Automatic unpacking device

Abstract

An automatic unpacking device, comprising: a feeding mechanism, a bag-breaking mechanism (10) and a recovery mechanism (70), which are sequentially spaced apart; a movable assembly (20) movably arranged among the feeding mechanism, the bag-breaking mechanism (10) and the recovery mechanism (70); a gripper (40) arranged on the movable assembly (20) in a liftable manner; and a controller in communication connection with the feeding mechanism, the movable assembly (20) and the gripper (40), wherein the controller is configured to control the movable assembly (20) to drive the gripper (40) to sequentially move to the feeding mechanism, the bag-breaking mechanism (10) and the recovery mechanism (70). The automatic unpacking device has a high integration level, and the feeding mechanism, the bag-breaking mechanism and the recovery mechanism are configured in a modular manner, such that the mounting difficulty is reduced, and a debugging process after assembly is simplified, thereby improving the user experience, and also improving the degree of automation.

Description

Automatic unpacking device Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to an automatic unpacking device. Background Art

[0002] Ton bags are flexible transport containers typically made from polyester fibers such as polypropylene and polyethylene. They feature a simple structure, light weight, foldability, minimal space required for recycling, and low cost. They are widely used for packaging and transporting various powdered, granular, and bulk materials, including chemicals, building materials, plastics, and minerals. Equipped with cranes or forklifts, they can be transported in unitized containers.

[0003] When unloading bulk bags, a mechanical mechanism typically grips the top of the bag and mechanically breaks the bag at the bottom for unloading. Currently, existing technologies often employ a semi-automatic method, using a hanger to move the bulk bag to the corresponding bag-breaking device, where the bag is broken and unloaded. This entire process requires manual assistance, resulting in a low degree of automation. Furthermore, each device is independently connected and communicated via a robotic arm, resulting in a low level of integration. This makes post-installation debugging difficult, resulting in a poor user experience and increased equipment learning costs.

[0004] Summary of the Invention

[0005] The main purpose of the present invention is to provide an automatic unpacking device, which aims to solve the technical problems in the prior art of low automation and low integration during ton bag unloading, and difficult debugging after installation.

[0006] To achieve the above purpose, the present invention provides an automatic unpacking device.

[0007] The automatic unpacking device comprises:

[0008] Feeding mechanism, bag breaking mechanism and recycling mechanism are arranged in sequence;

[0009] A moving assembly and a clamping claw, wherein the clamping claw can be raised and lowered on the moving assembly, and the moving assembly can be movably arranged between the feeding mechanism, the bag breaking mechanism and the recycling mechanism;

[0010] A controller is communicatively connected to the feeding mechanism, the moving assembly, and the clamping jaws; the controller is used to:

[0011] Control the moving assembly to drive the clamp to move to the feeding mechanism, and control the clamp to descend to clamp the bulk bag material;

[0012] Control the moving assembly to drive the clamping claw to move to the bag breaking mechanism, and control the clamping claw to descend to break the ton bag material on the bag breaking mechanism and recover the material;

[0013] The moving assembly is controlled to drive the clamping claw to move to the recycling mechanism, and the clamping claw is controlled to descend to place the empty ton bag on the recycling mechanism for recycling.

[0014] Optionally, the automatic unpacking device further comprises a first detection member, which is provided on the feeding mechanism and is used to detect material information, and the controller is in communication connection with the first detection member;

[0015] The controller controls the moving assembly to drive the clamp to move to the feeding mechanism, and controls the clamp to descend to clamp the bulk bag material. Specifically, the steps include:

[0016] receiving the material information;

[0017] Control the moving component to drive the clamping claw to move to the feeding mechanism according to the material information;

[0018] The clamp is controlled to descend to a first preset height to grab the ton bag material on the transmission member.

[0019] Optionally, the controller controls the moving assembly to drive the clamp to move to the bag breaking mechanism, and controls the clamp to descend to break the ton bag material on the bag breaking mechanism and recover the material, specifically comprising:

[0020] Controlling the clamping jaws to return to an initial height;

[0021] Controlling the moving assembly to drive the clamping claw to move to the recovery mechanism;

[0022] The clamping claw is controlled to descend to a second preset height so as to break the ton bag material on the bag breaking mechanism and recover the material.

[0023] Optionally, the automatic unpacking device further includes a second detection member, which is provided on the bag breaking mechanism and is used to detect pressure information of the bag breaking mechanism, and the controller is communicatively connected to the second detection member;

[0024] After executing the step of controlling the gripper to descend to a second preset height, the controller is further configured to:

[0025] receiving the pressure information;

[0026] Determining whether the pressure information is less than or equal to a preset pressure;

[0027] When the pressure information is less than or equal to the preset pressure, the clamping jaw is controlled to rise to a third preset height.

[0028] Optionally, the gripper is further configured to generate position information and send the position information to the controller;

[0029] Before executing the step of determining whether the pressure information is less than or equal to a preset pressure, the controller is further configured to:

[0030] receiving the location information;

[0031] determining whether the clamp successfully breaks the bag based on the position information and the pressure information;

[0032] When the position information is low and the pressure information is greater than 0, it is determined that the clamp has successfully broken the bag, and a step of determining whether the pressure information is less than or equal to a preset pressure is performed;

[0033] When the position information is high or the pressure information is less than or equal to 0, it is determined that the clamping jaws have not successfully broken the bag, and the process returns to the step of determining whether the clamping jaws have successfully broken the bag based on the position information and the pressure information.

[0034] Optionally, before executing the step of controlling the gripper to descend to a second preset height, the controller is further configured to:

[0035] determining whether the bag breaking mechanism is blocked according to the position information and the pressure information;

[0036] When the position information is high and the pressure information is greater than 0, it is determined that the bag breaking mechanism is blocked, and the process returns to the execution state of determining whether the bag breaking mechanism is blocked based on the position information and the pressure information;

[0037] When the position information is high and the pressure information is less than 0, it is determined that the bag breaking mechanism is not blocked, and the step of controlling the clamping jaws to descend to a second preset height is executed.

