Full-automatic bag breaking and feeding equipment and method for caked ammonium nitrate

Abstract

The invention relates to a full-automatic bag breaking and feeding device and method for caked ammonium nitrate, and belongs to the technical field of automatic treatment of dangerous chemicals. The equipment comprises a feeding device, a material taking device, a material conveying device, a static electricity eliminating device, a caking shattering device, an unpacking device and a main control system which are sequentially arranged in the material flowing direction. The feeding device is used for supplying bagged ammonium nitrate and automatically stacking and outputting the unloaded bearing plates; the material taking device moves the bagged ammonium nitrate to the conveying device; the static electricity eliminating device eliminates static electricity of the bag body in the conveying process; the cake shattering device is used for shattering cakes in the bag into preset granularity through multi-direction knocking and vibration; the unpacking device cuts the bag body and shakes the bag body, so that ammonium nitrate falls into the storage hopper. All the devices are controlled by a master control system in a coordinated mode, parts, making contact with materials or possibly generating sparks, in the equipment are all designed in an anti-explosion and anti-static mode and are reliably grounded, and full-process automation and intrinsic safety of unpacking and feeding of the caked ammonium nitrate are achieved.

Description

Technical Field

[0001] This invention relates to the field of automated processing technology for hazardous chemicals, and in particular discloses a fully automated bag-breaking and feeding device and method for agglomerated ammonium nitrate. Background Technology

[0002] Ammonium nitrate is a chemical raw material with strong oxidizing properties and a certain explosive hazard, and it is widely used in industries such as fertilizers, explosives, and petrochemicals. In industrial production, ammonium nitrate is usually packaged in woven bags or composite bags, which are prone to severe clumping after prolonged storage or exposure to moisture. In order to use bagged ammonium nitrate in subsequent dissolving, batching, or reaction processes, the bags must first be broken open and all the contents poured out.

[0003] Currently, production sites generally employ manual labor: workers first use tools such as copper hammers to break up the clumps of ammonium nitrate bags, then use knives or cutters to cut open the bags and pour the material into hoppers. This method has the following problems: The work is labor-intensive and inefficient. A single worker has to continuously carry 50kg bags of ammonium nitrate and repeatedly knock, turn, and cut the bags, which is physically demanding and makes it difficult to maintain a stable pace for a long time, making it difficult to meet the high-speed production demand of hundreds of bags per hour.

[0004] Uneven breaking up of clumps. Manual tapping relies heavily on experience, and it is difficult to standardize the tapping position and force, resulting in some internal clumps not being fully broken up, which affects the accuracy of subsequent dissolution or measurement.

[0005] High safety risks. Ammonium nitrate is a flammable and explosive hazardous chemical. Static electricity buildup, mechanical sparks, or dust clouds in the field can all trigger an explosion. During manual tapping and bag cutting, personnel inevitably come into close contact with the material, posing a significant safety risk. Current standards such as the "Safety Technical Specification for Ammonium Nitrate" and the "Design Code for Electrical Installations in Explosive Atmospheres" impose strict requirements on explosion-proof and anti-static measures, which are difficult to consistently and reliably meet through manual operations.

[0006] Dust and environmental issues are prominent. If not properly controlled during the bag-breaking process, ammonium nitrate dust can easily scatter and accumulate in localized areas, not only causing material waste but also increasing the risk of dust explosions and occupational health hazards.

[0007] The level of automation is low and systematic solutions are lacking. Although some companies have adopted ordinary conveyor lines or simple bag cutting machines, most of them have only achieved mechanization of a single process. They have not yet carried out overall linkage control of processes such as palletizing and depalletizing, static electricity elimination, clumping and crushing, bag breaking and feeding, and waste bag conveying. Furthermore, there is a lack of complete sets of automated equipment that are designed to address the clumping characteristics of ammonium nitrate and the requirements for explosion-proof and anti-static properties. Summary of the Invention

[0008] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide a device and method that can adapt to the characteristics of agglomerated ammonium nitrate, and realize the fully automated processing from whole stacks of bagged materials to single bag breaking and feeding, while meeting the requirements of explosion-proof, anti-static and dust control, so as to replace high-risk and high-intensity manual operation, improve production efficiency and intrinsic safety level.

[0009] To achieve the above objectives, the present invention provides a fully automatic bag-breaking and feeding device for agglomerated ammonium nitrate, comprising a feeding device, a picking device, a material conveying device, an electrostatic elimination device, an agglomeration and crushing device, a unpacking device, and a main control system arranged sequentially along the material conveying direction; each device is electrically connected to the main control system, and the main control system is used to control the coordinated operation of each device; The feeding device is used to supply the stacked bagged ammonium nitrate to the picking device and to output the empty outer support plate after the picking device has picked up the material; the picking device includes a destabilizing robot and a material picking component set at the end of the destabilizing robot. The destabilizing robot is used to drive the material picking component to pick up the bagged ammonium nitrate on the outer support plate and transfer it to the material conveying device. The static elimination device is located on the conveying path of the material conveying device to neutralize and eliminate the static electricity on the surface of each bag of ammonium nitrate before it enters the agglomeration crushing device; the agglomeration crushing device is configured to knock and vibrate the bag of ammonium nitrate in multiple directions as it is conveyed through, so that the agglomerated material inside is crushed to a predetermined particle size. The unpacking device includes a material adjustment mechanism, a cutting and shaking mechanism, and a waste bag recycling mechanism. The material adjustment mechanism is used to receive the bagged ammonium nitrate after it has been processed by the agglomeration and crushing device and adjust it to a preset bag-breaking posture before fixing it. The cutting and shaking mechanism is used to cut the bottom of the bagged ammonium nitrate and drive the bag to shake so that the ammonium nitrate in the bag falls into the preset external storage hopper below. The waste bag recycling mechanism is used to transport the empty bag to a preset collection device. The moving parts of the fully automatic bag-breaking and feeding equipment that come into direct contact with bagged ammonium nitrate or may generate sparks are made of antistatic materials or have an explosion-proof structure, and the entire machine is grounded via a grounding device.

[0010] Furthermore, the feeding device includes a feeding mechanism, a pallet conveyor line, and an automatic stacking mechanism. The feeding mechanism is used to store an external support plate carrying multiple layers of bagged agglomerated ammonium nitrate. The automatic stacking mechanism includes a side-push cylinder, a side guide rod, and a lifting cylinder. The side guide rod is inserted into the notch of the empty support plate under the drive of the side-push cylinder to guide it laterally. The lifting cylinder is used to drive the empty support plates to be stacked from bottom to top to form a pallet stack. The pallet conveyor line is used to transport the pallet stack so that an external forklift can move the empty pallets as a whole.

