Bag breaking device and bag breaking method for use with a crown block

Abstract

The application relates to a bag breaking device used in cooperation with a crown block and a bag breaking method, and belongs to the technical field of unpacking equipment. The bag breaking device comprises a bag breaking mechanism, a laser range finder, a binocular vision camera and a controller. The bag breaking mechanism comprises a mounting seat slidably connected to a track of the crown block, a transverse movement driving element used for driving the mounting seat to move along the track, a support mounted below the mounting seat, a bag breaking knife support frame rotatably connected to the support, a support frame rotating driving element used for driving the bag breaking knife support frame to rotate between a folding position and an unfolding position, and a bag breaking knife mounted to the bag breaking knife support frame. The laser range finder is used for measuring the distance between the mounting seat and the crown block, and is mounted on the mounting seat. The binocular vision camera is used for identifying the ton bag position, and is mounted on the bag breaking knife support frame. The controller is connected with the transverse movement driving element, the support frame rotating driving element, the laser range finder and the binocular vision camera respectively. The bag breaking device can automatically complete bag breaking in cooperation with the crown block, and the operation efficiency is high.

Description

Technical Field

[0001] This invention belongs to the field of unpacking equipment technology, and particularly relates to a bag-breaking device and method used in conjunction with an overhead crane. Background Technology

[0002] The ton bag feeding process involves hoisting ton bags containing powder or granular materials to a feeding station, breaking open the ton bags, and allowing the materials inside to fall into a silo. This process is widely used in industries such as chemical, building materials, and plastics.

[0003] Traditional ton bag loading processes typically involve using an overhead crane to lift the ton bags to a designated location, then manually breaking open the bags and transferring the contents into production containers. However, this process is extremely cumbersome, and the materials being handled may pose health risks to workers. The improved ton bag loading technology places the bag-breaking device on the ground, using an overhead crane to hoist the ton bags onto the device before breaking them. However, this process is still very time-consuming, and after breaking the bags, they need to be stored and transferred before proceeding to the next step, adding extra equipment and time costs.

[0004] Therefore, how to provide a bag-breaking device and method that is automated, simplifies procedures, and has higher work efficiency for use with overhead cranes is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a bag-breaking device and method for use with an overhead crane. This bag-breaking device can automatically break bags in conjunction with the overhead crane, resulting in high operational efficiency.

[0006] This invention provides a bag-breaking device for use with an overhead crane, comprising: The bag-breaking mechanism includes a mounting base, a lateral drive, a bracket, a bag-breaking knife, a bag-breaking knife support frame, and a support frame rotation drive. The mounting base is slidably connected to the rail of the overhead crane to move along the rail. The lateral drive is used to drive the mounting base to move along the rail. The bracket is installed below the mounting base. With the side facing the overhead crane as the front, the rear part of the bag-breaking knife support frame is rotatably connected to the bracket to rotate relative to the bracket between a retracted position close to the front side of the bracket and an extended position away from the bracket. The support frame rotation drive is used to drive the bag-breaking knife support frame to rotate relative to the bracket. The bag-breaking knife is used to cut the ton bags suspended on the overhead crane. It is installed at the front part of the bag-breaking knife support frame. When the bag-breaking knife support frame is in the retracted position, the bag-breaking knife is stored between the bag-breaking knife support frame and the bracket. A laser rangefinder is used to measure the distance between the mounting base and the overhead crane; it is mounted on the mounting base. A binocular vision camera is used to identify the location of the ton bags. It is installed at the front of the bag-breaking knife support frame and is positioned close to the bag-breaking knife. The controller is connected to the lateral movement drive, the support frame rotation drive, the laser rangefinder, and the binocular vision camera, respectively. It is used to control the lateral movement drive to move the mounting base according to the measurement results of the laser rangefinder and the recognition results of the binocular vision camera, and to control the support frame rotation drive to rotate the bag-breaking knife support frame between the retracted position and the unfolded position.

[0007] In some embodiments, the bag-breaking mechanism further includes a connecting seat connected to the bracket, and the bag-breaking knife support frame is hinged to the connecting seat via a connecting rod. One end of the connecting rod is hinged to the front of the connecting seat, and the other end is hinged to the rear of the bag-breaking knife support frame. The support frame rotation drive is an electric push cylinder, with one end of the electric push cylinder hinged to the rear of the connecting seat and the other end hinged to the rear end of the bag-breaking knife support frame.