[0038] Optionally, after executing the step of controlling the gripper to rise to a third preset height, the controller is further configured to:

[0039] The clamping jaws are alternately controlled to descend to a fourth preset height and then ascend to the fourth preset height at intervals of a preset period.

[0040] Optionally, the bag breaking mechanism further includes a dust collector, the bag breaking mechanism is provided with a dust removal port, the dust collector is arranged on the dust removal port, and the dust collector is communicatively connected to the controller;

[0041] After executing the step of receiving the pressure information, the controller is further configured to:

[0042] turning on or off the dust collector according to the pressure information;

[0043] When the pressure information is greater than 0, the dust collector is controlled to open;

[0044] When the pressure information is less than or equal to 0, the dust collector is controlled to be closed.

[0045] Optionally, the automatic unpacking device further comprises a third detection member, the third detection member being disposed between the moving assembly and the clamping claw, the third detection member being configured to detect tension information on the clamping claw, and the controller being communicatively connected to the third detection member;

[0046] The controller is used to:

[0047] receiving the tension information;

[0048] determining whether the clamp is overloaded according to the tension information;

[0049] When the tension information is greater than or equal to the first preset tension, it is determined that the clamp is overloaded and an alarm is issued.

[0050] Optionally, the bag breaking mechanism further comprises a pushing and kneading rod, the pushing and kneading rod is provided on the bag breaking mechanism, and the controller is communicatively connected with the pushing and kneading rod;

[0051] After executing the step of controlling the gripper to descend to a second preset height, the controller is further configured to:

[0052] Controlling the pushing and kneading rod to open according to the tension information;

[0053] When the pressure information is less than or equal to the second preset tension, the pushing and kneading rod is controlled to open.

[0054] Optionally, the bag breaking mechanism further comprises a bag swatter, which is rotatably arranged above the bag breaking mechanism, and abuts against the ton bag material located above the discharge hopper when the bag swatter rotates, and the bag swatter is communicatively connected to the controller;

[0055] After executing the step of controlling the gripper to descend to a second preset height, the controller is further configured to:

[0056] Controlling the pushing and kneading rod to open according to the tension information;

[0057] When the pressure information is less than or equal to the third preset tension, the bag tapping device is controlled to rotate.

[0058] Optionally, after executing the step of controlling the gripper to descend to a second preset height, the controller is further configured to:

[0059] controlling the swing of the moving component according to the tension information;

[0060] When the pressure information is less than or equal to the fourth preset tension, the moving component is controlled to move left and right in sequence and by a preset distance at a preset frequency.

[0061] In the technical solution of this invention, the mobile assembly controls the gripper to first move to the feeding mechanism. After descending, the gripper grabs the bulk bag, and the mobile assembly then drives it to the bag-breaking mechanism for bag-breaking and unloading. Finally, the mobile assembly drives the gripper to the recovery mechanism for recycling after the empty bag has been unloaded. This entire process is completed through a single controller, transmitting and receiving commands, resulting in a high level of integration. The modular design of the feeding mechanism, bag-breaking mechanism, and recovery mechanism reduces installation complexity, simplifies debugging after assembly, and enhances the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0063] FIG1 is a schematic structural diagram of an automatic unpacking device according to the present invention;

[0064] FIG2 is a schematic diagram of the specific structure of the bag breaking mechanism in the automatic unpacking device of the present invention;

[0065] FIG3 is a schematic diagram of the specific structure of the unloading hopper in the automatic unpacking device of the present invention;

[0066] FIG4 is a side view of the unloading hopper in the automatic unpacking device of the present invention;

[0067] FIG5 is a schematic diagram of the structure of the clamping jaws in the automatic unpacking device of the present invention;

[0068] FIG6 is a schematic structural diagram of a clamping jaw provided with a protective cover in the automatic unpacking device of the present invention;

[0069] FIG7 is a schematic diagram of the structure of the bag swatter in the automatic unpacking device of the present invention;

[0070] FIG8 is a schematic structural diagram of the mobile trolley in the automatic unpacking device of the present invention.

[0071] Description of Figure Numbers:

[0072] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0073] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0074] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0075] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0076] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can refer to fixed connection, detachable connection, or integration; mechanical connection or communication connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0077] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0078] The present invention provides an automatic unpacking device, which includes a feeding mechanism, a bag breaking mechanism 10, and a recovery mechanism 70 arranged in sequence, and a moving component 20 that can be movably arranged between the feeding mechanism, the bag breaking mechanism 10 and the recovery mechanism 70, and a clamp that can be raised and lowered on the moving component 20, and a controller that is respectively communicated with the feeding mechanism, the moving component 20 and the clamp 40.

[0079] The controller is configured to perform the following steps:

[0080] Step S10: Control the moving assembly 20 to drive the clamping jaw 40 to move to the feeding mechanism, and control the clamping jaw 40 to descend to clamp the bulk bag material;

[0081] Step S20: Control the moving assembly 20 to drive the clamping claw 40 to move to the bag breaking mechanism 10, and control the clamping claw 40 to descend to break the ton bag material on the bag breaking mechanism 10 and recover the material;

[0082] Step S30: Control the moving assembly 20 to drive the clamping claw 40 to move to the recycling mechanism 70, and control the clamping claw 40 to descend to place the empty ton bag on the recycling mechanism 70 for recycling.

[0083] 1 , the automatic unpacking device may further include a support frame 60 , and the moving assembly 20 , the clamping claw 40 , the bag breaking mechanism 10 , the recycling mechanism 70 and the feeding mechanism are all disposed within the support frame 60 .

