Bag opening device and feeding equipment

Abstract

The utility model provides a bag opening device and feeding equipment, the bag opening device comprises a base, a visual identification mechanism, a grabbing mechanism and a bag opening and boxing mechanism, the base is used for placing raw material bags, the visual identification mechanism can identify the position information of the raw material bags, and the grabbing mechanism is used for grabbing the raw material bags. The grabbing mechanism grabs the raw material bags based on the position information of the raw material bags and conveys the raw material bags to the bag opening and boxing mechanism for bag opening and boxing, the automatic bag opening and boxing process is achieved, and therefore the labor cost is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial equipment, in particular to a bag opening device and feeding equipment. Background Art

[0002] In the relevant industrial technology, the process of bagging and boxing of bagged raw materials is all done manually, and the process is as follows: manually taking the bagged raw materials out of the panel box - cutting the bag with a knife - pouring the raw materials into the empty box - closing the box cover. Due to the large daily demand for raw materials in the industrial production process and the high workload of workers, the manual bagging and loading method is inconvenient to operate and affects production efficiency. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model proposes a bag opening device, which aims to improve the bag opening efficiency and production efficiency.

[0004] An embodiment of the second aspect of the utility model provides a feeding device.

[0005] The bag opening device according to the first embodiment of the utility model comprises:

[0006] A base for placing raw material bags;

[0007] A visual recognition mechanism, adapted to recognize the position information of the raw material bag;

[0008] A grabbing mechanism and a bag opening and boxing mechanism, wherein the grabbing mechanism is suitable for grabbing the raw material bag based on the position information of the raw material bag, and conveying the raw material bag to the bag opening and boxing mechanism for opening the bag and loading it into a material box.

[0009] The bag opening device of the embodiment of the utility model includes a base, a visual recognition mechanism, a grabbing mechanism and a bag opening and packing mechanism. The base is used to place the raw material bags. The visual recognition mechanism can identify the position information of the raw material bags. The grabbing mechanism grabs the raw material bags based on the position information of the raw material bags and transports them to the bag opening and packing mechanism for bag opening and packing, thereby realizing an automated bag opening and packing process, thereby reducing labor costs and improving production efficiency.

[0010] According to the bag opening device of the embodiment of the utility model, the visual recognition mechanism includes:

[0011] Fixed frame;

[0012] A visual recognition component, movably disposed on the fixing frame;

[0013] A driving component is connected to the visual recognition component to drive the visual recognition component to move along the fixing frame.

[0014] According to the bag opening device of the embodiment of the utility model, the bag opening and boxing mechanism comprises:

[0015] a vibration flattening component, adapted to receive the raw material bag grasped by the grasping mechanism and vibrate the raw material bag to flatten the inner bag and the outer bag of the raw material bag;

[0016] A transfer component, adapted to grab and transfer the flattened raw material bag;

[0017] The bag cutting and unloading component is suitable for clamping and cutting the raw material bag conveyed by the transfer component, and turning the raw material bag over to unload the material.

[0018] According to the bag opening device of the embodiment of the utility model, the vibration flattening component comprises:

[0019] The vibration box comprises a bottom plate, side plates arranged on both sides of the bottom plate, and a cover plate with a movable cover arranged above the bottom plate;

[0020] A driving member connected to the vibration box to drive the vibration box to vibrate and the cover to open and close;

[0021] The rotating member is connected to the vibration box and is used to drive the vibration box to rotate so that the raw materials in the raw material bag are concentrated to the bottom.

[0022] According to the bag opening device of the embodiment of the utility model, the transfer component includes:

[0023] A gripper adapted to be opened or closed to clamp or release the top of the raw material bag;

[0024] A lateral driving member connected to the gripper to drive the gripper to move lateraly;

[0025] A longitudinal driving member is connected to the gripper to drive the gripper to move longitudinally.

[0026] According to the bag opening device of the embodiment of the utility model, the gripper is connected to at least one of the transverse driving member and the longitudinal driving member via a connecting bracket.

[0027] According to the bag opening device of the embodiment of the utility model, the bag cutting and unloading assembly comprises:

[0028] A clamping unit, adapted to clamp the bottom of the raw material bag;

[0029] A bag cutting unit, slidably disposed on the clamping unit to cut open the raw material bag;

[0030] A material pouring unit is installed below the clamping unit, and the material pouring unit is equipped with a clamping unit for clamping the raw material bag;

[0031] The turning unit is connected to the material pouring unit and is used to drive the material pouring unit to turn over so as to pour the material.

[0032] According to the bag opening device of the embodiment of the utility model, the clamping unit includes a plurality of groups of clamping claws that are independent of each other and arranged at intervals, and the plurality of groups of clamping units are suitable for clamping and loosening in sequence to realize material pouring.

[0033] According to the bag opening device of the embodiment of the utility model, a beating unit is provided on at least one side of the pouring unit, and the beating unit is suitable for moving relative to the raw material bag to beat the raw material bag.

[0034] According to the bag opening device of the embodiment of the utility model, the bag cutting and pouring assembly further comprises a funnel, the inlet end of the funnel is arranged below the pouring unit, and the outlet end of the funnel is arranged corresponding to the material box.

[0035] According to the bag opening device of the embodiment of the utility model, the bag opening device further includes at least one of the following:

[0036] A dust removal unit, the dust removal unit is communicated with the inner space of the bag cutting and pouring assembly to remove dust;

[0037] The waste bag recovery unit is used to recover the raw material bags that have been cut and emptied.

[0038] According to the bag opening device of the embodiment of the utility model, the grabbing mechanism comprises:

[0039] Robotic arm;

[0040] A suction component connected to the mechanical arm, wherein the suction component is suitable for sucking the raw material bag;

[0041] A connecting plate connects the mechanical arm and the suction component.

[0042] According to the bag opening device of the embodiment of the utility model, the raw material bag includes an inner bag and an outer bag which are mutually nested, a vacuum layer is formed between the inner bag and the outer bag, and the gripping mechanism is provided with a puncture assembly, and the puncture assembly includes:

[0043] Drive unit;

[0044] A puncture member is connected to the driving part, and the puncture member is suitable for reciprocating to puncture the vacuum layer.