[0011] Furthermore, the depalletizing robot is an explosion-proof four-axis robot, and the material picking component is a vacuum suction cup assembly located at the end of the depalletizing robot. The vacuum suction cup assembly includes multiple anti-static suction cups that can swing in all directions and a push cylinder for preventing false suction or swapping. When picking up the uppermost bagged ammonium nitrate with large deformation, the push cylinder lifts it up after adsorption to improve handling stability.

[0012] Furthermore, the material handling device also includes an explosion-proof vision inspection unit, which is used to detect the position and posture of each bag of ammonium nitrate on the support plate and generate a posture signal that is transmitted to the main control system. The main control system is used to adjust the picking path and posture of the depalletizing robot according to the posture signal.

[0013] Furthermore, the static electricity elimination device includes a plasma static electricity eliminator installed on the material conveying device and located upstream of the agglomeration crushing device. The plasma static electricity eliminator is used to neutralize and eliminate static electricity on the surface of each bag of ammonium nitrate before it enters the crushing station.

[0014] Furthermore, the static elimination device also includes a static detection sensor installed on the material conveying device. The static detection sensor is connected to the main control system and is used to monitor the static potential on the surface of the equipment in real time. When the static voltage is greater than 3kV, the main control system controls the agglomeration and crushing device and the unpacking device to stop operating and issue an alarm signal.

[0015] Furthermore, the agglomeration crushing device includes a first crushing mechanism and a second crushing mechanism disposed on the conveying path of the material conveying device; the first crushing mechanism is configured to strike the bagged ammonium nitrate vertically and vibrate it in the left and right directions, and the second crushing mechanism is configured to strike the bagged ammonium nitrate vertically and vibrate it in the up and down directions.

[0016] Furthermore, the first crushing mechanism includes a first transfer conveyor belt disposed at the discharge end of the material conveying device, a first striking component disposed above the first transfer conveyor belt, and a first vibration component disposed below the first transfer conveyor belt; The first transfer conveyor belt is a roller conveyor belt. The first striking assembly includes a crushing bracket fixedly arranged relative to the first transfer conveyor belt, a first linear driver arranged on the crushing bracket, a universal adjusting ball arranged at the output end of the first linear driver, and a striking unit. The universal adjusting ball and the striking unit are connected in cooperation with a pressure sensor, which is used to detect the contact pressure between the striking unit and the bagged ammonium nitrate. The striking unit includes an explosion-proof motor, a crankshaft connected to the explosion-proof motor via gears, and multiple copper hammers connected to the crankshaft. The copper hammers reciprocate in the vertical direction under the drive of the crankshaft to strike one side of the bag of ammonium nitrate. The first vibration assembly includes two first electromagnets disposed on the left and right sides below the first transfer conveyor belt and four first spring steels disposed in the four corner areas of the first transfer conveyor belt. One end of the first spring steel is fixed, and the other end of the first spring steel is connected to the mounting frame of the first transfer conveyor belt. The first spring steel generates left and right vibration under the alternating attraction of the two first electromagnets, so as to drive the first transfer conveyor belt to vibrate left and right in conjunction with the bagged ammonium nitrate it carries.

[0017] Furthermore, the first linear actuator is a lead screw module.

[0018] Furthermore, the second crushing mechanism includes a second transfer conveyor belt disposed at the output end of the first transfer conveyor belt, a second striking component disposed above the second transfer conveyor belt, and a second vibration component disposed below the second transfer conveyor belt; The second striking component has the same structure as the first striking component, and the second transfer conveyor belt has the same structure as the first transfer conveyor belt. The second vibration component includes two second electromagnets disposed on the upper and lower sides below the second transfer conveyor belt and four second spring steels disposed in the four corner areas of the second transfer conveyor belt. One end of the second spring steel is fixed, and the other end of the second spring steel is connected to the mounting frame of the second transfer conveyor belt. The second spring steel vibrates up and down under the alternating attraction of the two second electromagnets to drive the second transfer conveyor belt to vibrate up and down in conjunction with the bagged ammonium nitrate it carries.

[0019] Furthermore, the copper hammer is guided and supported by a graphite bushing, which is used to reduce sparks generated by friction between metals and improve the smoothness of the striking motion.

[0020] Furthermore, the agglomeration crushing device is equipped with an exhaust fan and an exhaust duct connected to the exhaust fan to remove dust during the crushing process and guide the dust into the dust removal device to reduce the accumulation of explosive dust; a receiving tray is provided on one side below the agglomeration crushing device to collect agglomerates or powdered ammonium nitrate that are spilled due to the aging and damage of the bag.

[0021] Furthermore, the material adjustment mechanism includes a third transfer conveyor belt, a pusher plate assembly, and a receiving assembly disposed at the output end of the agglomeration and crushing device; the pusher plate assembly includes a discharge plate docking with the output end of the third transfer conveyor belt, a pusher plate cylinder movably disposed relative to the discharge plate, and a pusher plate rotatably disposed at the output end of the pusher plate cylinder; the third transfer conveyor belt is used to transfer bagged ammonium nitrate after processing by the agglomeration and crushing device, the discharge plate and the receiving assembly are used to receive the bottom and side of the bagged ammonium nitrate falling from the output end of the third transfer conveyor belt, respectively, and the pusher plate cylinder is used to drive the pusher plate to straighten the bagged ammonium nitrate to a preset bag-breaking posture.

[0022] Furthermore, the receiving component includes a rotary drive and a receiving plate disposed at the output end of the rotary drive. The receiving plate has multiple strip-shaped slots. The rotary drive is used to drive the receiving plate to rotate forward to receive the bottom of the bagged ammonium nitrate falling from the third transfer conveyor belt. The rotary drive is also used to drive the receiving plate to rotate in the reverse direction so that the cutting and shaking mechanism can shake the ammonium nitrate in the bag to a preset particle size.

[0023] Furthermore, the cutting and shaking mechanism includes a needle-punching assembly, a shaking assembly, and a cutting assembly that are movably arranged relative to the material adjustment mechanism; the needle-punching assembly includes a needle-punching cylinder and a plurality of puncture needles disposed at the output end of the needle-punching cylinder; the shaking assembly includes a shaking cylinder and a shaking plate disposed at the output end of the shaking cylinder, the shaking plate being throttle-connected to the needle-punching cylinder; the cutting assembly is located below the receiving assembly, and the cutting assembly includes a second linear actuator and a blade disposed at the output end of the second linear actuator, the movement direction of the blade being intersected with the movement direction of the shaking plate.

