Automatic unstacking and bag arranging system for bag warehouse

Abstract

The utility model relates to the field of cement packaging, in particular to an automatic unstacking and bag arranging system for a bag warehouse, which comprises an unstacking and bag supplying device, a bag grabbing mechanical arm, a bag grabbing manipulator, a handover mechanical arm, a handover manipulator and a bag arranging device, a bag stack is placed on the unstacking and bag supplying device, a bag grabbing mechanical arm drives a bag grabbing mechanical arm to move to a bag stack station located on the uppermost layer in the bag stack, the bag grabbing mechanical arm grabs and lifts the bag stack in the mode of clamping one side edge of the bag stack, and then the bag grabbing mechanical arm drives the bag grabbing mechanical arm to move to a handover mechanical arm station; the transfer manipulator clamps the vertically lifted bag pile and moves the bag pile to a station of the bag arranging device, and meanwhile, the bag pile is changed into a horizontal state again in a rotating mode in the moving process; the transfer manipulator loosens the bag piles so as to place the bag piles on the bag arranging device, and the bag arranging device extrudes the bag piles from the side faces of the bag piles so as to replace manual operation to arrange the bag piles in order.

Description

Technical Field

[0001] The utility model relates to the technical field of cement packaging, in particular to an automatic bag stack unstacking and bag arranging system for a bag storage. Background Art

[0002] The bag stack of cement packaging bags is formed by stacking bag stacks in a rotating and stacking manner. As Figure 12 shown, a bag stack is formed by stacking a number of cement packaging bags. Specifically, a bag stack usually includes 20 cement packaging bags. After the bag stack is transported to the factory by a forklift, workers sequentially remove the bag stacks and neatly place them at the filling station of the factory for cement filling. Therefore, the splitting of the bag stack and the arrangement of the bag stacks are particularly important steps in the cement filling process. However, if it is completed by workers, the labor intensity is high and the efficiency is low. Summary of the Utility Model

[0003] In view of the above problems, an embodiment of the utility model provides an automatic bag stack unstacking and bag arranging system for a bag storage.

[0004] An automatic bag stack unstacking and bag arranging system for a bag storage provided by an embodiment of the utility model includes a bag stack unstacking and bag feeding device, a bag grasping robotic arm, a bag grasping manipulator, a transfer robotic arm, a transfer manipulator, and a bag arranging device. Among them,

[0005] The bag grasping robotic arm is arranged on one side of the bag stack unstacking and bag feeding device;

[0006] The bag grasping manipulator is arranged on the bag grasping robotic arm;

[0007] The transfer robotic arm is arranged on one side of the bag grasping robotic arm;

[0008] The transfer manipulator is arranged on the transfer robotic arm;

[0009] The bag arranging device is arranged on the side of the transfer robotic arm away from the bag stack unstacking and bag feeding device.

[0010] During use, the bag stack is placed on the bag stack unstacking and bag feeding device. The bag grasping robotic arm drives the bag grasping manipulator to move to the position of the topmost bag stack in the bag stack. The bag grasping manipulator grabs the bag stack by clamping one side edge of the bag stack. Then, the bag grasping robotic arm drives the bag grasping manipulator to move to the position of the transfer manipulator, and during the movement, the bag grasping manipulator lifts the bag stack from the horizontal placement state to the vertical placement state; the transfer manipulator clamps the vertically lifted bag stack, and the transfer robotic arm drives the transfer manipulator to move to the position of the bag arranging device, and during the movement, the transfer manipulator rotates the bag stack again to the horizontal placement state; the transfer manipulator releases the bag stack and thus horizontally places the bag stack on the bag arranging device, and the bag arranging device presses the bag stack from the side of the bag stack to replace manual labor to make the bag stack neat.

[0011] Optionally, the pallet - removing and bag - supplying device includes a base, on which a portal - shaped support frame is oppositely arranged. A V - shaped guide rail is arranged along the vertical beams of the support frame, and a lifting platform is slidably arranged between the support frames through the V - shaped guide rail. A platform lifting drive unit for driving the lifting action of the lifting platform is also arranged on the support frame. A rotating platform is arranged on the lifting platform, a bag stack clamping mechanism is arranged at the side position of the rotating platform, and support guide wheels are arranged on the bottom surface of the rotating platform.

[0012] Optionally, the bag - grasping robotic arm includes a robotic - arm servo - rotating platform. A robotic - arm support column is vertically arranged on the robotic - arm servo - rotating platform. A robotic - arm lifting mechanism is arranged on the robotic - arm support column. A swing arm and a swing - arm drive mechanism for driving the swing arm to act are arranged on the robotic - arm lifting mechanism. The bag - grasping robotic hand is arranged at the end of the swing arm.

[0013] Optionally, the robotic - arm lifting mechanism includes a robotic - arm lifting seat slidably arranged vertically on the robotic - arm support column and a robotic - arm lifting drive unit for driving the robotic - arm lifting seat to lift;

[0014] The swing - arm drive mechanism includes a swing - arm drive seat slidably arranged vertically on the robotic - arm lifting seat, a swing - arm drive unit for driving the swing - arm drive seat to lift, and a swing - arm drive rod with one end hinged to the robotic - arm lifting seat;

[0015] The swing arm includes two swing rods arranged in parallel and with one end of each hinged to the swing - arm drive seat. A swing - arm connecting rod is hinged between the ends of the two swing rods. The two swing rods, the swing - arm connecting rod, and the swing - arm drive seat form a parallelogram four - link structure. A bag - grasping robotic - hand mounting seat is arranged on the swing - arm connecting rod. The other end of the swing - arm drive rod is hinged to the middle of one of the swing rods. The swing - arm drive rod, the swing rod, and the swing - arm drive seat form a scissor - type drive structure.

