Automatic grabbing and bag opening device for ton bag opening

Abstract

The invention discloses an automatic grabbing and bag opening device for ton bag openings, belongs to the technical field of industrial automatic material carrying equipment, and solves the problems that an existing ton bag opening device is poor in adsorption stability, the bag openings are prone to being torn and wrinkled, and bag opening is insufficient. The device comprises a support, a transverse moving driving mechanism, a first hanging rod, a first adsorption clamping jaw, a lifting driving mechanism, a second adsorption clamping jaw, a turnover mechanism and a visual assembly. The first adsorption clamping jaw is connected with the transverse moving driving mechanism through a first hanging rod, the second adsorption clamping jaw is connected with the lifting driving mechanism and the turnover mechanism, the first adsorption clamping jaw and the second adsorption clamping jaw are oppositely arranged, the adsorption faces are each provided with six independently-controlled suction cups, the suction cups are arranged in two rows, the four suction cups are evenly distributed in the upper row, and the two suction cups are arranged at the two ends in the lower row. The device is simple in hardware, accurate in control, capable of actively avoiding a wrinkled area and achieving unstressed stretching and inner film attachment prevention of a wrinkled bag opening, high in adsorption stability and bag opening quality and suitable for automatic bag opening operation of various aluminum-plastic composite ton bags.

Description

Technical Field

[0001] This application relates to the field of automated packaging technology, and in particular to an automatic gripping and opening device for the opening of ton bags. Background Technology

[0002] BOOM (Unit-in-Potential) bags, also known as flexible container bags or bulk bags, are large-capacity flexible transport packaging containers made primarily of high-molecular synthetic fibers such as polypropylene and polyester through weaving and sewing. Their structure typically consists of the bag body, lifting straps, and inlet / outlet ports. They are characterized by large capacity, light weight, high tensile strength, wear resistance, foldability, and ease of loading, unloading, and transportation. They are widely used in industries such as chemical, building materials, food, pharmaceutical, mining, and new energy materials for the centralized storage, transfer, loading, unloading, and discharge of powder, granular, and lumpy materials. They are a key packaging tool for achieving efficient and unitized transportation of bulk materials in modern logistics and industrial production. In automated conveying and unloading systems, BOOM bags are often placed flat on conveyor line pallets, and the conveyor line completes the processes of loading, positioning, and unloading. Their application scenarios cover automated production lines, warehousing logistics, and enclosed unloading workshops.

[0003] The opening of a ton bag, as a key structure for material loading and unloading, is generally cylindrical or flat and tapered. When not in use or laid flat, the two sides of the opening naturally adhere to the surface, forming a flat, straight shape without rigid support, making it soft and easily deformable. While this structure is advantageous for packaging, folding, and transportation, it also makes it difficult to reliably identify, grasp, and position the opening in automated operations. In traditional workflows, the first step after ton bags are loaded is opening the opening. Only by converting the flat, straight opening into an open U-shape can the bag smoothly connect with the hopper, unloading device, or conveying equipment, achieving stable and dust-free material unloading. Therefore, reliable opening of the ton bag opening is a core link connecting ton bag loading and subsequent unloading operations, directly determining the continuity, stability, and automation level of the entire production line.

[0004] Currently, the mainstream technology for opening the mouths of ton bags laid flat on pallets on conveyor lines is still mainly manual, and mature, efficient, and scalable automated bag-opening equipment has not yet been developed. In actual production, operators typically manually grasp, flip, lift, and pull the mouths of the ton bags at their workstations on the conveyor line: first, the bag mouth laid flat on the pallet is manually picked up and flipped 90° to change the bag mouth from a horizontal to a vertical position; then, by pinching the two sides of the bag mouth with both hands and pulling in opposite directions, the adhering bag mouth walls are separated, ultimately forming an open "U" shape for unloading. Some existing auxiliary bag-opening mechanisms only have simple clamping or cutting functions, mostly suitable for suspended unloading conditions, and can only realize the lifting of the bag body and simple bag breaking. They cannot complete continuous actions such as adsorption, flipping, vertical lifting, double-sided clamping, and adsorption separation for ton bags in a flat state, making them difficult to adapt to the pallet loading mode of the assembly line. Overall, existing ton bag opening technology still relies heavily on manual labor, with extremely low levels of automation and intelligence.

[0005] The aforementioned manual bag opening and existing technologies have many inherent defects and can no longer meet the needs of modern industrial continuous, intelligent, and green production. Firstly, they suffer from high labor costs, high labor intensity, and low operational efficiency. Ton bags are heavy, and their openings are often made of multi-layered woven fabric with high rigidity and toughness. Manually performing a series of actions such as flipping, lifting, clamping, and opening requires significant physical strength and is slow, making it difficult to match the pace of high-speed automated production lines, thus limiting the efficiency of the entire production line. At the same time, this position has a high turnover rate and is difficult to recruit, significantly increasing the company's labor costs and management pressure. Secondly, the working environment is harsh, seriously endangering the health of operators. Ton bags are mostly used for packaging powder materials. When manually opening bags, a large amount of dust flies around the bag opening. The dust concentration is high and the diffusion range is wide. Long-term work can easily lead to occupational diseases such as respiratory diseases, skin allergies, and eye inflammation. Some toxic, harmful, corrosive, flammable, and explosive materials also pose safety hazards such as poisoning, burns, and explosions, failing to meet occupational health and safety production requirements. Third, manual bag opening suffers from poor operational stability and low standardization, easily affecting subsequent processes. Manual bag opening is heavily influenced by subjective factors such as operator experience, physical strength, and mood, making it difficult to maintain consistency in the degree of bag opening, vertical posture, and center position. This can easily lead to problems such as skewed bag openings, incomplete opening, and bag damage, resulting in material spillage, blockages, and leaks during subsequent unloading, reducing production stability and product qualification rates. Fourth, it is incompatible with automated production lines, hindering intelligent upgrades.

[0006] With the rapid popularization of industrial automation and unmanned factories, manual bag opening has become a bottleneck of human intervention in the production line. It is impossible to achieve full automation of the process of feeding, opening, unloading and discharging, which seriously restricts the improvement of enterprise production efficiency and digital management level. It has become a key problem restricting the development of automated unloading technology for ton bag packaging materials. Summary of the Invention

[0007] This invention aims to overcome the shortcomings of existing technologies and provide an automatic gripping and opening device for ton bag openings. Through the low-position fitting action design of the lifting-flipping mechanism, the smooth rotation control of the double-hinged seat flipping mechanism, and the graded start and step-by-step switching adsorption logic of the six suction cups, it solves the problems of poor adsorption stability of traditional ton bag opening devices for pleated bag openings, unsmooth opening, and easy tearing of bag openings.

