Bag opening and boxing device and feeding equipment

Abstract

The utility model provides a bag opening and boxing device and feeding equipment, and the bag opening and boxing device comprises a bag opening visual mechanism which is suitable for identifying the position information of a raw material bag; and the bag opening and boxing mechanism is provided with a bag opening station and a material pouring station, and is configured to open the raw material bags in the bag opening station based on the position information of the raw material bags, move the opened raw material bags to the material pouring station, pour the raw materials in the raw material bags into a material box, and move the opened raw material bags to the bag opening station to be moved out. According to the bag opening and boxing device, the bag opening and boxing mechanism can open the raw material bags in the bag opening station based on the position information of the raw material bags, the opened raw material bags are moved to the material pouring station, raw materials in the raw material bags are poured and put into the material box, and the opened raw material bags are moved to the bag opening station to be moved out. The processes of automatic bag opening, boxing, waste treatment and the like are achieved, so that the labor cost is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of industrial equipment technology, and in particular to a bag-opening and box-packing device and a feeding device. Background Technology

[0002] In relevant industrial technologies, the process of opening and packing bagged raw materials is entirely manual. The process involves: manually removing the bagged raw material from the base, cutting the bag open with a knife, pouring the raw material into an empty container, and then closing the container lid. Due to the very high daily demand for raw materials in industrial production and the high workload for workers, manual bag opening and loading is inconvenient and affects production efficiency. Utility Model Content

[0003] This utility model aims to solve at least one of the technical problems existing in related technologies. To this end, this utility model proposes a bag-opening and box-packing device and a feeding equipment, aiming to improve bag-opening efficiency and production efficiency.

[0004] The bag-opening and box-packing device according to a first aspect embodiment of the present invention includes:

[0005] A bag-opening vision mechanism is suitable for identifying the location information of raw material bags;

[0006] The bag opening and packing mechanism is equipped with a bag opening station and a material unloading station. It is configured to open the raw material bag at the bag opening station based on the position information of the raw material bag, move the opened raw material bag to the material unloading station to unload the raw material into the material box, and move the opened raw material bag to the bag opening station for unloading.

[0007] The bag opening and boxing device of this utility model embodiment is equipped with a bag opening vision mechanism and a bag opening and boxing mechanism. The bag opening and boxing mechanism can open the raw material bag in the bag opening station based on the position information of the raw material bag, move the opened raw material bag to the unloading station to unload the raw material in the raw material bag into the material box, and move the opened raw material bag to the bag opening station for unloading. This realizes the automation of bag opening, boxing and waste disposal processes, thereby reducing labor costs and improving production efficiency.

[0008] According to an embodiment of the present utility model, the bag-opening and box-packing device includes:

[0009] A receiving assembly for carrying the raw material bag is adapted to move between the bag opening station and the unloading station;

[0010] A bag opening assembly is adapted to open the raw material bag when the receiving assembly moves to the bag opening station;

[0011] A material pouring and flipping component is connected to the material receiving component and is adapted to control the material receiving component to flip over when the material receiving component moves to the material pouring station to load the raw material in the raw material bag into the material box, and to control the material receiving component to flip over when the material receiving component returns to the bag opening station to remove the opened raw material bag from the production line.

[0012] A material bag suction cup assembly is disposed in the material receiving assembly and is adapted to suck up and fix the material bag when the material receiving assembly moves to the unloading station for flipping.

[0013] According to an embodiment of the present invention, the bag-opening and box-packing device includes:

[0014] The guide rail extends from the bag opening station to the material unloading station;

[0015] A receiving frame is slidably mounted on the guide rail for carrying the raw material bag;

[0016] The first driving component is connected to the receiving frame and is used to drive the receiving frame to move along the guide rail between the bag opening station and the unloading station.

[0017] According to an embodiment of the present invention, the bag-opening and box-packing device includes:

[0018] First robotic arm;

[0019] A bag-opening cutter is mounted on the first robotic arm and is suitable for breaking, picking, and cutting the raw material bags.

[0020] According to an embodiment of the present utility model, the bag-opening and box-packing device includes:

[0021] The first connector is attached to the first robotic arm;

[0022] A tool mounting bracket and an ultrasonic grinder, wherein the ultrasonic grinder is connected to the tool mounting bracket and the ultrasonic grinder assists in breaking, picking, and cutting bags by generating ultrasonic vibrations;

[0023] A serrated vibrating cutter is connected to the cutter mounting bracket.

[0024] According to an embodiment of the present utility model, the bag-opening and box-packing device includes:

[0025] The second connector is attached to the first robotic arm;

[0026] The bag includes a binding rod, a saw blade, and a second driving component. The binding rod and the saw blade are mounted on the second driving component, which is adapted to drive the binding rod to break the bag and drive the saw blade to pick up and cut the bag.

[0027] An adjusting member is provided, wherein the second driving member is connected to the second connecting member via the adjusting member, and the adjusting member is adapted to adjust the position of the second driving member relative to the second connecting member.

[0028] According to an embodiment of the present utility model, the bag-opening and box-packing device includes:

[0029] An opening vision camera is installed on the opening and packing mechanism, which is suitable for identifying the position information of the raw material bag at the opening station before opening.

[0030] According to the bag-opening and box-packing device of the present utility model, the bag-opening and box-packing mechanism further includes at least one of the following:

[0031] A dust removal component is connected to the internal space of the bag opening component to remove dust;

[0032] A waste bag recycling component is installed at the bag opening station to recycle the raw material bags after they have been emptied.

[0033] The feeding hopper assembly is located at the unloading station and is used to guide the raw materials in the raw material bag into the material box.

[0034] According to the bag-opening and box-packing device of the present utility model, the bag-opening and box-packing mechanism further includes at least one of the following:

[0035] Processing a flipping component, suitable for flipping the raw material bag before cutting;

[0036] A cutter detection component is used to detect the opening status of the bag opening component.

[0037] According to an embodiment of the present utility model, the bag-opening and box-packing device further includes:

[0038] The upper frame mechanism and the lower frame mechanism are arranged on the lower frame mechanism, and a receiving cavity is formed between them for accommodating the bag opening and boxing mechanism and the bag opening vision mechanism.

[0039] The feeding device according to a second aspect embodiment of the present invention includes:

[0040] The bag-opening and box-packing device described in any of the above embodiments;

[0041] A conveying device, suitable for conveying the material box;

[0042] A visual recognition device, adapted to identify the coordinate information of the raw material bag;

[0043] The gripping device is adapted to grip the raw material bag based on the coordinate information of the raw material bag and transport the raw material bag to the opening station of the bag opening and packing device.