[0008] In some embodiments, a joint motor is provided at the hinge joint between the connecting rod and the connecting seat for adjusting the rotation angle of the connecting rod relative to the connecting seat. The controller is connected to the joint motor to control the joint motor to adjust the rotation angle of the connecting rod relative to the connecting seat, thereby regulating the rotation and position of the bag-breaking knife support frame.

[0009] In some embodiments, the connecting seat is slidably connected to the bracket to move up and down along the bracket, and a support frame lifting drive assembly is provided between the connecting seat and the bracket for driving the connecting seat to move up and down along the bracket. The controller is connected to the support frame lifting drive assembly to control the support frame lifting drive assembly to drive the connecting seat to move up and down along the bracket.

[0010] In some embodiments, the sidewall of the bracket is fitted with a vertically extending guide rail, and the connecting seat is provided with a slider that is slidably connected to the guide rail.

[0011] In some embodiments, the support frame lifting drive assembly includes a rack mounted vertically on the side wall of the support and a lifting drive motor mounted on the connecting seat, the output shaft of the lifting drive motor being connected to a gear that meshes with the rack.

[0012] In some embodiments, the bracket is equipped with a first limiting block for abutting against the connector from above to define the highest position of the connector and a second limiting block for abutting against the connector from below to define the lowest position of the connector.

[0013] In some embodiments, the mounting base is equipped with rollers that roll along the track, and the lateral drive is a lateral drive motor connected to the rollers.

[0014] The present invention also provides a bag-breaking method for use with an overhead crane, wherein the bag is broken using the bag-breaking device for use with an overhead crane as described in any of the above technical solutions, including the following steps: S1. Based on the size of the ton bag to be broken and the size of the bag-breaking knife support frame of the bag-breaking device, set a safe distance between the mounting base and the overhead crane that satisfies the condition that the ton bag does not interfere with the rotation and unfolding of the bag-breaking knife support frame. S2. The bag breaking device moves along the overhead crane track with the overhead crane that suspends the ton bag. During the movement, the bag breaking knife support frame of the bag breaking device remains in the retracted position. The laser rangefinder measures the distance between the mounting base and the overhead crane in real time and sends the measurement result to the controller. The controller controls the transverse drive to adjust the moving speed of the mounting base along the track according to the measurement result of the laser rangefinder, so that the distance between the mounting base and the overhead crane is kept at a safe interval. S3. After the overhead crane reaches the designated transportation position, the controller controls the support frame rotation drive to drive the bag-breaking knife support frame to rotate relative to the bracket to the unfolded position. S4. The binocular vision camera identifies the center position of the ton bag and sends the identification result to the controller. Based on the identification result of the binocular vision camera, the controller controls the transverse drive to drive the mounting base to move along the track towards the overhead crane until the bag-breaking knife reaches the position directly below the center of the ton bag. S5. The controller controls the support frame to rotate, which drives the bag-breaking knife support frame to rotate upward, so as to drive the bag-breaking knife to cut the ton bag.

[0015] In some embodiments, in step S2, the bag-breaking device maintains the connecting seat at its highest position during movement; in step S3, after the overhead crane reaches the designated transport position, the controller further includes: controlling the support frame lifting drive assembly to drive the connecting seat down along the support to the lowest position; in step S5, the controller further includes: controlling the support frame lifting drive assembly to drive the connecting seat up along the support to cooperate with the rotation of the bag-breaking knife support frame, thereby driving the bag-breaking knife to cut the ton bag.