[0045] According to the bag opening device of the embodiment of the utility model, the suction component includes:

[0046] An air intake plate connected to the connecting plate;

[0047] A plurality of adjusting rods, each of which is movably disposed on the air suction plate to adjust the height of the adjusting rod;

[0048] A plurality of suction cups are mounted on the adjusting rods correspondingly.

[0049] According to the bag opening device of the embodiment of the utility model, at least one extension rod is arranged between the connecting plate and the suction assembly.

[0050] The feeding device according to the second embodiment of the utility model includes:

[0051] The bag opening device according to any one of the above embodiments;

[0052] A conveying device, adapted to convey the material box;

[0053] The cover opening and closing device is arranged on the conveying device and is suitable for opening and closing the material box.

[0054] According to the feeding equipment of the embodiment of the utility model, the cover opening and closing device comprises:

[0055] Mounting bracket;

[0056] A moving mechanism, disposed on the mounting bracket and adapted to move along the mounting bracket;

[0057] A box cover gripper is installed on the moving mechanism, and the box cover gripper is suitable for clamping and loosening the box cover of the material box.

[0058] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0060] Figure 1 It is a structural schematic diagram of a feeding device provided in an embodiment of the utility model;

[0061] Figure 2 It is a structural schematic diagram of the bag opening and packing mechanism provided by an embodiment of the utility model;

[0062] Figure 3 It is a structural schematic diagram of a vibration flattening assembly provided in an embodiment of the utility model;

[0063] Figure 4It is a schematic diagram of the structure of the transfer assembly provided by an embodiment of the utility model;

[0064] Figure 5 It is a structural schematic diagram of a bag cutting and unloading assembly provided in an embodiment of the utility model;

[0065] Figure 6 It is a structural schematic diagram of a visual recognition mechanism provided by an embodiment of the utility model;

[0066] Figure 7 It is a structural schematic diagram of a grabbing mechanism provided by an embodiment of the utility model;

[0067] Figure 8 It is a structural schematic diagram of the opening and closing cover device provided in an embodiment of the utility model.

[0068] Reference numerals:

[0069] 100. Base;

[0070] 200, visual recognition mechanism; 210, fixed frame; 220, visual recognition component; 230, driving component;

[0071] 300, grabbing mechanism; 310, mechanical arm; 320, suction assembly; 330, connecting plate; 340, puncture assembly; 341, driving unit; 342, puncture member; 321, suction plate; 322, adjustment rod; 323, suction cup; 350, extension rod;

[0072] 400, bag opening and packing mechanism; 410, vibration flattening assembly; 420, transfer assembly; 430, bag cutting and dumping assembly; 440, dust removal unit; 450, waste bag recovery unit; 411, vibration box; 4111, bottom plate; 4112, side plate; 4113, cover plate; 412, driving member; 413, rotating member; 421, gripper; 422, transverse driving member; 423, longitudinal driving member; 424, connecting bracket; 431, clamping unit; 432, bag cutting unit; 433, dumping unit; 434, clamping unit; 435, turning unit; 4341, clamping claw; 436, beating unit; 437, funnel;

[0073] 500. conveying device;

[0074] 600, cover opening and closing device; 610, mounting bracket; 620, moving mechanism; 630, box cover gripper. DETAILED DESCRIPTION

[0075] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0076] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model 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 therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0077] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0078] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0079] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0080] The embodiments of the present utility model refer to Figure 1-Figure 8 As shown, a bag opening device and a feeding device are provided.

[0081] According to an embodiment of the present utility model, please refer to Figure 1 and Figure 2 According to the embodiment of the utility model, the bag opening device includes a base 100 for placing raw material bags; a visual recognition mechanism 200, suitable for identifying the position information of the raw material bags; a grabbing mechanism 300 and a bag opening and packing mechanism 400. The grabbing mechanism 300 is suitable for grabbing the raw material bags based on the position information of the raw material bags, and conveying the raw material bags to the bag opening and packing mechanism 400 for bag opening and packing into the material box.

[0082] In this embodiment, the base 100 can be a platform or bracket for placing raw material bags. A material frame can be placed on the base 100. The material frames usually contain raw material bags filled with raw materials to effectively organize and store the raw materials, thereby facilitating subsequent production or processing processes. By placing a material frame on the base 100, the entire raw material management system can be made more orderly and efficient.

[0083] In an optional embodiment, the number of bases 100 can be multiple, and multiple material frames can be fixed at the same time. After the raw material bags in one material frame are opened and loaded, the raw material bags in other material frames can be opened and loaded to ensure continuous opening and loading of raw material bags, thereby improving loading efficiency. Furthermore, the base 100 in this embodiment can be fixed on the ground to ensure its stability and reliability.

[0084] The visual recognition mechanism 200 usually uses technologies such as cameras, sensors and image processing algorithms to obtain, analyze and understand visual information. In the field of industrial automation, the visual recognition mechanism 200 can be used to identify and detect the position, shape, color and other characteristics of the raw material bag, so as to achieve automated control and operation. The image data of the raw material bag is obtained through a camera or sensor, and then the data is analyzed and identified through an image processing algorithm to determine the exact position and other characteristics of the raw material bag. This information will be passed to the subsequent grasping mechanism 300 to instruct it how to accurately grasp the raw material bag and perform subsequent processing.

[0085] After obtaining the position information of the raw material bag, the visual recognition mechanism 200 sends it to the controller. The controller grabs the raw material bag based on the position information and conveys it to the bag opening and boxing mechanism 400 for bag opening and boxing. Through this automated process, an efficient bag opening and loading and boxing process can be achieved, thereby improving production efficiency.