[0084] The moving assembly 20 is disposed on the top of the support frame 60, and the feeding mechanism, the bag breaking mechanism 10, and the recovery mechanism 70 are sequentially spaced apart at the bottom of the support frame 60. The moving path of the moving assembly 20 passes over the feeding mechanism, the bag breaking mechanism 10, and the recovery mechanism 70 in sequence.

[0085] Specifically, the moving assembly 20 includes a guide rail 22 and a moving trolley 21. The guide rail 22 is arranged on the top of the support frame 60. One end of the guide rail 22 is located above the feeding mechanism, and the other end extends and passes through the bag breaking mechanism 10 and the recycling mechanism 70 in sequence.

[0086] The moving trolley 21 is arranged on the guide rail 22 and is driven by a motor to move back and forth on the guide rail 22 .

[0087] The clamping jaw 40 includes a clamping jaw 40 body and a lifting drive 30 . The lifting drive 30 may be a linear module. The clamping jaw 40 body is mounted on the linear module, and the clamping jaw 40 body is driven to move up and down on the moving carriage 21 by the linear module.

[0088] The controller can be a PLC logic controller or a mobile PC, etc., and can be connected to other devices and instruments via wired or wireless communication. By presetting three position coordinates corresponding to the feeding mechanism, the bag breaking mechanism 10, and the top of the recycling mechanism 70, the mobile carriage 21 can be controlled to move to the corresponding position coordinates.

[0089] The controller first controls the mobile trolley 21 to drive the clamping claw 40 to move to the top of the feeding mechanism, and the clamping claw 40 descends to grab the ton bag material placed on the feeding mechanism.

[0090] After the ton bag material is grabbed, the mobile trolley 21 is continued to be controlled to drive the clamping claw 40 to move above the bag breaking mechanism 10, and the clamping claw 40 is also controlled to descend, so that the bottom of the ton bag material is broken by the bag breaking mechanism 10, and the material falls from the opening at the bottom of the ton bag and is collected.

[0091] When all the materials in the ton bag are collected, the controller continues to control the mobile trolley 21 to move to the top of the recycling mechanism 70, and also controls the clamp 40 to drop a certain distance and release the empty ton bag, and the empty ton bag is recycled through the recycling mechanism 70.

[0092] In this embodiment, the dimensions and mounting structure of the feeding mechanism, the bag-breaking mechanism 10, and the recycling mechanism 70 are all adapted to the support frame 60, thereby improving assembly convenience and enabling quick assembly and disassembly. Furthermore, communication between the various devices and instruments is accomplished through the controller, simplifying the debugging process. This reduces the user's site requirements and improves the user experience.

[0093] In the technical solution of the present invention, the mobile assembly 20 controls the gripper 40 to first move to the feeding mechanism. The gripper 40 then descends to grab the bulk bag material, then ascends to lift the bulk bag material, and then is driven by the mobile assembly 20 to move it to the bag-breaking mechanism 10. The gripper 40 descends again to break the bag and unload the material. Finally, the empty bag is unloaded and the mobile assembly 20 drives the gripper 40 to move to the recovery mechanism 70 for recycling. The entire process is completed through the transmission and reception of commands by a separate controller, achieving a high level of integration. The modular design of the feeding mechanism, the bag-breaking mechanism 10, and the recovery mechanism 70 reduces installation difficulty, simplifies the debugging process after assembly, improves the user experience, and enhances the degree of automation.

[0094] Furthermore, the automatic unpacking device further includes a first detection component, which is disposed on the feeding mechanism and is used to detect material information, and the controller is communicatively connected to the first detection component.

[0095] When the controller executes step S10, the following steps are specifically included:

[0096] Step S11: receiving the material information;

[0097] Step S12: controlling the moving assembly 20 to drive the clamping claw 40 to move to the feeding mechanism according to the material information;

[0098] Step S13: Control the gripper 40 to descend to a first preset height to grab the ton bag material on the transmission member.

[0099] The feeding mechanism 80 includes a transmission member 81 and a first detection member. The loading end of the transmission member 81 is connected to the external feeding equipment, and the unloading end 82 of the transmission member 81 is arranged on one side of the bag breaking mechanism 10. The transmission direction of the transmission member 81 is from the loading end to the unloading end 82; the first detection member is arranged on the unloading end 82.

[0100] The transmission member can be transmitted by a roller mechanism. The ton bag material is placed on the transmission member 81 through a tray.

[0101] The loading end is used to connect with an external feeding device, or to connect with the unloading end 82 of the previous process, so that after the previous process is completed, it can be directly transmitted through the transmission member to improve compatibility and meet automation requirements.

[0102] The first detection element is provided on one side of the discharge end 82. The first detection element can be a sensing device such as a pressure sensor. When the ton bag material reaches the discharge end 82, it is detected by the first detection element and the corresponding material signal is generated. For example, if a pressure sensor is used, the material signal is generated by the change of high and low voltage levels when the pressure is detected.

[0103] Upon receiving the material signal, the controller controls the mobile carriage 21 to move above the feeding mechanism. Once the mobile carriage 21 drives the gripper 40 to move above the feeding mechanism 80, it lowers the gripper 40 to a first predetermined height. This first predetermined height can be measured to ensure that, after descending to the first predetermined height, the gripper 40 is flush with the bulk bag material, ensuring gripping accuracy.

[0104] Specifically, please refer to Figures 5 to 6. The main body of the clamp 40 includes a first connecting arm 41, a second connecting arm 42, a first drive component 43, an elastic component 44 and a hook 45. The first connecting arm 41 is used to be fixed on an external support structure; one end of the second connecting arm 42 is hinged to the first connecting arm 41; one end of the first drive component 43 is arranged on the first connecting arm 41, and the other end is arranged on the second connecting arm 42; the elastic component 44 is arranged on the other end of the second connecting arm 42; one end of the hook 45 is sleeved in the elastic component 44, and the other end extends toward a side away from the second connecting arm 42, wherein the elastic component 44 drives the hook 45 to float in the direction from the elastic component 44 to the second connecting arm 42 when it undergoes elastic deformation.