[0016] Compared with the prior art, the advantages and beneficial effects of the present invention are as follows: 1. The bag-breaking device provided by this invention, which is used in conjunction with an overhead crane, relies on a mounting base that can slide along the crane track and is equipped with a transverse drive component to realize the synchronous movement of the entire bag-breaking device with the crane. It can break the ton bags suspended by the crane at a designated position during ton bag transportation, so that the material in the ton bag can directly enter the machine of the next process. Compared with the traditional ground-fixed bag-breaking device, it eliminates redundant processes such as material transfer and significantly improves work efficiency. 2. In the bag-breaking device used with the overhead crane provided by the present invention, the bag-breaking knife is installed on a rotatable bag-breaking knife support frame. During the movement of the bag-breaking device with the overhead crane, the bag-breaking knife support frame can be rotated to a retracted position so that the bag-breaking knife can be stored between the bag-breaking knife support frame and the bracket, thus avoiding the risk of the bag-breaking knife being exposed. 3. The bag-breaking device provided by this invention, used in conjunction with an overhead crane, monitors the distance between the mounting base and the overhead crane in real time using a laser rangefinder. Combined with a controller, it dynamically adjusts the movement of the bag-breaking device with the overhead crane, ensuring that the bag-breaking device and the overhead crane maintain a safe distance that does not affect the rotation and unfolding of the bag-breaking knife support frame. This prevents the ton bag from interfering with the rotation of the bag-breaking knife support frame when bag breaking is required, ensuring operational stability. Simultaneously, the built-in binocular vision camera can accurately identify the center position of the ton bag. In conjunction with the controller, it can precisely control the bag-breaking knife to perform the bag-breaking operation, significantly improving the automation level and operational efficiency of the ton bag bag-breaking operation. 4. The bag-breaking method provided by this invention, used in conjunction with an overhead crane, employs a bag-breaking device that works in conjunction with the crane. During operation, the bag-breaking device moves synchronously with the crane and dynamically adjusts its distance in real time to maintain a safe operating state. During the movement phase, the bag-breaking blade is retracted to eliminate any safety hazards caused by exposure. Upon reaching the operating position, the bag-breaking blade support frame unfolds to expose the blade. A binocular vision camera identifies the center of the ton bag, and then automatically controls the bag-breaking blade to perform the cutting and bag-breaking action. This achieves the integration of the bag-breaking device moving with the crane, precise positioning of the ton bag, and automatic bag-breaking throughout the entire process. The operation process is simplified, the efficiency of ton bag bag breaking is high, and the material after bag breaking can directly enter the next process without transfer. It is suitable for large-scale feeding production scenarios of powder and granular materials in various industries such as chemical and building materials. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the bag-breaking device used with an overhead crane according to an embodiment of the present invention, with the bag-breaking knife support frame in the extended position, from one perspective. Figure 2 for Figure 1 A magnified view of a section at point A in the middle; Figure 3 for Figure 1 A magnified view of a section at point B in the middle; Figure 4 This is a schematic diagram of the bag-breaking device used with an overhead crane according to an embodiment of the present invention, with the bag-breaking knife support frame in the extended position, from another perspective. Figure 5 A schematic diagram of the structure of a bag-breaking device used with an overhead crane according to an embodiment of the present invention, with the bag-breaking knife support frame in the retracted position; Figure 6 This is a schematic diagram of the assembly structure of the connecting seat and the bracket in a bag-breaking device used with an overhead crane according to an embodiment of the present invention; Figure 7The control block diagram of the controller, lateral drive component, support frame rotation drive component, joint motor, support frame lifting drive assembly, laser rangefinder and binocular vision camera in a bag-breaking device used with an overhead crane according to an embodiment of the present invention; Figure 8 This is a flowchart of a bag-breaking method used in conjunction with an overhead crane, as provided in one embodiment of the present invention.

[0018] In the picture: 1. Overhead crane; 2. Tonnage bag; 3. Track; 4. Bag breaking mechanism; 5. Laser rangefinder; 6. Binocular vision camera; 7. Controller; 41. Mounting base; 411. Roller; 42. Lateral movement drive component; 43. Bracket; 431. Guide rail; 432. First limit block; 433. Second limit block; 44. Connecting seat; 441. Joint motor; 442. Slider; 45. Support frame lifting drive assembly; 451. Rack; 452. Lifting drive motor; 453. Gear; 46. Support frame rotation drive component; 47. Connecting rod; 48. Bag breaking knife; 49. Bag breaking knife support frame. Detailed Implementation