[0044] The feeding equipment of this utility model embodiment is equipped with a bag opening vision mechanism and a bag opening and boxing mechanism. The bag opening and boxing mechanism can open the raw material bag in the bag opening station based on the position information of the raw material bag, move the opened raw material bag to the unloading station to unload the raw material in the bag into the material box, and move the opened raw material bag to the bag opening station for unloading. This realizes the automation of bag opening, boxing and waste disposal processes, thereby reducing labor costs and improving production efficiency.

[0045] According to the feeding equipment of this utility model embodiment, the visual recognition device includes:

[0046] Fixture;

[0047] The visual recognition mechanism is movably mounted on the fixed frame;

[0048] A third driving component is connected to the visual recognition mechanism to drive the visual recognition mechanism to move along the fixed frame.

[0049] According to the feeding device of this utility model embodiment, the gripping device includes:

[0050] Second robotic arm;

[0051] A third connector and a clamping mechanism are connected to the second robotic arm via the third connector, and the clamping mechanism is adapted to grip the raw material bag.

[0052] According to the feeding device of this utility model embodiment, the clamping mechanism includes:

[0053] The bracket is connected to the third connector.

[0054] A suction cup, attached to one end of the bracket, is used to suck up the raw material bag;

[0055] A clamp, connected to the other end of the support, is used to grip the material frame carrying the raw material bag.

[0056] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this utility model or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram of the feeding device provided in an embodiment of the present utility model.

[0059] Figure 2 This is one of the schematic diagrams of a portion of the structure of the feeding device provided in this embodiment of the utility model.

[0060] Figure 3 This is the second schematic diagram of a portion of the structure of the feeding device provided in this embodiment of the utility model.

[0061] Figure 4 This is a schematic diagram of the bag-opening and box-packing device provided in this embodiment of the utility model.

[0062] Figure 5 This is a disassembly diagram of the bag-opening and box-packing device provided in this embodiment of the utility model.

[0063] Figure 6 This is a schematic diagram of the bag-opening and box-packing mechanism provided in this embodiment of the utility model.

[0064] Figure 7 This is a schematic diagram of the raw material bag at the bag opening station in the bag opening and packing mechanism provided in this embodiment of the utility model.

[0065] Figure 8 This is a schematic diagram of the raw material bag at the unloading station in the bag opening and packing mechanism provided in this embodiment of the utility model.

[0066] Figure 9 This is a schematic diagram of a bag-opening knife provided in an embodiment of this utility model.

[0067] Figure 10 This is a disassembly diagram of a bag-opening knife provided in an embodiment of this utility model.

[0068] Figure 11 This is a schematic diagram of another bag-opening knife provided in an embodiment of this utility model.

[0069] Figure 12 This is a disassembly diagram of another bag-opening knife provided in this embodiment of the utility model.

[0070] Figure 13 This is a schematic diagram of the feeding device provided in this embodiment of the present invention during operation.

[0071] Figure 14 This is a schematic diagram of the bag-opening and box-packing device provided in this embodiment of the present invention, showing the bag-breaking process.

[0072] Figure 15 This is a schematic diagram of the bag-picking and bag-cutting process of the bag-opening and box-packing device provided in this embodiment of the utility model.

[0073] Figure 16This is a schematic diagram of the cross-cutting process of the bag opening and packing device provided in this embodiment of the utility model.

[0074] Figure 17 This is a schematic diagram of the bag-opening and unloading process of the bag-opening and box-packing device provided in this embodiment of the utility model.

[0075] Figure 18 This is a schematic diagram of the bag opening, recycling, and resetting process of the bag opening and packing device provided in this embodiment of the utility model.

[0076] Figure 19 This is a schematic diagram of the bag-opening, bag-picking, and bag-cutting process of the bag-opening and box-packing device provided in this embodiment of the utility model.

[0077] Figure 20 This is a schematic diagram of the gripping device provided in an embodiment of the present invention.

[0078] Figure 21 This is a schematic diagram of a portion of the structure of the gripping device provided in this embodiment of the utility model.

[0079] Figure label:

[0080] 10. Bag opening and box packing device; 110. Bag opening vision mechanism; 120. Bag opening and box packing mechanism; 121. Receiving assembly; 1211. Guide rail; 1212. Receiving frame; 1213. First driving component; 122. Bag opening assembly; 1221. First robotic arm; 1222. Bag opening cutter; 12220. Connecting plate; 12221. Reinforcing rib plate; 12222. First mounting plate; 12223. Serrated vibrating knife; 12224. Cutter mounting bracket; 12225. Ultrasonic grinder; 12226. Knife holder fixing screw; 12227. Pressure plate; 12228. First reinforcing rib; 12229. Second mounting plate; 12230. Second reinforcing rib; 12231. Adjusting block; 12232. Third mounting plate; 12233. First pressure block; 12234. 90° elbow hanging grinder; 2235. Saw blade; 12236. Air file; 12237. Second pressure block; 12238. Dust cover; 12239. Slide table; 12240. Pulling block; 123. Material unloading and turning assembly; 124. Material bag suction cup assembly; 125. Dust removal assembly; 126. Waste bag recycling assembly; 127. Hopper assembly; 128. Processing turning assembly; 129. Cutting knife detection assembly; 1291. Upper frame mechanism; 1292. Lower frame mechanism; 20. Conveying device; 30. Vision recognition device; 310. Fixture; 320. Vision recognition mechanism; 330. Third drive component; 40. Gripping device; 410. Second robotic arm; 420. Clamping mechanism; 4210. Support; 4220. Suction cup; 4230. Fixture; 4240. Compression spring; 430. Third connecting component; 50. Base. Detailed Implementation

[0081] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0082] In the description of the embodiments of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0083] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0084] In this embodiment of the utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0085] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0086] The embodiments of this utility model are described with reference to... Figures 1 to 21 As shown, a bag-opening and box-packing device and a feeding device are provided.

[0087] According to one embodiment of this utility model, please refer to the reference. Figure 1 As shown, the bag-opening and box-packing device 10 according to an embodiment of the present invention includes a bag-opening vision mechanism 110 and a bag-opening and box-packing mechanism 120. The bag-opening vision mechanism 110 is adapted to identify the position information of the raw material bag; the bag-opening and box-packing mechanism 120 is provided with a bag-opening station and a material unloading station, and is configured to open the raw material bag in the bag-opening station based on the position information of the raw material bag, move the opened raw material bag to the material unloading station to unload the raw material in the raw material bag into a material box, and move the opened raw material bag to the bag-opening station for unloading.