[0086] The bag opening device of the embodiment of the utility model includes a base 100, a visual recognition mechanism 200, a grasping mechanism 300 and a bag opening and packing mechanism 400. The base 100 is used to place the raw material bags. The visual recognition mechanism 200 can identify the position information of the raw material bags. The grasping mechanism 300 grasps the raw material bags based on the position information of the raw material bags and transports them to the bag opening and packing mechanism 400 for bag opening and packing, thereby realizing an automated bag opening and packing process, thereby reducing labor costs and improving production efficiency.

[0087] According to one embodiment of the present invention, referring to Figure 1 and Figure 6 As shown, the visual recognition mechanism 200 includes a fixed frame 210, a visual recognition component 220 and a driving component 230. The visual recognition component 220 is movably arranged on the fixed frame 210, and the driving component 230 is connected to the visual recognition component 220 for driving the visual recognition component 220 to move along the fixed frame 210.

[0088] It is understood that in this embodiment, the fixing frame 210 can be a truss structure. In order to ensure the stability of the fixing frame 210, the fixing frame 210 can be fixed on the ground. At the same time, when there are multiple bases 100 and material frames, the fixing frame 210 can span multiple bases 100 and material frames. A driving component 230 is provided on the fixing frame 210. The driving component 230 can drive the visual recognition camera to move to identify the raw material bags in multiple material frames. After the raw material bag in one of the material frames is opened and loaded, the driving component 230 drives the visual recognition camera to move to the position where the other material frames are located, and continues to identify, thereby reducing the manufacturing cost while realizing the identification of multiple material frames, greatly improving the loading efficiency of the raw material bags. At the same time, by adjusting the position of the visual recognition component 220, it can adapt to different shooting angles and positions, and improve the accuracy and stability of raw material bag identification and positioning.

[0089] In an optional embodiment, the fixing frame 210 is connected by welding, which can ensure that the structure of the fixing frame 210 is stable and firm. The welding connection can form a solid connection between the various components of the fixing frame 210, thereby improving the overall structural strength and stability. In addition, the surface of the fixing frame 210 is painted to help increase the corrosion resistance of the fixing frame 210 and extend its service life. The paint can form a protective film to prevent the fixing frame 210 from being eroded by environmental factors such as oxidation and corrosion.

[0090] According to an embodiment of the present invention, the visual recognition component 220 includes a visual camera and a plurality of lighting components. The visual camera is slidably mounted on the fixing frame 210, and the plurality of lighting components are arranged around the visual camera.

[0091] It is understandable that in this embodiment, the visual camera is used to collect images of recognized objects and convert them into digital signals, and can process the collected images, extract, process and analyze the information contained in the images according to pre-set recognition rules and algorithms, and recognize the position, posture and size of the edge material. The types of visual cameras include but are not limited to industrial cameras or three-dimensional cameras. Industrial cameras are usually used in the fields of machine vision and automation, and have the characteristics of high resolution, high speed, high stability and reliability, and can adapt to various industrial environments; 3D cameras can obtain three-dimensional information of objects, and can measure parameters such as distance, shape and depth of objects. They are widely used in the fields of machine vision and robot navigation, and can be selected according to specific application requirements. This embodiment does not specifically limit the types of visual cameras.

[0092] In this embodiment, the lighting element is used to provide illumination so that the features of the raw material bag can be more clearly captured by the visual camera, thereby improving the recognition efficiency and accuracy of the visual camera. In an optional embodiment, there are multiple lighting elements, and the multiple lighting elements are arranged around the visual camera. For example, there are 4 lighting elements, and the 4 lighting elements are evenly distributed around the visual camera, so that the light source covers the surface of the entire edge material as fully as possible, and ensures uniform and stable illumination, avoiding problems such as shadows and reflections that affect the recognition accuracy of the edge material by the visual camera.

[0093] Exemplarily, the lighting method of the lighting element can be laser lighting, which has higher brightness, smaller divergence angle and better directionality, and can obtain brighter, sharper and higher contrast images, helping to achieve accurate edge material detection, identification and positioning.

[0094] It should be noted that when the loading device of this embodiment is applied to the photovoltaic industry, the visual camera and the lighting components can use devices with a protection level of at least IP65 to improve the corrosion resistance of the visual camera and the lighting components, ensure that the visual recognition component 220 can be used normally for a long time, and improve stability.

[0095] According to one embodiment of the present invention, referring to Figure 1 and Figure 2 As shown, the bag opening and packing mechanism 400 includes a vibrating flattening component 410, a transfer component 420 and a bag cutting and pouring component 430. The vibrating flattening component 410 is suitable for receiving the raw material bag grasped by the grasping mechanism 300, and vibrating the raw material bag to flatten the inner bag and the outer bag of the raw material bag; the transfer component 420 is suitable for grasping and transferring the flattened raw material bag, and the bag cutting and pouring component 430 is suitable for clamping and cutting the raw material bag conveyed by the transfer component 420, and turning the raw material bag over to pour out the raw materials in the raw material bag.

[0096] It is understandable that when the bag opening device of this embodiment is applied to the photovoltaic industry, raw material bags are usually used to package and transport some sensitive photovoltaic components or materials. In order to protect these components from oxidation, pollution or other environmental factors, an inner and outer bag structure and a vacuum layer design are often adopted.

[0097] The inner bag is placed inside the outer bag, and the vacuum layer is located between the inner and outer bags. This design can effectively isolate the internal and external environments, reduce the impact of oxygen, moisture, etc. on photovoltaic components, extend their shelf life and ensure product quality. In the photovoltaic industry, photovoltaic components are highly sensitive to the environment and oxygen, so this packaging design can effectively protect the product and ensure that it is not damaged during transportation and storage.

[0098] The function of the vibration flattening component 410 is to receive the raw material bag and flatten the inner and outer bags of the raw material bag by vibration. Through the vibration flattening, the inner bag and the outer bag can be effectively shaped and flattened. In this way, when the grabbing component grabs the raw material bag, it can ensure that the inner bag and the outer bag are grabbed at the same time, so as to complete the subsequent transfer, bag cutting and unloading operations, which is helpful for subsequent processing. The transfer component 420 is responsible for grabbing and transferring the flattened raw material bag and conveying it to the next process or equipment. The bag cutting and unloading component 430 is used to clamp, cut and flip the raw material bag so that the raw material can be poured into the specified position to complete the bag opening and unloading operations. The synergistic effect of these components enables the production line to efficiently complete the bag opening and unloading tasks of the raw material bag.