[0024] Furthermore, the second linear actuator is a lead screw module, and the blade includes two spaced beryllium copper blades; the two beryllium copper blades are connected to the output end of the second linear actuator via a transmission plate.

[0025] Furthermore, the waste bag recycling mechanism includes a bag pushing assembly, a squeezing assembly, and a fourth transfer conveyor belt disposed on one side of the pusher assembly; the bag pushing assembly includes a recycling motor and two squeezing rollers drivenly connected to the output end of the recycling motor; the squeezing assembly includes a third linear driver and a bag pushing plate disposed at the output end of the third linear driver; the third linear driver is used to push the empty bag body processed by the cutting and shaking mechanism between the two squeezing rollers; the two squeezing rollers rotate relative to each other to squeeze and convey the empty bag body; the fourth transfer conveyor belt is used to receive the bag body conveyed by the two squeezing rollers and transfer it to a preset collection device. Furthermore, the fully automatic bag-breaking and feeding equipment also includes a bag-breaking and separating device, which includes a fourth linear drive, a separating plate disposed at the output end of the fourth linear drive, a guide plate disposed corresponding to the separating plate, and a receiving frame disposed at the end of the guide plate. The moving direction of the separating plate is perpendicular to the conveying direction of the third transfer conveyor belt. The bag-breaking and separating device also includes a bag-breaking detection unit electrically coupled with the fourth linear drive. When the bag-breaking detection unit detects that the bagged ammonium nitrate (moving on the material conveying device) after being processed by the agglomeration and crushing device is damaged, it sends a signal to the fourth linear drive. The fourth linear drive drives the separating plate to push the damaged bagged ammonium nitrate into the receiving frame via the guide plate.

[0026] Furthermore, the second transfer conveyor belt, the third transfer conveyor belt, and the material conveying device are all roller conveyor belts.

[0027] Furthermore, the first and fourth transfer conveyor belts are belt conveyors.

[0028] A fully automated bag-breaking and feeding method includes the following steps: S1, Stacking and feeding: The support plate carrying the agglomerated bagged ammonium nitrate is conveyed to the feeding device, and the empty support plate is stacked and output through the feeding device; S2, Destacking and Material Retrieval: The destacking robot drives the material picker to pick up the bagged ammonium nitrate from the carrier plate one by one and place them into the material conveying device in sequence. S3, Static Electricity Neutralization Treatment: During the transportation of bagged ammonium nitrate, a static electricity elimination device is used to neutralize and eliminate static electricity on the surface of the bag. S4, Agglomeration and flattening: The material conveying device transfers the bagged ammonium nitrate to the agglomeration and flattening device, which uses the agglomeration and flattening device to knock and vibrate the bag in multiple directions, so that the agglomerated ammonium nitrate in the bag is crushed to the preset particle size and the surface of the bag tends to be flat. S5, Unpacking: The bagged ammonium nitrate, crushed to a preset particle size, is transferred to an unpacking device for unpacking. Step S5 includes the following steps: S51, Posture Adjustment and Positioning: The material adjustment mechanism of the unpacking device receives and adjusts the bag to the preset bag-breaking posture and fixes it. S52, bag breaking and shaking: The bottom of the bag is cut open by the cutting and shaking mechanism and the bag is driven to shake, so that the ammonium nitrate material of the preset particle size in the bag falls into the preset storage hopper. S53, Waste bag recycling: The processed empty bags are transported to a pre-set collection device using a waste bag recycling mechanism.

[0029] This invention provides a fully automatic bag-breaking and feeding device and method for agglomerated ammonium nitrate. The core technical solution lies in the following: functional devices are sequentially arranged along the material flow direction, including feeding, destabilizing, conveying, static elimination, agglomeration crushing, and unpacking, all coordinated and controlled by a main control system. Specifically, the feeding device automatically supplies the bearing plate and outputs empty plates; the picking device uses an explosion-proof robot combined with visual positioning and vacuum suction to accurately pick up and transfer bagged materials; the static elimination device neutralizes the surface static electricity of the bagged materials during conveying; the agglomeration crushing device breaks up the agglomerated materials inside the bag and flattens the bag through the combined action of vertical impact and multi-directional vibration; and the unpacking device completes material feeding and waste bag recycling through posture adjustment, bottom cutting, and shaking unloading.

[0030] All components in each unit that come into contact with materials or may generate sparks are designed to be explosion-proof and anti-static, and are equipped with whole-machine grounding and electrostatic monitoring emergency stop functions to ensure safe operation in explosive environments.

[0031] The beneficial effects of this invention are: (1) The entire process of unpacking and feeding ammonium nitrate has been automated, which has significantly improved work efficiency and reduced the intensity of manual labor and operational risks; (2) Through multi-stage crushing and multi-directional vibration mechanism, the problem of uneven crushing of agglomerates is effectively solved, and the quality of material feeding and the stability of subsequent processes are improved; (3) The whole machine adopts a comprehensive safety design including explosion-proof, anti-static, grounding and dust extraction, which fully complies with the safety specifications for ammonium nitrate operation and significantly reduces the risk of fire and explosion accidents; (4) The equipment has the functions of automatic stacking of empty pallets and centralized recycling of waste bags, which further improves the cleanliness and automation of on-site management. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the planar layout of the fully automatic bag-breaking and feeding device of the present invention; Figure 2 This is a partial three-dimensional structural diagram of the fully automatic bag-breaking and feeding device of the present invention; Figure 3 This is a three-dimensional structural diagram of the first shattering mechanism of the present invention; Figure 4 This is a three-dimensional structural diagram of the second shattering structure of the present invention; Figure 5 This is a three-dimensional structural diagram of the bag-breaking and separating device and the unpacking device of the present invention; Figure 6 This is an exploded view of the unpacking device of the present invention; Figure 7 This is a schematic diagram of the planar structure of the unpacking device of the present invention; Figure 8 This is a flowchart illustrating the fully automated bag-breaking and feeding method of the present invention.