[0088] In this embodiment, the main function of the bag-opening vision mechanism 110 is to capture and identify the position information of the raw material bag in real time. The bag-opening vision mechanism 110 typically utilizes technologies such as cameras, sensors, and image processing algorithms to acquire, analyze, and understand visual information. In the field of industrial automation, the bag-opening vision mechanism 110 can be used to identify and detect the position, shape, color, and other features of the raw material bag, thereby achieving automated control and operation. This mechanism is equipped with a high-precision camera and an advanced image processing system, enabling it to quickly capture images of the raw material bag and accurately identify its specific position, orientation, and possible size differences at the bag-opening station. This information serves as the basis for the bag-opening trajectory parameters of the bag-opening and packing mechanism 120. The bag-opening and packing mechanism 120 is responsible for calculating the bag-opening trajectory based on the position information provided by the bag-opening vision mechanism 110, and performing precise bag-opening operations on the raw material bag.

[0089] During operation, once the raw material bag moves to the opening station, the opening vision mechanism 110 immediately activates. It captures an image of the raw material bag and analyzes it through an image processing system. Based on the image information, it accurately identifies key information such as the bag's position, orientation, and size.

[0090] Based on the identification results, the bag-opening and packing mechanism 120 cuts the raw material bag according to a preset cutting path, ensuring that the raw material bag is opened cleanly and neatly. After opening, the bag-opening and packing mechanism 120 smoothly moves the raw material bag to the unloading station. Here, the raw material is poured out of the raw material bag and evenly fed into the material box. After unloading is completed, the bag-opening and packing mechanism 120 transports the empty bag from the unloading station back to the bag-opening station and then removes it from the production line (moves it to the waste disposal area). At this time, the bag-opening and packing device 10 enters the next cycle operation, continuing to perform operations such as opening, unloading, and waste disposal on new raw material bags.

[0091] The bag opening and packing device 10 of this utility model embodiment is provided with a bag opening vision mechanism 110 and a bag opening and packing mechanism 120. The bag opening and packing mechanism 120 can open the raw material bag in the bag opening station based on the position information of the raw material bag, move the opened raw material bag to the unloading station to unload the raw material in the raw material bag into the material box, and move the opened raw material bag to the bag opening station for unloading. This realizes the automation of bag opening, packing and waste disposal processes, thereby reducing labor costs and improving production efficiency.

[0092] In some embodiments, such as Figures 4 to 8 As shown, the bag opening and packing mechanism 120 includes: a receiving component 121, a bag opening component 122, a material pouring and turning component 123, and a bag suction cup component 124. The receiving component 121 is used to carry the raw material bag and is adapted to move between the bag opening station and the material pouring station; the bag opening component 122 is adapted to open the raw material bag when the receiving component 121 moves to the bag opening station; the material pouring and turning component 123 is connected to the receiving component 121 and is adapted to control the receiving component 121 to turn over and load the raw material in the bag into the material box when the receiving component 121 moves to the material pouring station, and to control the receiving component 121 to turn over and unload the opened raw material bag when the receiving component 121 returns to the bag opening station; the bag suction cup component 124 is disposed in the receiving component 121 and is adapted to suck up and fix the raw material bag when the receiving component 121 moves to the material pouring station for turning.

[0093] In this embodiment, the receiving assembly 121 is responsible for carrying the raw material bag and moving between the bag opening station and the unloading station. The receiving assembly 121 is used to ensure the stability of the raw material bag during the movement process.

[0094] The bag opening assembly 122 is responsible for precisely opening the raw material bag when the receiving assembly 121 moves it to the opening station. The bag opening assembly 122 can adjust the cutting force and path according to different raw material bag materials and sizes to ensure a smooth and safe bag opening process.

[0095] The material unloading and flipping component 123 is responsible for controlling the receiving component 121 to flip over when it moves the raw material bag to the unloading station, so as to load the raw material in the bag into the material box. At the same time, when the receiving component 121 returns to the bag opening station, this component can also control the receiving component 121 to flip over, so that the opened raw material bag is sent to the waste disposal area.

[0096] The material bag suction cup assembly 124 is disposed in the receiving assembly 121 and is used to pick up and fix the raw material bag when the receiving assembly 121 moves to the unloading station for flipping. This assembly, through its powerful suction and precise control system, ensures that the raw material bag does not fall into the material bin during unloading.

[0097] After the raw material bag is placed on the receiving component 121, the bag opening component 122 is activated. The bag opening cutter 1222 cuts the raw material bag according to the preset cutting path, ensuring that the raw material bag is cut open. After the bag is opened, when the receiving component 121 moves to the unloading station, the unloading and flipping component 123 is activated. This component controls the receiving component 121 to flip, evenly and quickly loading the raw material from the bag into the material box. At the same time, the bag suction cup component 124 is activated, sucking up and fixing the raw material bag to ensure its stability during the flipping process and prevent the bag from falling into the material box during unloading. After unloading is completed, the receiving component 121 is flipped and reset under the control of the unloading and flipping component 123. The receiving component 121 returns to the bag opening station, and the receiving component 121 continues to flip under the control of the unloading and flipping component 123. At this time, the bag suction cup component 124 stops sucking up the raw material bag, and the opened raw material bag is taken off the line to the waste disposal area. Finally, the material pouring and flipping component 123 controls the flipping and resetting, and the bag opening and boxing mechanism 120 enters the next cycle operation to continue to receive, open, pour, and process waste materials from new raw material bags.

[0098] In some embodiments, such as Figure 7 and Figure 8 As shown, the receiving assembly 121 includes: a guide rail 1211 extending from the bag opening station to the unloading station; a receiving frame 1212 slidably disposed on the guide rail 1211 for carrying the raw material bag; and a first driving member 1213 connected to the receiving frame 1212 for driving the receiving frame 1212 to move along the guide rail 1211 between the bag opening station and the unloading station.

[0099] In this embodiment, the guide rail 1211 serves as the path for the receiving frame 1212 to move. The guide rail 1211 extends from the bag opening station to the unloading station, ensuring that the receiving frame 1212 can move smoothly and accurately between these two stations. The receiving frame 1212 is used to carry the raw material bag. The receiving frame 1212 is slidably mounted on the guide rail 1211 for easy movement along it. The first driving component 1213 is connected to the receiving frame 1212, providing power to drive the receiving frame 1212 to move along the guide rail 1211. The first driving component 1213 uses a linear motion servo drive motor, enabling the receiving frame 1212 to have a linear movement function, and the receiving frame 1212 automatically reciprocates between the unloading station and the bag opening station along the guide rail 1211.

[0100] Generally, the contact surface between the receiving frame 1212 and the raw material bag is made of non-metallic polyurethane material to avoid direct contact between the raw material bag and metal, thus preventing metal contamination of the material. Polyurethane material also has good wear resistance, tear resistance, and elasticity. In actual use, users can assemble different receiving frames 1212 as needed to adapt to raw material bags of different shapes and sizes.