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] As attached Figures 1-7 As shown, in an illustrative embodiment of the bag-breaking device used with the overhead crane 1 according to the present invention, the bag-breaking device includes a bag-breaking mechanism 4, a laser rangefinder 5, a binocular vision camera 6, and a controller 7; the bag-breaking mechanism 4 includes a mounting base 41, a lateral drive 42, a bracket 43, a bag-breaking knife 48, a bag-breaking knife support frame 49, and a support frame rotation drive 46; the mounting base 41 is slidably connected to the track 3 of the overhead crane 1 to move along the track 3; the lateral drive 42 is used to drive the mounting base 41 to move along the track 3; the bracket 43 is mounted below the mounting base 41; with the side facing the overhead crane 1 as the front, the rear part of the bag-breaking knife support frame 49 is rotatably connected to the bracket 43 to rotate relative to the bracket 43 between a retracted position close to the front side of the bracket 43 and an extended position away from the bracket 43; the support frame rotation drive 46 is used to drive the bag-breaking knife support frame 49 to rotate relative to the bracket 43. The bag-breaking knife 48 is used to cut the ton bag 2 suspended on the overhead crane 1. It is installed at the front of the bag-breaking knife support frame 49. When the bag-breaking knife support frame 49 is in the retracted position, the bag-breaking knife 48 is stored between the bag-breaking knife support frame 49 and the bracket 43. The laser rangefinder 5 is used to measure the distance between the mounting base 41 and the overhead crane 1. It is installed on the mounting base 41. The binocular vision camera 6 is used to identify the position of the ton bag 2. It is installed at the front of the bag-breaking knife support frame 49 and is set close to the bag-breaking knife 48. The controller 7 is connected to the lateral drive 42, the support frame rotation drive 46, the laser rangefinder 5 and the binocular vision camera 6 respectively. It is used to control the lateral drive 42 to drive the mounting base 41 to move according to the measurement result of the laser rangefinder 5 and the identification result of the binocular vision camera 6, and to control the support frame rotation drive 46 to drive the bag-breaking knife support frame 49 to rotate between the retracted position and the extended position.

[0024] The bag-breaking device used in conjunction with the overhead crane 1, relying on the mounting base 41 that can slide along the track 3 of the overhead crane 1, and in conjunction with the transverse drive component 42, enables the entire bag-breaking device to move synchronously with the overhead crane 1. It can break the bags 2 suspended by the overhead crane 1 at a designated position during the transport of the ton bags 2, allowing the material in the ton bags 2 to directly enter the machine of the next process. Compared with the traditional ground-fixed bag-breaking device, it eliminates redundant processes such as material transfer, significantly improving work efficiency. At the same time, in the bag-breaking device used in conjunction with the overhead crane 1, the bag-breaking knife 48 is mounted on a flip-up bag-breaking knife support frame 49. During the movement of the bag-breaking device with the overhead crane 1, the bag-breaking knife support frame 49 can be flipped to a retracted position so that the bag-breaking knife 48 is stored between the bag-breaking knife support frame 49 and the bracket 43, avoiding the risk of the bag-breaking knife 48 being exposed. Furthermore, the bag-breaking device used in conjunction with the overhead crane 1 uses a laser rangefinder 5 to monitor the distance between the mounting base 41 and the overhead crane 1 in real time. With the controller 7, the device is dynamically adjusted to move with the overhead crane 1. This ensures that the bag-breaking device and the overhead crane 1 are kept at a safe distance that does not affect the rotation and unfolding of the bag-breaking knife support frame 49. This prevents the ton bag 2 from interfering with the rotation of the bag-breaking knife support frame 49 when bag breaking is required, thus ensuring operational stability. At the same time, the binocular vision camera 6 can accurately identify the center position of the ton bag 2. In conjunction with the controller 7, it can precisely control the bag-breaking knife 48 to perform bag breaking operations, significantly improving the automation level and operational efficiency of the bag breaking operation of the ton bag 2.