[0033] The reference numerals in the figures include: 100. Feeding device; 101. Feeding mechanism; 102. Pallet conveyor line; 103. Automatic stacking mechanism; 200. Picking device; 201. Depalletizing robot; 202. Material picking component; 1. Material conveying device; 10. Static electricity elimination device; 2. Agglomeration and crushing device; 3. Unpacking device; 4. Exhaust duct; 5. Receiving tray; 6. Bag breaking and separation device; 61. Fourth linear actuator; 62. Separation plate; 63. Guide plate; 64. Storage box; 7. Main control system; 21. First crushing mechanism; 211. First transfer conveyor belt; 212. First striking assembly; 2121. Crushing bracket; 2122. First linear actuator; 2123. Universal adjusting ball; 2124. Striking unit; 2125. Explosion-proof motor; 2126. Crankshaft; 2127. Copper hammer; 213. First vibration assembly; 2131. First electromagnet; 2132. First spring steel; 22. Second crushing mechanism; 221. The first... 222. Second transfer conveyor belt; 223. Second striking assembly; 2231. Second electromagnet; 2232. Second spring steel; 31. Material adjustment mechanism; 311. Third transfer conveyor belt; 312. Push plate assembly; 3121. Unloading plate; 3122. Push plate cylinder; 3123. Push plate; 313. Receiving assembly; 3131. Rotary drive component; 3132. Receiving plate; 32. Cutting and shaking mechanism; 321. Needle punching assembly; 3211, Needle-piercing cylinder; 3212, Puncture needle; 322, Vibration assembly; 3221, Vibration cylinder; 3222, Vibration plate; 323, Cutting assembly; 3231, Second linear actuator; 3232, Blade; 33, Waste bag recycling mechanism; 331, Bag pushing assembly; 3311, Recycling motor; 3312, Squeezing roller; 332, Squeezing assembly; 3321, Third linear actuator; 3322, Bag pushing plate; 333, Fourth transfer conveyor belt. Detailed Implementation

[0034] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0035] Please see Figures 1 to 8 As shown, this invention discloses a fully automatic bag-breaking and feeding device for agglomerated ammonium nitrate. All components are sequentially installed and fixed along a pre-designed U-shaped production line layout. The total footprint is 13000mm*5000mm*2100mm. The production cycle time is less than 18 seconds per piece (UPH), i.e., greater than 200. The input voltage is 220V, 50Hz. For the material conveying device, if it is a belt conveyor, the belt material is preferably conductive rubber (surface resistance less than 10^6Ω); if it is a roller conveyor, the roller bearings use an anti-static coating. The dimensions of the bagged ammonium nitrate processed are 800mm*400mm*150mm.

[0036] The core of the entire system is the main control system 7, which consists of an industrial programmable logic controller (PLC) and a control panel installed in an explosion-proof control cabinet (located on one side of the material conveying device 1). This control cabinet meets the corresponding explosion-proof requirements. The main control system 7 is electrically connected via armored shielded cables to various motors, cylinders, sensors, and valve islands in the feeding device 100, the picking device 200, the material conveying device 1, the static elimination device 10, the agglomeration and crushing device 2, and the unpacking device 3. It coordinates the sequential operation of each device according to a preset control program stored in its memory, achieving fully automatic cyclic operation. Figure 1 The area within the dashed line is the forklift loading area.

[0037] The feeding device 100 is located at the beginning of the entire production line. Its core function is to receive wooden or plastic pallets (i.e. external support plates) transported by external forklifts, which carry stacks of bagged ammonium nitrate. After all the bagged ammonium nitrate on the pallets is removed, the empty pallets are automatically and neatly stacked up so that the forklifts can transport them away as a whole.

[0038] In a preferred embodiment, the feeding mechanism 101 can be a storage frame area welded from structural steel, used to temporarily store one or more fully loaded pallets. A pallet conveyor line 102 runs through this area, typically using a double-chain conveyor or roller conveyor, driven by an explosion-proof motor 2125, responsible for conveying the pallets stepwise to the designated picking station.

[0039] The automatic stacking mechanism 103 is located at the end of the pallet conveyor line 102. It mainly includes a side push cylinder, a side guide rod fixed to the piston rod of the side push cylinder, and a lifting cylinder.

[0040] After the material handling device 200 empties all the bags of ammonium nitrate from a pallet, the pallet conveyor line 102 will transport the empty pallet forward to the stacking position. At this time, the side push cylinder is activated, pushing the side guide rod to extend horizontally and precisely insert it into the pre-set notch or hole on the side wall of the empty pallet, thereby positioning and guiding the pallet laterally to prevent it from tilting.

[0041] Next, the piston rod of the lifting cylinder extends upward, lifting the already aligned stack of empty pallets by a pallet thickness and holding it in place. Then, pallet conveyor 102 delivers the next empty pallet into the stacking position, directly below the first empty pallet. Afterward, the lifting cylinder descends, allowing the first empty pallet it held to smoothly fall onto the newly arrived second empty pallet. The side-pushing cylinder actuates again, causing the side guide rod to insert into the notch of the second empty pallet, now at the bottom, preparing for the next stacking.

[0042] This process continues until the empty pallets are stacked to a preset height (e.g., five layers). The pallet conveyor line 102 then delivers the entire stack of empty pallets to a designated location, where they are removed by a forklift.

[0043] Compared to existing technologies that require manual handling and stacking of heavy empty pallets, the feeding device 100 in this solution automatically guides, lifts, stacks, and outputs empty pallets, greatly reducing labor intensity, improving pallet turnover efficiency, and reducing the risks of collisions and safety hazards that may result from manual handling.

[0044] Specifically, in this embodiment, the material handling device 200 is responsible for removing the bagged ammonium nitrate from the fixed pallet and transferring it to the material conveying device 1. Its core component is the depalletizing robot 201, which in this embodiment is preferably a four-axis articulated explosion-proof robot with third-party explosion-proof certification (such as Ex d IIB T4 Gb), an overall weight of 1000KG, a maximum arm span of 2500mm, and all its joint motors, cables, and connectors meet the requirements for use in explosive environments; it has a waterproof rating of IP54.

[0045] Range of motion: J1 axis: +180°; J2 axis: -85°~+45°; J3 axis: ±65°; J4 axis: +360° Maximum motion speed: J1 axis: 149° / s; J2 axis: 129° / 5; J3 axis: 129° / s; J4 axis: 400° / s The depalletizing robot 201 has a material pickup component 202 mounted on its end flange via a connecting plate. This pickup component is a vacuum suction cup assembly. The vacuum suction cup assembly includes a rigid mounting frame on which multiple (e.g., six) independent vacuum suction cups are arranged side-by-side. These suction cups are made of an antistatic material (such as polyurethane with added carbon black), and each suction cup is connected to the mounting frame via a universal joint. This allows the suction cup to adaptively swing at a certain angle when contacting the bag surface, ensuring that even if the bag surface is uneven or tilted due to clumping, the suction cup can still fully adhere to the bag surface, forming a reliable seal.