[0099] According to one embodiment of the present invention, referring to Figure 2 and Figure 3 As shown, the vibration flattening assembly 410 includes a vibration box 411, a driving member 412 and a rotating member 413. The vibration box 411 includes a bottom plate 4111, side plates 4112 arranged on both sides of the bottom plate 4111 and a cover plate 4113 with a movable cover arranged above the bottom plate 4111; the driving member 412 is connected to the vibration box 411, and is used to drive the vibration box 411 to vibrate and the cover plate 4113 to open and close; the rotating member 413 is connected to the vibration box 411, and is used to drive the vibration box 411 to rotate, so that the raw materials in the raw material bag are concentrated at the bottom.

[0100] It can be understood that in this embodiment, the vibration box 411 is a box-type structure, and the bottom plate 4111, the side plate 4112 and the cover plate 4113 together enclose a cavity, and the size and shape of the cavity can be adapted to the size and shape of the raw material bag, so as to ensure that the raw material bag can be completely placed in the vibration box 411 and effectively vibrate and flatten the bag. The grabbing mechanism 300 can easily grab the raw material bag and place it in the cavity of the vibration box 411, so that the raw material bag can be flattened and shaped under the action of vibration. Through such a design, the processing process of the raw material bag can be better controlled.

[0101] In an optional embodiment, the driving member 412 includes a vibration motor, and the bottom plate 4111 and the side plates 4112 on both sides can be driven by the vibration motor to realize the vibration of the bottom plate 4111 and the side plates 4112 on both sides, vibrate and shape the raw material bag containing the particle bag raw materials, and use the material to squeeze the inner bag and the outer bag to make the inner bag and the outer bag fit together, so that it is convenient for the transfer component to grasp the inner bag and the outer bag at the same time when grabbing the raw material bag, which is convenient for bag cutting and material pouring in subsequent processes.

[0102] In an optional embodiment, the driving member 412 may include a rotary cylinder, which can drive the cover plate 4113 to rotate to open or close the vibration box 411, so as to facilitate the transportation of the raw material bags. In addition, the rotary cylinder as the driving member 412 also has the characteristics of fast response speed and high control accuracy, which can effectively realize the rapid opening and closing of the cover plate 4113, thereby improving production efficiency. Overall, this design can make the vibration box 411 more flexible and convenient during operation, which is conducive to the smooth progress of the production process.

[0103] In this embodiment, the vibration flattening component 410 also includes a rotating part 413, which drives the vibration box 411 to rotate, so that the raw materials in the raw material bag are concentrated on the bottom side, making it convenient for the transfer component 420 to grab the top of the raw material bag, and avoiding the transfer component 420 grabbing the upper part of the raw material bag. There is material remaining in the upper half of the raw material bag, thereby avoiding inconvenience and waste during operation.

[0104] According to one embodiment of the present invention, referring to Figure 4 As shown, the transfer assembly 420 includes a gripper 421, a transverse drive member 422 and a longitudinal drive member 423. The gripper 421 is suitable for opening or closing to clamp or loosen the top of the raw material bag; the transverse drive member 422 is connected to the gripper 421 to drive the gripper 421 to move transversely; the longitudinal drive member 423 is connected to the gripper 421 to drive the gripper 421 to move longitudinally.

[0105] It can be understood that in the present embodiment, the gripper 421 is flexibly designed and can be opened or closed to clamp or release the top of the raw material bag. By controlling the opening and closing state of the gripper 421, a stable clamping or releasing operation of the raw material bag can be achieved. The transverse drive member 422 is connected to the gripper 421 and is used to drive the gripper 421 to move in the horizontal direction. By controlling the movement of the transverse drive member 422, the gripper 421 can be accurately positioned in the horizontal direction to the position where the operation is required, thereby achieving precise clamping or releasing operations. The longitudinal drive member 423 is also connected to the gripper 421 and is used to drive the gripper 421 to move in the vertical direction. By controlling the movement of the longitudinal drive member 423, the gripper 421 can be moved up and down in the vertical direction, thereby achieving a clamping or releasing operation on the top of the raw material bag.

[0106] According to one embodiment of the present invention, referring to Figure 4 As shown, the gripper 421 is connected to at least one of the transverse driving member 422 and the longitudinal driving member 423 via a connecting bracket 424 .

[0107] It can be understood that, in this embodiment, the gripper 421 is connected to at least one of the transverse driving member 422 and the longitudinal driving member 423 via a connecting bracket 424 to avoid interference between the raw material bag and other components when the gripper 421 grabs the raw material bag.

[0108] Through the reasonable structure and position arrangement of the connecting bracket 424, the interference between the gripper 421 and the transverse driving member 422 or the longitudinal driving member 423 can be effectively avoided, while ensuring that the gripper 421 can accurately clamp the raw material bag.

[0109] The position, shape and size of the connecting bracket 424 need to be carefully designed so that it will not collide or interfere with other components when the gripper 421 moves. Such a design can improve the stability of the equipment and the reliability of operation, ensuring that the transfer assembly 420 can smoothly complete the clamping, moving and transfer operations of the raw material bag.

[0110] On the other hand, the gripper 421 is connected to at least one of the transverse driving member 422 and the longitudinal driving member 423 via a connecting bracket 424. This design can ensure the coordinated movement between the gripper 421 and the driving member 412, and is also beneficial to the stability and reliability of the structure of the entire transfer assembly 420. The design of the connecting bracket 424 needs to take into account the requirements of mechanical structure and motion transmission to ensure the coordinated movement between the gripper 421 and the driving member 412, and to be able to withstand the required operating force and load.