[0025] like Figure 1 , Figure 4 and Figure 5 As shown, the bag-breaking mechanism 4 also includes a connecting seat 44 connected to the bracket 43. The bag-breaking knife support frame 49 is hinged to the connecting seat 44 via a connecting rod 47. One end of the connecting rod 47 is hinged to the front of the connecting seat 44, and the other end is hinged to the rear of the bag-breaking knife support frame 49. The support frame rotation drive 46 is an electric cylinder, with one end hinged to the rear of the connecting seat 44 and the other end hinged to the rear end of the bag-breaking knife support frame 49. By setting the connecting seat 44 and the connecting rod 47, the bag-breaking knife support frame 49 is rotatably connected to the bracket 43. The electric cylinder, hinged to the connecting seat 44 and the bag-breaking knife support frame 49, serves as the support frame rotation drive 46, constructing a stable four-bar linkage 47 transmission mechanism, effectively improving the smoothness and structural rigidity of the bag-breaking knife support frame 49 during rotation. It should be noted that the controller 7 controls the extension and retraction of the electric cylinder to achieve the flipping control of the bag-breaking knife support frame 49.

[0026] like Figure 4 and Figure 7As shown, a joint motor 441 is provided at the hinge joint between the connecting rod 47 and the connecting seat 44 for adjusting the rotation angle of the connecting rod 47 relative to the connecting seat 44. The controller 7 is connected to the joint motor 441 to control the joint motor 441 to adjust the rotation angle of the connecting rod 47 relative to the connecting seat 44, thereby controlling the rotation and position of the bag-breaking knife support frame 49. By adding a joint motor 441 at the hinge joint between the connecting rod 47 and the connecting seat 44, and controlling it through the controller 7, the rotation angle of the connecting rod 47 relative to the connecting seat 44 can be precisely controlled. Combined with the driving action of the electric push cylinder, the rotation amplitude and placement angle of the bag-breaking knife support frame 49 can be finely adjusted, breaking the limitation of the fixed angle of the traditional single electric push cylinder driving action, and helping to avoid jamming during the rotation of the bag-breaking knife support frame 49.

[0027] like Figure 4 , Figure 6 and Figure 7 As shown, the connecting seat 44 is slidably connected to the bracket 43 to move up and down along the bracket 43. A support frame lifting drive assembly 45 is provided between the connecting seat 44 and the bracket 43 to drive the connecting seat 44 to move up and down along the bracket 43. The controller 7 is connected to the support frame lifting drive assembly 45 to control the support frame lifting drive assembly 45 to drive the connecting seat 44 to move up and down along the bracket 43. By adding a lifting structure to the connecting seat 44, the connecting seat 44 can move vertically up and down along the bracket 43. By controlling the support frame lifting drive assembly 45 in conjunction with the controller 7, the bag-breaking operation height of the bag-breaking knife 48 can be precisely adjusted, which can adapt to ton bags 2 with different lifting heights and different sizes, greatly expanding the applicable working conditions of the bag-breaking device and breaking through the operational limitations of the fixed height of traditional bag-breaking devices.

[0028] like Figure 6 As shown, a vertically extending guide rail 431 is installed on the side wall of the bracket 43, and a slider 442 is slidably connected to the guide rail 431. By adding a sliding engagement structure between the vertical guide rail 431 and the slider 442, the lifting and lowering trajectory of the connecting seat 44 can be effectively constrained, ensuring that the connecting seat 44 only lifts and lowers smoothly in the vertical direction, completely eliminating problems such as left and right deviation, swaying, and tilting during the lifting and lowering process. Preferably, multiple side walls of the bracket 43 are respectively provided with guide rails 431, and the connecting seat 44 is slidably connected to the guide rails 431 through sliders 442 that are arranged one-to-one with the guide rails 431. Thus, through the cooperation of multiple guide rails 431 and sliders 442, the connecting seat 44 is smoothly guided.

[0029] like Figure 6As shown, the support frame lifting drive assembly 45 includes a rack 451 vertically mounted on the side wall of the support 43 and a lifting drive motor 452 mounted on the connecting seat 44. The output shaft of the lifting drive motor 452 is connected to a gear 453 that meshes with the rack 451. Through the support frame lifting drive assembly 45, which engages with the gear 453 and the rack 451, stepless and precise lifting adjustment of the connecting seat 44 can be achieved, which can match the bag breaking height requirements of different ton bags 2.