[0016] Optionally, the transfer robotic arm includes a linear drive mechanism. A hollow servo - rotating platform is arranged on the moving end of the linear drive mechanism. A profiled steel column is vertically arranged on the hollow servo - rotating platform. A transfer lifting drive mechanism is arranged on the profiled steel column. A transfer rotating platform is arranged on the transfer lifting drive mechanism. The transfer robotic hand is arranged on the transfer rotating platform.

[0017] Optionally, the linear drive mechanism includes a heavy - duty linear guide rail. A heavy - duty platform is slidably arranged on the heavy - duty linear guide rail. A heavy - duty drive electric cylinder drivingly connected to the heavy - duty platform is arranged on one side of the heavy - duty linear guide rail. The hollow servo - rotating platform is arranged on the heavy - duty platform;

[0018] The transfer lifting drive mechanism includes a transfer lifting seat slidably sleeved on the profiled steel column and a transfer lifting drive unit for driving the transfer lifting seat to lift. The transfer rotating platform is arranged on one side surface of the transfer lifting seat;

[0019] The transfer manipulator includes two clamping palms hinged to the transfer rotating platform. Synchronous movement is achieved between the two clamping palms through a gear transmission structure. A clamping motor drivingly connected to one of the clamping palms is also provided on the transfer rotating platform.

[0020] Optionally, the bag arranging device includes a bag conveying mechanism. A plurality of feeding mechanisms are arranged in parallel at the feeding end of the bag conveying mechanism, and the distance between adjacent feeding mechanisms is adapted to the clamping palms. A bag blocking mechanism straddles the middle of the bag conveying mechanism. Pushing and aligning mechanisms are arranged on both sides of the bag conveying mechanism and between the feeding mechanism and the bag blocking mechanism. A bag separating mechanism is arranged above the bag conveying mechanism, and the bag separating mechanism can move back and forth on both sides of the bag blocking mechanism along the bag conveying direction.

[0021] Optionally, the pushing and aligning mechanism includes a pushing and aligning cylinder arranged perpendicular to the bag conveying direction and a pushing and aligning baffle vertically installed on the piston rod of the pushing and aligning cylinder;

[0022] The bag separating mechanism includes bag conveying guide rails oppositely arranged on both sides of the bag conveying mechanism and at a position higher than the bag conveying mechanism. A bag conveying moving frame is movably arranged between the bag conveying guide rails. A bag grasping cylinder is vertically arranged above the bag conveying mechanism on the bag conveying moving frame, and a bag grasping suction cup is horizontally arranged on the piston rod of the bag grasping cylinder.

[0023] Optionally, the bag grasping manipulator includes a manipulator mounting frame. Swing driving mechanisms are oppositely arranged on both side surfaces of the manipulator mounting frame. A swing frame is arranged inside the manipulator mounting frame, and the swing frame is in transmission connection with the swing driving mechanism. A sliding frame is vertically slidably arranged inside the swing frame, and a damping mechanism is arranged between the swing frame and the sliding frame; A finger mounting frame is horizontally slidably arranged inside the sliding frame and a horizontal driving cylinder drivingly connected to the finger mounting frame. A finger positioning shaft is arranged at the front side inside the finger mounting frame. A fixed finger and a movable finger are arranged on the finger positioning shaft. A finger driving cylinder is arranged at the rear side of the finger positioning shaft inside the finger mounting frame. A finger link is connected between the piston rod of the finger driving cylinder and the movable finger.

[0024] Optionally, pressing mechanisms are arranged on both sides of the manipulator mounting frame in the moving direction of the fixed finger and the movable finger;

[0025] The swing driving mechanism includes a swing driving cylinder vertically arranged on the outer side surface of the manipulator mounting frame, a swing shaft rotatably penetrating through the manipulator mounting frame, and a V-shaped swing rod with one end fixedly connected to the swing shaft and the other end hinged to the piston rod of the swing driving cylinder. The swing frame is fixed to the swing shaft;

[0026] The cylinder body of the finger driving cylinder is rotatably connected to the finger mounting frame. The finger link is hinged to the piston rod of the finger driving cylinder and fixedly connected to the movable finger.