[0008] To achieve the above-mentioned objectives, this invention provides an automatic gripping and opening device for ton bag openings, the specific technical solution of which is as follows:

[0009] An automatic gripping and opening device for ton bag openings includes a support frame, a transverse drive mechanism, a first lifting rod, a first suction gripper, a lifting drive mechanism, a second suction gripper, a flipping mechanism, and an electrical control box.

[0010] The horizontal movement drive mechanism is horizontally installed on one side of the upper part of the bracket. The top end of the first rod is fixedly connected to the output end of the horizontal movement drive mechanism. The first suction claw is fixedly installed at the bottom end of the first rod. The horizontal movement drive mechanism is used to drive the first rod to move the first suction claw in a reciprocating horizontal movement along the horizontal direction, so as to realize the horizontal position adjustment and clamping and opening action of the first suction claw.

[0011] The lifting drive mechanism is vertically installed on the other side of the upper part of the bracket and is arranged opposite to the horizontal movement drive mechanism. The second adsorption gripper is connected to the bottom end of the lifting drive mechanism through the flipping mechanism. The lifting drive mechanism is used to drive the flipping mechanism to move the second adsorption gripper in a reciprocating lifting motion in the vertical direction, thereby realizing the height adjustment of the second adsorption gripper. It can drive the second adsorption gripper to descend to the low position of the bag opening to complete the adsorption and fit the bag. It is suitable for bags of different heights and different placement positions.

[0012] The flipping mechanism includes a flipping drive cylinder and two hinge seats, namely a fixed hinge seat and a movable hinge seat. The fixed hinge seat is fixed to the bottom end of the lifting drive mechanism, and the movable hinge seat is fixed to the middle of the second adsorption gripper. The cylinder end of the flipping drive cylinder is hinged to the fixed hinge seat, and the piston rod end of the flipping drive cylinder is hinged to the side wall of the second adsorption gripper. The second adsorption gripper is hinged to the fixed hinge seat through the movable hinge seat. The flipping mechanism is used to drive the second adsorption gripper to rotate around the movable hinge seat, thereby switching the posture of the adsorption surface of the second adsorption gripper. The rotation angle range is 0°~90°. When it is in the 0° state, the adsorption surface of the second adsorption gripper is in a vertical state. When it is in the 90° state, the adsorption surface of the second adsorption gripper is in a flat and downward state, which can achieve a low-position stable fit with the bag mouth of the ton bag and avoid impacting the pleated bag mouth.

[0013] The first adsorption gripper and the second adsorption gripper have the same structure and are adapted to be clamped. When the second adsorption gripper is in a 0° vertical state and at the same height as the first adsorption gripper, the adsorption surfaces of the two are facing each other and parallel, and can be respectively attached to the two surfaces of the bag opening to achieve clamping and positioning of the bag opening.

[0014] The first and second adsorption grippers each have six suction cups on their adsorption surfaces. These six suction cups are arranged in two rows, with four suction cups evenly distributed in the upper row along the horizontal direction of the adsorption surface and two suction cups in the lower row located at the left and right ends of the adsorption surface, respectively. Each of the six suction cups can be independently controlled for opening and closing and for negative pressure adjustment. The six suction cups on each gripper can be started and switched in stages by triangular grouping, upper and lower row partitioning, and outer-middle switching. Any three suction cups arranged in a triangle can form a group for initial adsorption. The two outer suction cups in the upper row and the two suction cups in the lower row can form the first bag opening adsorption group, and the two middle suction cups in the upper row and the single suction cup in the lower row can form the second bag opening adsorption group. By switching the groups of suction cups, the pleated bag opening can be stretched and the tension can be dispersed in stages.

[0015] The electrical control box is fixedly installed on the side of the bracket and contains a controller, a power module, a vacuum control module, and a drive control module. The controller is electrically connected to the horizontal movement drive mechanism, the lifting drive mechanism, and the flipping mechanism to achieve precise control of the action sequence, movement speed, and displacement distance of each drive mechanism. The controller is also electrically connected to the vacuum generator and solenoid valve of all suction cups of the first and second suction grippers to achieve independent opening and closing, negative pressure adjustment, and step-by-step switching control of all suction cups. The controller has a built-in action sequence control program and a suction cup hierarchical control program, which can realize the coordinated operation of each mechanism and suction cup according to preset logic. It can preset a special suction, suction replacement, and bag opening sequence for the pleated bag opening to improve the smoothness of opening the pleated bag opening.

[0016] Furthermore, the transverse drive mechanism includes a transverse guide rail, a transverse slider, a transverse drive motor, and a ball screw pair. The transverse guide rail is horizontally fixed to the upper part of the bracket. The transverse slider slides in cooperation with the transverse guide rail. The ball screw pair is arranged along the length of the transverse guide rail, and its screw is connected to the output shaft of the transverse drive motor through a coupling. Its nut is fixedly connected to the transverse slider. The top end of the first lifting rod is fixedly connected to the transverse slider. The transverse drive motor is a servo motor, which can realize forward and reverse rotation and stepless speed regulation, driving the first adsorption gripper to make precise transverse movement with a movement accuracy of ≤0.5mm. It can achieve uniform and stable movement during the bag opening process, avoiding pulling force on the pleated bag opening.

[0017] Furthermore, the lifting drive mechanism includes a lifting guide rail, a lifting slider, a lifting drive motor, and a lifting screw pair. The lifting guide rail is vertically fixed to the upper part of the bracket, and the lifting slider slides in cooperation with the lifting guide rail. The lifting screw pair is arranged along the length of the lifting guide rail, and its screw is connected to the output shaft of the lifting drive motor through a coupling. Its nut is fixedly connected to the lifting slider, and the fixed hinge seat of the flipping mechanism is fixedly connected to the lifting slider. The lifting drive motor is a servo motor, which can realize forward and reverse rotation and stepless speed regulation, driving the second adsorption gripper to perform precise vertical lifting and lowering with a lifting accuracy of ≤0.5mm. It can precisely control the second adsorption gripper to descend to a low position that matches the pleated bag opening, achieving a gentle fit between the adsorption surface and the pleated bag opening, avoiding pressing and aggravating the pleats of the bag opening.

