Automatic unpacking and feeding system and method

Abstract

The invention discloses an automatic unpacking and feeding system which comprises a track, a mechanical arm walking on the track and a feeding bin arranged at the end of the track, a bag hanging mechanism, a bag clamping mechanism and a bag breaking mechanism are arranged in the feeding bin, and the upper end of a material bag is inserted into a conical insertion rod through the mechanical arm so that the bag can be hung; the bag clamping mechanism comprises a clamping jaw structure and is used for pressing a material bag on a conical insertion rod and clamping the material bag to move transversely; the bag breaking mechanism comprises a cutting saw which can ascend and descend and is used for breaking the material bags. The invention further discloses a feeding method of the automatic unpacking and feeding system. The seven-axis mechanical arm can replace manual work to conduct automatic carrying, and meanwhile bag hanging is achieved in cooperation with a conical inserting rod of the bag hanging mechanism. Effective positioning and clamping of a material bag on a conical inserting rod can be achieved through a pressing plate and a pneumatic claw of the bag clamping mechanism, and automatic bag breaking and feeding can be achieved in cooperation with a cutting saw moving upwards.

Description

TECHNICAL FIELD

[0001] The present application belongs to mechanical hand, specifically relates to an automatic unpacking and feeding system and method. BACKGROUND

[0002] At present, for the feeding mode of raw materials as powder and granular materials, mainly manual operation is adopted. The bagged materials in the stacking area are carried to the feeding position by workers, and then the bags are opened manually and introduced into the silo. Since the materials are heavy and the quantity is large, the manual carrying and opening feeding mode has the problems of low efficiency, environmental pollution, harm to workers, and certain safety hazards. Therefore, an equipment capable of replacing manual operation to automatically carry and open the bags is urgently needed to realize automatic feeding. SUMMARY

[0003] The technical problem to be solved by the present application is to provide an automatic unpacking and feeding system and method, which can automatically carry the bags in the stacking area to the feeding silo for automatic bag opening and feeding.

[0004] In order to solve the above technical problem, the present application adopts the following technical scheme:

[0005] On the one hand, an automatic unpacking and feeding system comprises a track passing through a stacking area, a mechanical hand walking on the track and used to carry the bags in the stacking area to a feeding silo, and a feeding silo arranged at the end of the track. The feeding silo is provided with a bag hanging mechanism, a bag clamping mechanism and a bag opening mechanism. The bag hanging mechanism comprises a conical insertion rod, and the upper end of the bag is inserted on the conical insertion rod by the mechanical hand to hang the bag. The bag clamping mechanism comprises a clamping jaw structure capable of moving transversely, and is used to press the bag on the conical insertion rod and move the bag transversely. The bag opening mechanism is arranged below the conical insertion rod and comprises a cutting saw capable of lifting and used to open the bag.

[0006] The feeding silo is provided with a partition plate to divide the feeding silo into a feeding operation silo and an empty bag recycling silo. The feeding operation silo has a feeding silo door capable of being opened and closed. The bag hanging mechanism and the bag opening mechanism are arranged in the feeding operation silo. The partition plate is provided with a passage. The clamping jaw structure of the bag clamping mechanism moves between the two silos through the passage.

[0007] The bag clamping mechanism further comprises a linear motor module horizontally arranged on the top of the feeding silo, and a mounting frame driven by the linear motor module. The clamping jaw structure comprises a pressing plate vertically arranged on the mounting frame and a gas claw capable of rotating in a vertical plane and driven by a gas cylinder to form a clamping bag with the pressing plate.

[0008] A connecting rod is further horizontally arranged on the mounting frame. The connecting rod is provided with a sealing plate matched with the passage. When the clamping jaw structure moves to clamp the bag on the conical insertion rod, the sealing plate moves to close the passage.

[0009] The mechanical arm comprises a seven-axis mechanical arm, a walking mechanism arranged at the bottom of the mechanical arm, a hand arranged at the end of the mechanical arm, the hand comprising a panel, a pair of rotating rods arranged on the panel, a pair of air cylinders for driving the rotating rods to rotate respectively, and a plurality of hooking members arranged on the rotating rods for hooking into the bag and rotating with the rotating rods to grab the bag.

[0010] The hooking member is an S-shaped hook with a sharp front end.

[0011] The upper loading work area has a hopper at the lower part, and the empty bag recycling area also has a recycling box at the lower part.

[0012] In another aspect, a loading method of an automatic unpacking and loading system comprises the following steps:

[0013] A. The mechanical arm grabs the bag through the stacking area, walks to the loading area, and sends it into the area;

[0014] B. The upper end of the bag is inserted into the conical insertion rod by the mechanical arm to hang the bag, and the mechanical arm exits the loading area;

[0015] C. The bag is pressed and positioned on the conical insertion rod by the bag clamping mechanism;

[0016] D. The cutting saw of the bag breaking mechanism is raised to cut and break the bag for loading;

[0017] E. The cutting saw is lowered, and the empty bag is retrieved by the bag clamping mechanism in reverse horizontal movement.