[0027] In the automatic pallet - removing and bag - arranging system of the bag storage provided by the present utility model, the rotation and lifting functions of the pallet - removing and bag - supplying device cooperate with the bag - grasping robotic arm and the bag - grasping manipulator, improving the flexibility of bag - grasping and enhancing the working efficiency of the production line. At the same time, it can effectively avoid the interference between the bag - grasping robotic arm and the bag pallet; the bag - grasping robotic arm and the transfer robotic arm are designed based on the cylindrical coordinate system, greatly reducing the control difficulty; it can significantly reduce the labor cost while greatly improving the production efficiency. After the worker transports the bag pallet to the pallet - removing and bag - supplying device, the machine can be started and the worker can leave. The automatic pallet - removing and bag - arranging system of the bag storage can independently complete the pallet - removing and bag - arranging operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present utility model, form a part of this application, and do not limit the present utility model. In the drawings:

[0029] Figure 1 is a schematic structural diagram of an automatic pallet - removing and bag - arranging system of a bag storage provided by an embodiment of the present utility model;

[0030] Figure 2 is a schematic structural diagram of a pallet - removing and bag - supplying device provided by an embodiment of the present utility model;

[0031] Figure 3 is a schematic structural diagram of a bag - grasping robotic arm provided by an embodiment of the present utility model;

[0032] Figure 4 is a schematic structural diagram of a transfer robotic arm and a transfer manipulator provided by an embodiment of the present utility model;

[0033] Figure 5 is a schematic structural diagram of a bag - arranging device provided by an embodiment of the present utility model;

[0034] Figure 6 is a schematic structural diagram of a bag - grasping manipulator provided by an embodiment of the present utility model;

[0035] Figure 7 is a schematic structural diagram of a swinging frame part of a bag - grasping manipulator provided by an embodiment of the present utility model;

[0036] Figure 8 is a schematic structural diagram of a sliding frame part of a bag - grasping manipulator provided by an embodiment of the present utility model;

[0037] Figure 9 is a schematic structural diagram of a finger part of a bag - grasping manipulator provided by an embodiment of the present utility model;

[0038] Figure 10 is a schematic diagram of the state of a bag - grasping manipulator ready to grasp a stack of bags provided by an embodiment of the present utility model;

[0039] Figure 11 Schematic diagram of the state where a bag-grabbing manipulator provided by an embodiment of the present utility model lifts a stack of bags;

[0040] Figure 12 Schematic diagram of a bag stack structure provided by an embodiment of the present utility model.

[0041] Wherein, 1. Depalletizing and bag-feeding device; 2. Bag-grabbing robotic arm; 3. Bag-grabbing manipulator; 4. Transfer robotic arm; 5. Transfer manipulator; 6. Bag-aligning device; 7. Bag stack; 8. Vision camera device;

[0042] 9. Base; 10. Support frame; 11. V-shaped guide rail; 12. Lifting platform; 13. Platform lifting drive unit 13; 14. Rotating platform; 15. Bag stack clamping mechanism; 16. Support guide wheel;

[0043] 17. Robotic arm servo rotating platform; 18. Robotic arm support column; 19. Robotic arm lifting seat; 20. Robotic arm lifting drive unit; 21. Swing arm drive seat; 22. Swing arm drive unit; 23. Swing arm drive rod; 24. Swing rod; 25. Swing arm connecting rod; 26. Bag-grabbing manipulator mounting seat;

[0044] 27. Hollow servo rotating platform; 28. Section steel column; 29. Heavy-duty linear guide rail; 30. Heavy-duty platform; 31. Heavy-duty drive electric cylinder; 32. Transfer lifting seat; 33. Transfer lifting drive unit; 34. Transfer rotating platform; 35. Opposing clamping palm; 36. Gear transmission structure; 37. Clamping motor;

[0045] 38. Bag conveying mechanism; 39. Feeding mechanism; 40. Bag blocking mechanism; 41. Bag pushing and aligning mechanism; 42. Bag separating mechanism;

[0046] 43. Manipulator mounting frame; 44. Swing drive mechanism; 45. Swing frame; 46. Sliding frame; 47. Damping mechanism; 48. Finger mounting frame; 49. Horizontal drive cylinder; 50. Finger positioning shaft; 51. Fixed finger; 52. Movable finger; 53. Finger drive cylinder; 54. Finger connecting rod; 55. Bag pressing mechanism; 56. Swing drive cylinder; 57. Swing shaft; 58. V-shaped swing rod. Detailed implementation manners

[0047] To make the purpose, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below in conjunction with the implementation manners and the accompanying drawings. Herein, the illustrative implementation manners of the present utility model and their descriptions are used to explain the present utility model, but do not limit the present utility model.

[0048] See Figure 1, an automatic bag pallet - unpacking and bag - sorting system provided by an embodiment of the present utility model includes a pallet - unpacking and bag - supplying device 1, a bag - grasping robotic arm 2, a bag - grasping manipulator 3, a transfer robotic arm 4, a transfer manipulator 5, and a bag - sorting device 6; wherein,

[0049] The bag - grasping robotic arm 2 is arranged on one side of the pallet - unpacking and bag - supplying device 1;

[0050] The bag - grasping manipulator 3 is arranged on the bag - grasping robotic arm 2;

[0051] The transfer robotic arm 4 is arranged on one side of the bag - grasping robotic arm 2;

[0052] The transfer manipulator 5 is arranged on the transfer robotic arm 4;

[0053] The bag - sorting device 6 is arranged on the side of the transfer robotic arm 4 away from the pallet - unpacking and bag - supplying device 1.