[0101] In some embodiments, such as Figures 6 to 8 As shown, the bag opening assembly 122 includes a first robotic arm 1221 and a bag opening cutter 1222. The bag opening cutter 1222 is disposed on the first robotic arm 1221 and is suitable for breaking, picking and cutting raw material bags.

[0102] The first robotic arm 1221 is responsible for moving the bag-opening cutter 1222 above the raw material bag and cutting it according to a preset path and force. The first robotic arm 1221 can be a six-axis robotic arm with six degrees of freedom, enabling complex spatial movements. This allows the bag-opening cutter 1222 to cut according to a preset path and angle, adapting to raw material bags of different shapes and sizes. The six-axis robotic arm employs advanced control system and sensor technology, enabling high-precision positioning and cutting.

[0103] The bag-opening cutter 1222 is located at the end of the first robotic arm 1221. The selection of the bag-opening cutter 1222 needs to consider factors such as the material and thickness of the raw material bag and cutting efficiency. The bag-opening cutter 1222 can perform various operations such as bag breaking, bag picking, and bag cutting. A suitable cutter material is selected based on the material of the raw material bag and the cutting requirements. For example, for thicker raw material bags, a cutter material with higher hardness and better wear resistance can be selected.

[0104] In this embodiment, two different bag-opening cutters 1222 are provided to meet different process requirements.

[0105] In one example, such as Figure 9 and Figure 10As shown, the bag-opening cutter 1222 includes: a first connector, a serrated vibrating blade 12223, a cutter mounting bracket 12224, and an ultrasonic grinder 12225. The first connector is connected to the first robotic arm 1221; the ultrasonic grinder 12225 is connected to the cutter mounting bracket 12224, and the ultrasonic grinder 12225 assists in breaking, picking, and cutting bags by generating ultrasonic vibrations; the serrated vibrating blade 12223 is connected to the cutter mounting bracket 12224.

[0106] Specifically, the first connecting component consists of a robot connecting plate 12220, a reinforcing rib plate 12221, a first mounting plate 12222, and a pressure plate 12227, which are interconnected to form a robust connecting structure for securely connecting the bag-opening knife 1222 to the first robotic arm 1221. The ultrasonic grinder 12225 is clamped and fixed by the pressure plate 12227 and the first mounting plate 12222. It utilizes ultrasonic vibration to assist in bag breaking, bag picking, and bag cutting. The knife mounting bracket 12224 is used to house the serrated vibrating knife 12223, and is fixed to the ultrasonic grinder 12225 by knife holder fixing screws 12226. The serrated vibrating knife 12223 is fixed to the knife mounting bracket 12224 by knife fixing screws and is the main component performing the cutting action. The serrated shape of the knife increases the contact area of ​​the cutting surface during the bag opening process, improving cutting efficiency.

[0107] The tool mounting bracket 12224 and the serrated vibrating knife 12223 are made of tungsten-cobalt alloy, a material with high strength, high hardness, and high wear resistance, ensuring that the tools remain sharp and stable during long-term use. Furthermore, tungsten-cobalt alloy is less prone to chemical reactions with materials, avoiding the problem of metal contamination.

[0108] The robot connecting plate 12220, reinforcing rib plate 12221, first mounting plate 12222, and pressure plate 12227 are made of non-metallic materials, such as high-strength plastics or composite materials. These materials not only have sufficient strength and rigidity but also do not chemically react with materials, avoiding the risk of metal contamination. Meanwhile, the surfaces of the ultrasonic grinder 12225, tool holder fixing screw 12226, and tool fixing screw are made of non-metallic wear-resistant materials, such as ceramic coatings or Teflon coatings. These coatings reduce friction and wear, extend service life, and prevent metal contamination.

[0109] In this embodiment, during the bag opening process, the first robotic arm 1221 uses a tool mounting bracket 12224, an ultrasonic grinder 12225, and a serrated vibrating blade 12223 to perform bag breaking, bag picking, and bag cutting actions. The serrated vibrating blade 12223 utilizes its sharp serrated edges and vibration characteristics to effectively cut the material of the raw material bag. The ultrasonic grinder 12225 assists the serrated vibrating blade 12223 in cutting by generating ultrasonic vibrations, while reducing friction and heat accumulation during the cutting process, protecting the tool and the raw material bag.

[0110] Next, the first robotic arm 1221 adjusts its direction and uses the tool mounting bracket 12224, ultrasonic grinder 12225, and serrated vibrating blade 12223 to complete the cross-cut of the raw material bag. Cross-cutting is typically used to further open the raw material bag, ensuring smooth material discharge while minimizing residue and waste. During this process, the first robotic arm 1221 continues to use the tool mounting bracket 12224, ultrasonic grinder 12225, and serrated vibrating blade 12223 for cutting. Precise cross-cutting can be achieved by accurately controlling the robotic arm's motion trajectory and cutting parameters.

[0111] In another example, such as Figure 11 and Figure 12 As shown, the bag-opening cutter 1222 includes: a second connecting member, an adjusting member, a tying rod, a saw blade 12235, and a second driving member. The second connecting member is connected to the first robotic arm 1221; the tying rod and the saw blade 12235 are disposed on the second driving member, which is adapted to drive the tying rod to break the bag and drive the saw blade 12235 to pick up and cut the bag; the second driving member is connected to the second connecting member through the adjusting member, which is adapted to adjust the position of the second driving member relative to the second connecting member.

[0112] In this embodiment, the second connector is securely connected to the first robotic arm 1221. The second connector specifically includes a robot connecting plate 12220, a first reinforcing rib 12228, a second mounting plate 12229, and a second reinforcing rib 12230. These parts are fixedly connected to form a robust whole, ensuring the stability and reliability of the structure. The binding rod and saw blade 12235 are mounted on the second drive unit. Specifically, the second drive unit refers to the 90° elbow grinding machine 12234 and the air file 12236, which are responsible for driving the binding rod to perform bag-breaking operations and driving the saw blade 12235 to perform bag-picking and bag-cutting operations, respectively.

[0113] To adjust the position of the second driving component relative to the second connecting component, an adjusting component is introduced. This adjusting component includes an adjusting block 12231, a third mounting plate 12232, and a first pressing block 12233. The arc groove and straight slot on the adjusting block 12231 allow for flexible adjustment of the angle and lateral direction of the 90° elbow grinding machine 12234; while the slide table 12239 allows for further adjustment of the front-back direction of the 90° elbow grinding machine 12234. This multi-dimensional adjustment capability ensures that the bag-opening cutter 1222 can adapt to packaging bags of different sizes and shapes.

