CN113023006A

CN113023006A - Automatic granule unpacking and feeding device and unloading mechanism

Info

Publication number: CN113023006A
Application number: CN202110240847.7A
Authority: CN
Inventors: 邹细勇; 胡晓静; 赵黄海; 张建生; 陈亮; 杨凯
Original assignee: China Jiliang University; China Jiliang University Shangyu Advanced Research Institute Co Ltd
Current assignee: China Jiliang University; China Jiliang University Shangyu Advanced Research Institute Co Ltd
Priority date: 2021-03-04
Filing date: 2021-03-04
Publication date: 2021-06-25

Abstract

The invention discloses a granule material automatic unpacking and feeding device and an unloading mechanism, wherein the feeding device comprises: the bag conveying machine is used for automatically conveying the material bags and conveying the material bags to the discharging mechanism; the unloading mechanism is used for lifting the material bag and emptying the material bag by repeatedly folding and unfolding the material bag and performing intermittent impact on the wall of the material bag by pulse type high-pressure airflow after automatically cutting one side bag wall of the material bag so as to realize automatic unloading; and the material collecting and feeding mechanism is used for collecting the discharged materials and conveying the discharged materials so as to realize automatic feeding. The automatic unpacking, unloading and feeding device realizes automatic unpacking, unloading and feeding, and does not generate packaging bag debris pollution on granular materials; the bag shaking method is adopted to shake the bag by folding, unfolding and lifting the supporting frame in a pulse type air blowing mode, so that no residual blanking is realized, and the waste of raw materials is prevented.

Description

Automatic granule unpacking and feeding device and unloading mechanism

Technical Field

The invention relates to the field of automatic feeding in industrial production, in particular to an automatic granule unpacking and feeding device and an automatic granule unpacking and feeding mechanism.

Background

The main raw material for producing plastics such as biaxially oriented polypropylene (BOPP) film is a high molecular particle PP material, and the PP material is packaged and transported by woven bags. At present, most of the feeding of the granular materials in China is still finished manually, and the manual feeding has many defects. Firstly, the automation degree of the process flow is seriously reduced by manual feeding, the labor intensity of manual unpacking is high, and the manual unpacking is easy to fatigue, so that the feeding speed is unstable, and the problem that the manual speed cannot follow the matched equipment is easy to occur; secondly, the material bag switching is heavy and tedious physical labor, and the manual work is difficult to carry out all-weather feeding efficiently and stably. Therefore, a practical, rapid and efficient automatic feeding device is urgently needed in the plastic film production industry to replace manual feeding work so as to improve the production efficiency and competitiveness of products and reduce the consumption of human resources.

The woven bag is widely applied to the external packing of polymer materials, rice, flour, cement, chemical fertilizers and other products, and has large consumption in industrial production. To granule package, italian develops the automatic switching system who is used for polymer granule raw material package, adopts the manipulator to carry the material package to a purpose-made cutter head broken bag ware top, then puts down the material package, and the material package falls on the cutter head and is broken bag, blanking, and this system makes the braided bag cracked easily, causes the problem of braided bag piece pollution raw materials. Similarly, some domestic automatic unpacking devices have the problem, such as the chinese patent CN2013102767140 and the patent CN201510116184, which both use a saw blade or a knife blade to destructively unpack the bag, and easily generate package scraps.

Chinese patent CN2015108873053 improves this problem, and the problem that bag scraps fall into a material pool along with materials is not generated during bag breaking, but the problem that the materials in the material bag fall incompletely and residual materials are easy to remain at the fold corners of the material bag still exists. In contrast, in the engineering of manual package of throwing, the workman need shake several times with the reuse power after pouring out granule material from the material package to shake off the incomplete material in the material package totally, furthest's the waste of having avoided the raw materials. And chinese patent 2016110411381 utilizes the magnetic needle as the instrument of unloading, makes the material package shake to help the discharge of defective material through the magnetic needle up-and-down motion, chinese patent 2017100372440 helps arranging the material through carrying out the vibration to the material package from the outside and patting, discover the shake that produces in these devices or the method in the test, it is better to the square brick shape material package effect, nevertheless its dynamics and effect are not enough to ordinary non-stereoformed material package, because the fold is many, still remain the defective material at partial corner especially range upon range of position easily, consequently need tear open the new device of package material loading.

Therefore, the automatic unpacking and feeding device in the prior art often generates packaging bag scraps, is easy to mix into materials, and causes the problem of residual and residual material waste due to incomplete falling of the materials.