[0111] Through the design of the connecting bracket 424, the gripper 421 and the lateral driving member 422 or the longitudinal driving member 423 can be effectively coordinated, so that the transfer assembly 420 can accurately and stably complete the clamping, moving and transferring operations of the raw material bag. This design can not only improve production efficiency, but also ensure the accuracy and safety of operation.

[0112] According to one embodiment of the present invention, referring to Figure 5 As shown, the bag cutting and pouring assembly 430 includes a clamping unit 431, a bag cutting unit 432, a pouring unit 433 and a flipping unit 435. The clamping unit 431 is suitable for clamping the bottom of the raw material bag; the bag cutting unit 432 is slidably arranged on the clamping unit 431 to cut the raw material bag; the pouring unit 433 is installed below the clamping unit 431, and the pouring unit 433 is equipped with a clamping unit 434 for clamping the raw material bag; the flipping unit 435 is connected to the pouring unit 433, and is used to drive the pouring unit 433 to flip for pouring.

[0113] It is understood that in this embodiment, the clamping unit 431 can be driven by a cylinder to clamp the lower half of the raw material bag, while the transfer assembly 420 clamps the upper half of the raw material bag to facilitate the bag cutting unit 432 to cut the raw material bag. Designing the clamping unit 431 to be driven by a cylinder can ensure that the clamping force on the lower half of the raw material bag is reliable and stable. At the same time, allowing the transfer assembly 420 to clamp the upper half of the raw material bag can effectively assist the bag cutting unit 432 to accurately cut the raw material bag, avoiding operational errors caused by the movement of the raw material bag during cutting.

[0114] This design can improve production efficiency, reduce uncertainty in manual operation, and ensure the accuracy and smoothness of bag cutting operations. At the same time, the cylinder drive also helps the operation of the automated production line, improving the overall efficiency and stability of the production line.

[0115] The bag cutting unit 432 is slidably arranged beside the clamping unit 431, so that it can ensure that while clamping the raw material bag, the bag cutting unit 432 can accurately cut the raw material bag without interfering with the clamping operation. Through this layout, the bag cutting unit 432 can accurately cut the raw material bag with the assistance of the clamping unit 431, complete the separation of the upper and lower parts of the raw material bag, ensure the accurate position of the incision, and avoid damaging the material in the bag or causing waste.

[0116] The pouring unit 433 is installed below the clamping unit 431, and the pouring unit 433 is equipped with a clamping unit 434 for clamping the raw material bag. After the bag cutting unit 432 cuts the raw material bag, the clamping unit 431 can be loosened to drop the raw material bag into the pouring unit 433, and the clamping unit 434 clamps the cut raw material bag, and then the flip unit 435 drives the pouring unit 433 to rotate, so that the cut opening of the raw material bag faces downward, and the raw materials in the raw material bag are poured out. It not only improves production efficiency, but also ensures the stability and accuracy of the pouring process. The close cooperation between the various units makes the entire pouring operation process smoother and more automated, which helps to improve the overall efficiency of the production line.

[0117] According to one embodiment of the present invention, referring to Figure 5 As shown, the clamping unit 434 includes multiple groups of clamping claws 4341 that are independent of each other and arranged at intervals. The multiple groups of clamping units 434 are suitable for clamping and loosening in sequence to achieve material pouring.

[0118] It is understandable that in this embodiment, by including multiple groups of clamping claws 4341 that are independent of each other and spaced apart, the raw material bag can be better clamped and the material in the bag can be smoothly poured out. At the same time, the multiple groups of clamping units 434 are designed to be suitable for the functions of clamping and relaxing in sequence, which can achieve smooth pouring and ensure that the raw materials in the raw material bag are fully poured out. Such a design not only improves the efficiency of the pouring operation, but also ensures the integrity and accuracy of the material in the bag. The independent control of each group of clamping units 434 and the setting of sequential operation make the pouring process more accurate, stable and controllable.

[0119] In an optional embodiment, the clamping unit 434 includes three groups of first clamping claws 4341, second clamping claws 4341 and third clamping claws 4341, which are arranged in sequence and at intervals. When the first clamping claws 4341 and the third clamping claws 4341 are clamped, the second clamping claws 4341 are loosened. When the first clamping claws 4341 and the second clamping claws 4341 are released, the second clamping claws 4341 are clamped. In this way, by continuously switching the state of the clamping claws 4341, the raw materials in the raw material bag can be fully poured out to avoid material residue.

[0120] In another optional embodiment, the clamping unit 434 may include four or more groups of clamping claws 4341 that are spaced apart from each other, and the design is based on specific usage requirements, which is not specifically limited in this embodiment.

[0121] According to one embodiment of the present invention, referring to Figure 5 As shown, at least one side of the pouring unit 433 is provided with a beating unit 436, and the beating unit 436 is suitable for moving relative to the raw material bag to beat the raw material bag.

[0122] It is understandable that in this embodiment, by providing a beating unit 436 on at least one side of the pouring unit 433, it is possible to beat the raw material bag, effectively avoid residual materials, and ensure that all materials in the raw material bag are fully poured out. The function of the beating unit 436 is to move and vibrate relative to the raw material bag, which can help the material flow better and avoid agglomeration or residue in the bag. This design can improve production efficiency, reduce waste, and ensure the cleanliness and hygiene of the production process. Integrating the beating unit 436 into the pouring unit 433 makes the pouring operation more complete and comprehensive.

[0123] In this embodiment, the beating unit 436 can be driven by a cylinder to move back and forth to beat the outside of the raw material bag, speed up the emptying process of the raw material bag, and reduce material residue.

[0124] In an optional embodiment, beating units 436 are provided on both sides of the pouring unit 433, and the raw material bags are fully beat during the pouring process, so that the materials can be poured out more smoothly, thereby improving production efficiency and quality, avoiding material residue in the raw material bags as much as possible, maximizing the utilization rate of the raw materials and avoiding waste.

[0125] According to one embodiment of the present invention, referring to Figure 5 As shown, the bag cutting and unloading assembly 430 further includes a funnel 437 , the inlet end of the funnel 437 is arranged below the unloading unit 433 , and the outlet end of the funnel 437 is arranged corresponding to the material box.