[0018] Furthermore, the flipping drive cylinder is an electric push rod, a hydraulic cylinder, or a pneumatic cylinder. Its stroke and output force match the flipping requirements of the second adsorption gripper, enabling smooth rotation within the range of 0° to 90°. The rotation speed is adjustable to 2 to 3° / s, and it can lock in position at any angle with a rotation accuracy of ≤1°. The flipping structure design of the double hinge seat ensures that the second adsorption gripper is subjected to uniform force during the flipping process, and the rotation trajectory is stable. During the rotation process from the vertical state to the horizontal downward state, the adsorption surface can gradually adhere to the pleated bag opening. The slight pulling force during the adhesion process initially stretches the shallow pleats on the bag opening surface, laying the foundation for subsequent adsorption.

[0019] Furthermore, both the first and second adsorption grippers include a gripper body and an adsorption panel. The gripper body is a rigid steel structure, providing stable structural support. The adsorption panel is fixed to the inner side of the gripper body, forming an adsorption surface that contacts the opening of the ton bag. The adsorption panel can be made of a rigid material or a flexible, non-slip silicone material, thus possessing good flexibility and conformability. It can adapt to the irregular surface of the pleated bag opening, allowing the adsorption surface to fully conform to the pleated film surface, eliminating sealing dead corners, improving negative pressure sealing performance, and avoiding scratches on the aluminum-plastic film surface. This flexible structure is an important feature for achieving stable adsorption at the pleated bag opening.

[0020] Furthermore, all six suction cups are vacuum silicone suction cups. The four suction cups in the top row are large-diameter corrugated silicone suction cups. The corrugated structure has good elasticity and cushioning, which can adapt to the irregular wrinkles of the aluminum-plastic film surface and penetrate deep into the wrinkle gaps to achieve a tight fit. At the same time, during the adsorption process, it can generate a slight stretching force on the wrinkles through its own expansion and contraction. The two suction cups in the bottom row are medium-diameter flat-mouth silicone suction cups. The adsorption force is concentrated, which can achieve stable clamping of the bag opening edge and prevent the bag opening from slipping off the edge during the opening process. Each suction cup is connected to a vacuum generator and a solenoid valve through an independent air tube. The vacuum generator is a miniature oil-free vacuum generator, which can achieve rapid establishment and precise adjustment of negative pressure. The solenoid valve is a two-position five-way solenoid directional valve to achieve precise opening and closing control of the suction cup.

[0021] Furthermore, each suction cup is equipped with an independent pressure sensor on its air tube. The pressure sensor is electrically connected to the controller and is used to detect the negative pressure value of each suction cup in real time and transmit the detection signal to the controller. The controller can determine the adsorption status of the suction cup based on the detection signal of the pressure sensor. When the negative pressure value of the suction cup is lower than a preset threshold, the controller can trigger pressure replenishment or suction cup switching logic. Even if the suction cup is not properly sealed in a local area of ​​the pleated bag opening, overall adsorption stability can be ensured by pressure replenishment or switching to adjacent suction cups, avoiding interruption of the bag opening operation due to local detachment.

[0022] Furthermore, the controller can be any of a PLC controller, industrial microcontroller, or embedded controller. Its built-in action timing control program can preset the action sequence, movement speed, displacement distance, and action delay of each drive mechanism. It optimizes the speed parameters of flipping and bonding, suction exchange, and bag opening movement for pleated bag openings, realizing the linkage and coordination of the lifting drive mechanism, flipping mechanism, and lateral movement drive mechanism. Its built-in suction cup grading control program can preset the opening and closing combination and negative pressure value parameters of suction cups at each stage. It designs a dedicated control logic for pleated bag openings: triangular grouping suction - step-by-step suction exchange - full suction - staged bag opening suction. All program parameters can be modified through the touch screen of the control box to adapt to the bag opening needs of ton bags with different degrees of pleats, different specifications, and different materials.

[0023] Furthermore, the support frame is welded from structural steel and includes a base, columns, and a crossbeam. The base is a rectangular frame structure with anchor bolts at the bottom, which can be fixedly connected to the ground or an industrial operating platform to ensure the overall stability of the equipment and prevent the equipment from shaking during the bag opening process, thus affecting the adsorption and expansion of the pleated bag opening. There are two columns, which are vertically fixed at both ends of the base. The crossbeam is horizontally fixed at the top of the two columns. The horizontal movement drive mechanism and the lifting drive mechanism are respectively installed at both ends of the crossbeam. The overall rigidity of the support frame meets the force requirements of the ton bag adsorption and opening process without significant deformation.

[0024] Furthermore, the automatic gripping and opening device for the ton bag opening also includes a vision positioning component. This component includes a camera mounting base, a monocular industrial camera, and possibly a supplementary light (optional). The camera mounting base is fixed to the top of the second suction gripper. Both the monocular industrial camera and the supplementary light are mounted on the camera mounting base, with the shooting direction facing downwards from the suction surface of the second suction gripper. The vision positioning component is electrically connected to the controller and can acquire images of the ton bag opening's position and wrinkle state. After transmission to the controller, an image recognition algorithm calculates the precise position of the ton bag opening and the wrinkle distribution area, providing positional references for the lifting drive mechanism and the flipping mechanism. Simultaneously, it provides a basis for the controller to select the initial position for suction cup grouping, ensuring that the triangular suction group preferentially acts on areas with fewer wrinkles at the bag opening, improving the stability of the initial suction and laying the foundation for smooth opening of the wrinkled bag opening.

[0025] This invention also provides a method for opening ton bags based on an automatic gripping and opening device for ton bag openings. It achieves precise perception of the ton bag opening position and wrinkle state through monocular vision, providing accurate reference for mechanism action and suction cup control. Through a time-sequential control logic of triangular grouping of six suction cups for adsorption, step-by-step suction switching, and phased opening and closing, it achieves stable adsorption and stress-free step-by-step unfolding of wrinkled bag openings. Simultaneously, it achieves coordinated action between the lifting, flipping, and lateral movement mechanisms and the time-sequential control of the six suction cups, avoiding hard impacts on the bag opening. Ultimately, it solves the problems of poor adsorption, uneven opening, easy tearing, and irregular shape associated with traditional bag opening methods, enabling fully automated, smooth, and damage-free opening even for wrinkled ton bag openings, with a standardized "U" shape for subsequent feeding processes.

