps of the method described in any possible embodiment are implemented.

[0096] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0097] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0098] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the above-mentioned unit division is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0099] The units described above as separate components may or may not be physically separated. 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 can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0100] In addition, each functional unit in the various embodiments of the present application may be integrated in a processing unit, may exist physically alone for each unit, or two or more units may be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0101] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this 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 can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the above methods in the various embodiments of the present application. The aforementioned memory includes: USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs and other media that can store program codes.

[0102] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable memory. The memory can include: flash drives, read-only memories (abbreviation: ROM), random access memories (abbreviation: RAM), magnetic disks, or optical discs, etc.

[0103] The above has introduced the embodiments of the present application in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A method for controlling the unloading condition of an automatic unpacking machine, characterized in that: A main controller applied to the automatic unpacking machine, the automatic unpacking machine comprising: A cabinet, comprising a bag breaking bin; a hooking device, comprising at least two hooking components, a weight sensor and a beating member, wherein the at least two hooking components are used to hook a ton bag, and the beating member is used to beat the ton bag; a moving device, which is used to be connected to the hooking device and to drive the hooking device to translate in the cabinet; a bag breaking device, comprising a cutting member, a driving structure and an air supply structure, wherein the cutting member and the driving structure are drivingly connected, the cutting member is used to cut the ton bag, and the driving structure is used to drive the cutting member to approach or move away from the ton bag; the air supply structure is used to blow air into the inner space of the ton bag after the cutting member cuts the ton bag; a bag pushing device, comprising a bending plate and its driver, and a force sensor, which is used to drive the bending plate through the driver to squeeze or beat the ton bag; the method comprises: Periodically acquiring first sensing data of the weight sensor of the hook device and second sensing data of the force sensor of the bag pushing device; According to the first sensing data and the second sensing data, it is detected that the ton bag is in place, and the flapping member, the bag breaking device, and the bag pushing device are controlled to perform a first unloading operation according to a first unloading mode, so that the powder in the ton bag flows out; Switching the unloading mode according to the change of the first sensing data; It is detected that the first sensing data belongs to a first preset weight range, and the first preset weight range is used to indicate that the ton bag is in an empty bag state; The beating member is controlled to stop, the bag breaking device is controlled to return to its original position and keep blowing, and the bag pushing device is controlled to stop the pushing and softening operation.

2. The method according to claim 1, characterized in that The controlling the beating member, the bag breaking device, and the bag pushing device to perform the first unloading operation according to the first unloading mode includes: Determine the corresponding bag breaking range height according to the model of the ton bag; and The driving structure controls the cutting member to rise to the bag breaking range height to achieve the cutting operation on the discharge port of the ton bag.

3. The method according to claim 2, characterized in that The method further comprises: The driving structure is used to control the cutting element to rise to the highest gear range height; and the air supply structure is controlled to blow air into the inner space of the ton bag; and, controlling the beating member to perform a first beating operation on the ton bag; and, The bending plates of the bag pushing device are controlled to perform a first pushing operation on the ton bag according to a first pushing mode, wherein the first pushing mode is used to characterize a synchronous pushing state of the plurality of bending plates of the bag pushing device.

4. The method according to claim 1, characterized in that The switching of the unloading mode according to the change of the first sensing data includes: When it is detected that the first sensing data belongs to the second preset weight range, the flapping member, the bag breaking device and the bag pushing device are controlled to switch to the second unloading mode to perform the second unloading operation; the second preset weight range is used to indicate that the powder in at least one of the bottom area, the corner area and the abnormal deformation area of ​​the lifting ear of the ton bag is in a state of more remaining powder; When it is detected that the first perception data belongs to the third preset weight range, the flapping member, the bag breaking device and the bag pushing device are controlled to switch to the third unloading mode to perform the third unloading operation until the first perception data belongs to the first preset weight range; the third preset weight range is used to characterize that the powder in at least one of the bottom area, the corner area and the abnormal deformation area of ​​the lifting ear is in a state of less remaining powder.