[0030] like Figures 4-6 As shown, the bracket 43 is equipped with a first limiting block 432 for abutting against the connecting seat 44 from above to limit the highest position of the connecting seat 44, and a second limiting block 433 for abutting against the connecting seat 44 from below to limit the lowest position of the connecting seat 44. The first limiting block 432 limits the highest position of the connecting seat 44 when it rises, preventing excessive lifting of the connecting seat 44 and resulting in structural collision; the second limiting block 433 limits the lowest position of the connecting seat 44 when it descends, preventing the connecting seat 44 from detaching from the bracket 43.

[0031] like Figure 4 As shown, the mounting base 41 is equipped with rollers 411 that roll along the track 3, and the transverse drive component 42 is a transverse drive motor connected to the rollers 411. By using the rollers 411 in conjunction with the transverse drive motor, the mounting base 41 can move automatically and smoothly along the track 3 of the overhead crane 1.

[0032] like Figure 8 As shown, based on the bag-breaking device used in conjunction with the overhead crane 1, this embodiment of the invention also provides a bag-breaking method used in conjunction with the overhead crane 1. The method for breaking bags using the aforementioned bag-breaking device for the overhead crane 1 includes the following steps: S1. Based on the size of the ton bag 2 to be broken and the size of the bag breaking knife support frame 49 of the bag breaking device, set a safe distance between the mounting base 41 and the overhead crane 1 to ensure that the ton bag 2 does not interfere with the rotation and unfolding of the bag breaking knife support frame 49. S2. The bag breaking device moves along the track 3 of the overhead crane 1, which suspends the ton bag 2. During the movement, the bag breaking knife support frame 49 of the bag breaking device remains in the retracted position. The laser rangefinder 5 measures the distance between the mounting base 41 and the overhead crane 1 in real time and sends the measurement result to the controller 7. The controller 7 controls the lateral drive component 42 to adjust the moving speed of the mounting base 41 along the track 3 according to the measurement result of the laser rangefinder 5, so that the distance between the mounting base 41 and the overhead crane 1 is kept at a safe interval. S3. After the overhead crane 1 reaches the designated transportation position, the controller 7 controls the support frame rotation drive 46 to drive the bag-breaking knife support frame 49 to rotate relative to the bracket 43 to the unfolded position. S4. The binocular vision camera 6 identifies the center position of the ton bag 2 and sends the identification result to the controller 7. According to the identification result of the binocular vision camera 6, the controller 7 controls the transverse drive 42 to drive the mounting base 41 to move along the track 3 towards the direction close to the crane 1 until the bag breaking knife 48 reaches the position directly below the center of the ton bag 2. S5, controller 7 controls the support frame rotation drive 46 to drive the bag-breaking knife support frame 49 to rotate upward, so as to drive the bag-breaking knife 48 to cut the ton bag 2.

[0033] The bag-breaking method described above, used in conjunction with the overhead crane 1, employs a bag-breaking device that works in conjunction with the overhead crane 1. During the operation, the bag-breaking device moves synchronously with the overhead crane 1 and dynamically adjusts its distance in real time to maintain a safe operating state. During the movement phase of the bag-breaking device, the bag-breaking blade 48 is retracted to eliminate any safety hazards caused by exposure. After reaching the operating position, the bag-breaking blade support frame 49 unfolds to expose the bag-breaking blade 48. Relying on the binocular vision camera 6 to identify the center of the ton bag 2, the device automatically controls the bag-breaking blade 48 to perform the cutting and bag-breaking action. This achieves the integration of the bag-breaking device moving with the overhead crane 1, the precise positioning of the ton bag 2, and the automatic bag-breaking process. The operation process is simplified, the bag-breaking efficiency of the ton bag 2 is high, and the material after bag breaking can directly enter the next process without transfer. This method is suitable for large-scale feeding production scenarios of powder and granular materials in various industries such as chemical and building materials.

[0034] Specifically, in step S2, the controller 7 uses the safety interval distance as the set value and controls the speed of the transverse drive motor based on PID control logic according to the deviation between the actual distance between the connecting seat 44 and the overhead crane 1 and the set safety interval distance. It should be noted that PID control is a conventional control method in this field.

[0035] Specifically, in steps S3 and S5, the controller 7 controls the rotation of the bag-breaking knife support frame 49 by controlling the extension and retraction of the electric push cylinder and the rotation of the joint motor 441.