[0105] The first connecting arm 41 can be a plate-shaped connecting mechanism, such as an iron plate, a wooden plate, etc., and fixed to an external supporting structure by bolts. The external supporting structure can be, for example, a hanger, a wall, etc.

[0106] The second connecting arm 42 is hinged to the first connecting arm 41. Specifically, a hole, a ring, or the like can be provided on the first connecting arm 41 and the second connecting arm 42, and the holes and rings can be connected, and a pin can be passed through the hole and the ring to achieve a hinged connection, that is, the second connecting arm 42 can rotate around the hinge position.

[0107] The second connecting arm 42 is driven by the first driving assembly 43. The first driving assembly 43 can be connected by a corresponding rod-shaped connecting member such as a cylinder or a linear module, thereby driving the second connecting arm 42 to swing.

[0108] The elastic component 44 and the hook 45 are both disposed on the second connecting arm 42 . When the second connecting arm 42 rotates, the elastic component 44 and the hook 45 are driven to rotate synchronously.

[0109] As an embodiment, by adjusting the installation position of the first connecting arm 41, the hook 45 is set to the left side. When the second connecting arm 42 is driven to swing to the left, the hook 45 performs a grabbing action and sticks to the side of the ton bag; when the second connecting arm 42 is driven to swing to the right, the hook 45 performs a loosening action and detaches from the side of the ton bag.

[0110] As another embodiment, by adjusting the installation position of the first connecting arm 41, the hook 45 is set to the right, and the grabbing and releasing actions of the hook 45 are opposite to those when it is set to the left.

[0111] Regardless of whether the hook 45 is positioned left or right, the elastic component 44 acts as a buffer for the hook 45 during the grabbing process. Specifically, when the hook 45 is pressed against the side of the ton bag, the weight of the ton bag affects the hook 45, causing the elastic component 44 to deform. The hook 45 floats with the deformation of the elastic component 44, allowing it to completely conform to the side of the ton bag without puncturing the surface. The deformation of the elastic component 44 varies according to the weight of the ton bag, thus accommodating ton bags of varying weights and improving compatibility.

[0112] The clamping jaw 40 also includes a protective cover 46, one end of which is connected to the first connecting arm 41, and the other end extends to one side of the second connecting arm 42; wherein, when the second connecting arm 42 rotates, it drives the hook 45 to extend the protective cover 46 or retract the protective cover 46.

[0113] On the one hand, the protective cover 46 is dustproof and waterproof, protecting the electronic components and metal parts on the inner wall from corrosion. On the other hand, the hook 45 is relatively close to the surface of the protective cover 46, which means that it is closely attached to the surface of the protective cover 46. Therefore, when the hook 45 needs to release the big bag, it only needs to rotate the second connecting arm 42 backward to cooperate with the protective cover 46 to push the big bag sideways away from the hook 45.

[0114] Further, please refer to Figures 2 to 4, the bag breaking mechanism 10 includes a discharge hopper 11 and a bag breaking knife 12, the discharge hopper 11 is arranged between the feeding mechanism and the recovery mechanism 70; the bag breaking knife 12 is arranged in the discharge hopper 11, and the blade of the bag breaking knife 12 is arranged toward one side of the moving component 20.

[0115] The discharge hopper 11 has a discharge bin and an inlet 113 and an outlet 114 that are connected to the discharge bin and arranged opposite to each other; the inlet 113 faces upward and the outlet 114 faces downward, and the bag breaking knife 12 is arranged in the discharge bin, and the blade of the bag breaking knife 12 is arranged toward the inlet 113.

[0116] When the controller executes step S20, the following steps are specifically included:

[0117] Step S21: controlling the clamping jaw to return to an initial height;

[0118] Step S22: controlling the moving assembly to drive the clamping claw to move to the recovery mechanism;

[0119] Step S23: controlling the clamping claw to descend to a second preset height, so as to break the ton bag material on the bag breaking mechanism and recover the material.

[0120] First, the clamping jaws 40 are controlled to return to their initial height to avoid interference between the overlong ton bag and other equipment. Alternatively, a height difference may be set between the feeding mechanism 80 and the bag breaking mechanism 10, thereby omitting step S21.

[0121] After the controller controls the clamping jaws 40 to clamp the bulk bag material, the controller controls the moving assembly 20 to drive the clamping jaws 40 to move above the bag breaking mechanism 10 for unloading.

[0122] During unloading, the ton bag material is moved to the top of the feed port 113. After the controller controls the clamp 40 to descend to the second preset height, the position of the ton bag is lower than the blade height of the bag-breaking knife 12. Under the combined action of the ton bag's own gravity and the external conveying mechanism, the bag-breaking knife 12 can destroy the ton bag to form an opening, so that the material in the ton bag falls from the opening into the unloading hopper 11, and the material is introduced into the external recovery mechanism 70 through the unloading hopper 11.

[0123] In special circumstances, such as when the ton bag is large or the bottom of the ton bag is of an irregular shape, the opening formed by the bag-breaking knife 12 on the ton bag cannot cover the entire bottom of the ton bag, resulting in some material remaining at the top corners of the ton bag.

[0124] Furthermore, the bag breaking mechanism 10 also includes a second detection member, which is arranged at the bottom of the bag breaking knife 12, and the second detection member is used to detect pressure information on the bag breaking knife 12; the controller is communicatively connected to the second detection member.

[0125] After executing step S23, the controller further includes the following steps:

[0126] Step S24: receiving the pressure information;

[0127] Step S25: determining whether the pressure information is less than or equal to a preset pressure;

[0128] Step S26: When the pressure information is less than or equal to the preset pressure, the clamping jaw is controlled to rise to a third preset height.