[0054] During use, the bag pallet 7 is placed on the pallet - unpacking and bag - supplying device 1. The bag - grasping robotic arm 2 drives the bag - grasping manipulator 3 to move to the uppermost bag stack station in the bag pallet 7. The bag - grasping manipulator 3 grabs the bag stack by clamping one side edge of the bag stack. Thereafter, the bag - grasping robotic arm 2 drives the bag - grasping manipulator 3 to move to the transfer manipulator 5 station, and during the movement, the bag - grasping manipulator 3 lifts the bag stack from the horizontal placement state to the vertical placement state. The transfer manipulator 5 clamps the vertically lifted bag stack. The transfer robotic arm 4 drives the transfer manipulator 5 to move to the bag - sorting device 6 station, and during the movement, the transfer manipulator 5 changes the bag stack back to the horizontal placement state again by rotating. The transfer manipulator 5 releases the bag stack and thus horizontally places the bag stack on the bag - sorting device 6. The bag - sorting device 6 squeezes the bag stack from the side of the bag stack to make the bag stack neat.

[0055] In implementation, a vision camera device 8 can be arranged directly above the pallet - unpacking and bag - supplying device 1. The vision recognition technology is used to coordinate the actions of each part to make the pallet - unpacking and bag - sorting work more efficient and accurate, and to avoid interference.

[0056] In implementation, referring to Figure 2 , the pallet - unpacking and bag - supplying device 1 includes a base 9. Oppositely arranged on the base 9 is a gantry - shaped support frame 10. Along the vertical beams of the support frame 10, a V - shaped guide rail 11 is arranged, and a lifting platform 12 is slidably arranged between the support frames 10 through the V - shaped guide rail 11. Specifically, V - shaped rollers can be arranged on the side surface of the lifting platform 12, and the V - shaped rollers move on the V - shaped guide rail. A platform lifting drive unit 13 for driving the lifting and lowering action of the lifting platform 12 is also arranged on the support frame 10. A rotating platform 14 is arranged on the lifting platform 12. A bag - pallet clamping mechanism 15 is arranged at the side position of the rotating platform 14. Support guide wheels 16 are arranged on the bottom surface of the rotating platform 14. The support guide wheels 16 support between the rotating platform 14 and the base 9 to provide strong support for the rotating platform 14.

[0057] In one implementation, several bag stack clamping mechanisms 15 can be arranged on the side of the rotating platform 14. Specifically, it can be realized by using cylinders and clamping blocks installed on the piston rods of the cylinders. After the bag stack 7 is placed on the rotating platform 14, the piston rods of the cylinders retract, driving the clamping blocks to clamp the bottom of the bag stack 7, and at the same time centering the bag stack at the central position of the rotating platform, which is convenient for identifying and positioning the bag stack during the subsequent palletizing process.

[0058] During implementation, the bag-grabbing robotic arm 2 can be realized by using a multi-axis robotic arm. Considering the production cost issue, refer to Figure 3 , in the present utility model, the bag-grabbing robotic arm 2 specifically includes a robotic arm servo rotating platform 17. A robotic arm support column 18 is vertically arranged on the robotic arm servo rotating platform 17. A robotic arm lifting mechanism is arranged on the robotic arm support column 18. A swing arm and a swing arm driving mechanism for driving the swing arm to move are arranged on the robotic arm lifting mechanism. The bag-grabbing manipulator 3 is arranged at the end of the swing arm; the robotic arm servo rotating platform 17 realizes the rotational adjustment of the bag-grabbing manipulator 3 in the horizontal direction, and further completes the reciprocating movement between the palletizing and bag-supplying device 1 and the transfer manipulator 5.

[0059] Specifically during implementation, the robotic arm lifting mechanism includes a robotic arm lifting seat 19 slidably arranged vertically on the robotic arm support column 18 and a robotic arm lifting drive unit 20 for driving the robotic arm lifting seat 19 to lift. The lifting function of the robotic arm lifting seat 19 realizes the adjustment of the height of the bag-grabbing manipulator 3 in the vertical direction; the robotic arm support column 18 and the robotic arm lifting seat 19 can also be slidably matched through V-shaped rollers and V-shaped guide rails. For example, V-shaped guide rails are arranged on the robotic arm support column 18, and V-shaped rollers are arranged on the robotic arm lifting seat 19.

[0060] The swing arm driving mechanism includes a swing arm driving seat 21 slidably arranged vertically on the robotic arm lifting seat 19, a swing arm driving unit 22 for driving the swing arm driving seat 21 to lift, and a swing arm driving rod 23 with one end hinged to the robotic arm lifting seat 19; the swing arm driving seat 21 and the robotic arm lifting seat 19 can be slidably connected through a slider structure. At the same time, V-shaped rollers and V-shaped guide rails can be arranged in cooperation with the slider structure to play a guiding role to ensure the vertical sliding of the swing arm driving seat 21 on the robotic arm lifting seat 19.

[0061] The swing arm includes two swing rods 24 arranged in parallel and hinged at one end to the swing arm driving seat 21. A swing arm connecting rod 25 is hinged between the ends of the two swing rods 24. The two swing rods 24, the swing arm connecting rod 25, and the swing arm driving seat 21 form a parallelogram four-bar structure. A bag-grabbing manipulator mounting seat 26 is arranged on the swing arm connecting rod 25. The other end of the swing arm driving rod 23 is hinged to the middle of one of the swing rods 24. The swing arm driving rod 23, the swing rod 24, and the swing arm driving seat 21 form a scissor drive structure.