[0026] To achieve the above-mentioned objectives, this invention provides a ton bag opening method based on monocular vision and six suction cups with time-sequential collaborative control, which is applied to a ton bag opening device. The opening device includes a support, a transverse drive mechanism, a first lifting rod, a first suction gripper, a lifting drive mechanism, a second suction gripper, a flipping mechanism, an electrical control box, and a vision component.

[0027] The horizontal movement drive mechanism is horizontally installed on one side of the upper part of the support. The first adsorption gripper is connected to the horizontal movement drive mechanism via the first suspension rod, which can realize horizontal reciprocating horizontal movement. The lifting drive mechanism is vertically installed on the other side of the upper part of the support. The second adsorption gripper is connected to the lifting drive mechanism via the flipping mechanism, which can realize vertical reciprocating lifting. The flipping mechanism can drive the second adsorption gripper to rotate around the hinge point in the range of 0° to 90°. When the second adsorption gripper is at 0°, the adsorption surface of the second adsorption gripper is in a vertical state. When the second adsorption surface is at 90°, the adsorption surface is in a flat and downward state.

[0028] The first and second adsorption grippers have the same structure. Both of them have 6 independent suction cups on their adsorption surfaces to achieve opening, closing and negative pressure adjustment. The 6 suction cups are arranged in two rows, with 4 suction cups evenly distributed in the upper row along the horizontal direction of the adsorption surface and 2 suction cups in the lower row located at the left and right ends of the adsorption surface, respectively.

[0029] The vision component is installed on the top of the second suction gripper and includes a monocular industrial camera and a supplementary light (optional). It can capture images of the position and surface condition of the bag opening. The electrical control box contains a controller, which is electrically connected to the vision component, the lateral drive mechanism, the lifting drive mechanism, and the flipping mechanism. It is also electrically connected to the vacuum generator and solenoid valve of all suction cups to realize the linkage and coordination of monocular vision perception, mechanism action, and time-sequential control of the six suction cups.

[0030] The method specifically includes the following steps:

[0031] Step S1: Device initialization, all mechanisms and components are reset and put into standby mode.

[0032] The controller controls each mechanism of the bag opening device to reset to its initial position: the lateral drive mechanism drives the first adsorption gripper to move to the outermost side of the support, maintaining the maximum lateral distance with the second adsorption gripper; the lifting drive mechanism drives the second adsorption gripper to rise to the highest initial position; the flipping mechanism drives the second adsorption gripper to rotate to a 0° vertical state, with the adsorption surface facing the first adsorption gripper.

[0033] The controller closes the solenoid valves of all suction cups, the vacuum generator is in standby mode, and all suction cups are without negative pressure; the vision component is activated, the fill light is constantly on, the monocular industrial camera enters image acquisition standby mode, and the pressure sensor (an independent pressure sensor is installed on the air tube of each suction cup) is activated, entering the real-time negative pressure detection state.

[0034] Step S2: Monocular vision positioning to identify the bag opening position and surface condition.

[0035] The aluminum-plastic composite ton bags to be opened are fed to the preset opening station by the conveyor equipment, with the bag opening facing upwards and toward the opening device; a monocular industrial camera captures a high-definition image of the ton bag opening and transmits the image to the controller.

[0036] The controller processes the image using an image recognition algorithm to extract the bag opening contour and locate the center position. At the same time, it identifies the distribution of surface wrinkles at the bag opening and marks the area with fewer wrinkles as the initial adsorption area for subsequent use. This provides a precise position reference for the lifting and flipping actions of the second adsorption gripper and the initial adsorption grouping of the six suction cups.

[0037] Step S3: Lifting and flipping linkage, the second suction claw adheres to the aluminum-plastic film at the bag opening.

[0038] The controller sends a descent command to the lifting drive mechanism based on the center position of the bag opening determined by monocular vision positioning. The lifting drive mechanism drives the second adsorption gripper to descend smoothly in the vertical direction to the target height, so that the adsorption surface of the second adsorption gripper is parallel to the aluminum-plastic film surface of the bag opening and the distance is 5~10mm, so as to avoid pressing and impacting the bag opening during the descent process.

[0039] After the lifting action is completed, the controller sends a rotation command to the flipping mechanism. The flipping mechanism drives the second adsorption gripper to rotate smoothly from a vertical position of 0° to a position of 90° around the hinge point, so that the adsorption surface of the second adsorption gripper is in a flat and downward position, and gently and tightly adheres to the aluminum-plastic film surface of the bag opening. During the adhesion process, the flexible silicone material used in the adsorption panel adapts to the deformation of the folded surface of the bag opening, eliminating dead corners in the seal and laying the foundation for subsequent suction cup adsorption.

[0040] Step S4: The first phase of the six suction cups begins, and the triangular grouped suction cups are activated to achieve initial adsorption.

[0041] Once the adsorption surface of the second adsorption gripper is tightly attached to the aluminum-plastic film surface of the ton bag opening, the controller activates the solenoid valves and vacuum generators of three of the six suction cups of the second adsorption gripper that are spatially distributed in a triangular pattern, according to the initial adsorption area marked in step S2. This allows the three suction cups to establish a stable negative pressure, thus achieving the initial adsorption of the ton bag opening.

[0042] The three suction cups arranged in a triangular relationship are either the first one on the left of the top row, the first one on the right of the top row, and the one on the left of the bottom row, or the second one on the left of the top row, the second one on the right of the top row, and the one on the right of the bottom row. The negative pressure value is set to -60~-70kPa. The pressure sensor detects the negative pressure value of the three suction cups in real time. When the negative pressure value is stable within the set range and lasts for more than 300ms, the initial adsorption is determined to be complete. The triangular group adsorption achieves three-point positioning of the bag opening and prevents the bag opening from shifting during subsequent suction changes and flipping.

[0043] Step S5: In the second phase of the six suction cup sequence, switch to another set of triangular suction cups to achieve suction change.

[0044] After the initial adsorption is completed, the controller maintains the negative pressure adsorption state of the three triangular grouped suction cups to prevent the bag opening from falling off; at the same time, it activates the solenoid valve and vacuum generator of the other three suction cups in the second adsorption gripper that are in a triangular relationship, so that the three suction cups establish the same negative pressure (-60~-70kPa) as the first group.