[0129] The second detection element can also be a pressure sensor, etc. After the ton bag is destroyed, the material is recovered through the bottom discharge port 114, and the pressure detected by the second detection element gradually decreases accordingly.

[0130] After a period of time, the material in the ton bag tends to accumulate at the bottom due to gravity, thereby causing congestion in the feed inlet 113. Therefore, the clamping jaws 40 can be controlled to rise to the third preset height to clear the material blocking the feed inlet 113.

[0131] The third preset height can be adjusted according to the operator's experience.

[0132] Specifically, the remaining amount of material in the ton bag is determined by the pressure information of the second detection member, so as to control the gripper 40 to perform the lifting operation at an appropriate time.

[0133] The controller receives the pressure information and determines whether the pressure information is less than or equal to a preset pressure; when the pressure information is less than or equal to the preset pressure, the controller controls the clamping jaw 40 to rise to a third preset height.

[0134] The preset pressure can be adjusted according to the load capacity of the ton bag and the on-site test results.

[0135] Furthermore, a sensor can be provided on the lifting drive 30 of the clamping jaw 40 to detect the current height of the clamping jaw 40 and generate position information. This position information includes a high position and a low position. For example, when the clamping jaw 40 is above a certain position, the position information is high, and when the clamping jaw 40 is below a certain position, the position information is low. This can be adjusted based on the travel of the lifting drive 30.

[0136] The gripper is further configured to generate position information and send the information to the controller; before executing step S25, the controller further comprises the following steps:

[0137] Step S27: receiving the location information;

[0138] Step S28: judging whether the clamping claw has successfully broken the bag based on the position information and the pressure information;

[0139] Step S29: When the position information is low and the pressure information is greater than 0, it is determined that the bag is successfully broken by the gripper, and step S25 is executed;

[0140] Step S210: When the position information is high or the pressure information is less than or equal to 0, it is determined that the clamping jaws have not successfully broken the bag, and the process returns to step S28.

[0141] When the ton bag material falls onto the bag-breaking knife 12, the gravity exerted on the bag-breaking knife 12 is detected by the second detection element. By combining the position information of the clamping jaw 40 with the sum of the pressure information, it is determined whether the clamping jaw 40 has fallen into place and whether the ton bag has been broken normally, thereby improving accuracy and ensuring smooth unloading.

[0142] When the position information is high, it means that the clamping jaws 40 have not been lowered into position, that is, the ton bag and the bag breaking knife 12 are not in contact, and thus normal bag breaking cannot be completed. When the position information is low, it means that the clamping jaws 40 have been lowered into position. In order to improve the detection accuracy, it is necessary to combine the pressure information for judgment. When the pressure information changes, it means that the ton bag and the bag breaking knife 12 are in normal contact and the bag is broken successfully. If the pressure information does not change, it may be an abnormal situation, and the result will be displayed as unsuccessful bag breaking, avoiding unexpected situations when executing the next step.

[0143] Furthermore, before executing step S23, the controller is further configured to execute the following steps:

[0144] Step S211: determining whether the bag breaking mechanism is blocked according to the position information and the pressure information;

[0145] Step S212: When the position information is high and the pressure information is greater than 0, it is determined that the bag breaking mechanism is blocked, and the process returns to step S211;

[0146] Step S213: When the position information is high and the pressure information is less than 0, it is determined that the bag breaking mechanism is not blocked, and step S23 is executed.

[0147] During the unloading process, if the damaged gap of the ton bag is large, resulting in a faster discharge speed, or if there is a lot of material, the feed port 113 of the unloading hopper 11 may be blocked.

[0148] Therefore, in order to prevent the clamping claw 40 from continuing to move the next ton bag to the bag breaking knife 12 for bag breaking when the discharge hopper 11 is blocked, comprehensive detection and judgment are performed based on the position information and the pressure information, thereby improving the accuracy of the judgment.

[0149] Specifically, when the position information is low, it indicates that the clamp 40 is performing a bag breaking or material discharge operation, and therefore, it is not determined to be blocked. When the position information is high, that is, after the clamp 40 has completed unloading, the discharge hopper 11 is inspected. It can be understood that when blocked, the material presses on the bag breaking knife 12, thereby exerting pressure on the second detection member. Therefore, when the position information is high and a change in the pressure information is detected, the discharge hopper 11 is determined to be blocked, and an alarm buzzer or other operation can be activated to prompt the operator to clear the blockage in a timely manner.

[0150] If there is no blockage, the clamping jaw 40 performs the next operation.

[0151] Furthermore, after executing step S26, the controller is further configured to execute the following steps:

[0152] Step S214: alternately controlling the gripper to descend to a fourth preset height and then ascend to the fourth preset height at every preset period.

[0153] After the ton bag is broken and the clamping jaws 40 are controlled to rise to the third preset height, in order to ensure the dredging effect, the clamping jaws 40 can be controlled to move up and down multiple times to ensure that the material can be unloaded smoothly.

[0154] The preset cycle is set according to a certain time period, that is, the corresponding operation is performed after each interval of the time period. For example, after rising to the third preset height, the clamping jaw 40 is controlled to descend to the fourth preset height, and after the cycle period, the clamping jaw 40 is controlled to rise to the fourth preset height, and so on.

[0155] In this embodiment, the clamping jaws 40 can be continuously controlled to alternately descend and ascend until the material in the ton bag is completely unloaded. A preset number of times can also be set, and the clamping jaws 40 will stop after descending and ascending the preset number of times.

[0156] Furthermore, the bag breaking mechanism 10 further includes a dust collector. A dust removal port 14 is provided on the bag breaking mechanism 10. The dust collector is arranged on the dust removal port 14. The dust collector is communicatively connected to the controller.

[0157] During the blanking process, since the middle area is blocked by the ton bag, the dust can only escape from the gap between the ton bag and the inner wall of the unloading bin. By opening the dust removal port 14 on the side wall of the unloading bin and installing the dust collector, a negative pressure is formed at the dust removal port 14 to perform dust removal operation, thereby preventing dust materials from escaping and polluting other parts of the equipment when the ton bag breaks and the material is discharged.