[0126] It can be understood that, in this embodiment, by arranging the funnel 437 below the pouring unit 433 , the raw materials can be conveniently poured from the raw material bag into the funnel 437 , and then guided by the funnel 437 , the raw materials can smoothly flow into the material box.

[0127] The design of the funnel 437 can make the process of pouring raw materials smoother and more orderly, avoid splashing or scattering of raw materials, and also reduce the labor intensity of operators. By connecting the funnel 437 to the material box, the raw materials can be directly loaded into the material box, which is convenient for subsequent storage and transportation. Integrating the funnel 437 into the bag cutting and pouring assembly 430 not only improves the convenience and efficiency of operation, but also ensures the accuracy and integrity of the raw material pouring process.

[0128] In this embodiment, the funnel 437 has a guiding function and the lower plane of the funnel 437 is in contact with the upper plane of the material box. By ensuring that the lower plane of the funnel 437 is in full contact with the upper plane of the material box, the leakage of the raw materials can be effectively avoided, and the raw materials can be ensured to flow smoothly into the material box, thereby avoiding waste and the trouble of cleaning. In an optional embodiment, a grid can be installed at the bottom of the funnel 437. The grid can prevent the raw material bag from falling into the material box and prevent non-raw material substances from being mixed into the material box, thereby improving the purity and quality stability of the production to a certain extent, and making the funnel 437 more reliable and safe during the pouring process.

[0129] In the photovoltaic industry, when raw materials are poured into material boxes, a large amount of silicon dust will be generated, causing damage to the workers' health.

[0130] According to one embodiment of the present invention, referring to Figure 2 As shown, the bag opening device further includes at least one of a dust removal unit 440 and a waste bag recovery unit 450 .

[0131] In an optional embodiment, the bag opening device is provided with a dust removal unit 440, which is connected to the internal space of the bag cutting and unloading assembly 430 for removing dust. The dust removal unit 440 filters and cleans the air, which can effectively remove the dust generated during the bag opening and unloading process, and reduce the pollution of dust to workers and the environment. It reduces the damage of dust to the respiratory system of workers, improves the safety and health of the working environment, and reduces the risk of illness. Reducing the dust concentration can improve the cleanliness of the operating environment, improve work efficiency and comfort.

[0132] In an optional embodiment, the bag opening device is further provided with a waste bag recovery unit 450, which is used to recover the cut and emptied raw material bags. Through the waste bag recovery unit 450, the cut and emptied raw material bags can be recovered, which reduces resource waste, simplifies cleaning work, improves operational efficiency, reduces the accumulation of debris in the production process, and improves the overall efficiency of the production line.

[0133] According to one embodiment of the present invention, referring to Figure 7 As shown, the gripping mechanism 300 includes a mechanical arm 310 , a suction assembly 320 and a connecting plate 330 . The suction assembly 320 is suitable for sucking the raw material bag, and the connecting plate 330 connects the mechanical arm 310 and the suction assembly 320 .

[0134] It is understandable that in this embodiment, the robot arm 310 is the main part of the entire grasping mechanism 300, and is used to grasp, move and place the raw material bag. The robot arm 310 usually has multiple joints, which can flexibly control the movement and achieve accurate grasping action.

[0135] The suction assembly 320 can be connected to the robot arm 310 for actually sucking the raw material bag. The suction assembly 320 generally includes a suction cup 323, a suction nozzle or other suction devices, which can firmly suck the raw material bag on it through the negative pressure principle and release it when needed.

[0136] The connecting plate 330 is a component that connects the mechanical arm 310 and the suction assembly 320, and plays a role of connection and support. The connecting plate 330 allows the suction assembly 320 to be accurately installed on the mechanical arm 310 and maintain a stable working state, ensuring the accuracy and reliability of the grasping action. Through the synergistic effect of these components, the grasping mechanism 300 can complete the grasping and carrying operations of the raw material bags, thereby improving production efficiency and automation level.

[0137] In an optional embodiment, the entire robotic arm 310 is wrapped with a protective layer, which can effectively prevent the robot from being contaminated by dust, foreign objects, etc. during operation, improve the dustproof performance of the robot, protect the internal structure and components of the robot from pollution, reduce the wear and contamination of the robot components, extend the service life of the robot, and reduce maintenance costs and repair frequency.

[0138] In an optional embodiment, the positioning stop on the connecting plate 330 can match the corresponding positioning pin or other fixing structure on the mechanical arm 310, so as to achieve accurate positioning of the connecting plate 330 and the mechanical arm 310. This design can ensure that the connecting plate 330 can be firmly installed on the mechanical arm 310 and maintain the correct position and posture to avoid displacement or looseness during operation.

[0139] Through the precise design of the positioning stop, the connecting plate 330 can be accurately inserted into the corresponding positioning pin or hole groove on the mechanical arm 310, ensuring a stable connection between the connecting plate 330 and the mechanical arm 310. In this way, when the mechanical arm 310 moves and operates, the connecting plate 330 will not fall off or be misplaced, ensuring the stability and reliability of the entire system.

[0140] According to one embodiment of the present invention, referring to Figure 1 and Figure 7 As shown, the raw material bag includes an inner bag and an outer bag which are nested with each other, and a vacuum layer is formed between the inner bag and the outer bag. The gripping mechanism 300 is provided with a puncture assembly 340, and the puncture assembly 340 includes a driving part 341 and a puncture member 342. The puncture member 342 is connected to the driving part 341, and the puncture member 342 is suitable for reciprocating movement to puncture the vacuum layer.

[0141] It is understandable that, in this embodiment, the raw material bag includes an inner bag and an outer bag which are nested with each other, and a vacuum layer is formed between the inner bag and the outer bag. The gripping mechanism 300 is provided with a puncture assembly 340, and the puncture assembly 340 includes a driving unit 341 and a puncture member 342, and the puncture member 342 is connected to the driving unit 341, and the puncture member 342 is suitable for reciprocating to puncture the vacuum layer. In this design, the function of the puncture assembly 340 is to puncture the vacuum layer in the raw material bag by reciprocating the puncture member 342 to destroy the vacuum state. The purpose of doing this is to break the vacuum between the inner bag and the outer bag, so as to facilitate the extraction or processing of the raw materials. The driving unit 341 is responsible for providing the power required for the reciprocating movement of the puncture member 342, so that the puncture member 342 can accurately puncture the vacuum layer for subsequent bag cutting operations.