[0045] The suction cups act on the bag opening wrinkle area identified in step S2. The suction cups adhere to the wrinkles and generate a slight stretching force through negative pressure adsorption, achieving initial pre-expansion of the wrinkled bag opening. After the negative pressure value of the three suction cups in this group stabilizes within the set range, the controller closes the solenoid valve and vacuum generator of the previous triangular group of suction cups, completing the step-by-step replacement of the six suction cups. After the replacement, the effective adsorption of three suction cups is still maintained to ensure adsorption stability.

[0046] Step S6: The third timing sequence of the six suction cups is activated, and all suction cups are fully activated to achieve complete adsorption and flattening.

[0047] After the step-by-step suction is completed, the controller activates the solenoid valves of the remaining three suction cups of the second suction gripper and the vacuum generator, so that all six suction cups establish negative pressure and achieve full suction of the bag opening of the ton bag.

[0048] The negative pressure of all suction cups is uniformly adjusted to -70~-80kPa. Each suction cup generates a uniform adsorption force on the bag opening from different positions, which separates the areas where the aluminum-plastic film surfaces are attached and further smooths out irregular wrinkles, achieving initial flattening of the bag opening. The pressure sensor detects the negative pressure value of all suction cups in real time. If the negative pressure value of any suction cup is lower than -65kPa, the controller automatically controls the vacuum generator to replenish the pressure, ensuring that the adsorption force in each area of ​​the bag opening is uniform and stable.

[0049] Step S7: Flip and lift in tandem, the second suction gripper returns to the clamping position.

[0050] The controller sends a reset command to the flipping mechanism, which drives the second suction gripper to rotate smoothly from the 90° suction state back to the 0° vertical state. During the rotation, the six suction cups maintain full suction. The longitudinal tension during the rotation is used to stretch the bag opening folds a second time, while preventing the bag opening from shifting or falling off.

[0051] Once the second adsorption gripper is fully reset to the 0° vertical position, the controller sends a lifting command to the lifting drive mechanism. The lifting drive mechanism drives the second adsorption gripper to rise steadily in the vertical direction until the second adsorption gripper and the first adsorption gripper are at the same horizontal height and their adsorption surfaces are facing each other, forming a preset clamping posture, thus completing the reset and alignment of the second adsorption gripper.

[0052] Step S8: Horizontal movement drive, the first adsorption claw moves and clamps with the second adsorption claw to fit the bag opening.

[0053] The controller sends a clamping command to the lateral drive mechanism, which drives the first adsorption gripper to move smoothly in the horizontal direction to the side of the second adsorption gripper. The moving speed is controlled at 5~8mm / s to avoid hard impact on the bag opening.

[0054] When the adsorption surface of the first adsorption claw gently and tightly adheres to the aluminum-plastic film surface on the other side of the ton bag opening, the controller controls the lateral drive mechanism to stop moving. At this time, the first adsorption claw and the second adsorption claw are respectively attached to the two surfaces of the ton bag opening, forming a clamping structure to complete the clamping and positioning of the bag opening. The clamping process further eliminates local wrinkles at the bag opening.

[0055] Step S9: The fourth time sequence of the six suction cups, the dual grippers synchronously switch suction cups to prepare for opening the bag.

[0056] The controller sends a suction cup switching command to the first and second suction grippers, controlling the six suction cups of the two grippers to open and close synchronously, realizing the fourth time-sequence control of the six suction cups: in the four suction cups in the upper row, the two outermost suction cups remain open and the two middle suction cups are closed; the two suction cups in the lower row remain open.

[0057] The negative pressure value of the suction cups activated in this stage is uniformly adjusted to -75~-85kPa. The pressure sensor detects the negative pressure value of the activated suction cups in real time to ensure stable adsorption. This suction cup opening and closing combination concentrates the opening pull force on the edge area of ​​the bag opening, avoiding the pull force from acting directly on the middle of the bag opening, and providing uniform edge pull force for the smooth unfolding of the subsequent pleated bag opening.

[0058] Step S10: Horizontal reverse drive, pull the bag opening from a straight line to a square shape.

[0059] Once the suction cups of the dual grippers have switched and the adsorption is stable, the controller sends an opening command to the horizontal drive mechanism. The horizontal drive mechanism drives the first adsorption gripper to move smoothly in the opposite direction away from the second adsorption gripper in the horizontal direction, with the moving speed controlled at 3~5mm / s.

[0060] During the movement of the first suction claw, a steady pulling force is generated on one side of the bag opening through the suction cup with its edge open. The second suction claw remains stationary and fixes the other side of the bag opening through the suction cup with its edge open. Under the uniform and low-speed pulling force, the bag opening is gradually pulled open and stretched from the initial "I" shape, and finally forms a standard "U" shape to meet the subsequent feeding requirements. The pleated bag opening has no stress concentration under the step-by-step pulling force, achieving smooth stretching without tearing or desucking.

[0061] Step S11: The fifth timing sequence of the six suction cups, the dual grippers synchronously switch suction cups to maintain the square shape.

[0062] Once the bag opening is fully opened into a "U" shape, the controller stops the lateral drive mechanism and simultaneously sends a secondary switching command to the first and second suction grippers, controlling the six suction cups of the two grippers to synchronously perform a second opening and closing action, achieving the fifth time-sequence control of the six suction cups: of the four suction cups in the upper row, the middle two suction cups are open and the outermost two suction cups are closed; of the two suction cups in the lower row, one remains open and the other remains closed.

[0063] The negative pressure value of the suction cups opened in this stage is uniformly adjusted to -70~-80kPa. The pressure sensor detects the negative pressure value of the opened suction cups in real time to ensure stable adsorption. The suction cup opening and closing combination concentrates the pulling force on the middle area of ​​the bag opening, which can effectively maintain the "U-shaped" opening of the bag opening and prevent the bag opening from wrinkling again due to static electricity or its own tension rebound, thus providing a stable and flat bag opening shape for subsequent feeding processes.

[0064] Step S12: Bag opening operation completed, suction cup released + all mechanisms reset.

[0065] After the subsequent feeding process is completed, the controller sends a suction cup closing command to the two suction grippers, controls the solenoid valves of all suction cups to close, the vacuum generator stops working, the suction cups release negative pressure, and completely separate from the bag mouth;

[0066] Subsequently, the controller controls each drive mechanism to reset in sequence: the horizontal drive mechanism drives the first adsorption gripper to move to the outermost initial position of the support, the lifting drive mechanism drives the second adsorption gripper to rise to the highest initial position, and the flipping mechanism keeps the second adsorption gripper in a 0° vertical state; the equipment completes one bag opening operation, enters standby mode, and waits for the next ton bag to be loaded, realizing continuous automated bag opening.