[0036] Specifically, in step S4, since the binocular vision camera 6 has two cameras with a fixed distance between them, the position of the ton bag 2 in the images captured by the two cameras will differ. This difference is called parallax. The closer the ton bag 2 is to the camera, the greater the parallax; the farther away it is, the smaller the parallax. The binocular vision camera 6 uses a deep neural network algorithm (specifically, the YOLO model) to recognize the images. By comparing it with pre-stored ton bag images, it automatically determines whether the ton bag 2 exists in the image and determines the boundary contour of the ton bag 2. After recognizing the ton bag 2, it calculates the parallax by finding the same feature pixels on the ton bag 2 in the images captured by the two cameras. Then, based on the focal length and binocular baseline distance calibrated by the binocular vision camera 6, it calculates the actual distance from the ton bag 2 to the camera through triangulation, thereby achieving the positioning of the ton bag 2. Finally, combined with the image of the ton bag 2, the center position of the ton bag is obtained. It should be noted that the above method for positioning the ton bag 2 by the binocular vision camera 6 is a conventional method used by the binocular vision camera 6 and will not be described in detail here.

[0037] When the bag-breaking knife support frame 49 is installed using the connecting seat 44 that rises and falls along the support 43, in step S2, the bag-breaking device keeps the connecting seat 44 at its highest position during movement; in step S3, after the overhead crane 1 reaches the designated transportation position, the controller 7 controls the support frame lifting drive assembly 45 to drive the connecting seat 44 to descend along the support 43 to the lowest position; in step S5, the controller 7 controls the support frame lifting drive assembly 45 to drive the connecting seat 44 to rise along the support 43 to cooperate with the rotation of the bag-breaking knife support frame 49 and drive the bag-breaking knife 48 to cut the ton bag 2.

[0038] Furthermore, it should be noted that after the bag is broken, the controller 7 controls the support frame rotation drive 46 to drive the bag-breaking knife support frame 49 to rotate relative to the bracket 43 to the retracted position, so as to retract the bag-breaking knife 48. When the bag-breaking knife support frame 49 is installed using the connecting seat 44 that rises and falls along the bracket 43, after the bag is broken, the controller 7 also controls the support frame lifting drive assembly 45 to drive the connecting seat 44 to rise along the bracket 43 to the highest position.

[0039] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0040] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A bag-breaking device used in conjunction with an overhead crane, characterized in that, include: The bag-breaking mechanism includes a mounting base, a transverse drive component, a bracket, a bag-breaking knife, a bag-breaking knife support frame, and a support frame rotation drive component; The mounting base is slidably connected to the overhead crane's track for movement along the track; the lateral drive is used to drive the mounting base to move along the track; the bracket is installed below the mounting base; with the side facing the overhead crane as the front, the rear part of the bag-breaking knife support frame is rotatably connected to the bracket, and rotates relative to the bracket between a retracted position close to the front side of the bracket and an extended position away from the bracket; the support frame rotation drive is used to drive the bag-breaking knife support frame to rotate relative to the bracket; the bag-breaking knife is used to cut the ton bags suspended on the overhead crane, and is installed at the front part of the bag-breaking knife support frame. When the bag-breaking knife support frame is in the retracted position, the bag-breaking knife is stored between the bag-breaking knife support frame and the bracket; A laser rangefinder, used to measure the distance between the mounting base and the overhead crane, is mounted on the mounting base; A binocular vision camera, used to identify the position of the ton bag, is installed at the front of the bag-breaking knife support frame and is positioned close to the bag-breaking knife; The controller is connected to the lateral movement drive, the support frame rotation drive, the laser rangefinder, and the binocular vision camera, respectively. It is used to control the lateral movement drive to move the mounting base according to the measurement results of the laser rangefinder and the recognition results of the binocular vision camera, and to control the support frame rotation drive to rotate the bag-breaking knife support frame between the retracted position and the unfolded position.