[0018] In step A, the mechanical arm hooks into the bag through the hooking member of the hand, and the two rotating rods are driven to rotate outward by the air cylinder, so that the hooking member in the bag is opened outward to firmly grasp the bag.

[0019] In step C, when horizontally moving, the bag inserted into the conical insertion rod is first pressed by the pressing plate of the bag clamping mechanism, and the sealing plate closes the passage on the partition plate at the same time; then the air claw is driven by the air cylinder to rotate downward and clamp the upper end of the bag together with the pressing plate; in step E, when the sealing plate moves in reverse horizontally, the passage is opened, the empty bag is moved to the empty bag recycling area, the air claw is driven by the air cylinder to rotate upward and loosen, and the empty bag falls into the recycling box.

[0020] The automatic unpacking and feeding system and method adopt a seven-axis manipulator to replace manual operation for automatic carrying, and cooperate with a conical insertion rod of a bag hanging mechanism to realize bag hanging. The effective positioning and clamping of the material bag on the conical insertion rod can be realized through the pressing plate and air claw of the bag clamping mechanism, and the automatic bag breaking and feeding can be realized by cooperating with the upwardly movable cutting saw. The feeding bin is separated into a feeding operation bin and an empty bag recycling bin to realize the separation of the feeding and empty bag recycling operations. The sealing plate linked with the belt grabbing mechanism can automatically close the channel during the feeding operation and automatically open during the empty bag recycling. The hand of the manipulator adopts a outwardly expandable insertion piece, which can more firmly grab the material bag during carrying. BRIEF DESCRIPTION OF DRAWINGS

[0021] The application will be described in detail below with reference to the drawings and specific embodiments:

[0022] Figure 1 It is a structure schematic view of the feeding system of the application from one perspective;

[0023] Figure 2 It is a structure schematic view of the feeding system of the application from another perspective;

[0024] Figure 3 It is a schematic view of the internal structure of the feeding bin of the application;

[0025] Figure 4 It is a schematic view of the internal structure of the feeding operation bin of the application;

[0026] Figure 5 It is a structure schematic view of the manipulator of the application;

[0027] Figure 6 It is a structure schematic view of the hand of the manipulator of the application

[0028] Figure 7 It is a schematic view of the state of the feeding bin after the manipulator of the application exits after bag hanging;

[0029] Figure 8 It is a schematic view of the bag hanging state of the application;

[0030] Figure 9 It is a schematic view of the state of the pressing plate pressing the material bag of the application;

[0031] Figure 10 It is a schematic view of the state of the air claw clamping the material bag of the application;

[0032] Figure 11 It is a schematic view of the bag breaking state of the application;

[0033] Figure 12 It is a schematic view of the state of the material grabbing mechanism of the application transversely moving to the empty bag recycling bin;

[0034] Figure 13 This is a schematic diagram showing the state of the pneumatic gripper releasing the empty bag according to the present invention. Detailed Implementation

[0035] An automatic unpacking and feeding system of the present invention, such as Figures 1-6 As shown, it specifically includes a track 1 that passes through the stockpiling area, a robotic arm 3 that travels on the track 1 and uses it to grab and transport the material bags from the stockpiling area to the loading bin 2, and the loading bin 2 located at the end of the track 1. The stockpiling area is arranged on both sides of the track 1, and the robotic arm 3 travels along the track 1 and grabs the material bags 4.

[0036] The feeding hopper 2 is equipped with a bag hanging mechanism 5, a bag clamping mechanism 6, and a bag breaking mechanism 7. Specifically, the feeding hopper 2 may be equipped with a partition 8, dividing the feeding hopper 2 into a left-right distributed feeding operation hopper 21 and an empty bag collection hopper 22. The feeding operation hopper 21 also has an opening and closing door 23 for the robot arm 3 to feed the bags 4. The opening and closing door 23 has a stop 24 for the robot arm 3 to open and close the door. The bag hanging mechanism 5 and the bag breaking mechanism 7 are located inside the feeding operation hopper 21. The bag hanging mechanism 5 includes a pair of horizontally arranged tapered rods 51, which are fixed to the side wall of the feeding operation hopper 21 by a support frame 52. The robot arm 3 can flip the bags 4 fed into the hopper and insert them onto the tapered rods 51 to achieve bag hanging. The bag breaking mechanism 7 is located below the tapered rods 51 and includes a vertically arranged first linear motor module 71 and a cutting saw 72 driven by it to lift and break the bags 4. The upward-moving cutting saw 72 can cut the bag 4 from the bottom up.