[0062] When the swing arm drive seat 21 rises, the angle between the swing arm drive rod 23 and the swing rod 24 becomes smaller. Based on the principle of the scissor drive structure, the horizontal extension of the bag-grabbing manipulator 3 is realized to complete the position adjustment. At the same time, based on the characteristics of the parallel four-bar linkage structure composed of the two swing rods 24, the swing arm connecting rod 25, and the swing arm drive seat 21, the overall bag-grabbing manipulator 3 always maintains a vertical state without skew.

[0063] In specific implementation, when installing the bag-grabbing manipulator 3 on the bag-grabbing manipulator mounting seat 26, the two can also be installed through a rotating platform. Adding a rotating platform can further improve the flexibility of the pose adjustment of the bag-grabbing manipulator 3.

[0064] In implementation, the transfer robotic arm 4 can be implemented by a multi-axis robotic arm. Also considering the production cost issue, see Figure 4 , the transfer robotic arm 4 of the present utility model includes a linear drive mechanism. A hollow servo rotating platform 27 is arranged on the moving end of the linear drive mechanism. A profiled steel column 28 is vertically arranged on the hollow servo rotating platform 27. A transfer lifting drive mechanism is arranged on the profiled steel column 28. A transfer rotating platform 34 is arranged on the transfer lifting drive mechanism. The transfer manipulator 5 is arranged on the transfer rotating platform 34.

[0065] In specific implementation, the linear drive mechanism can adjust the horizontal position of the transfer manipulator 5 to approach or move away from the bag-grabbing manipulator 3, so as to pick up the stack of bags from the bag-grabbing manipulator within a limited width range. Specifically, it includes a heavy-duty linear guide rail 29. A heavy-duty platform 30 is slidably arranged on the heavy-duty linear guide rail 29. A heavy-duty drive electric cylinder 31 drivingly connected to the heavy-duty platform 30 is arranged on one side of the heavy-duty linear guide rail 29. The hollow servo rotating platform 27 is arranged on the heavy-duty platform 30;

[0066] The transfer lifting drive mechanism includes a transfer lifting seat 32 slidably sleeved on the profiled steel column 28 and a transfer lifting drive unit 33 for driving the transfer lifting seat 32 to lift. The transfer rotating platform 34 is arranged on one side surface of the transfer lifting seat 32;

[0067] The transfer manipulator 5 includes two clamping palms 35 hinged to the transfer rotating platform 34. Synchronous movement between the two clamping palms 35 is realized through a gear transmission structure 36. A clamping motor 37 drivingly connected to one of the clamping palms 35 is also arranged on the transfer rotating platform 34. During the operation, the clamping motor 37 drives one of the clamping palms 35 to rotate, and then the opening and closing of the two clamping palms 35 are realized through the gear transmission structure 36.

[0068] In implementation, see Figure 5, the bag arranging device 6 includes a bag conveying mechanism 38. A plurality of feeding mechanisms 39 are arranged in parallel at the feeding end of the bag conveying mechanism 38, and the distance between adjacent feeding mechanisms 39 is adapted to the clamping palms 35. A bag blocking mechanism 40 is spanned across the middle of the bag conveying mechanism 38. Pushing and aligning mechanisms 41 are arranged on both sides of the bag conveying mechanism 38 and between the feeding mechanisms 39 and the bag blocking mechanism 40. A bag separating mechanism 42 is arranged above the bag conveying mechanism 38, and the bag separating mechanism 42 can move back and forth on both sides of the bag blocking mechanism 40 along the bag conveying direction.

[0069] During implementation, both the bag conveying mechanism 38 and the feeding mechanisms 39 can adopt belt conveying structures. During the process of placing the stack of bags on the feeding mechanism 39 by the clamping palms 35, the clamping fingers in the clamping palms 35 can pass through the space between adjacent feeding mechanisms 39. When the stack of bags contacts the surface of the feeding mechanism 39, the two clamping palms 35 open to complete the placing action; the bag blocking mechanism 40 can adopt a baffle, such as a rubber plate. The distance between the bottom of the bag blocking mechanism 40 and the surface of the bag conveying mechanism 38 is less than the thickness of a single packaging bag, and the height of the bag blocking mechanism 40 is greater than the thickness of the stack of bags.

[0070] During the bag arranging process, after the feeding mechanism 39 receives the stack of bags, it transfers the stack of bags to the bag conveying mechanism 38. The bag conveying mechanism 38 continues to convey the stack of bags until it is blocked by the bag blocking mechanism 40, thereby completing the alignment of the stack of bags in the feeding direction. After that, the pushing and aligning mechanism 41 acts to squeeze the two sides of the stack of bags parallel to the feeding direction. Thus, the overall alignment of the stack of bags is completed. Finally, the bag conveying mechanism 38 stops working, and the bag separating mechanism 42 sequentially transfers each packaging bag in the stack of bags to the rear of the bag blocking mechanism 40. After the transfer is completed, the bag conveying mechanism 38 starts again to convey the stack of bags as a whole to the next cement filling station.

[0071] In addition, it should be noted that the feeding mechanism 39 can be slightly higher than the bag conveying mechanism 38 to prevent problems such as the edges of the stack of bags getting stuck, collapsing, and deforming during the transfer process. While the bag separating mechanism 42 sequentially transfers each packaging bag in the stack of bags to the rear of the bag blocking mechanism 40 to achieve the transfer, it can also separate each packaging bag in the stack of bags, preventing difficulties brought to the subsequent cement filling process when two packaging bags stick together, such as affecting the bag inserting success rate of the bag inserting machine.