[0158] The dust collector can utilize a vacuum air source or other equipment to achieve dust removal. The controller is further configured to determine whether the pressure information is greater than 0. The processing module is further configured to control the dust collector to open when the pressure information is greater than 0, and to control the dust collector to close when the pressure information is less than or equal to 0. This ensures that the dust collector can be automatically opened promptly after the bag is broken, improving the automation and reliability of the automatic unpacking device of the present invention.

[0159] Further, please refer to Figure 8, the automatic unpacking device also includes a third detection member 90, which is arranged between the moving component 20 and the clamping jaw 40, and the third detection member 90 is used to detect the tension information on the clamping jaw 40, and the controller is communicated with the third detection member 90.

[0160] The controller is configured to perform the following steps:

[0161] Step S40: receiving the tension information;

[0162] Step S50: determining whether the clamp is overloaded according to the tension information;

[0163] Step S60: When the tension information is greater than or equal to the first preset tension, the clamping jaw is determined to be overloaded and an alarm is issued.

[0164] The third detection member 90 can be installed at the connection position between the mobile trolley 21 and the clamp 40, so that when the clamp 40 grabs the ton bag material, a downward pulling force is generated on the clamp 40, and the third detection member 90 detects it to generate the pulling force information.

[0165] When the clamp 40 is gripping the ton bag material, the third detection member 90 detects the tension information in real time, thereby preventing the tension borne by the clamp 40 from exceeding its threshold range, that is, preventing the clamp 40 from being overloaded and causing safety hazards.

[0166] Specifically, by judging whether the tension information is greater than or equal to the first preset tension, if it is greater than or equal to the first preset tension, it indicates that the clamp 40 is overloaded, and an alarm is sounded through a buzzer to prompt the operator to handle it in time to avoid safety hazards.

[0167] The magnitude of the first preset pulling force can be adjusted according to the material of the clamping jaw 40 and the connection stiffness between the clamping jaw 40 and the moving carriage 21 to ensure stability and safety during operation of the equipment.

[0168] The discharge hopper 11 is also provided with a pushing and kneading rod 13. The pushing and kneading rod 13 is aligned with the four corners of the ton bag by adjusting the angle of the ton bag through an external transport mechanism or adjusting the installation position of the pushing and kneading rod 13 on the discharge hopper 11. The pushing and kneading rod 13 is controlled to extend, thereby pushing the material remaining in the four corners out of the ton bag to the opening position.

[0169] It should be noted that under normal assembly conditions, the feed port 113 is located above the discharge port 114, and the ton bag is unloaded from top to bottom under the action of gravity. However, due to the weight of the material, the top corners of the ton bag fall below the height of the opening, making it impossible to unload the material normally.

[0170] Therefore, in order to ensure that the material can be unloaded normally, the moving direction of the pushing and kneading rod 13 is set to be toward the feeding port 113, that is, the pushing and kneading rod 13 pushes the four corners of the ton bag obliquely upward, thereby ensuring that the material moves upward and is finally unloaded from the middle opening.

[0171] For different application scenarios, the feeding port 113 and the moving direction of the pushing and kneading rod 13 can be adjusted accordingly, and it is only necessary to ensure that the pushing and kneading rod 13 moves toward the feeding port 113.

[0172] In addition, the unloading bin includes a dust removal section 112 and a blanking section 111 arranged in sequence from the feed port 113 to the discharge port 114; the blanking section 111 is gradually arranged in the direction from the feed port 113 to the discharge port 114, and the pushing and kneading rod 13 is arranged on the blanking section 111, and the moving direction of the pushing and kneading rod 13 is perpendicular to the side wall of the blanking section 111.

[0173] The material-dropping section 111 contracts from the material inlet 113 to the material outlet 114, forming a funnel-like shape. This facilitates material collection and, because the material-dropping section 111 is inclined and angled with the vertical, it ensures that the pushing and kneading rod 13 pushes the material upward when the movement direction of the material-dropping section 111 is set perpendicular to the sidewall of the material-dropping section 111.

[0174] Furthermore, the feed opening 113 is located at the center of the discharge hopper 11, and the movement direction of the pushing and kneading rod 13 is set to be perpendicular to the side wall of the discharge hopper 11, so that when the pushing and kneading rod 13 is extended, it pushes the material toward the center of the feed opening 113. It can be understood that the opening of a ton bag is usually opened at the center of the bottom surface, so the pushing and kneading rod 13 is guaranteed to push the material at the four corners toward the central opening, thereby improving the reliability of unloading.

[0175] Furthermore, the controller is in communication with the pushing and kneading rod 13;

[0176] After executing step 23, the controller is further configured to execute the following steps:

[0177] Step S215: controlling the pushing and kneading rod to open according to the tension information;

[0178] Step S216: When the pressure information is less than or equal to the second preset tension, the pushing and kneading rod is controlled to be turned on.

[0179] It can be understood that during the unloading process, the material flows out of the ton bag, so the weight of the ton bag gradually decreases, and the tension detected by the third detection member also gradually decreases.

[0180] In order to further improve the degree of automation, when the tension signal is less than the second preset tension, the pushing and kneading rod 13 is turned on.

[0181] The second preset tension can be adjusted based on experience. When the second preset tension is reached, a portion of the material in the ton bag has fallen out, the surface tension of the ton bag is reduced, and the ton bag becomes flat, so that material may remain at the bend of the ton bag.

[0182] Therefore, when the pulling force is less than the second preset pulling force, the pushing and kneading rod 13 is opened in time to push the material in the ton bag to ensure smooth dropping of the material.