2. The bag-breaking device for use with an overhead crane according to claim 1, characterized in that, The bag-breaking mechanism further includes a connecting seat connected to the bracket. The bag-breaking knife support frame is hinged to the connecting seat via a connecting rod. One end of the connecting rod is hinged to the front of the connecting seat, and the other end is hinged to the rear of the bag-breaking knife support frame. The support frame rotation drive is an electric push cylinder. One end of the electric push cylinder is hinged to the rear of the connecting seat, and the other end is hinged to the rear end of the bag-breaking knife support frame.

3. The bag-breaking device for use with an overhead crane according to claim 2, characterized in that, The hinge joint between the connecting rod and the connecting seat is provided with a joint motor for adjusting the rotation angle of the connecting rod relative to the connecting seat. The controller is connected to the joint motor to control the joint motor to adjust the rotation angle of the connecting rod relative to the connecting seat, thereby controlling the rotation and position of the bag-breaking knife support frame.

4. The bag-breaking device for use with an overhead crane according to claim 2, characterized in that, The connecting seat is slidably connected to the bracket to move up and down along the bracket. A support frame lifting drive assembly is provided between the connecting seat and the bracket for driving the connecting seat to move up and down along the bracket. The controller is connected to the support frame lifting drive assembly to control the support frame lifting drive assembly to drive the connecting seat to move up and down along the bracket.

5. The bag-breaking device for use with an overhead crane according to claim 4, characterized in that, The bracket sidewall is fitted with a vertically extending guide rail, and the connecting seat is provided with a slider that is slidably connected to the guide rail.

6. The bag-breaking device for use with an overhead crane according to claim 4, characterized in that, The support frame lifting drive assembly includes a rack mounted vertically on the side wall of the support and a lifting drive motor mounted on the connecting seat. The output shaft of the lifting drive motor is connected to a gear that meshes with the rack.

7. The bag-breaking device for use with an overhead crane according to claim 4, characterized in that, The bracket is equipped with a first limiting block for abutting the connector from above to limit the highest position of the connector, and a second limiting block for abutting the connector from below to limit the lowest position of the connector.

8. The bag-breaking device for use with an overhead crane according to claim 1, characterized in that, The mounting base is equipped with rollers that roll along the track, and the lateral drive is a lateral drive motor connected to the rollers.

9. A bag-breaking method used in conjunction with an overhead crane, characterized in that, The bag-breaking device described in any one of claims 1-8, used in conjunction with an overhead crane, comprises the following steps: S1. Based on the size of the ton bag to be broken and the size of the bag-breaking knife support frame of the bag-breaking device, set a safe distance between the mounting base and the overhead crane that satisfies the condition that the ton bag does not interfere with the rotation and unfolding of the bag-breaking knife support frame. S2. The bag-breaking device moves along the track of the overhead crane, following the crane that suspends the ton bag. During the movement, the bag-breaking knife support frame of the bag-breaking device remains in the retracted position. The laser rangefinder measures the distance between the mounting base and the overhead crane in real time and sends the measurement result to the controller. The controller controls the lateral drive to adjust the moving speed of the mounting base along the track according to the measurement result of the laser rangefinder, so that the distance between the mounting base and the overhead crane is maintained at the safe interval distance. S3. After the overhead crane reaches the designated transportation position, the controller controls the support frame rotation drive to drive the bag-breaking knife support frame to rotate relative to the bracket to the unfolded position. S4. The binocular vision camera identifies the center position of the ton bag and sends the identification result to the controller. Based on the identification result of the binocular vision camera, the controller controls the lateral drive to drive the mounting base to move along the track towards the overhead crane until the bag-breaking knife reaches the position directly below the center of the ton bag. S5. The controller controls the support frame rotation drive to drive the bag-breaking knife support frame to rotate upward, so as to drive the bag-breaking knife to cut the ton bag.

10. The bag-breaking method used in conjunction with an overhead crane according to claim 9, characterized in that, In step S2, the bag-breaking device maintains the connecting seat at the highest position during the movement process; In step S3, after the overhead crane reaches the designated transportation position, the controller further includes: the controller controlling the support frame lifting drive assembly to drive the connecting seat to descend along the support to the lowest position; step S5 further includes: the controller controlling the support frame lifting drive assembly to drive the connecting seat to rise along the support, so as to cooperate with the rotation of the bag-breaking knife support frame and drive the bag-breaking knife to cut the ton bag.

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