[0067] Furthermore, in steps S4 and S5, the two sets of suction cups arranged in a triangular relationship are complementary. After any set of triangular suction cups in the six suction cups is activated, the other set of triangular suction cups becomes the remaining three suction cups, ensuring that there are always three suction cups effectively adsorbing the bag opening during the suction change process, without any adsorption gap period.

[0068] Furthermore, in step S11, the opening and closing selection of the two suction cups in the next row can be flexibly adjusted according to the width and wrinkle degree of the bag opening. The controller can automatically match the bag opening state based on the monocular visual positioning to ensure the stable maintenance of the "U-shaped" state of the bag opening.

[0069] Furthermore, the controller has a built-in time-sequence control program and visual recognition algorithm, which can automatically adjust the negative pressure value of the suction cups, the speed and displacement distance of the mechanism at each stage according to the specifications of the ton bag (bag opening width, load), material (aluminum-plastic film of different thicknesses) and the degree of wrinkles at the bag opening, so as to adapt to the opening needs of ton bags of different types and states. All parameters can also be manually modified through the touch screen of the electrical control box.

[0070] Beneficial effects

[0071] The ton bag opening method of the present invention, based on monocular vision and six suction cups with time-sequential collaborative control, achieves automated, smooth, and damage-free opening of ton bag openings, especially pleated bag openings, through precise perception by monocular vision, five-level time-sequential collaborative control by six suction cups, and coordinated action of mechanism movements and suction cup control. Compared with the prior art, it has the following significant advantages:

[0072] 1. Monocular vision provides precise perception, enabling dual functions of bag opening positioning and status recognition, resulting in high adsorption alignment accuracy.

[0073] This invention deeply integrates monocular vision positioning with the bag opening process, which not only achieves precise positioning of the center position of the bag opening, but also identifies the distribution of folds at the bag opening. This provides a precise reference for the selection of the initial adsorption area, the sequential control of the suction cup, and the adjustment of the mechanism's motion parameters. It solves the problems of traditional technology, such as the lack of bag opening state perception and large alignment deviation, and improves the adhesion between the adsorption surface and the bag opening film surface by more than 90%, thereby improving adsorption stability from the source.

[0074] 2. Six suction cups with five-level sequential control adapt to the adsorption and stretching needs of pleated bag openings, ensuring stable adsorption and stress-free stretching.

[0075] This invention designs a five-stage, six-suction-cup time-sequential control logic, including triangular grouping for initial adsorption, step-by-step pre-expansion adsorption, full adsorption and flattening, edge tension during bag opening, and shape-preserving tension in the middle. This logic achieves "step-by-step adsorption, gradual flattening, and phased force application" for pleated bag openings, avoiding the drawbacks of simultaneous adsorption and continuous force application in traditional technologies. There is no adsorption gap during the adsorption process, ensuring that the bag opening does not fall off. Full adsorption achieves initial flattening of the bag opening. During the bag opening stage, the tension is concentrated at the edge and pulled at a low speed, so that the pleated bag opening is free from stress concentration under uniform tension, achieving smooth flattening and reducing the tear rate of the bag opening to below 0.5%.

[0076] 3. The mechanism's movements are coordinated with the suction cup control to avoid hard impacts on the bag opening and protect the aluminum-plastic film surface.

[0077] This invention achieves precise linkage between the lifting, flipping, and lateral movement mechanisms and the time-sequential control of the six suction cups. The speed and displacement of the mechanism movements are dynamically adjusted according to the bag opening status and the suction cup adsorption stage. The processes of bonding, clamping, flipping, and opening the bag are all low-speed and stable movements, avoiding hard impacts and compression on the bag opening and preventing the wrinkles from being aggravated. At the same time, the flexible adsorption panel conforms to the deformation of the wrinkles, eliminating dead corners in the seal and further protecting the aluminum-plastic film surface from scratches and tears.

[0078] 4. Enables the bag opening to open in a standardized manner from a straight line to a square shape, while maintaining its shape stably, adapting to subsequent feeding processes.

[0079] This invention achieves precise switching of bag opening pull force from the edge to the middle through the time-sequential switching of six suction cups. First, the edge pull force smoothly pulls the bag opening from a "straight" shape to a "U" shape, and then the middle pull force maintains the open bag shape, avoiding the bag opening from springing back and wrinkling. No manual adjustment is required, and the qualified rate of the open bag shape reaches more than 99%, which fully meets the operational requirements of subsequent feeding processes and greatly improves the automation level of the production line.

[0080] 5. Fully automated control, adaptable to ton bags in different states, with high operating efficiency and adaptability.

[0081] This invention, with a controller at its core, achieves full automation of the entire process from monocular vision positioning, mechanism action, six suction cups time-sequential control to bag opening, shape preservation, and reset, requiring no manual intervention. The single bag opening operation takes only 30-40 seconds, improving work efficiency by more than 50% compared to traditional technologies. At the same time, it can automatically adjust parameters according to the ton bag specifications, material, and degree of bag mouth wrinkling, adapting to aluminum-plastic composite ton bags with light, medium, and heavy wrinkling, as well as the bag opening requirements of different specifications of ton bags, greatly improving the equipment's adaptability and practicality.

[0082] 6. Real-time negative pressure detection and automatic pressure replenishment ensure stable adsorption throughout the process, eliminating the risk of desorption.

[0083] This invention features an independent pressure sensor on the air tube of each suction cup to enable real-time detection of negative pressure at each stage. When the negative pressure value is lower than the threshold, the controller automatically controls the vacuum generator to replenish the pressure. Even if the local area of ​​the pleated bag opening is not sealed well, the overall adsorption stability can be ensured by replenishing the pressure, avoiding problems such as desucking and bag opening falling off during the bag opening process. This improves the safety and stability of the bag opening operation, and the adsorption success rate reaches over 99%.

[0084] In summary, through the deep coordination of monocular vision and six suction cups in a time-sharing sequence, combined with the linkage of mechanism actions, the present invention completely solves the core problems of the traditional bulk bag opening method, such as poor adsorption of wrinkled bag mouths, unsmooth bag opening, easy tearing, and non-standard shapes. It achieves the innovative effect of smoothly, without damage, and automatically opening the bulk bag with a wrinkled bag mouth into a standard rectangular shape throughout the process, greatly improving the stability, efficiency, and automation level of bulk bag opening operations, and having good industrial application value.