[0114] In addition, the bag-opening cutter 1222 is also equipped with auxiliary components such as a second pressure block 12237, a cutter mounting block, a dust cover 12238, a slide table 12239, and a pull block 12240. These components enhance structural stability while also improving operational convenience and safety. For example, the installation of the dust cover 12238 can effectively prevent dust generated during the bag-opening process from contaminating the material; while the pull block 12240 and the slide table 12239 facilitate precise position adjustment of the 90° elbow grinding machine 12234.

[0115] In terms of material selection, the tool mounting block, tie rod, and saw blade 12235 are made of tungsten-cobalt alloy, which has excellent hardness and wear resistance, effectively avoiding the problem of metal contamination. Meanwhile, to further improve overall durability and prevent metal contamination, the surfaces of the robot connecting plate 12220, first reinforcing rib 12228, second mounting plate 12229, second reinforcing rib 12230, adjusting block 12231, third mounting plate 12232, first pressure block 12233, 90° elbow grinding machine 12234, air file 12236, second pressure block 12237, dust cover 12238, slide table 12239, and pulling block 12240 are all made of non-metallic wear-resistant materials.

[0116] In this embodiment, during the bag-opening process, after the first robotic arm 1221 reaches its designated position, the air file 12236 begins operation, controlling the tie rod to pierce the raw material bag, completing the initial bag-breaking action. After the bag is broken, the 90° elbow-head grinding machine 12234 starts, driving the saw blade 12235 to rotate. The saw blade 12235, utilizing its sharp cutting edge and high-speed rotation, works in conjunction with the tie rod and air file 12236 to perform bag-picking and bag-cutting actions.

[0117] Next, the first robotic arm 1221 adjusts its direction. Similar to the initial bag-breaking process, the air file 12236 and the tying rod are inserted into different positions on the raw material bag again, completing a new bag-breaking action. Subsequently, the 90° bent overhead mill 12234 drives the saw blade 12235 to rotate, performing cross-shaped cuts. By precisely controlling the movement trajectory and cutting parameters of the robotic arms, accurate cross-cuts can be achieved, ensuring that the material can be smoothly poured out.

[0118] In some embodiments, such as Figure 5 As shown, the bag-opening vision mechanism 110 includes a bag-opening vision camera, which is mounted on the bag-opening and packing mechanism 120 and is suitable for identifying the position information of the raw material bag at the bag-opening station before opening. The position information of the bag-opening vision camera serves as the basis for the bag-opening trajectory parameters of the bag-opening and packing mechanism 120. Based on the position information of the raw material bag provided by the bag-opening vision camera, the bag-opening and packing mechanism 120 automatically adjusts its bag-opening trajectory parameters. These parameters include, but are not limited to, the motion trajectory of the robotic arm, the movement speed of the tie rod and saw blade 12235, and the cutting depth.

[0119] Typically, the bag opening vision mechanism 110 includes a bag opening vision camera and multiple lighting elements arranged around the bag opening vision camera.

[0120] In this embodiment, the bag-opening vision camera is used to acquire and identify images of objects and convert them into digital signals. It can also process the acquired images, extracting, processing, and analyzing the information contained within them according to pre-set recognition rules. Types of bag-opening vision cameras include, but are not limited to, industrial cameras or 3D cameras. Industrial cameras are commonly used in machine vision and automation fields, featuring high resolution, high speed, high stability, and reliability, and are adaptable to various industrial environments. 3D cameras can acquire three-dimensional information of objects and measure parameters such as distance, shape, and depth. They have wide applications in machine vision and robot navigation, and can be selected according to specific application requirements. This embodiment does not specifically limit the type of bag-opening vision camera.

[0121] In this embodiment, the lighting elements provide illumination so that the features of the raw material bag can be more clearly captured by the bag-opening vision camera, improving the recognition efficiency and accuracy of the camera. In an optional implementation, there are multiple lighting elements arranged around the bag-opening vision camera, for example, four lighting elements evenly distributed around the camera. This ensures that the light source covers the entire surface of the edge material as fully as possible, and guarantees uniform and stable illumination, avoiding problems such as shadows and reflections that could affect the accuracy of the bag-opening vision camera in recognizing the edge material.

[0122] For example, the illumination method of the lighting component can be laser illumination, which has higher brightness, smaller divergence angle and better directionality, and can obtain brighter, sharper and higher contrast images, helping to achieve accurate detection, identification and positioning of edge leather.

[0123] In some embodiments, such as Figures 6 to 8 As shown, the bag opening and packing mechanism 120 also includes at least one of a dust removal assembly 125, a waste bag recycling assembly 126, and a hopper assembly 127.

[0124] In an optional embodiment, the bag-opening and box-packing device 10 is equipped with a dust removal component 125, which communicates with the internal space of the bag-opening component 122 to remove dust. By filtering and cleaning the air through the dust removal component 125, dust generated during the bag-opening and unloading process can be effectively removed, reducing dust pollution to workers and the environment. This reduces the damage of dust to workers' respiratory systems, improves the safety and health of the working environment, and lowers the risk of illness. Lowering dust concentration can improve the cleanliness of the operating environment, increasing work efficiency and comfort.

[0125] In an optional embodiment, the bag opening and packing device 10 is further provided with a waste bag recycling component 126. The waste bag recycling component 126 is located at the bag opening station and is used to recycle the raw material bags that have been cut open and emptied. The waste bag recycling component 126 can recycle the raw material bags that have been cut open and emptied, 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.

[0126] In an optional embodiment, the bag-opening and box-packing device 10 is further provided with a hopper assembly 127, which is located at the material discharge station and is used to guide the raw materials in the raw material bag into the material box. The contact surfaces between the hopper assembly 127 and the raw materials are all made of non-metallic polyurethane material to ensure that the raw materials avoid metal contact.

[0127] In some embodiments, such as Figures 6 to 8 As shown, the bag opening and packing mechanism 120 further includes: a processing flipping assembly 128 and at least one of the processing flipping assembly 128.

[0128] In an optional embodiment, the bag opening and packing device 10 is equipped with a processing flipping assembly 128, adapted to flip the raw material bag before cutting. The main function of the processing flipping assembly 128 is to determine and flip the raw material bag according to the requirements of the production process before cutting. This may be necessary for certain types of raw materials or packaging methods to ensure that the raw material can be smoothly poured out of the bag or subjected to subsequent processing. When the system determines that the raw material bag needs to be flipped, the processing flipping assembly 128 is activated, flipping the raw material bag by means of a robotic arm, conveyor belt or other flipping mechanism. After flipping, the raw material bag is sent to the bag opening station, ready for subsequent cutting and bag opening operations.