[0037] The bag clamping mechanism 6 includes a second linear motor module 61 located at the top of the feeding hopper 2, a mounting frame 62 driven by the second linear motor module 61 to move laterally, a pressure plate 63 vertically mounted on the mounting frame 62, and a pneumatic gripper 64 driven by a cylinder 9a to rotate in a vertical plane. The downward-rotating pneumatic gripper 64 and the pressure plate 63 together form a gripper structure for clamping the bag 4. Furthermore, both the pressure plate 63 and the pneumatic gripper 64 are provided with interlocking rubber pads 65 (see...). Figure 13 To enhance the clamping effect, a channel 81 is provided on the partition 8. The top of the feeding bin 2 also has a transverse slot 26 for connecting the mounting frame 62 to the external second linear motor module 61. Driven by the second linear motor module 61, the pressure plate 63 and the pneumatic gripper 64 on the mounting frame 62 can move between the feeding bin 21 and the empty bag recycling bin 22 through the channel 81. A connecting rod 66 is also provided transversely on the mounting frame 62, and a sealing plate 67 matching the channel 81 is provided on the connecting rod 66. When the gripper structure moves to press against and clamp the bag 4 on the conical insert 51, the sealing plate 67 moves in conjunction to close the channel 81.

[0038] The mechanical arm 3 comprises a seven-axis mechanical arm 32, a walking mechanism 31 arranged at the bottom of the mechanical arm 32, a hand 33 arranged at the end of the mechanical arm 32, the hand 33 comprising a panel 331, a pair of rotating rods 332 arranged on the panel 331, a pair of air cylinders 9b respectively driving the rotating rods 332 to rotate, a plurality of piercing members 333 arranged on the two rotating rods 332 and used for piercing into the material bag 4 and rotating with the rotating rods 332 to grasp the material bag 4. The piercing member 333 can adopt a hook-shaped S-shaped structure, and the front end thereof is sharp. When the piercing member 333 pierces into the material bag 4, the rotating rod 332 is driven by the air cylinder 9b to rotate outward, so that the two piercing members 333 can be opened outward to support inside the material bag 4, so that the material bag 4 is grasped more firmly, and the material bag 4 is prevented from sliding off the piercing member 333.

[0039] The lower part of the feeding operation bin 21 is provided with a hopper 24, and the material falling after the material bag 4 is broken can be fed from the hopper 24. The lower part of the empty bag recycling bin 22 is also provided with a recycling box 25, and the empty bag falling from the empty bag recycling bin 22 falls into the recycling box 25 for recycling.

[0040] The feeding method of the automatic unpacking and feeding system of the application will be described in combination with Figures 7-13 , and the specific steps are as follows:

[0041] A. The mechanical arm 3 grasps the material bag 4 through the stacking area, walks to the feeding bin 2, and opens the feeding bin door 23 by the side of the hand 33 of the mechanical arm 3 to send the material bag 4 into the feeding operation bin 21; the grasping step is specifically that, after the mechanical arm 3 pierces into the material bag 4 through the piercing member of the hand, the two rotating rods are driven to rotate outward by the air cylinder, so that the piercing members that have been pierced into the material bag 4 rotate outward and open, so as to firmly grasp the material bag 4;

[0042] B. The mechanical arm 3 is turned over to insert the upper end of the material bag 4 into the conical insertion rod 51 to hang the bag (see Figure 8 ), then the air cylinder 9b of the mechanical arm 3 drives the piercing member 333 to swing back and pull out from the material bag 4, and then controls the mechanical arm 3 to exit the feeding bin 2, and the feeding bin door 23 is closed by the side of the hand 33 of the mechanical arm 3 (see Figure 7 );

[0043] C. The second linear motor module 61 drives the clamping jaw structure to move to the right side, so that the pressing plate 63 first presses the material bag 4 hung on the conical insertion rod 51 (see Figure 9 ). At this time, the sealing plate 67 moves to the right side along with the pressing plate 63, and the channel 81 is closed; then the air cylinder drives the air claw 64 to rotate downward together with the pressing plate 63 to clamp the upper end of the material bag 4, so as to press the material bag 4 again (see Figure 10 );

[0044] D. After the bag 4 is effectively positioned, the first linear motor module 71 of the bag breaking mechanism 7 is started to drive the cutting saw 72 to move upward, and the bag 4 is broken from the bottom to the top, the material falls and flows out through the bottom hopper for feeding (see Figure 11 );

[0045] E. After the feeding is completed, the cutting saw 72 is moved downward, the empty bag 4 is clamped by the bag clamping mechanism 6 and moved reversely (i.e. to the left in the figure), the sealing plate 67 is reversely moved, the channel 81 is opened (see Figure 12 ), the empty bag 4 is moved to the empty bag recycling bin 22 through the channel 81, and the air claw 64 is rotated upward by the air cylinder to be loosened, the empty bag 4 falls and slides out of the empty bag recycling bin 22 to the recycling box (see Figure 13 )。

[0046] However, those skilled in the art should understand that the above embodiments are only used to illustrate the present application, and are not used as a limitation to the present application, and as long as the changes and modifications of the above described embodiments are within the spirit and principle of the present application, they will fall within the scope of the claims of the present application.