[0142] In an optional embodiment, the piercing member 342 is a steel needle, which can more easily penetrate the surface of the material, especially some harder or denser materials.

[0143] According to one embodiment of the present invention, referring to Figure 7 As shown, the suction assembly 320 includes: an air suction plate 321 connected to the connecting plate 330; a plurality of adjustment rods 322, each adjustment rod 322 is movably arranged on the air suction plate 321 to adjust the height of the adjustment rod 322; and a plurality of suction cups 323, each suction cup 323 is installed on the adjustment rod 322 in a one-to-one correspondence.

[0144] It can be understood that in this embodiment, multiple suction cups 323 are installed on the suction plate 321 through an adjustment plate, which is used to suck the raw material bags for easy transfer. The suction cups 323 can be adjusted in height through the adjustment plate, which plays a role in adjusting the height when each suction cup 323 sucks planes at different heights.

[0145] In some embodiments, the suction cup 323 can adjust the gripping angle according to actual conditions to complete the gripping of the raw material bag, ensuring that the material gripping task is completed efficiently and stably.

[0146] In this embodiment, in order to reduce weight, the metal material is aluminum alloy, and the surface is anodized. At the same time, in order to avoid metal pollution, the piercing member 342 can be made of tungsten-cobalt alloy.

[0147] According to one embodiment of the present invention, referring to Figure 7 As shown, at least one extension rod 350 is disposed between the connecting plate 330 and the suction assembly 320 .

[0148] It can be understood that in this embodiment, the suction assembly 320 can be lengthened by setting an extension rod 350 between the connecting plate 330 and the suction assembly 320 so that the suction device of this embodiment can grab the raw material bags in the material frame with deeper depth and adapt to the material frames of different depths. In some embodiments, the number of extension rods 350 can be multiple to improve the connection strength and stability between the connecting plate 330 and the suction plate 321, reduce the risks caused by connection aging, and improve durability and safety performance.

[0149] In some embodiments, the extension rod 350 may be a telescopic rod, the length of which may be telescopically adjusted. The length of the extension rod 350 may be telescopically adjusted according to specific needs to better accommodate material frames of different depths.

[0150] The second embodiment of the utility model provides a feeding device, referring to Figure 1 As shown, it includes a bag opening device according to any one of the above embodiments; a conveying device 500, suitable for conveying a material box; and a cover opening and closing device 600, which is arranged on the conveying device 500 and suitable for opening and closing the material box.

[0151] In this embodiment, the conveying device 500 is a device for conveying materials to a material box. Suitable conveyor belts, roller conveyors, pneumatic conveying systems and other equipment can be selected, and the most suitable conveying method is selected according to the nature of the material and the conveying distance. The opening and closing cover device 600 is arranged above the conveying device 500, and is used to open and close the cover of the material box. It is used to automatically close the cover of the material box after the material box is full, thereby realizing automatic opening and closing of the cover and improving production efficiency.

[0152] According to the feeding device of the embodiment of the utility model, reference Figure 1 and Figure 8 As shown, the cover opening and closing device 600 includes: a mounting bracket 610; a moving mechanism 620, which is arranged on the mounting bracket 610 and is suitable for moving along the mounting bracket 610; a box cover gripper 630, which is installed on the moving mechanism 620, and the box cover gripper 630 is suitable for clamping and loosening the box cover of the material box.

[0153] It is understandable that the mounting bracket 610 can be connected to the ground to provide a stable support platform for mounting the mobile mechanism 620 and the box cover gripper 630. The mounting bracket 610 needs to have sufficient strength and stability to support the movement of the mobile mechanism 620 and the operation of the box cover gripper 630.

[0154] The moving mechanism 620 is disposed on the mounting bracket 610 and is used to move along the mounting bracket 610. The moving mechanism 620 may use a guide rail, a gear transmission or other motion mechanism to achieve horizontal movement of the box cover gripper 630, so as to operate the material box at different positions.

[0155] The box cover gripper 630 is mounted on the moving mechanism 620 and is used to clamp and release the box cover of the material box. The box cover gripper 630 may adopt a pneumatic gripper, a mechanical gripper or other suitable clamping device to ensure that the box cover is reliably clamped and the opening and closing operation is completed.

[0156] The entire lid opening and closing device 600 can be connected to an automatic control system to achieve accurate control of the moving mechanism 620 and the box cover gripper 630. The control system can trigger the opening and closing operation according to a preset program and signal to achieve an automated material box processing process.

[0157] In an optional embodiment, the fixed bracket is connected by welding and the surface is painted. This manufacturing method can ensure the stability and corrosion resistance of the bracket structure, and is very suitable for equipment in industrial environments. The welded connection can provide a sturdy support structure and can be customized according to design requirements. Through welding, the stability and durability of the bracket can be ensured to cope with the vibration and load that may be caused by the opening and closing operation of the material box. The surface painting treatment can effectively prevent rust and corrosion on the surface of the bracket and extend the service life of the bracket. Especially in industrial production environments, equipment is often exposed to moisture, corrosive gases or chemicals, so painting the surface of the bracket can play a good protective role.

[0158] In an optional embodiment, the moving mechanism 620 is sealed to improve the dustproof ability of the device and protect the internal mechanical components from dust and foreign matter. This design helps to extend the service life of the mechanical components, reduce the maintenance frequency, and improve the reliability and stability of the device.

[0159] Through the sealing process, the mechanical structure and transmission components inside the moving mechanism 620 can effectively prevent the entry of dust, particles or other impurities. This helps to reduce wear and friction, avoid failures caused by dust accumulation, and reduce equipment maintenance costs.