5. The method according to claim 4, characterized in that The controlling the beating member, the bag breaking device, and the bag pushing device to switch to the second unloading mode to perform the second unloading operation includes: controlling the beating member to perform a first beating operation on the ton bag; and, Control the cutting member to descend to a low-range height by the driving structure, and control the air supply structure to blow air into the inner space of the ton bag; and The bending plates of the bag pushing device are controlled to perform a second pushing operation on the ton bag according to a second pushing mode, wherein the second pushing mode is used to characterize an asynchronous pushing state of the plurality of bending plates of the bag pushing device.

6. The method according to claim 4, characterized in that The controlling the beating member, the bag breaking device, and the bag pushing device to switch to the third unloading mode to perform the third unloading operation includes: It is detected that the powder in the abnormal deformation area of ​​the lifting ear is in the remaining less state; Controlling a preset height difference between a first hook component and a second hook component of at least two of the hook components; If the abnormally deformed area of ​​the lifting ear returns to a normal state, controlling the height difference between the first hook component and the second hook component to be 0; If the abnormal deformation area of ​​the lifting ear fails to return to normal, the bag breaking device is controlled to rise to the height of the abnormal deformation area of ​​the lifting ear through the driving structure, and the bag breaking device is controlled to rotate through the driving structure to adjust the blowing direction of the air supply structure so that the blowing direction adapts to the spatial direction of the abnormal deformation area; and, the height of the flapping member is adjusted to the abnormal deformation area of ​​the lifting ear; and, Control the air supply structure to blow air, control the beating member to perform a beating operation, and when the weight sensor obtains the first sensing data, control the beating member to stop the beating operation, and control the air supply structure to stop blowing air, until the first sensing data belongs to the first preset weight range.

7. The method according to claim 1, characterized in that The detecting that the ton bag is in place according to the first sensing data and the second sensing data includes: Determining the number of bending plates to be subjected to a pushing and softening operation at the same time according to the pushing and softening mode of the bag pushing device; Determine the target variation range of the first sensing data and the second sensing data according to the number of the bending plates and the maximum torque of the driver of the bending plates; It is detected that the change in the first sensing data and the second sensing data belongs to the target change range, and it is determined that the ton bag is in place.

8. An automatic unpacking machine, characterized in that: include: Cabinets, including bag breaking bins; The hooking device comprises at least two hooking components, a weight sensor and a beating piece, wherein the at least two hooking components are used for hooking the ton bag, and the beating piece is used for beating the ton bag; A moving device, used to be connected to the hooking device and used to drive the hooking device to translate in the cabinet; The bag breaking device comprises a cutting member, a driving structure and an air supply structure, wherein the cutting member and the driving structure are in driving connection with each other, the cutting member is used to cut the ton bag, and the driving structure is used to drive the cutting member to approach or move away from the ton bag; The air supply structure is used to blow air into the inner space of the ton bag after the cutting piece cuts open the ton bag; The bag pushing device includes a bending plate and a driver thereof, and a force sensor, and is used to drive the bending plate through the driver to squeeze or beat the ton bag; A main controller, used to execute the step instructions in the method as described in any one of claims 1-7.

9. A control device for the unloading condition of an automatic unpacking machine, characterized in that: include: A receiving unit, used for periodically acquiring first sensing data of a weight sensor of the hooking device and second sensing data of a force sensor of the bag pushing device; A control unit is used to detect that a ton bag is in place according to the first sensing data and the second sensing data, and control the flapping member, the bag breaking device, and the bag pushing device to perform a first unloading operation according to a first unloading mode, so that the powder in the ton bag flows out; and, switching the unloading mode according to changes in the first sensing data; And it is detected that the first sensing data belongs to a first preset weight range, and the first preset weight range is used to characterize that the ton bag is in an empty bag state; and the flapping member is controlled to stop, and the bag breaking device is controlled to return to its position and keep blowing, and the bag pushing device is controlled to stop the pushing operation.

10. A main controller, characterized in that: The method comprises a processor and a memory, wherein one or more programs are stored in the memory, and the one or more programs are called by the processor to execute the step instructions in the method according to any one of claims 1 to 7.

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