[0129] In an optional embodiment, the bag opening and packing device 10 is equipped with a cutter detection component 129 for detecting the bag opening status of the bag opening component 122, particularly the working status and cutting effect of the cutter. The cutter detection component 129 typically monitors the cutter's movement trajectory, cutting depth, and the state of the bag opening after cutting using devices such as sensors or cameras. If incomplete cutting or cutter malfunction is detected, the system will promptly issue an alarm and stop operation to avoid damage to the raw materials and equipment.

[0130] In some embodiments, such as Figure 4 and Figure 5 As shown, the bag-opening and packing device 10 also includes an upper frame mechanism 1291 and a lower frame mechanism 1292. The upper frame mechanism 1291 is disposed on the lower frame mechanism 1292, and a receiving cavity for accommodating the bag-opening and packing mechanism 120 and the bag-opening vision mechanism 110 is formed between the two.

[0131] In this embodiment, the lower frame assembly is fixedly installed on the ground, and the upper frame mechanism 1291 is mounted on the lower frame mechanism 1292. The two are fixedly connected by connectors (such as bolts, welding, etc.) to form a stable structural frame. This frame contains a receiving cavity for installing and accommodating the bag-opening and packing mechanism 120 and the bag-opening vision mechanism 110. The receiving cavity effectively prevents dust and debris from entering the bag-opening and packing mechanism 120 and the bag-opening vision mechanism 110, thus protecting these precision devices from contamination and damage. This is crucial for maintaining the normal operation of the equipment and extending its service life. In addition to dust protection, the receiving cavity also provides certain safety protection functions. It prevents operators from directly contacting the moving parts of the equipment during operation, thereby reducing the risk of accidental injury. Simultaneously, it also prevents external objects from impacting and damaging the equipment.

[0132] In one specific embodiment, such as Figure 13 As shown, a material frame can be placed on the base 50, and raw material bags containing raw materials are usually stacked in the material frame. During operation, the receiving frame 1212 is initially in the bag opening position. The automatic logistics handling or the worker moves the material frame to the docking position of the base 50. The visual recognition device 30 identifies the shape, size and position of the raw material bag and the material frame and feeds it back to the gripping device 40. The gripping device 40 grabs the raw material bag from the base 50. If the raw material bag needs to be flipped, the gripping device 40 places the raw material bag on the processing flipping component 128. After the processing flipping component 128 flips the bag 180°, the gripping device 40 grabs the raw material bag from the processing flipping component 128 and feeds it into the receiving frame 1212.

[0133] If the raw material bag does not need to be flipped, the gripping device 40 directly feeds the raw material bag into the receiving frame 1212, completing the feeding action of the raw material bag. When the material frame of the base 50 needs to be removed, after the vision recognition device 30 identifies the size and position information of the material frame of the base 50, the gripping device 40 clamps the material frame from the base 50 and places it in the material frame collection position.

[0134] During the process of opening and breaking the bag, such as Figure 14 As shown, after the bag opening vision mechanism 110 identifies the position and size information of the raw material bag, it feeds it back to the first robotic arm 1221 of the bag opening assembly 122. The first robotic arm 1221 uses the sharp edge on the ultrasonic grinder 12225 and the tool mounting bracket 12224 on the bag opening tool 1222 to pierce into the raw material bag and complete the bag breaking.

[0135] During the process of opening and cutting bags, such as... Figure 15 As shown, the first robotic arm 1221 uses a tool mounting bracket 12224, an ultrasonic grinder 12225, and a serrated vibrating blade 12223 to pick up and cut bags. Then, as... Figure 16 As shown, the first robotic arm 1221 adjusts its direction and uses the tool mounting bracket 12224, ultrasonic grinder 12225 and serrated vibrating knife 12223 to complete the cross-cutting of the raw material bag.

[0136] During the material unloading process, such as Figure 17 As shown, after the bag is opened, the first driving component 1213 moves the receiving frame 1212 to the unloading station. The receiving frame 1212 is then flipped and unloaded by the unloading and flipping component 123. The raw material is then loaded into the material box through the hopper component 127, completing the unloading and boxing process. During the unloading process, the bag suction cup component 124 picks up the empty raw material bag to prevent the raw material bag (waste bag) from falling.

[0137] After the material is poured out, during the waste recycling and resetting process, such as Figure 18 As shown, the first driving component 1213 drives the receiving frame 1212 to move back to the bag opening station, the material bag suction cup assembly 124 releases the raw material bag, the raw material bag automatically falls into the waste collection port, and the receiving frame 1212 completes the flipping and resetting through the material pouring and flipping assembly 123, waiting for the next task.

[0138] When using another set of bag-opening blades 1222 for bag breaking, bag picking, and bag cutting, such as Figure 19As shown, after the first robotic arm 1221 reaches its designated position, the air file 12236 begins operation, with its control rod piercing the raw material bag to complete the initial bag-breaking action. After the bag is broken, the 90° elbow mill 12234 starts, driving the saw blade 12235 to rotate. The saw blade 12235, utilizing its sharp cutting edge and high-speed rotation, works in conjunction with the control rod and air file 12236 to lift and cut the bag. Then, the first robotic arm 1221 adjusts its direction, and similar to the initial bag-breaking process, the air file 12236 and control rod pierce different positions in the raw material bag again, completing a new bag-breaking action. Subsequently, the 90° elbow mill 12234 drives the saw blade 12235 to rotate, performing cross-shaped cuts. By precisely controlling the movement trajectory and cutting parameters of the robotic arm, accurate cross-cuts can be achieved, ensuring smooth material discharge.

[0139] This application also provides a feeding device, such as... Figures 1 to 3 As shown, the feeding equipment includes a bag-opening and box-packing device 10, a conveying device 20, a vision recognition device 30, and a gripping device 40. The conveying device 20 is adapted to convey material boxes; the vision recognition device 30 is adapted to identify the coordinate information of the raw material bags in the material boxes. The gripping device 40 is adapted to grip the raw material bags based on the coordinate information of the raw material bags and convey the raw material bags to the bag-opening station of the bag-opening and box-packing device 10.

[0140] In this embodiment, the bag opening and packing device 10 opens the raw material bags at the bag opening station based on the location information of the raw material bags, moves the opened raw material bags to the unloading station to unload the raw materials into the material boxes, and then moves the opened raw material bags to the bag opening station for unloading. The conveying device 20 is used to convey the material boxes and is a component used to convey empty material boxes and material boxes filled with raw materials. Appropriate conveyor belts, roller conveyors, pneumatic conveying systems, etc., can be selected, and the most suitable conveying method is selected according to the material properties and conveying distance.

[0141] The visual recognition device 30 identifies the coordinate information of the raw material bag, that is, the position of the raw material bag when it is in the material frame collection position. It typically includes a camera, an image processor, and algorithm software, which can capture images of the raw material bag in real time and identify the coordinate information of the raw material bag through image processing algorithms.