[0072] During implementation, the pushing and aligning mechanism 41 includes a pushing and aligning cylinder arranged perpendicular to the bag conveying direction and a pushing and aligning baffle vertically installed on the piston rod of the pushing and aligning cylinder.

[0073] The bag dividing mechanism 42 includes bag conveying guide rails which are relatively arranged on both sides of the bag conveying mechanism 38 and are higher than the bag conveying mechanism 38. A bag conveying moving frame is movably arranged between the bag conveying guide rails. A bag grabbing cylinder is vertically arranged on the bag conveying moving frame and above the bag conveying mechanism 38. A bag grabbing suction cup is horizontally arranged on the piston rod of the bag grabbing cylinder. In a specific implementation, a V-shaped roller can be arranged on the bag conveying moving frame, and the bag conveying guide rails adopt V-shaped guide rails to achieve the movement and coordination between the two. The driving structure of the bag conveying moving frame can be realized by driving structures such as motor sprocket chain, cylinder, electric cylinder, and screw pair.

[0074] See also Figures 6 - 11 The bag grabbing manipulator 3 includes a manipulator mounting frame 43, on both sides of which swing driving mechanisms 44 are relatively arranged, a swing frame 45 is arranged in the manipulator mounting frame 43, and the swing frame 45 is connected to the swing driving mechanism 44 in transmission, a sliding frame 46 is arranged in the swing frame 45 for vertical sliding, and a damping mechanism 47 is arranged between the swing frame 45 and the sliding frame 46; a finger mounting frame 48 and a horizontal driving cylinder 49 connected to the finger mounting frame 48 for horizontal sliding are arranged in the sliding frame 46, a finger positioning shaft 50 is arranged on the front side of the finger mounting frame 48, a fixed finger 51 and a movable finger 52 are arranged on the finger positioning shaft 50, the fixed finger 51 is fixedly connected to the finger positioning shaft 50 and is located on the lower side, the movable finger 52 is rotatably connected to the finger positioning shaft 50 and is located on the upper side, a finger driving cylinder 53 is arranged in the finger mounting frame 48 at the rear side of the finger positioning shaft 50, and a finger connecting rod 54 is connected between the piston rod of the finger driving cylinder 53 and the movable finger 52.

[0075] In practice, the damping mechanism 47 may include a positioning column that is slidably disposed in the swing frame 45 and whose bottom end is fixed to the sliding frame 46 , and a compression spring is sleeved on the positioning column and between the swing frame 45 and the sliding frame 46 .

[0076] A bag pressing mechanism 55 is provided on the manipulator mounting frame 43 and on both sides of the moving direction of the fixed fingers 51 and the movable fingers 52; the bag pressing mechanism 55 can be implemented by a vertically arranged cylinder, and two cylinders are arranged at the front and back of each side, one cylinder is used to press the bag stack to be grasped, and the other cylinder is used to press the next layer of bag stack to be grasped.

[0077] The swing drive mechanism 44 includes a swing drive cylinder 56 vertically arranged on the outer side of the manipulator mounting frame 43, a swing shaft 57 rotatably penetrated on the manipulator mounting frame 43, and a V-shaped swing rod 58 having one end fixedly connected to the swing shaft 57 and one end hinged to the piston rod of the swing drive cylinder 56. The swing frame 45 is fixed on the swing shaft 57.

[0078] The cylinder block of the finger driving cylinder 53 is rotatably connected to the finger mounting frame 48, and the finger connecting rod 54 is hinged to the piston rod of the finger driving cylinder 53 and fixedly connected to the movable finger 52.

[0079] The working process of the automatic pallet - removing and bag - sorting system of the utility model bag storage includes:

[0080] S1. The bag pallet 7 is transported to the rotating platform 14 by a forklift, and the worker removes the straps on the bag pallet 7. Then the whole system starts to work.

[0081] S2. The bag pallet clamping mechanism 15 acts to clamp the pallet at the bottom of the bag pallet 7 and place the bag pallet 7 in the center of the rotating platform 14. Then, through the actions of the robotic arm servo rotating platform 17, the robotic arm lifting seat 19, and the swing arm driving seat 21 in the bag - grasping robotic arm, the position of the bag - grasping manipulator 3 is adjusted. First, the bag - grasping manipulator 3 is moved above the bag stack to be grasped, and then the bag - grasping robotic arm 2 drives the bag - grasping manipulator 3 to move down. During the downward movement, the fixed finger 51 in the bag - grasping manipulator 3 first contacts the lower - layer bag stack of the target bag stack, and then continues to move down a certain extent and stops. The bag - pressing mechanism 55 acts to press the target bag stack and the lower - layer bag stack respectively. The horizontal driving cylinder 49 acts to drive the fixed finger 51 to extend into the gap between the target bag stack and the lower - layer bag stack. See Figure 10 and during the extending process, under the action of the damping mechanism 47, while maintaining the pressing force with the lower - layer bag stack, it will not scratch the bag stack. After extending in place, the finger driving cylinder 53 acts to drive the movable finger 52 to move down to cooperate with the fixed finger 51 to clamp the target bag stack;