[0046] To further enhance the safety of handling oversized, overweight, or deformable bags, a push cylinder is installed on the mounting bracket of the vacuum suction cup assembly. The piston rod extends in a direction that is essentially perpendicular to the suction surface of the suction cup. During operation, the explosion-proof robot first moves to the top of the pallet, and the vacuum generator (explosion-proof type) is activated, providing negative pressure to the suction cup through the anti-static air tube to firmly grip the bag.

[0047] For the top layer of the bag that may be deformed and loosened due to pressure, after the vacuum adsorption is established, the piston rod of the push cylinder will extend downward and press against the upper surface or side of the bag, giving an upward push force or a lateral clamping force, thereby effectively preventing the risk of "false suction" or midway switching caused by insufficient vacuum due to bag deformation.

[0048] The robot then smoothly transports the bag to the input end of the material conveying device 1 and releases it. Compared with the existing technology that relies entirely on manual handling of 50kg bags or the use of simple lifting devices that are not explosion-proof and lack self-adaptive capabilities, the material handling device 200 in this solution achieves efficient, stable and inherently safe automated material handling through the collaboration of an explosion-proof robot, an adaptive anti-static vacuum suction cup, and an anti-dropping pushing mechanism, completely eliminating the safety hazards and physical exertion of manual handling.

[0049] Specifically, in this embodiment, to address the possibility of uneven placement of bagged ammonium nitrate on the pallet, the material handling device 200 further integrates an explosion-proof visual inspection unit. This unit typically includes an explosion-proof industrial camera (with an explosion-proof housing and glass window) mounted on one side of the top of the end effector (vacuum suction cup) of the depalletizing robot 201, along with a matching explosion-proof lighting source.

[0050] The camera lens is pointed towards the pallet picking station. After each new pallet is in place, the main control system 7 triggers the vision inspection unit to work. The explosion-proof camera captures an image of the bags on top of the pallet, and the image processing software (which can run on the main control system 7 or a standalone explosion-proof industrial computer) analyzes the image to identify the outline, center position, and angular deflection of each bag relative to the robot's base coordinate system.

[0051] The processed pose signals (including X and Y coordinates and rotation angle Rz) are sent in real time to the main control system 7 and the robot controller via communication interfaces (such as Profinet and Ethernet / IP). Based on this precise pose data, the robot controller dynamically adjusts the target point coordinates and orientation in its preset pickup path program, enabling the vacuum suction cup assembly to accurately align with each bag and achieve precise pickup, even if the bags are slightly misaligned or rotated.

[0052] Compared to existing technologies that rely on fixed programming or manual teaching and cannot adapt to changes in bag position, this solution greatly improves the system's adaptability to incoming material conditions by introducing explosion-proof visual detection and positioning, reduces picking failures or collisions caused by positional deviations, and ensures the continuity and reliability of the fully automated process.

[0053] Specifically, in this embodiment, the material conveying device 1, serving as the link between processes such as material handling, crushing, and unpacking, is preferably a roller conveyor line. Its frame is welded from carbon steel and reliably grounded. The roller bearing seats are coated with an antistatic coating, and the roller surface can also be treated with antistatic agents. In actual use, the entire conveyor line can also be a conductive rubber belt conveyor line with a surface resistance of less than 10^6 Ω. The conveyor line is driven by an explosion-proof geared motor with adjustable speed. After the ammonium nitrate is placed at the beginning of the conveyor line by the robot, it is carried by the conveyor line and flows through each subsequent station in sequence. Above the conveyor line, in front of the inlet of the agglomeration and crushing device 2, is the core component of the static elimination device 10—the plasma static eliminator.

[0054] This eliminator also features an explosion-proof structure, and its interior generates a large number of positive and negative ions through high-voltage ionization of air. When a bag of ammonium nitrate carrying static electricity passes underneath it, the ionized airflow blows onto the surface of the bag, neutralizing the opposite charge accumulated on the surface, thus eliminating static electricity before it enters the crushing station.

[0055] To further ensure safety, electrostatic detection sensors can be installed along the conveyor line or on the casing of critical equipment. These sensors have probes close to the equipment surface but not in contact with the material. The sensors monitor the electrostatic potential in real time and transmit the signal to the main control system 7. The main control system 7 has a set safety threshold (e.g., 3kV). Once the detected electrostatic voltage exceeds this threshold, the main control system 7 immediately sends an emergency stop signal to the control units of the agglomeration and crushing device 2 and the unpacking device 3, halting the relevant actions and triggering an audible and visual alarm to alert operators to check and handle the situation.

[0056] Compared to existing technologies that generally neglect or only use simple grounding methods to deal with static electricity, this solution constructs a comprehensive static electricity safety protection system through a multi-protection strategy of "active elimination (plasma) + real-time monitoring + over-limit emergency stop", fundamentally eliminating the risk of ammonium nitrate dust or vapor being ignited by electrostatic discharge.

[0057] Specifically, the agglomeration crushing device 2 is the core of the agglomeration treatment. In a preferred embodiment, it includes a first crushing mechanism 21 and a second crushing mechanism 22 arranged in series. The first crushing mechanism 21 mainly includes a first transfer conveyor belt 211, a first striking component 212, and a first vibration component 213.

[0058] The first transfer conveyor belt 211 is an independent roller conveyor belt driven by an explosion-proof motor 2125, and its inlet is connected to the main material conveying device 1. Above the first transfer conveyor belt 211, a robust crushing support 2121 is installed. A first linear actuator 2122 is mounted on the support, preferably a precision ball screw module driven by an explosion-proof servo motor, whose slider can move precisely in the vertical direction. The lower end of the slider is connected to a universal adjusting ball 2123 through a pressure sensor, and the ball is rigidly connected to the striking unit 2124 below through a connecting sleeve.

[0059] The striking unit 2124 includes an explosion-proof three-phase asynchronous motor, whose output shaft drives a transverse crankshaft 2126 to rotate via a gear set. Multiple (e.g., three) brass hammers are eccentrically mounted on the crankshaft 2126.

[0060] When the bag is conveyed to the area below the striking station, the lead screw module drives the entire striking unit 2124 to descend until the pressure sensor detects that the copper hammers 2127 are in slight contact with the bag surface. The descent then stops and a feedback signal is sent. At this point, the explosion-proof motor 2125 starts, driving the crankshaft 2126 to rotate, causing the several copper hammers 2127 to perform a vertical reciprocating motion in sequence, striking the upper surface of the bag forcefully and evenly.

[0061] Meanwhile, on the frame below the first transfer conveyor belt 211, a first electromagnet 2131 (explosion-proof type) is installed on each of the left and right sides. Four first spring steel plates 2132 (made of, for example, 65Mn steel) are installed between the supports at the four corners of the conveyor belt and the frame. One end of the spring steel plate is fixed to the frame, and the other end is connected to the support frame of the conveyor belt.