Claims

1. An automatic unpacking and feeding system, characterized in that: The application relates to a feeding device, which comprises a track (1) passing through a stacking area, a mechanical arm walking on the track and used for grabbing the material bag in the stacking area to the feeding bin, a feeding bin arranged at the end of the track, a hanging bag mechanism (5) arranged in the feeding bin, a bag clamping mechanism and a bag breaking mechanism, wherein the hanging bag mechanism comprises a conical insertion rod, the material bag is inserted on the conical insertion rod by the mechanical arm to be hung, the bag clamping mechanism comprises a clamping jaw structure capable of moving transversely and used for pressing the material bag on the conical insertion rod and moving the material bag transversely, and the bag breaking mechanism is arranged below the conical insertion rod and comprises a cutting saw capable of ascending and descending and used for breaking the material bag.

2. The automatic unpacking and feeding system according to claim 1, characterized in that: The feeding bin is divided into a feeding operation bin and an empty bag recycling bin by a partition plate, the feeding operation bin is provided with an openable and closable feeding bin door, the hanging bag mechanism and the bag breaking mechanism are arranged in the feeding operation bin, the partition plate is provided with a passage, and the clamping jaw structure of the bag clamping mechanism moves between the two bins through the passage.

3. The automatic unpacking and feeding system according to claim 2, characterized in that: The bag clamping mechanism further comprises a linear motor module arranged transversely on the top of the feeding bin, a mounting frame driven by the linear motor module, the clamping jaw structure comprises a pressing plate arranged vertically on the mounting frame and a gas claw capable of rotating in a vertical plane and driven by a gas cylinder to form a clamping jaw with the pressing plate.

4. The automatic unpacking and feeding system according to claim 3, characterized in that: A connecting rod is further arranged transversely on the mounting frame, the connecting rod is provided with a sealing plate matched with the passage, and when the clamping jaw structure moves to clamp the material bag on the conical insertion rod, the sealing plate moves to close the passage.

5. The automatic unpacking and feeding system according to claim 1, characterized in that: The mechanical arm comprises a seven-axis mechanical arm, a walking mechanism arranged at the bottom of the mechanical arm, and a hand arranged at the end of the mechanical arm, wherein the hand comprises a panel, a pair of rotating rods arranged on the panel, a pair of gas cylinders respectively driving the rotating rods to rotate, and a plurality of penetrating members arranged on the two rotating rods and used for penetrating into the material bag and rotating with the rotating rods to grab the material bag.

6. The automatic unpacking and feeding system according to claim 5, characterized in that: The penetrating member is an S-shaped hook, and the front end of the S-shaped hook is sharp.

7. The automatic unpacking and feeding system according to claim 2, characterized in that: The lower part of the feeding operation bin is provided with a hopper, and the lower part of the empty bag recycling bin is further provided with a recycling box.

8. The loading method of the automatic unpacking and loading system according to claim 1, characterized in that, The application further discloses a feeding method, which comprises the following steps: A. The mechanical arm walks to the feeding bin after grabbing the material bag through the stacking area, and the material bag is sent into the bin; B. The upper end of the material bag is inserted on the conical insertion rod by the mechanical arm to be hung, and the mechanical arm exits the feeding bin; C. The clamping jaw structure of the bag clamping mechanism is moved transversely to press and position the material bag on the conical insertion rod; D. The cutting saw of the bag breaking mechanism is started to move upward to cut and break the material bag for feeding; E. The cutting saw is moved downward, the empty material bag is clamped by the clamping jaw structure, and the empty material bag is moved reversely to be recycled.

9. The loading method of the automatic unpacking and loading system according to claim 8, characterized in that, In step A, the penetrating member of the hand of the mechanical arm penetrates into the material bag, the two rotating rods are driven by the gas cylinder to rotate outward, so that the penetrating member in the material bag is opened outward, and the material bag is firmly grabbed.

10. The loading method of the automatic unpacking and loading system according to claim 8, characterized in that, In step C, when the clamping jaw structure is moved transversely, the pressing plate of the bag clamping mechanism first presses the material bag inserted on the conical insertion rod, and the sealing plate is closed to the passage on the partition plate; then the gas claw is driven by the gas cylinder to rotate downward to clamp the upper end of the material bag together with the pressing plate; in step E, when the sealing plate is reversely moved transversely, the passage is opened, the empty material bag is moved to the empty bag recycling bin, the gas claw is driven by the gas cylinder to rotate upward to be loosened, and the empty material bag falls into the recycling box.

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