[0082] The bag - grasping robotic arm 2 drives the bag - grasping manipulator 3 to lift. During the lifting process, the swing driving cylinder 56 acts to drive the swing shaft 57 to rotate through the V - shaped swing rod 58, and then the swing frame 45 rotates to complete lifting the target bag stack in a vertical state. See Figure 11 ;

[0083] As the target bag stacks are grabbed one by one, the height of the bag pallet 7 can be adjusted by the lifting platform 12 to cooperate with the bag - grasping robotic arm 2 to adjust the relative position between the bag - grasping manipulator 3 and the target bag stack. And when the grabbing of the target bag stacks stacked on the same side in one layer is completed, based on the recognition and positioning of the vision camera device 8, the bag pallet 7 is rotated by the rotating platform 14 for adjustment to ensure that the side in the width direction of the target bag stack is opposite to the bag - grasping manipulator 3 for convenient grabbing.

[0084] S3. The robotic arm servo rotating platform 17 in the bag-grabbing robotic arm 2 moves, driving the bag-grabbing manipulator 3 to swing to a position horizontally opposite to the transfer manipulator 5. The heavy-duty drive electric cylinder 31 and the transfer lifting drive unit 33 in the transfer robotic arm 4 move, thus placing the target bag stack between the two clamping palms 35. The clamping motor 37 moves, causing the two clamping palms 35 to clamp the target bag stack, and the finger drive cylinder 53 resets to release the target bag stack. The transfer rotating platform 34 moves, driving the clamping palms 35 to rotate above the feeding mechanism 39. During the rotation, the transfer rotating platform 34 moves again to change the target bag stack back to a horizontally placed state. The transfer lifting drive unit 33 moves, driving the clamping palms 35 to descend. The clamping fingers in the clamping palms 35 can pass through between adjacent feeding mechanisms 39. When the target bag stack contacts the surface of the feeding mechanism 39, the two clamping palms 35 open to complete the placement action.

[0085] S4. After the feeding mechanism 39 receives the target bag stack, it transfers the target bag stack to the bag conveyor mechanism 38. The bag conveyor mechanism 38 continues to convey the target bag stack until it is blocked by the bag blocking mechanism 40, completing the alignment of the target bag stack in the conveying direction. Thereafter, the bag pushing and aligning mechanism 41 moves to squeeze the two sides of the bag stack parallel to the conveying direction. Thus, the overall alignment of the target bag stack is completed. Finally, the bag conveyor mechanism 38 stops working, and the bag separating mechanism 42 sequentially transfers each packaging bag in the target bag stack to the rear of the bag blocking mechanism 40. After the transfer is completed, the bag conveyor mechanism 38 starts again to transfer the entire target bag stack to the next cement filling station.

[0086] Finally, it should be noted that in the present utility model, the platform lifting drive unit, the robotic arm lifting drive unit, the swing arm drive unit, and the transfer lifting drive unit can all be implemented by conventional drive structures such as sprocket chains, lead screw pairs, and cylinders; each rotating platform mentioned in the present utility model can be realized by a slewing bearing and a servo motor drive structure.

[0087] The above are only the preferred embodiments of the present utility model, and are not intended to limit the protection scope of the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model are all included in the protection scope of the present utility model.

Claims

1. An automatic bag depalletizing and bag sorting system in a bag warehouse, characterized in that: It includes a bag supply device, a bag grabbing robot arm, a bag grabbing robot hand, a transfer robot arm, a transfer robot hand and a bag sorting device; among which, The bag grabbing mechanical arm is arranged on one side of the bag supplying and destacking device; The bag grabbing manipulator is arranged on the bag grabbing manipulator arm; The handover robot arm is arranged on one side of the bag grabbing robot arm; The handover robot is arranged on the handover robot arm; The bag sorting device is arranged on a side of the transfer robot arm away from the depalletizing and bag supplying device.

2. The automatic bag depalletizing and bag sorting system in bag warehouse according to claim 1 is characterized in that: The depalletizing and bag supplying device includes a base, on which a door-shaped supporting frame is relatively arranged, a V-shaped guide rail is arranged along the vertical beam of the supporting frame, and a lifting platform is slidably arranged between the supporting frames through the V-shaped guide rail, and a platform lifting drive unit for driving the lifting platform to lift and lower is also arranged on the supporting frame, a rotating platform is arranged on the lifting platform, a bag stack clamping mechanism is arranged at the side position of the rotating platform, and a supporting guide wheel is arranged on the bottom surface of the rotating platform.

3. The automatic bag depalletizing and bag sorting system in bag storage as claimed in claim 1 is characterized in that: The bag grabbing robot arm comprises a robot arm servo rotating platform, on which a robot arm supporting column is vertically arranged, on which a robot arm lifting mechanism is arranged, on which a swing arm and a swing arm driving mechanism for driving the swing arm are arranged, and the bag grabbing robot arm is arranged at the end of the swing arm.