[0085] For better understanding and implementation, the present application will be described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 is the front view of an exemplary automatic grasping and opening device for the bulk bag mouth of the present application;

[0087] Figure 2 is the schematic three-dimensional structure diagram of an exemplary automatic grasping and opening device for the bulk bag mouth of the present application;

[0088] Figure 3 is the schematic three-dimensional structure diagram of another perspective of an exemplary automatic grasping and opening device for the bulk bag mouth of the present application;

[0089] Figure 4 is the schematic diagram of the position distribution of the 6 suction cups on the exemplary first adsorption jaw or second adsorption jaw of the present application;

[0090] Figure 5 is the state diagram of the triangular relationship formed by the exemplary suction cups. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0091] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In the description of the present application, unless otherwise specified, the meaning of "plurality" is two or more.

[0092] Please refer to Figures 1-5 as shown, and in the appendix Figure 5 Four examples of the triangular relationship distribution of the suction cups are shown. Among them, the suction cups corresponding to the black color blocks form a triangular relationship.

[0093] Embodiment 1

[0094] The specific steps for opening the bag are as follows:

[0095] 1. Equipment initialization: The first suction gripper moves to the outermost side of the support, the second suction gripper rises to a height of 1200mm and is in a 0° vertical position, all suction cups are turned off, and the vision component is activated;

[0096] 2. Monocular vision positioning: Acquire images of the bag opening, identify the center height of the bag opening as 500mm, and mark the left side area with fewer wrinkles as the initial adsorption area;

[0097] 3. Fitting the bag opening: The second adsorption claw descends to a height of 500mm, flips to 90°, and the adsorption surface gently fits the aluminum-plastic film at the bag opening. The flexible panel deforms with the folds to eliminate dead corners in the seal.

[0098] 4. Triangular group adsorption: Start the triangular suction cup group consisting of the first one on the left and the first one on the right of the top row + the first one on the left of the bottom row to establish a negative pressure of -65kPa. The negative pressure stabilizes after 300ms, completing the initial adsorption.

[0099] 5. Step-by-step suction change: Maintain negative pressure in the above suction cup group, start the triangular suction cup group of the second left and second right in the upper row + the second right in the lower row, establish a negative pressure of -65kPa, pre-stretch the wrinkled area on the right side, and close the previous suction cup group after the negative pressure stabilizes to complete the suction change;

[0100] 6. Full Adsorption and Smoothing: Activate all 6 suction cups, adjust the negative pressure to -75kPa, and the pressure sensor detects that the negative pressure of all suction cups is stable at -74~-76kPa, and the folds at the bag opening are initially smoothed out;

[0101] 7. Reset and alignment: The second adsorption gripper flips back to the 0° vertical position, rises to a height of 800mm, and is at the same horizontal height as the first adsorption gripper and directly opposite it;

[0102] 8. Clamping: The first adsorption claw moves towards the second adsorption claw at a speed of 6 mm / s, adhering to the film surface on the other side of the bag opening to form a clamping structure;

[0103] 9. Suction cup switching and bag opening preparation: The dual grippers switch synchronously, opening the two outer suction cups on the upper row and the two suction cups on the lower row, adjusting the negative pressure to -80kPa, and stabilizing the negative pressure;

[0104] 10. Reverse pull to open the bag: The first suction gripper moves in the opposite direction at a speed of 4mm / s, with a lateral movement distance of 300mm. The bag opening gradually expands from a straight line to a square shape. There is no stress concentration throughout the process of moderate wrinkles, and the bag expands smoothly.

[0105] 11. Suction cup switching and shape preservation: The dual grippers switch simultaneously. The two middle suction cups in the upper row and the leftmost suction cup in the lower row are activated. Adjust the negative pressure to -75kPa to keep the bag opening in a square shape without any rebound wrinkles.

[0106] 12. Operation completed and reset: After feeding is completed, all suction cups are released, the first suction gripper moves back to its initial position, the second suction gripper rises to a height of 1200mm, and the equipment is in standby mode.

[0107] The bag opening operation was quick, with stable adsorption throughout, no desorption, no tearing, and the bag opening wrinkles were completely smoothed out, resulting in a standard "U" shape. No manual assistance was required, which fully verified the smooth opening effect of this method on moderately wrinkled ton bags.

[0108] Example 2

[0109] This embodiment is for opening an aluminum-plastic composite ton bag with a load capacity of 800kg, a bag opening width of 700mm, and heavy pleats. The parameters of the bag opening device are the same as those in Embodiment 1, with only some parameters adjusted according to the bag opening condition: triangular group adsorption and exchange negative pressure -60kPa, full adsorption negative pressure -70kPa, negative pressure during the bag opening stage -75kPa, the first adsorption gripper moving speed 3mm / s, and the lateral movement distance 250mm.

[0110] Results of the bag opening operation: The success rate of adsorption throughout the process was high, with no tearing or desorption at the bag opening. Severe wrinkles were completely stretched out under the step-by-step tension, and the opened bag shape was a standard "U" shape with good shape retention. The operation time was short and no manual assistance was required, which verified the good adaptability of this method to heavily wrinkled ton bags.

[0111] The embodiments described above are merely examples of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. An automatic gripping and opening device for the opening of ton bags, characterized in that: It includes a support frame, a lateral drive mechanism, a first lifting rod, a first suction gripper, a lifting drive mechanism, a second suction gripper, and a flipping mechanism; The first suction gripper is installed at the bottom end of the first rod and is connected to the lateral movement drive mechanism through the first rod. The lateral movement drive mechanism is installed on the bracket and is used to drive the lateral movement of the first rod. The second adsorption gripper is installed at the bottom end of the lifting drive mechanism, which is mounted on the bracket and is used to drive the second adsorption gripper to rise and fall; the flipping mechanism is installed at the bottom end of the lifting drive mechanism and connected to the second adsorption gripper, and is used to flip the second adsorption gripper. The first adsorption gripper and the second adsorption gripper are positioned facing each other; The first adsorption gripper has 6 suction cups on its adsorption surface. The 6 suction cups are arranged in two rows, with 4 suction cups evenly distributed in the upper row and 2 suction cups in the lower row, and are located at both ends of the adsorption surface of the first adsorption gripper. The 6 suction cups of the first adsorption gripper are independently controlled to open and close. The second adsorption gripper has six suction cups on its adsorption surface. These six suction cups are arranged in two rows, with four evenly distributed in the upper row and two in the lower row, and are located at both ends of the adsorption surface of the second adsorption gripper. The six suction cups of the second adsorption gripper are independently controlled to open and close.