[0062] Under the control of the main control system 7, the two first electromagnets 2131 are alternately energized and de-energized, generating alternating magnetic attraction forces that attract and release the iron components connected to the conveyor belt frame, thereby causing the entire first transfer conveyor belt 211 and the bags on it to vibrate in a high frequency in the left and right directions.

[0063] The combined effect of vertical impact and horizontal vibration effectively breaks up the clumps inside the bag. The bag is then fed into a second, similarly structured crushing mechanism 22.

[0064] The second striking component 222 of the second crushing mechanism 22 is identical to the first striking component 212, performing vertical striking. The difference lies in its second vibration component 223: two second electromagnets 2231 are arranged on the upper and lower sides of the conveyor belt frame, driving the second spring steel plates 2232 at the four corners to cause the conveyor belt and bag to vibrate in the up and down direction. This multi-dimensional, composite crushing method ensures that even if there is severe internal agglomeration, it can be fully crushed to the predetermined fine particle size suitable for subsequent feeding.

[0065] It is worth noting that the guide part of the copper hammer 2127 uses a graphite bushing, which avoids direct friction between metals and eliminates the generation of sparks. Compared with the manual striking in the existing technology, which is unidirectional and has uncontrollable force, the agglomeration crushing device 2 of this solution achieves efficient, uniform and controllable agglomeration crushing through force-controlled lowering and mechanical multi-directional composite vibration, and there is no risk of sparks throughout the process. The crushing quality is significantly better than that of manual crushing.

[0066] Specifically, in this embodiment, considering the potential for trace amounts of dust generated during the crushing process and the risk of accidental rupture of the bag, the agglomeration crushing device 2 is also equipped with additional safety and environmental protection components.

[0067] At the top of the semi-enclosed casing of the agglomeration and crushing device 2, an exhaust duct 4 is connected, with the other end of the duct connected to an explosion-proof exhaust fan. After the exhaust fan is started, a slight negative pressure is formed inside the crushing station, which promptly removes the ammonium nitrate dust that may be generated by knocking and vibration, and sends it through the duct to an external bag filter or wet scrubber for treatment, greatly reducing the possibility of dust accumulating inside the equipment and forming an explosive dust cloud.

[0068] In addition, a pull-out drawer-type inclined receiving tray 5 is installed on one side of the agglomeration crushing device 2 (especially below the striking station). This receiving tray 5 is made of stainless steel for easy cleaning. In the event of material spillage due to bag aging or damage, the spilled agglomerates or powder will slide into the receiving tray 5 under gravity. Operators can periodically pull out the receiving tray 5 for cleaning and recycling, which avoids material waste and prevents potential safety problems or equipment operation interference caused by the accumulation of loose materials.

[0069] Compared to existing technologies that lack effective collection measures for spilled material from broken bags, resulting in a messy and unsafe work environment, this solution achieves cleaner production processes and recyclable materials through active dust extraction and the installation of receiving trays 5, thereby improving the safety and environmental protection of the working environment.

[0070] Specifically, in this embodiment, the unpacking device 3 is responsible for completing the final bag breaking and material feeding actions. Its starting part is the material adjustment mechanism 31.

[0071] The crushed bags slide from the output end of the second crushing mechanism 22 into a short second transfer conveyor belt 221 (roller type) and are transferred to the unloading station at its end. Here, there is an inclined unloading plate 3121 and a receiving plate 3132 driven by a rotary drive 3131 (such as an explosion-proof rotary cylinder or motor). When the bag falls from the end of the conveyor belt, its bottom lands on the horizontally positioned receiving plate 3132, while its sides rest against the unloading plate 3121. The rotary drive 3131 can drive the receiving plate 3132 to rotate forward by a certain angle (e.g., 60 degrees), causing the bag to change from a flat position to an inclined upright position.

[0072] Simultaneously, a pusher plate 3123 driven by a pusher cylinder 3122 extends from the side, pushing the other side of the bag body to straighten it, ultimately adjusting and fixing the bag body in a "preset bag-breaking posture" with the bottom facing down and the bag body nearly vertical. Then, the cutting and shaking mechanism 32 begins to work.

[0073] The needle-punching assembly 321 is activated first. A needle-punching cylinder 3211 drives multiple rows of sharp piercing needles 3212 (such as stainless steel needles) to quickly pierce forward, penetrate the bottom of the bag and immediately retract, pre-punching several small holes in the bottom of the bag to prepare for subsequent cutting and release some internal stress.

[0074] Subsequently, the cutting assembly 323 actuates, and its second linear actuator 3231 (such as a lead screw module) drives a blade holder equipped with two parallel beryllium copper blades 3232 (beryllium copper is an explosion-proof material) to move horizontally. The sharp beryllium copper blades 3232 cut into the pre-punctured holes in the bottom of the bag, slicing open to both sides, completely cutting a long slit in the bottom of the bag.

[0075] Almost simultaneously with the completion of the incision, the shaking assembly 322 is activated. The shaking cylinder 3221 is connected to the cylinder body or mounting bracket of the needle-punching cylinder 3211 via a shaking plate 3222, driving the entire needle-punching assembly 321 together with the bag body punctured by it to perform high-speed, short-stroke reciprocating shaking along the direction perpendicular to the incision (i.e., the direction of the bag body).

[0076] Since the bottom of the bag has been completely cut open, under the violent shaking, all the crushed ammonium nitrate material inside the bag is thoroughly and cleanly shaken off and falls into the pre-set external storage hopper or the receiving device of the next process through a funnel-shaped guide below.

[0077] Compared to existing technologies where manual bag cutting and emptying is prone to leaving material residue, is inefficient, and poses risks of knife injury and dust exposure, the unpacking device 3 in this solution achieves a near 100% material recovery rate through a continuous combination of automatic posture adjustment, pre-puncture, mechanical cutting, and high-frequency vibration. The feeding is thorough and efficient, and the entire process is automated and isolated, ensuring safety and contactlessness.

[0078] Specifically, in this embodiment, the unpacking device 3 further includes a waste bag recycling mechanism 33 for processing the waste woven bags after they have been shaken out. After the bag body has been shaken out and become an empty bag, the receiving plate 3132 of the material adjustment mechanism 31 rotates in the opposite direction to reset to a horizontal position, while the pusher plate 3123 retracts.