[0183] Further, referring to Figure 7, the bag breaking mechanism 10 also includes a bag swatter 50, which is rotatably arranged above the discharge hopper 11. When the bag swatter 50 rotates, it abuts against the ton bag material located above the discharge hopper 11; the bag swatter 50 is communicatively connected to the controller.

[0184] After the controller executes step S23, the controller is further configured to execute the following steps:

[0185] Step S217: controlling the pushing and kneading rod to open according to the tension information;

[0186] Step S218: When the pressure information is less than or equal to the third preset tension, control the bag beater to rotate

[0187] The bag slapping device 50 includes a supporting mechanism 51, a rotating assembly 52, a slapping member 53 and a second driving assembly 54. The rotating assembly 52 can be rotatably set on the supporting mechanism 51; one end of the slapping member 53 is connected to the rotating assembly 52, and the other end extends out of the supporting mechanism 51; the second driving assembly 54 can be movably set on the supporting mechanism 51, and the second driving assembly 54 is connected to the rotating assembly 52; the second driving assembly 54 is used to drive the rotating assembly 52 to rotate, and when the rotating assembly 52 rotates, it drives the slapping member 53 to rotate to perform a slapping action.

[0188] The support mechanism 51 includes a bracket 511 and a mounting plate 512, one end of the bracket 511 is used to support an external support surface; the mounting plate 512 is arranged on the other end of the bracket 511, and the rotating assembly 52 and the driving shaft assembly are respectively arranged on both sides of the mounting plate 512.

[0189] The bracket 511 can be connected by multiple strip-shaped connecting columns of different lengths. The height can be adjusted by increasing or decreasing the number of connecting columns. When beating ton bags of different sizes, it can be adapted by adjusting the height to improve compatibility.

[0190] The mounting plate 512 is a flat plate-shaped structure. The bracket 511 and the mounting plate 512 can be made of wood or metal to ensure support strength.

[0191] As an embodiment, the second driving component 54 may be a motor, and the output shaft is connected to the rotating component 52 , thereby driving the rotating component 52 to rotate.

[0192] As another embodiment, the second driving assembly 54 may also be a cylinder, with the piston rod of the cylinder connected to the edge of the rotating assembly 52, so that the rotating assembly 52 is driven to rotate when the piston rod is extended or retracted.

[0193] The specific assembly method can be adjusted according to the application scenario. In this embodiment, the cylinder drive is used for explanation.

[0194] When the rotating assembly 52 rotates, the flapping member 53 is driven to rotate synchronously. The support mechanism 51 is installed at the edge of the ton bag unloading position, so that the flapping member 53 abuts against the ton bag when rotating, achieving a simulated flapping effect.

[0195] The beating member 53 adopts a slender rod structure, so that its contact area with the ton bag is small, so that when it rotates at a faster speed, the beating member 53 can beat the ton bag with greater force without causing the ton bag to shake.

[0196] During the beating process, the sides of the ton bag are vibrated by force, so that the internal materials cannot accumulate or stick to the inner surface and can fall normally.

[0197] A plurality of the beating devices are arranged in sequence along the axial direction around the edge of the bag breaking device discharge hopper 11, so as to achieve simultaneous beating of the four sides of the ton bag and ensure that the material falls smoothly.

[0198] In this embodiment, the bag tapping device 50 is also controlled to automatically open according to the tension information.

[0199] When the tension signal is less than the third preset tension, the bag tapping device 50 is turned on.

[0200] The third preset tension can be adjusted based on experience. When the third preset tension is reached, a portion of the material in the ton bag has fallen out, the surface tension of the ton bag is reduced, and the ton bag becomes flat, so that material may remain at the bend of the ton bag.

[0201] Therefore, when the tension is less than the third preset tension, the bag beater 50 is promptly turned on to beat the material in the ton bag to ensure smooth delivery.

[0202] Furthermore, after executing step S23, the controller is further configured to execute the following steps:

[0203] Step S219: controlling the movable component to swing according to the tension information;

[0204] Step S220: When the pressure information is less than or equal to the fourth preset tension, the moving component is controlled to move left and right in sequence for a preset distance at a preset frequency.

[0205] To further improve the unloading effect and prevent material residue, when the pulling force information is less than the fourth preset pulling force, the mobile carriage 21 is controlled to move back and forth at a preset frequency, for example, 30 times in one minute. The moving distance is the preset distance.

[0206] The preset frequency and the preset distance can be adjusted according to the size of the device.

[0207] When the mobile trolley 21 moves back and forth, it drives the ton bag at the bottom to swing back and forth, thereby improving the unloading effect.

[0208] Furthermore, the recycling mechanism 70 includes a bag sorter, which is arranged on one side of the bag breaking mechanism 10 and is communicatively connected to the controller; after controlling the clamp 40 to descend to a second preset height, the controller is also used to wait for a preset time, control the moving component 20 to drive the clamp 40 to move above the bag sorter, and control the clamp 40 to descend to a fifth preset height to place the ton bag material on the bag sorter.

[0209] By setting a delay, the average duration of ton bag unloading can be measured experimentally. A corresponding delay duration, also known as the preset duration, is set based on this average duration. Thus, after the gripper 40 has moved above the bag-breaking mechanism 10 for the preset duration, the mobile trolley 21 is automatically controlled to move the gripper 40 above the bag unscrambler, where the empty ton bag is placed.

[0210] In addition, the pressure signal can also be used to determine whether the material is unloaded. When the pressure information is 0, it means that the ton bag material is unloaded, so the clamping claw 40 can be controlled to move to the bag sorter to recycle the empty ton bag.