2. The automatic gripping and opening device for ton bag openings according to claim 1, characterized in that: It also includes a vision component; the vision component is installed at the bottom end of the first boom, and the vision component and the first suction gripper are respectively placed on both sides of the first boom; The vision component is equipped with a camera.

3. The automatic gripping and opening device for the mouth of a ton bag according to claim 2, characterized in that: The tilting mechanism includes a tilting drive cylinder, which is installed at the bottom end of the lifting drive mechanism; One end of the second adsorption gripper is hinged to the lifting drive mechanism; the other end is hinged to the end of the tilting drive cylinder, so that when the tilting drive cylinder reciprocates, it drives the second adsorption gripper to rotate around one of its hinge points. The rotation angle range of the second adsorption gripper is 0°~90°. When in the 0° state, the adsorption surface of the second adsorption gripper is in a vertical state; When at 90°, the adsorption surface of the second adsorption gripper is in a flat and downward position.

4. A method for opening a ton bag based on the automatic gripping and opening device for the mouth of a ton bag according to any one of claims 1-3, characterized in that, Including the following steps: S1. Equipment initialization; all mechanisms are reset, the first suction gripper moves to the outside of the bracket, the second suction gripper rises to the highest position and is in a 0° vertical state, all suction cups are closed, and the vision component is activated. S2. Monocular vision positioning: The vision component acquires images of the bag opening, and the controller identifies the center position of the bag opening and the distribution of wrinkles, marking the area with fewer wrinkles as the initial adsorption area. S3. The second adsorption gripper fits the bag opening; the lifting drive mechanism drives the second adsorption gripper to descend to the target height, and the flipping mechanism drives it to rotate to 90°, so that the adsorption surface gently fits the aluminum-plastic film at the bag opening. S4. Triangular grouped suction cups initial adsorption; The controller activates the second adsorption gripper, with three of the six suction cups arranged in a triangular relationship, prioritizing the initial adsorption area and establishing a negative pressure of -60~-70kPa to achieve initial adsorption; S5. Switch to another set of triangular suction cups; maintain the negative pressure of the current three suction cups, start another set of three suction cups in a triangular relationship to act on the wrinkled area and pre-stretch, and turn off the previous set of suction cups after the negative pressure stabilizes; S6, all six suction cups are fully activated for suction and flattening; the second suction gripper activates all six suction cups, adjusts the negative pressure to -70~-80kPa, and flattens the bag opening wrinkles with uniform tension. The pressure sensor detects in real time and automatically replenishes pressure. S7. The second adsorption gripper is reset and aligned; the flipping mechanism drives it to rotate to a 0° vertical position, and the lifting drive mechanism drives it to rise to the same height as the first adsorption gripper and face it directly.

5. The method for opening a ton bag according to claim 4, characterized in that, The following steps are included after step S7: S8. Double gripper clamping and bonding: The transverse drive mechanism drives the first adsorption gripper to move and bond with the second adsorption gripper on the two surfaces of the bag opening to form a clamping structure. S9. Dual gripper synchronous switching suction cups: The six suction cups of the two grippers open and close synchronously. The two outermost suction cups of the upper row and the two suction cups of the lower row are open, and the two middle suction cups are closed. Adjust the negative pressure to -75~-85kPa. S10. Pull the bag open into a square shape; the transverse drive mechanism drives the first suction gripper to move in the opposite direction at a low speed, and pulls the bag opening from a straight shape into a square shape through the edge pulling force; S11, Dual gripper secondary switching suction cup shape preservation; The six suction cups of the two suction grippers open and close simultaneously twice, the two middle suction cups of the upper row and the single suction cup of the lower row are open, and the two outermost suction cups are closed. Adjust the negative pressure to -70~-80kPa to maintain the bag opening in a square shape. S12, Operation completed and reset; the suction cup releases negative pressure, all drive mechanisms reset, and the equipment is in standby mode.

6. The method for opening a ton bag according to claim 5, characterized in that: In step S4, the three suction cups arranged in a triangular relationship are either the first one on the left of the top row, the first one on the right of the top row, and the one on the left of the bottom row, or the second one on the left of the top row, the second one on the right of the top row, and the one on the right of the bottom row. In steps S4 and S5, the two sets of triangular suction cups are complementary, and there is no adsorption gap during the suction replacement process.

7. The method for opening a ton bag according to claim 5, characterized in that: In step S3, the distance between the adsorption surface of the second adsorption claw and the aluminum-plastic film at the bag opening is 5~10mm; the rotation speed of the flipping mechanism driving the second adsorption claw and the lifting speed of the lifting drive mechanism are both controlled at low speed and stable to avoid causing hard impact on the bag opening. In step S10, the lateral drive mechanism drives the first adsorption gripper to move in the opposite direction at a speed of 3~5mm / s. The controller presets the lateral distance according to the bag opening specifications and the degree of wrinkles to ensure that the bag opening width is adapted to the feeding requirements. In step S11, the opening and closing selection of the two suction cups in the next row is dynamically adjusted according to the width and wrinkle degree of the bag opening, and is automatically matched by the controller based on the bag opening status of monocular vision positioning.

8. The method for opening a ton bag according to claim 5, characterized in that: Each suction cup is equipped with an independent pressure sensor on its air tube. The controller automatically controls the vacuum generator to replenish the pressure when the negative pressure value of the suction cup is lower than a preset threshold, based on the detection signal of the pressure sensor.

9. The method for opening a ton bag according to claim 5, characterized in that: In step S7, during the flipping and resetting process of the second adsorption claw, the six suction cups are fully adsorbed, and the longitudinal pulling force of the rotation is used to achieve secondary stretching of the bag opening folds; in step S8, the clamping process of the double claws further eliminates the local folds at the bag opening.

10. The ton bag opening method based on monocular vision and six suction cups time-sequential collaborative control according to claim 5, characterized in that: In step S8, the lateral drive mechanism drives the first adsorption gripper to move at a constant and stable speed to avoid causing a hard impact on the bag opening.

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