[0079] At this point, the third linear actuator 3321 (such as a cylinder) of the extrusion assembly 332 pushes a pusher plate 3322 horizontally, pushing the empty bag lying flat on the receiving plate 3132 to one side. At the end of the pusher path are two extrusion rollers 3312 driven by a recycling motor 3311 (explosion-proof type) via gears. The two extrusion rollers 3312 rotate in opposite directions, forming a pair of clamping rollers. The empty bag is pushed into the gap between the two rollers by the pusher plate 3322, and then clamped by the extrusion rollers 3312 and gently pulled outward, extruded and flattened.

[0080] The extruded waste bags then fall onto a fourth transfer conveyor belt 333 (belt conveyor), and are sent to a large waste bag collection basket or baler on the side of the equipment, achieving centralized and clean recycling of the waste bags.

[0081] Compared to existing technologies where waste bags are randomly discarded and the site is messy and requires manual cleaning, the waste bag recycling mechanism 33 in this solution realizes automatic peeling, squeezing and centralized transportation of waste bags, maintaining the cleanliness of the production site and reducing secondary manual processing.

[0082] Specifically, in this embodiment, to further improve the intelligence and reliability of the system, the fully automatic bag-breaking and feeding equipment may also include a bag-breaking and separating device 6.

[0083] The device is installed along the conveying path after the agglomeration crushing device 2 and before the unpacking device 3. It mainly consists of a fourth linear drive 61 (screw module), a separation plate 62 connected to it, an inclined guide plate 63, and a storage frame 64 located at the end of the guide plate 63.

[0084] The separation plate 62 moves perpendicular to the material conveying direction. Above or to the side of the conveyor line, a bag-breaking detection unit, such as a pair of explosion-proof photoelectric sensors, is installed to detect whether the passing bags have obvious damage or leakage. If the sensor detects that a bag has ruptured after being shaken and is leaking material, it immediately sends a signal to the main control system 7. The main control system 7 then stops the conveyor line and activates the bag-breaking separation device 6.

[0085] The fourth linear actuator 61 quickly pushes the separating plate 62 across the conveyor line, pushing the damaged bag laterally off the conveyor line and causing it to slide along the guide plate 63 into the dedicated collection box 64, thereby preventing a damaged bag from entering the unpacking device 3 and causing greater leakage, pollution and equipment failure.

[0086] Subsequently, the separating plate 62 is retracted, and the conveyor line continues to operate. Compared with the existing technology, which lacks effective means to handle bag breakage midway, often leading to the predicament of a complete shutdown and manual cleaning, the bag breakage separation device 6 in this solution can automatically identify and remove defective products, ensuring the continuous and stable operation of the main process and reducing unplanned downtime.

[0087] Specifically, the fully automatic bag-breaking and feeding method of the present invention is realized through the specific cooperation of the above-mentioned devices, and its fully automatic process is as follows: First, the stacking feeding is performed (S1). The forklift places the fully loaded pallet in the storage area of ​​the feeding device 100. The pallet conveyor line 102 moves it step by step to the picking station. The empty pallets are neatly stacked by the automatic stacking mechanism 103 and finally sent out.

[0088] Next, the destacking and material handling (S2) is performed. The explosion-proof vision inspection unit positions the bags on the pallet. Based on the positioning data, the destacking robot 201 drives the adaptive anti-static vacuum suction cup assembly at its end to pick up the bags one by one. The push cylinder assists in preventing the bags from being dropped and places the bags stably on the material conveying device 1.

[0089] Next, static electricity neutralization treatment (S3) is performed. During the transport process, the bag passes under the plasma static eliminator, and the surface static electricity is neutralized. At the same time, the static electricity detection sensor monitors the process throughout.

[0090] Then, the agglomeration crushing and leveling process (S4) is performed. The bag sequentially enters the first crushing mechanism 21 and the second crushing mechanism 22. Under the contact pressure fed back by the pressure sensor, it receives vertical impact from the upper copper hammer 2127 and combined left-right and up-down vibrations excited by the lower electromagnet-spring steel system. The internal agglomerates are fully broken up, and the surface of the bag becomes relatively flat. If a broken bag is detected, it is automatically rejected by the broken bag separation device 6.

[0091] Next, the unpacking is performed (S5). The crushed bag enters the unpacking device 3, and is first adjusted to an upright position with the bottom facing down by the material adjustment mechanism 31 (discharge plate 3121, receiving plate 3132, and pusher plate 3123) and fixed.

[0092] Subsequently, the cutting and shaking mechanism 32 operates as follows: the needle cylinder 3211 drives the piercing needle 3212 to pierce the bottom of the bag, the screw module drives the beryllium copper blade 3232 to move horizontally and completely cut open the bottom of the bag, and the shaking cylinder 3221 drives the shaking plate 3222 to shake the bag together with the bag body at high frequency, so that all the ammonium nitrate material in the bag is completely shaken off into the storage hopper below.

[0093] Finally, the waste bag recycling mechanism 33 operates, and the bag pusher 3322 pushes the empty bag into the compression roller 3312. After being compressed and flattened, the bag is sent to the collection point by the waste bag conveyor belt, completing one work cycle.

[0094] The entire process is centrally controlled by the main control system, repeating continuously until all bags are processed. Compared to the discrete, high-risk, and inefficient operation mode of existing technologies that rely on manual labor to complete all processes, this fully automated method achieves unmanned, continuous, and safe operation of agglomerated ammonium nitrate from stacking to empty bags, and from agglomeration to loose material feeding, through process-oriented, modular, and intelligent system integration and collaborative control. The production cycle can be stably reached more than 200 bags per hour, achieving a qualitative leap in efficiency, quality, safety, and environmental protection.

[0095] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. A fully automatic bag-breaking and feeding device for agglomerated ammonium nitrate, characterized in that: It includes a feeding device (100), a picking device (200), a material conveying device (1), an electrostatic elimination device (10), an agglomeration crushing device (2), a packaging unpacking device (3), and a main control system (7) arranged sequentially along the material conveying direction; each device is electrically connected to the main control system (7), and the main control system (7) is used to control the coordinated operation of each device; The feeding device (100) is used to supply the stacked agglomerated bagged ammonium nitrate to the picking device (200) and to output the empty outer bearing plate after the picking device (200) picks up the material; the picking device (200) is used to pick up the bagged ammonium nitrate on the outer bearing plate and transfer it to the material conveying device (1). The static elimination device (10) is located on the conveying path of the material conveying device (1) to neutralize and eliminate the static electricity on the surface of each bag of ammonium nitrate before it enters the agglomeration crushing device (2); the agglomeration crushing device (2) is configured to knock and vibrate the bag of ammonium nitrate in multiple directions as it is conveyed through, so that the agglomerated material inside is crushed to a predetermined particle size. The unpacking device (3) receives the bagged ammonium nitrate after it has been processed by the agglomeration and crushing device (2), cuts the bag of ammonium nitrate and drives the bag to shake, so that the ammonium nitrate in the bag with a predetermined particle size falls into the preset storage hopper. The moving parts of the fully automatic bag-breaking and feeding equipment that come into direct contact with bagged ammonium nitrate or may generate sparks are made of antistatic materials or have an explosion-proof structure, and the entire machine is grounded via a grounding device.