[0160] The utility model can realize automatic opening and packing of bagged raw materials, freeing manual labor from heavy and dangerous work. At the same time, as an important link of automatic feeding in the raw material workshop, the scheme can be used in conjunction with other automatic devices to realize automation and intelligence of the entire feeding process.

[0161] It should be noted that those skilled in the art should be aware that the use scope of the bag opening device and feeding equipment is not limited to the automatic bag opening and packing of bagged raw materials in the photovoltaic industry, but can also be used in the automatic bag opening and packing process of other bagged materials.

[0162] It can be understood that if the bag opening device has the beneficial effects of the above-mentioned embodiments, then the feeding equipment will correspondingly have the beneficial effects of the above-mentioned embodiments. The specific implementation methods thereof may refer to the above-mentioned embodiments, and will not be described in detail in this application.

[0163] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not deviate from the spirit and scope of the technical solutions of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A bag opening device, characterized in that: include: A base for placing raw material bags; A visual recognition mechanism, adapted to recognize the position information of the raw material bag; A grabbing mechanism and a bag opening and boxing mechanism, wherein the grabbing mechanism is suitable for grabbing the raw material bag based on the position information of the raw material bag, and conveying the raw material bag to the bag opening and boxing mechanism for opening the bag and loading it into a material box.

2. The bag opening device according to claim 1, characterized in that: The visual identification mechanism comprises: Fixed frame; A visual recognition component, movably disposed on the fixing frame; A driving component is connected to the visual recognition component to drive the visual recognition component to move along the fixing frame.

3. The bag opening device according to claim 1, characterized in that: The raw material bag comprises an inner bag and an outer bag sleeved on the inner bag, and the bag opening and packing mechanism comprises: A vibration flattening component, adapted to receive the raw material bag grasped by the grasping mechanism and vibrate the raw material bag to flatten the inner bag and the outer bag; A transfer component, adapted to grab and transfer the flattened raw material bag; The bag cutting and unloading component is suitable for clamping and cutting the raw material bag conveyed by the transfer component, and turning the raw material bag over to unload the material.

4. The bag opening device according to claim 3, characterized in that: The vibration leveling assembly comprises: The vibration box comprises a bottom plate, side plates arranged on both sides of the bottom plate, and a cover plate with a movable cover arranged above the bottom plate; A driving member connected to the vibration box to drive the vibration box to vibrate and the cover to open and close; The rotating member is connected to the vibration box and is used to drive the vibration box to rotate so that the raw materials in the raw material bag are concentrated to the bottom.

5. The bag opening device according to claim 3, characterized in that: The transfer assembly comprises: A gripper adapted to be opened or closed to clamp or release the top of the raw material bag; A lateral driving member connected to the gripper to drive the gripper to move lateraly; A longitudinal driving member is connected to the gripper to drive the gripper to move longitudinally.

6. The bag opening device according to claim 5, characterized in that: The gripper is connected to at least one of the transverse driving member and the longitudinal driving member via a connecting bracket.

7. The bag opening device according to claim 3, characterized in that: The bag cutting and unloading assembly comprises: A clamping unit, adapted to clamp the bottom of the raw material bag; A bag cutting unit, slidably disposed on the clamping unit to cut open the raw material bag; A material pouring unit is installed below the clamping unit, and the material pouring unit is equipped with a clamping unit for clamping the raw material bag; The turning unit is connected to the material pouring unit and is used to drive the material pouring unit to turn over so as to pour the material.

8. The bag opening device according to claim 7, characterized in that: The clamping unit comprises a plurality of groups of clamping claws which are independent of each other and arranged at intervals, and the plurality of groups of the clamping units are suitable for clamping and loosening in sequence to realize material pouring.

9. The bag opening device according to claim 7, characterized in that: A beating unit is disposed on at least one side of the pouring unit, and the beating unit is suitable for moving relative to the raw material bag to beat the raw material bag.

10. The bag opening device according to claim 7, characterized in that: The bag cutting and unloading assembly further comprises a funnel, the inlet end of the funnel is arranged below the unloading unit, and the outlet end of the funnel is arranged corresponding to the material box.

11. The bag opening device according to any one of claims 3 to 10, characterized in that: The bag opening device also includes at least one of the following: A dust removal unit, the dust removal unit is communicated with the inner space of the bag cutting and pouring assembly to remove dust; The waste bag recovery unit is used to recover the raw material bags that have been cut and emptied.

12. The bag opening device according to any one of claims 1 to 10, characterized in that: The grabbing mechanism comprises: Robotic arm; A suction component, wherein the suction component is suitable for sucking the raw material bag; A connecting plate connects the mechanical arm and the suction component.

13. The bag opening device according to claim 12, characterized in that: The raw material bag comprises an inner bag and an outer bag which are nested with each other, a vacuum layer is formed between the inner bag and the outer bag, and the grabbing mechanism is provided with a puncture assembly, and the puncture assembly comprises: Drive unit; A puncture member is connected to the driving part, and the puncture member is suitable for reciprocating to puncture the vacuum layer.

14. The bag opening device according to claim 12, characterized in that: The suction assembly comprises: An air intake plate connected to the connecting plate; A plurality of adjusting rods, each of which is movably disposed on the air suction plate to adjust the height of the adjusting rod; A plurality of suction cups are mounted on the adjusting rods in a one-to-one correspondence.

15. The bag opening device according to claim 14, characterized in that: At least one extension rod is arranged between the connecting plate and the suction assembly.

16. A feeding device, characterized in that: include: The bag opening device according to any one of claims 1 to 15; A conveying device, adapted to convey the material box; The cover opening and closing device is arranged on the conveying device and is suitable for opening and closing the material box.

17. The feeding device according to claim 16, characterized in that: The opening and closing cover device comprises: Mounting bracket; A moving mechanism, disposed on the mounting bracket and adapted to move along the mounting bracket; A box cover gripper is installed on the moving mechanism, and the box cover gripper is suitable for clamping and loosening the box cover of the material box.

Images