[0142] Based on the coordinate information of the raw material bag provided by the vision recognition device 30, the gripping device 40 accurately grips the raw material bag, removes it from the material frame collection position, and transports it to the bag opening station of the bag opening and packing device 10. It can be a robotic arm, pneumatic gripper, vacuum suction cup 4220, etc., selected according to the shape, weight and material of the raw material bag.

[0143] During operation, the coordinate information of the raw material bag is first identified by the vision recognition device 30. Based on the coordinate information provided by the vision recognition device 30, the grasping device 40 accurately grasps the raw material bag, removes it from the material frame collection position, and transports it to the bag opening and packing device 10. Once the raw material bag reaches the bag opening position, the bag opening vision mechanism 110 immediately activates. It captures an image of the raw material bag and analyzes it through an image processing system. Based on the image information, it accurately identifies key information such as the position, orientation, and size of the raw material bag.

[0144] Based on the identification results, the bag-opening and box-packing mechanism 120 cuts the raw material bag according to a preset cutting path, ensuring that the raw material bag is opened cleanly and neatly. After opening, the bag-opening and box-packing mechanism 120 smoothly moves the raw material bag to the unloading station. Here, the raw material is poured out of the raw material bag and evenly fed into the material box. After unloading is completed, the bag-opening and box-packing mechanism 120 transports the empty bag from the unloading station back to the bag-opening station and then removes it from the production line (moved to the waste disposal area). Throughout the process, the conveying device 20 transports the material box filled with raw material away and transports the empty material box to the unloading station to load raw material.

[0145] In some embodiments, such as Figure 3 As shown, the visual recognition device 30 includes a fixed frame 310, a visual recognition mechanism 320, and a third driving member 330. The visual recognition mechanism 320 is movably disposed on the fixed frame 310; the third driving member 330 is connected to the visual recognition mechanism 320 to drive the visual recognition mechanism 320 to move along the fixed frame 310.

[0146] It is understood that in this embodiment, the fixing frame 310 can be a truss structure. To ensure the stability of the fixing frame 310, it can be fixed to the ground. A third driving member 330 is provided on the fixing frame 310, which can drive the vision recognition mechanism 320 to move for identification of raw material bags. After the raw material bag in one of the material frames is opened and loaded, the third driving member 330 drives the vision recognition mechanism 320 to move to the position of other material frames for continuous identification. This reduces manufacturing costs while enabling the identification of multiple material frames, significantly improving the loading efficiency of raw material bags. At the same time, by adjusting the position of the vision recognition mechanism 320, it can adapt to different shooting angles and positions, improving the accuracy and stability of raw material bag identification and positioning.

[0147] In one optional embodiment, the mounting bracket 310 is connected by welding, which ensures the structural stability and robustness of the mounting bracket 310. Welding creates a strong connection between the various components of the mounting bracket 310, improving the overall structural strength and stability. Furthermore, painting the surface of the mounting bracket 310 helps increase its corrosion resistance and extend its service life. The paint forms a protective film, preventing the mounting bracket 310 from being eroded by environmental factors such as oxidation and corrosion.

[0148] According to one embodiment of the present invention, the visual recognition mechanism 320 includes a visual camera and a plurality of lighting elements, wherein the visual camera is slidably mounted on a fixed surface and the plurality of lighting elements are arranged around the visual camera.

[0149] It is understood that in this embodiment, the vision camera is used to acquire and identify images of objects and convert them into digital signals. It can also process the acquired images, extracting, processing, and analyzing the information contained within them according to pre-set recognition rules and algorithms. Types of vision cameras include, but are not limited to, industrial cameras or 3D cameras. Industrial cameras are commonly used in machine vision and automation fields, featuring high resolution, high speed, high stability, and reliability, and are adaptable to various industrial environments. 3D cameras can acquire three-dimensional information of objects and measure parameters such as distance, shape, and depth. They have wide applications in machine vision and robot navigation, and can be selected according to specific application requirements. This embodiment does not specifically limit the type of vision camera.

[0150] In some embodiments, such as Figure 20 and Figure 21 As shown, the gripping device 40 includes a second robotic arm 410, a third connector 430, and a clamping mechanism 420. The clamping mechanism 420 is connected to the second robotic arm 410 via the third connector 430, and the clamping mechanism 420 is adapted to grip the raw material bag.

[0151] In this embodiment, the second robotic arm 410 may be a six-axis robotic arm. As the main moving component of the gripping device 40, the second robotic arm 410 is responsible for moving the clamping mechanism 420 to a designated position for gripping or placing the raw material bag. The third connector 430 ensures that the clamping mechanism 420 can be stably and reliably fixed to the robotic arm and moves with it. The clamping mechanism 420 is responsible for directly gripping and releasing the raw material bag. The selection of the clamping mechanism 420 varies depending on the shape, size, and material of the raw material bag. For example, for soft raw material bags, the clamping mechanism 420 may use a soft clamping surface to reduce damage to the bag; for hard raw material bags, a stronger clamping force may be required to ensure stable gripping.

[0152] In one alternative implementation, such as Figure 20 and Figure 21 As shown, the clamping mechanism 420 includes: a bracket 4210, a suction cup 4220, and a clamp 4230. The bracket 4210 is connected to the third connector 430, the suction cup 4220 is connected to one end of the bracket 4210 for sucking up the raw material bag, and the clamp 4230 is connected to the other end of the bracket 4210 for gripping the material frame carrying the raw material bag.

[0153] In this embodiment, the bracket 4210 is the main structure of the clamping mechanism 420. The bracket 4210 is connected to the third connector 430 and is used to support and fix the suction cup 4220 and the clamp 4230. The suction cup 4220 is used to pick up raw material bags, especially those with flat surfaces and soft materials. The suction cup 4220 is connected to one end of the bracket 4210 by a compression spring 4240. The introduction of the compression spring 4240 gives the suction cup 4220 a certain degree of floating and adaptability, enabling it to automatically adjust its position to fit raw material bags of different shapes and surfaces. This helps to ensure that the suction cup 4220 can adhere tightly to the raw material bag, maintaining a good suction effect even if the raw material bag is deformed or uneven. The clamp 4230 is used to grip the base 50 that carries the raw material bag. The clamp 4230 is connected to the other end of the bracket 4210 and is usually in the form of a claw or clamp. The clamp 4230 can be adjusted according to the shape and material of the material frame to ensure that it can firmly clamp the base 50 without damage.

[0154] This invention enables automatic bag opening, boxing, and feeding of bagged raw materials, freeing manual labor from heavy and dangerous work. Furthermore, as a crucial component of automatic feeding in the raw material workshop, this solution can be used in conjunction with other automated devices to achieve automation and intelligence throughout the entire feeding process.