Disclosure of Invention

In view of the above, the present invention is directed to an automatic unpacking and feeding device that does not generate debris to mix into a material and avoids residual particles, so as to solve the technical problems in the prior art.

The technical scheme of the invention is that the invention provides an automatic granule unpacking and feeding device with the following structure, which comprises:

the bag conveying machine is used for automatically conveying the material bags and conveying the material bags to the discharging mechanism;

the unloading mechanism is used for lifting the material bag and emptying the material bag by repeatedly folding and unfolding the material bag and performing intermittent impact on the wall of the material bag by pulse type high-pressure airflow after automatically cutting one side bag wall of the material bag so as to realize automatic unloading;

and the material collecting and feeding mechanism is used for collecting the discharged materials and conveying the discharged materials so as to realize automatic feeding.

Preferably, the device also comprises a material bag frame, the material bag frame is provided with a lifting base,

the bag carrying machine is a multi-axis robot or a rectangular coordinate robot, and an end effector of the multi-axis robot or the rectangular coordinate robot is a vacuum sucker.

Preferably, the aggregate feeding mechanism comprises an aggregate collector and a feeding mechanism; the material collector is an inverted cone-shaped container, a layer of screen is arranged at a blanking port, and the diameter of the mesh of the screen is 3-7 times of that of the granules; the feeding mechanism comprises a discharging pipe, a material pump and an upper material conveying pipe.

Preferably, the discharging mechanism includes:

a bag supporting mechanism for supporting and elevating the material bag, which is provided with a channel for cutting the material bag and folding, unfolding, discharging, pushing and recovering the material bag,

the cutting mechanism is arranged on the bag supporting mechanism, when the material bag is conveyed to a preset position, the cutting mechanism acts to unpack the material bag,

roll over and open up mechanism, initial state is folded in support package mechanism below to be equipped with a pair of claw in opposite directions on it, be cut apart the back at the material package, prop the claw and get into the material package through the mouth that cuts of material package, through folding, expand a pair ofly fast repeatedly prop the claw and spray the pulse air current from its end when it with the material package tensioning.

Preferably, hold in palm package mechanism and include first branch, second branch and first support, second support, first branch, second branch respectively comprise two horizontally parallel horizontal poles, and first branch is in the second branch outside and slightly higher than second branch, first support, second support respectively include four vertical pillars and form the support to first branch, second branch respectively.

Preferably, the cutting mechanism comprises a sliding block, two tool rest support arms, three tool rest rotating shafts, a tool rest and a blade, wherein the two tool rest support arms connect the tool rest to the sliding block through the three tool rest rotating shafts, the sliding block is attached to a sliding frame which is parallel to one cross rod of the first support rod and is hung at the bottom of the cross rod, the blade is fixed on the tool rest, and the axes of the tool rest rotating shafts are parallel to the first support rod.

Preferably, the folding and unfolding mechanism comprises a support base, three support rotating shafts, three support arms, a pair of support claw rotating shafts, a pair of support claw arms and a pair of support claws, wherein the support arm at the tail end is in a bifurcated shape, the tail end of each branch of the support arm is respectively connected with one support claw rotating shaft, the support claws are fixed at the tail ends of the support claw arms, the three support arms connect the support claw arms to the support base through the three support rotating shafts and the pair of support claw rotating shafts, the axis of each support rotating shaft is perpendicular to the first support rod on the horizontal plane, and the axis of each support claw rotating shaft is parallel to the first support rod on the horizontal plane.

Preferably, the end of the supporting claw is provided with a crochet hook mechanism which hooks the bag wall of the material bag on the supporting claw through a pair of arc-shaped crochet hooks which can extend and retract;

the crochet hook comprises a crochet hook seat, a magnetic crochet hook body and a needle point which are sequentially distributed from bottom to head, wherein the crochet hook seat is in an inverted T shape, the crochet hook body is an arc rod body and is matched with the inner wall of a bent pipe of a crochet hook ligand, a transition part between the needle point and the crochet hook body consists of a sharp inner blade, a sharp outer blade and a bent inner protrusion, the sharp inner blade and the sharp outer blade are both in an arc shape and form an olecranon-shaped sharp blade together with the needle point, and a protrusion part bent inner protrusion which faces the arc inner side of the crochet hook body is arranged between the sharp inner blade and the crochet;

the crochet hook mechanism comprises a crochet hook ligand matched with a crochet hook, the crochet hook ligand comprises a magnetic arc-shaped bent pipe matched with the crochet hook body, an electromagnetic coil group and a spring, the spring is positioned in the bent pipe, and two ends of the spring are respectively connected with the ligand installation part and the crochet hook seat; the electromagnetic coil group is distributed on the periphery of the bent pipe, and the crochet hook mechanism is assembled in the middle of the supporting claw through the ligand installation part.