4. The automatic bag unstacking and sorting system for bag storage as claimed in claim 3 is characterized in that: The robot arm lifting mechanism comprises a robot arm lifting seat vertically slidably arranged on a robot arm supporting column and a robot arm lifting driving unit driving the robot arm lifting seat to move up and down; The swing arm driving mechanism comprises a swing arm driving seat vertically slidably arranged on the mechanical arm lifting seat, a swing arm driving unit driving the swing arm driving seat to rise and fall, and a swing arm driving rod with one end hinged to the mechanical arm lifting seat; The swing arm includes two swing rods which are arranged in parallel and one end of each of which is hinged to the swing arm driving seat. A swing arm connecting rod is hinged between the ends of the two swing rods. The two swing rods, the swing arm connecting rod and the swing arm driving seat constitute a parallel four-bar structure. A bag grabbing manipulator mounting seat is arranged on the swing arm connecting rod. The other end of the swing arm driving rod is hinged to the middle part of one of the swing rods. The swing arm driving rod, the swing arm and the swing arm driving seat constitute a scissor-type driving structure.

5. The automatic bag depalletizing and bag sorting system in bag warehouse as claimed in claim 1 is characterized in that: The handover robot arm includes a linear drive mechanism, a hollow servo rotating platform is arranged on the moving end of the linear drive mechanism, a steel column is vertically arranged on the hollow servo rotating platform, a handover lifting drive mechanism is arranged on the steel column, a handover rotating platform is arranged on the handover lifting drive mechanism, and the handover robot is arranged on the handover rotating platform.

6. The automatic bag depalletizing and bag sorting system in bag storage as claimed in claim 5 is characterized in that: The linear drive mechanism includes a heavy-load linear guide rail, a heavy-load platform is slidably arranged on the heavy-load linear guide rail, a heavy-load driving electric cylinder connected to the heavy-load platform is arranged on one side of the heavy-load linear guide rail, and a hollow servo rotating platform is arranged on the heavy-load platform; The handover lifting drive mechanism includes a handover lifting seat slidably sleeved on the steel column and a handover lifting drive unit driving the handover lifting seat to lift and lower. The handover rotating platform is arranged on one side of the handover lifting seat. The handover robot comprises two clamping palms hinged to the handover rotating platform, and the two clamping palms achieve synchronous action through a gear transmission structure. The handover rotating platform is also provided with a clamping motor drivingly connected to one of the clamping palms.

7. The automatic bag depalletizing and bag sorting system in bag storage as claimed in claim 6 is characterized in that: The bag sorting device includes a bag conveying mechanism, a plurality of feeding mechanisms are arranged in parallel at the feeding end of the bag conveying mechanism, and the spacing between adjacent feeding mechanisms is adapted to the clamping palms, a bag blocking mechanism is arranged across the middle of the bag conveying mechanism, bag pushing and alignment mechanisms are arranged on both sides of the bag conveying mechanism and between the feeding mechanism and the bag blocking mechanism, a bag separating mechanism is arranged above the bag conveying mechanism, and the bag separating mechanism can move back and forth on both sides of the bag blocking mechanism along the bag conveying direction.

8. The automatic bag depalletizing and bag sorting system in bag storage as claimed in claim 6 is characterized in that: The bag pushing and aligning mechanism comprises a bag pushing and aligning cylinder arranged perpendicularly to the bag conveying direction and a bag pushing and aligning baffle plate vertically installed on the piston rod of the bag pushing and aligning cylinder; The bag separating mechanism includes bag conveying guide rails which are arranged relatively on both sides of the bag conveying mechanism and are higher than the bag conveying mechanism, a bag conveying moving frame is movably arranged between the bag conveying guide rails, a bag grabbing cylinder is vertically arranged on the bag conveying moving frame and above the bag conveying mechanism, and a bag grabbing suction cup is horizontally arranged on the piston rod of the bag grabbing cylinder.

9. The automatic bag depalletizing and bag sorting system in bag warehouse as claimed in claim 1, characterized in that: The bag grabbing manipulator includes a manipulator mounting frame, and swing driving mechanisms are relatively arranged on both side surfaces of the manipulator mounting frame. A swing frame is arranged inside the manipulator mounting frame, and the swing frame is transmission-connected to the swing driving mechanism. A sliding frame is arranged vertically in the swing frame, and a damping mechanism is arranged between the swing frame and the sliding frame; a finger mounting frame and a horizontal driving cylinder drivingly connected to the finger mounting frame are arranged horizontally in the sliding frame, a finger positioning shaft is arranged on the front side of the finger mounting frame, and a fixed finger and a movable finger are arranged on the finger positioning shaft, a finger driving cylinder is arranged at the rear side of the finger positioning shaft in the finger mounting frame, and a finger connecting rod is connected between the piston rod of the finger driving cylinder and the movable finger.

10. The automatic bag depalletizing and bag sorting system in bag storage as claimed in claim 9, characterized in that: A bag pressing mechanism is arranged on the manipulator mounting frame and on both sides of the moving direction of the fixed fingers and the movable fingers; The swing drive mechanism includes a swing drive cylinder vertically arranged on the outer side of the manipulator mounting frame, a swing shaft rotatably penetrated on the manipulator mounting frame, and a V-shaped swing rod having one end fixedly connected to the swing shaft and one end hinged to the piston rod of the swing drive cylinder, and the swing frame is fixed on the swing shaft; The cylinder body of the finger driving cylinder is rotatably connected to the finger mounting frame, and the finger connecting rod is hinged to the piston rod of the finger driving cylinder and fixedly connected to the movable finger.

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