[0155] It should be noted that those skilled in the art should know that the application scope of this bag-opening and box-packing device and feeding equipment is not limited to the automatic bag-opening and box-packing of bagged raw materials in the photovoltaic industry, but can also be applied to the automatic bag-opening and box-packing process of other bagged materials.

[0156] It is understood that if the bag opening and box packing device has the beneficial effects of the above embodiments, then the feeding device will have the corresponding beneficial effects of the above embodiments. The specific implementation method can be referred to the above embodiments, and this application will not repeat it.

[0157] Finally, it should be noted that the above embodiments are only used to illustrate the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of the present utility model do not depart from the spirit and scope of the technical solutions of the present utility model and should be covered within the protection scope of the present utility model.

Claims

1. A bag-opening and box-packing device (10), characterized in that, include: A bag-opening vision mechanism (110) is suitable for identifying the location information of raw material bags; The bag opening and packing mechanism (120) is provided with a bag opening station and a material pouring station. It is configured to open the raw material bag in the bag opening station based on the position information of the raw material bag, move the opened raw material bag to the material pouring station to pour the raw material in the raw material bag into the material box, and move the opened raw material bag to the bag opening station to be removed. The bag-opening and box-packing mechanism (120) includes: The receiving assembly (121) is used to carry the raw material bag and is adapted to move between the bag opening station and the unloading station; The bag opening assembly (122) is adapted to open the raw material bag when the receiving assembly (121) moves to the bag opening station; The material pouring and flipping component (123) is connected to the material receiving component (121) and is adapted to control the material receiving component (121) to flip over and load the raw material in the raw material bag into the material box when the material receiving component (121) moves to the material pouring station, and to control the material receiving component (121) to flip over and unload the raw material bag after opening when the material receiving component (121) returns to the bag opening station.

2. The bag-opening and box-packing device (10) according to claim 1, characterized in that, The bag-opening and box-packing mechanism (120) also includes: A material bag suction cup assembly (124) is disposed in the receiving assembly (121) and is adapted to suck up and fix the raw material bag when the receiving assembly (121) moves to the unloading station for flipping.

3. The bag-opening and box-packing device (10) according to claim 2, characterized in that, The receiving assembly (121) includes: Guide rail (1211) extends from the bag opening station to the material unloading station; The receiving frame (1212) is slidably mounted on the guide rail (1211) for carrying the raw material bag; The first driving component (1213) is connected to the receiving frame (1212) and is used to drive the receiving frame (1212) to move along the guide rail (1211) between the bag opening station and the unloading station.

4. The bag-opening and box-packing device (10) according to claim 2, characterized in that, The bag opening assembly (122) includes: First robotic arm (1221); A bag-opening cutter (1222) is mounted on the first robotic arm (1221) and is suitable for breaking, picking, and cutting the raw material bags.

5. The bag-opening and box-packing device (10) according to claim 4, characterized in that, The bag-opening knife (1222) includes: The first connector is attached to the first robotic arm (1221); The tool mounting bracket (12224) and the ultrasonic grinder (12225) are connected to the tool mounting bracket (12224). The ultrasonic grinder (12225) assists in breaking, picking and cutting bags by generating ultrasonic vibrations. A serrated vibrating cutter (12223) is connected to the cutter mounting bracket (12224).

6. The bag-opening and box-packing device (10) according to claim 4, characterized in that, The bag-opening knife (1222) includes: The second connector is attached to the first robotic arm (1221); The bag includes a tie rod, a saw blade (12235), and a second drive unit. The tie rod and the saw blade (12235) are mounted on the second drive unit, which is adapted to drive the tie rod to break the bag and drive the saw blade (12235) to pick up and cut the bag. An adjusting member is provided, wherein the second driving member is connected to the second connecting member via the adjusting member, and the adjusting member is adapted to adjust the position of the second driving member relative to the second connecting member.

7. The bag-opening and box-packing device (10) according to claim 2, characterized in that, The bag-opening vision mechanism (110) includes: A bag-opening vision camera is mounted on the bag-opening and box-packing mechanism (120) and is adapted to identify the position information of the raw material bag at the bag-opening station before opening the bag.

8. The bag-opening and box-packing device (10) according to any one of claims 2-7, characterized in that, The bag-opening and box-packing mechanism (120) further includes at least one of the following: The dust removal assembly (125) communicates with the internal space of the bag opening assembly (122) to remove dust; Waste bag recycling component (126) is provided at the bag opening station and is used to recycle the raw material bag after it has been emptied. The hopper assembly (127) is located at the unloading station and is used to guide the raw materials in the raw material bag into the material box.

9. The bag-opening and box-packing device (10) according to any one of claims 2-7, characterized in that, The bag-opening and box-packing mechanism (120) further includes at least one of the following: Processing flipping component (128), adapted to flip the raw material bag before cutting; A cutter detection component (129) is used to detect the opening status of the bag opening component (122).

10. The bag-opening and box-packing device (10) according to any one of claims 2-7, characterized in that, The bag-opening and box-packing device (10) also includes: The upper frame mechanism (1291) and the lower frame mechanism (1292) are provided, wherein the upper frame mechanism (1291) is disposed on the lower frame mechanism (1292), and a receiving cavity is formed between the two for accommodating the bag opening and boxing mechanism (120) and the bag opening vision mechanism (110).

11. A feeding device, characterized in that, include: The bag-opening and box-packing device (10) as described in any one of claims 1-10; Conveying device (20), adapted to convey the material box; A visual recognition device (30) is adapted to identify the coordinate information of the raw material bag; The gripping device (40) is adapted to grip the raw material bag based on the coordinate information of the raw material bag and transport the raw material bag to the opening station of the bag opening and packing device (10).

12. The feeding device according to claim 11, characterized in that, The visual recognition device (30) includes: Fixture (310); A visual recognition mechanism (320) is movably mounted on the fixed frame (310); A third drive unit (330) is connected to the visual recognition mechanism (320) to drive the visual recognition mechanism (320) to move along the fixed frame (310).

13. The feeding device according to claim 11, characterized in that, The gripping device (40) includes: Second robotic arm (410); A third connector (430) and a clamping mechanism (420) are connected to the second robotic arm (410) via the third connector (430). The clamping mechanism (420) is adapted to grip the raw material bag.

14. The feeding device according to claim 13, characterized in that, The clamping mechanism (420) includes: The bracket (4210) is connected to the third connector (430). A suction cup (4220), connected to one end of the bracket (4210), is used to suck up the raw material bag; A clamp (4230), connected to the other end of the support (4210), is used to grip the material frame carrying the raw material bag.

Images