Preferably, the bag collecting mechanism comprises a rolling frame, a side wall, a base, a lifting rod, a platform, a counter and a blocking piece, wherein the side wall and the base are distributed at a right angle, the counter and the blocking piece are installed on the side wall, the counter is slightly lower than the lowest point of the rolling frame, the blocking piece is positioned below the counter, and a notch is formed in one side, close to the unloading mechanism, of the rolling frame.

Preferably, the rolling frame comprises a frame and a plurality of supports which are embedded on the frame and are provided with rollers capable of freely rolling in a stringing mode, and the surface of the frame and the horizontal plane form an angle of 40-60 degrees; the platform is provided with an annular transverse conveying belt.

As preferred, the length of first branch, second branch is 1.1 ~ 1.3 times of material package length, and the interval of two horizontal poles of first branch is 0.7 ~ 0.9 times of material package width, and the interval of two horizontal poles of second branch is 0.4 ~ 0.6 times of material package width, and the difference in height of first support and second support is 0.05 ~ 0.15 times of material package width.

Preferably, each supporting claw comprises a base with an L-shaped cross section, a plurality of pyramid-shaped silica gel caps with triangular side surfaces are arranged on the base, and an air hole connected to a compressed air channel is formed in the top end of each pyramid. Preferably, the pair of supporting claws are arranged in a staggered manner at two sides of the axis of the rotating shaft of the supporting claw, and the cross section of the supporting claw is approximately enclosed into a narrow rectangular when the supporting claws are closed.

Preferably, the length of the supporting claw is 0.65-0.85 times of the length of the material bag in the cutting direction.

Preferably, the last of the support shafts and the bifurcate support arm supported by the last support shaft can be replaced by two relatively-operated foldable support arms.

Preferably, the axis of the opening and closing operation is parallel to the first supporting rod.

Another technical solution of the present invention is to provide an automatic unpacking and unloading device for granular materials, which comprises:

roll over and open up mechanism, initial state is folded in support package mechanism below to be equipped with a pair of claw in opposite directions on it, be cut apart the back at the material package, prop the claw and get into the material package through the mouth that cuts of material package, through fold fast repeatedly, expand a pair ofly prop the claw and spray the pulse air current from its end when it with the material package tensioning and pat the material package in order to assault.

The working principle of the invention is as follows:

automatic a packet loading attachment is torn open to granule material carries the shedding mechanism gradually through removing the material package of chartered plane in piling the material package, carries out complete material bag separation in shedding mechanism, and during the granule material whereabouts the loading head, through feeding mechanism transport give production facility, and useless wrapping bag is then retrieved the arrangement by receiving a packet mechanism.

Granule raw materials is used in plastic film production, generally through the tray transportation, after fork truck sent whole tray material heap to predetermined position, remove the chartered plane and use terminal vacuum chuck to grab the material package, shift to on discharge mechanism's first branch and the second branch. The bag carrying machine adopts a multi-axis robot or a rectangular coordinate robot, the multi-axis robot is more flexible, and the rectangular coordinate robot occupies a large area but has lower cost. The robot adopts the teaching mode, carries the material package according to predetermined orbit.

When the material bag is placed on the supporting rod, the length direction is preferably parallel to the supporting rod, and the middle part of the material bag is slightly lower and the two sides of the material bag upwarp under the action of gravity. The controller controls the folding cutting mechanism to extend the tool rest support arm, the blade is moved to the central axis of the two parallel cross rods of the second support rod, and the height of the blade is slightly higher than the lowest point of the material bag. And then, the controller controls the cutting mechanism to move the sliding block, and the blade walks to the other end along the central axis of the two parallel cross rods of the second supporting rod to cut off the material bag in the length direction.