[0211] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An automatic unpacking device, characterized in that: The automatic unpacking device comprises: Feeding mechanism, bag breaking mechanism and recycling mechanism are arranged in sequence and at intervals; A moving component and a clamping claw, wherein the clamping claw can be raised and lowered on the moving component, and the moving component can be movably arranged between the feeding mechanism, the bag breaking mechanism and the recycling mechanism; A controller, wherein the controller is respectively connected to the feeding mechanism, the moving assembly and the clamping claw; the controller is used to: Control the moving assembly to drive the clamp to move to the feeding mechanism, and control the clamp to descend to clamp the bulk bag material; Control the moving assembly to drive the clamp to move to the bag breaking mechanism, and control the clamp to descend to break the ton bag material on the bag breaking mechanism and recover the material; The moving assembly is controlled to drive the clamping claw to move to the recycling mechanism, and the clamping claw is controlled to descend to place the empty ton bag on the recycling mechanism for recycling.

2. The automatic unpacking device according to claim 1, characterized in that: The automatic unpacking device further comprises a first detection member, which is arranged on the feeding mechanism and is used to detect material information, and the controller is in communication connection with the first detection member; The controller executes the steps of controlling the moving assembly to drive the clamp to move to the feeding mechanism and controlling the clamp to descend to clamp the bulk bag material, which specifically includes: receiving the material information; Control the moving component to drive the clamping claw to move to the feeding mechanism according to the material information; The clamp is controlled to descend to a first preset height to grab the ton bag material on the transmission member.

3. The automatic unpacking device according to claim 1, characterized in that: The controller executes the steps of controlling the moving assembly to drive the clamp to move to the bag breaking mechanism, and controlling the clamp to descend to break the ton bag material on the bag breaking mechanism and recover the material, which specifically includes: Controlling the clamping jaw to return to an initial height; Controlling the moving assembly to drive the clamp to move to the recovery mechanism; The clamp is controlled to descend to a second preset height so as to break the ton bag material on the bag breaking mechanism and recover the material.

4. The automatic unpacking device according to claim 3, characterized in that: The automatic unpacking device further includes a second detection member, which is disposed on the bag breaking mechanism and is used to detect pressure information of the bag breaking mechanism, and the controller is in communication connection with the second detection member; After executing the step of controlling the jaws to descend to a second preset height, the controller is further configured to: receiving the pressure information; Determining whether the pressure information is less than or equal to a preset pressure; When the pressure information is less than or equal to the preset pressure, the clamping jaw is controlled to rise to a third preset height.

5. The automatic unpacking device according to claim 4, characterized in that: The gripper is also used to generate position information and send it to the controller; Before executing the step of determining whether the pressure information is less than or equal to a preset pressure, the controller is further configured to: receiving the location information; Determining whether the clamp successfully breaks the bag according to the position information and the pressure information; When the position information is low and the pressure information is greater than 0, it is determined that the clamp successfully breaks the bag, and a step of determining whether the pressure information is less than or equal to a preset pressure is performed; When the position information is high or the pressure information is less than or equal to 0, it is determined that the clamp has not successfully broken the bag, and the process returns to the step of determining whether the clamp has successfully broken the bag based on the position information and the pressure information.

6. The automatic unpacking device according to claim 5, characterized in that: Before executing the step of controlling the gripper to descend to a second preset height, the controller is further configured to: Determining whether the bag breaking mechanism is blocked according to the position information and the pressure information; When the position information is high and the pressure information is greater than 0, it is determined that the bag breaking mechanism is blocked, and the process returns to the step of determining whether the bag breaking mechanism is blocked according to the position information and the pressure information; When the position information is high and the pressure information is less than 0, it is determined that the bag breaking mechanism is not blocked, and the step of controlling the clamping jaw to descend to a second preset height is executed.

7. The automatic unpacking device according to claim 4, characterized in that: After executing the step of controlling the gripper to rise to a third preset height, the controller is further configured to: The clamping jaws are alternately controlled to descend to a fourth preset height and then ascend to the fourth preset height at every preset period interval.

8. The automatic unpacking device according to claim 3, characterized in that: The bag breaking mechanism further includes a dust collector, the bag breaking mechanism is provided with a dust removal port, the dust collector is arranged on the dust removal port, and the dust collector is communicatively connected with the controller; After executing the step of receiving the pressure information, the controller is further configured to: opening or closing the dust collector according to the pressure information; When the pressure information is greater than 0, the dust collector is controlled to open; When the pressure information is less than or equal to 0, the dust collector is controlled to be closed.

9. The automatic unpacking device according to claim 4, characterized in that: The automatic unpacking device further comprises a third detection member, which is disposed between the moving assembly and the clamping claw, and is used to detect tension information on the clamping claw, and the controller is in communication connection with the third detection member; The controller is used to: receiving the tension information; Determining whether the clamp is overloaded according to the tension information; When the tension information is greater than or equal to the first preset tension, it is determined that the clamp is overloaded and an alarm is issued.

10. The automatic unpacking device according to claim 9, characterized in that: The bag breaking mechanism further comprises a pushing and kneading rod, which is arranged on the bag breaking mechanism, and the controller is communicatively connected with the pushing and kneading rod; After executing the step of controlling the jaws to descend to a second preset height, the controller is further configured to: Controlling the pushing and kneading rod to open according to the pulling force information; When the pressure information is less than or equal to the second preset tension, the pushing and kneading rod is controlled to open.

11. The automatic unpacking device according to claim 9, characterized in that: The bag breaking mechanism further includes a bag slapper, which is rotatably arranged above the bag breaking mechanism, and abuts against the ton bag material located above the discharge hopper when the bag slapper rotates, and the bag slapper is communicatively connected with the controller; After executing the step of controlling the gripper to descend to a second preset height, the controller is further configured to: Controlling the pushing and kneading rod to open according to the pulling force information; When the pressure information is less than or equal to the third preset tension, the bag tapping device is controlled to rotate.

12. The automatic unpacking device according to claim 9, characterized in that: After executing the step of controlling the jaws to descend to a second preset height, the controller is further configured to: Controlling the swing of the moving component according to the tension information; When the pressure information is less than or equal to the fourth preset tension, the moving component is controlled to move left and right in sequence for a preset distance at a preset frequency.

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