2. The fully automatic bag-breaking and feeding equipment for agglomerated ammonium nitrate according to claim 1, characterized in that: The feeding device (100) includes a feeding mechanism (101), a pallet conveyor line (102), and an automatic stacking mechanism (103). The feeding mechanism (101) is used to store an external support plate carrying multiple layers of bagged agglomerated ammonium nitrate. The automatic stacking mechanism (103) is used to drive empty support plates to be stacked from bottom to top to form a pallet stack. The pallet conveyor line (102) is used to transport the pallet stack so that an external forklift can move the empty pallets as a whole.

3. The fully automatic bag-breaking and feeding equipment for agglomerated ammonium nitrate according to claim 1, characterized in that: The material handling device (200) includes a destacking robot (201) and a material picking component (202) disposed at the end of the destacking robot (201). The destacking robot (201) is used to drive the material picking component (202) to pick up the bagged ammonium nitrate on the outer bearing plate and transfer it to the material conveying device (1).

4. The fully automatic bag-breaking and feeding equipment for agglomerated ammonium nitrate according to claim 3, characterized in that: The material handling device (200) also includes an explosion-proof vision inspection unit, which is used to detect the position and posture of each bag of ammonium nitrate on the carrier plate and generate a posture signal to be transmitted to the main control system (7). The main control system (7) is used to adjust the picking path and posture of the depalletizing robot (201) according to the posture signal.

5. The fully automatic bag-breaking and feeding equipment for agglomerated ammonium nitrate according to claim 1, characterized in that: The electrostatic elimination device (10) includes a plasma electrostatic eliminator installed on the material conveying device (1) and located upstream of the agglomeration crushing device (2). The plasma electrostatic eliminator is used to neutralize and eliminate static electricity on the surface of each bag of ammonium nitrate before it enters the crushing station.

6. The fully automatic bag-breaking and feeding equipment for agglomerated ammonium nitrate according to claim 1, characterized in that: The agglomeration crushing device (2) includes a first crushing mechanism (21) and a second crushing mechanism (22) arranged on the conveying path of the material conveying device (1); the first crushing mechanism (21) is configured to strike the bagged ammonium nitrate vertically and vibrate it in the left and right directions, and the second crushing mechanism (22) is configured to strike the bagged ammonium nitrate vertically and vibrate it in the up and down directions.

7. The fully automatic bag-breaking and feeding equipment for agglomerated ammonium nitrate according to claim 1, characterized in that: The agglomeration crushing device (2) is equipped with an exhaust fan and an exhaust pipe (4) connected to the exhaust fan, which are used to extract dust during the crushing process and introduce the dust into the dust removal device to reduce the accumulation of explosive dust; a receiving tray (5) is provided on one side below the agglomeration crushing device (2), which is used to collect agglomerates or powdered ammonium nitrate that are spilled due to the aging and damage of the bag.

8. The fully automatic bag-breaking and feeding equipment for agglomerated ammonium nitrate according to claim 1, characterized in that: The unpacking device (3) includes a material adjustment mechanism (31), a cutting and shaking mechanism (32), and a waste bag recycling mechanism (33). The material adjustment mechanism (31) is used to receive the bagged ammonium nitrate after it has been processed by the agglomeration and crushing device (2) and adjust it to a preset bag breaking posture before fixing it. The cutting and shaking mechanism (32) is used to cut one side of the bag of ammonium nitrate and drive the bag to shake in a direction that is intersecting with the direction of the cut, so that the ammonium nitrate in the bag falls into the preset storage hopper below. The waste bag recycling mechanism (33) is used to transport the empty bag to the preset collection device.

9. The fully automatic bag-breaking and feeding equipment for agglomerated ammonium nitrate according to claim 8, characterized in that: The cutting and shaking mechanism (32) includes a needle-punching assembly (321), a shaking assembly (322), and a cutting assembly (323) that are movably arranged relative to the material adjustment mechanism (31). The needle-punching assembly (321) includes a needle-punching cylinder (3211) and a plurality of puncturing needles (3212) disposed at the output end of the needle-punching cylinder (3211). The shaking assembly (322) includes a shaking cylinder (3221) and a plurality of puncturing needles (3212) disposed at the output end of the shaking cylinder (3221). A vibrating plate (3222) is connected to a needle-piercing cylinder (3211) for transmission. The cutting assembly (323) is located below the receiving assembly (313). The cutting assembly (323) includes a second linear actuator (3231) and a blade (3232) disposed at the output end of the second linear actuator (3231). The moving direction of the blade (3232) is intersected with the moving direction of the vibrating plate (3222).

10. A fully automatic bag-breaking and feeding method, characterized in that, Includes the following steps: S1, Stacking and feeding: The support plate carrying the agglomerated bagged ammonium nitrate is conveyed to the feeding device (100), and the empty support plate is stacked and output through the feeding device (100); S2, Destacking and Retrieving: Using the picking device (200), bagged ammonium nitrate is picked up one by one from the bearing plate and placed sequentially into the material conveying device (1). S3, Static neutralization treatment: During the transportation of bagged ammonium nitrate, static electricity on the surface of the bag is neutralized and eliminated using a static elimination device (10); S4, Agglomeration and flattening: The material conveying device (1) transfers the bagged ammonium nitrate to the agglomeration and flattening device (2). The agglomeration and flattening device (2) knocks and vibrates the bag in multiple directions so that the agglomerated ammonium nitrate in the bag is crushed to the preset particle size and the surface of the bag tends to be flat. S5, Unpacking: The bagged ammonium nitrate, crushed to a preset particle size, is transferred to the unpacking device (3) for unpacking. Step S5 includes the following steps: S51, posture adjustment and positioning: the material adjustment mechanism (31) of the unpacking device (3) is used to receive and adjust the bag to the preset bag breaking posture and fix it; S52, bag breaking and shaking: the bottom of the bag is cut open by the cutting and shaking mechanism (32) and the bag is driven to shake, so that the ammonium nitrate material with a preset particle size in the bag falls into the preset storage hopper; S53, Waste bag recycling: The processed empty bags are transported to the preset collection device using the waste bag recycling mechanism (33).

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