The granules fall down rapidly from the cutting opening, and simultaneously, the bag edges at two sides of the cutting opening are driven to be continuously separated. The controller controls the folding and unfolding mechanism folded on one side of the base to extend the supporting arm of the supporting frame and move the supporting claw to the center of the material bag cutting opening; then, moving the support claw upwards, and inserting the material bag from the center of the cutting opening; then, the rotating shaft of the supporting claw is controlled to separate the two supporting claws which are combined together towards two sides and lift the material bag at the same time, the material bag is lifted away from the two supporting rods, most of particles fall off, only residual materials are arranged at the folds of the edges and corners of the material bag, and the supporting claws have sawtooth surfaces and are in inclined directions, so that the surfaces of the supporting claws cannot be accumulated with the particles; the compressed air passageway is controlled to the controller, carries the claw with compressed air, and the air current is from the high-speed blowout of the gas pocket high frequency discontinuous of claw, and the material package is bloated shake and tractive, and later the rotatory claw pivot that props that makes a round trip rotates, folds the material package and expandes many times, can stretch out a pair of crochet hook in order to increase tractive intensity and action point in the claw from both sides during to empty the defective material.

And continuously controlling a strut rotating shaft to transfer the emptied waste ladle to the position above a rolling frame of the ladle collecting mechanism, enabling the surfaces of the supporting claws to be approximately parallel to the surface of the rolling frame, simultaneously rotating the supporting claw rotating shaft to fold the two supporting claws, controlling the strut rotating shaft to enable the supporting claws to be drawn back from a gap of the rolling frame, finally folding the folding and unfolding mechanism to be close to the base, and simultaneously enabling the waste ladle to slide down from the rolling frame.

Roll the frame side and have the shelves strip, after the useless package that rolls the frame landing runs into the separation blade on receiving a packet mechanism on the lateral wall, the horizontal direction no longer gos forward, on the platform falls down in the action of gravity, have the counter on the lateral wall to count useless package to feed back the controller, every several useless packages of control lifter reduce the platform once according to this, after the accumulation reaches a certain quantity, the conveyer belt on the platform transversely rolls, piles the packing platform of translation to the next door with useless package.

The material collector is in an inverted cone shape, a layer of screen is arranged at a material outlet at the upper part of the material collector to prevent sundries from falling, the lower part of the material collector is connected to a material discharging pipe of the feeding mechanism, and the material pump is a pneumatic material conveying pump and conveys granular materials to production equipment such as an extruder for manufacturing thin films through an upper material conveying pipe.

The bottom of the material bag frame is provided with a lifting base which can adjust the height of the material bag at the top of the material bag pile in the material bag carrying process.

Compared with the prior art, the invention has the following advantages:

1. the invention cuts the material bag by linear feed, and does not generate packaging bag debris pollution to the granular materials.

2. According to the invention, bag shaking is carried out by lifting the bag by the support, folding and unfolding the material bag and a pulse type air blowing method, so that no residual blanking is realized, and the waste of raw materials is prevented.

3. The full-automatic granular material bag unloading and loading device disclosed by the invention realizes full-automatic operation of unloading and loading of granular material bags, greatly improves the loading efficiency, and is stable and controllable in loading speed.

4. The invention can recover and arrange the waste material bags, further improves the automation level, and reduces the tool consumption and improves the material discharging effect due to the repeated use of the crochet hook mechanism.

5. The invention adopts the manipulator for operation, does not need long conveyor belts, and saves the occupied area.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIGS. 2A and 2B are schematic top views of the automatic granule unpacking and unloading mechanism of the invention;

FIG. 3 is a schematic front view of the discharge mechanism of the present invention;

FIG. 4 is a left side view of the discharge mechanism of the present invention;

FIG. 5 is a schematic view of the folding and unfolding mechanism of the present invention;

FIG. 6 is a schematic structural view of a bag collecting mechanism according to the present invention;

FIG. 7 is a schematic view of the structure of a crochet hook and a crochet hook ligand of the present invention;

FIG. 8 is a schematic view of a crochet needle piercing bag;

FIG. 9 is a schematic view of the folding and unfolding mechanism with hook needles;

FIG. 10 is a schematic view of another bearded needle mechanism;

FIG. 11 is a schematic view of another supporting claw structure;

FIG. 12 is a partially enlarged view of the supporting claw;

FIG. 13 is a graph showing the rotation speed of the rotating shaft of the supporting claw.

In the figure: 1. the device comprises a bag supporting mechanism 2, a feeding mechanism 3, a material collector 4, a bag moving machine 5, a bag collecting mechanism 6, a bag frame 7, a bag stack 8, a second supporting rod 9, a first supporting rod 10, a cutting mechanism 11, a folding and unfolding mechanism 12, a second supporting frame 13, a first supporting frame 14, a sliding block 15, a knife rest rotating shaft 16, a knife rest supporting arm 17, a knife rest 18, a blade 19, a supporting frame base 20, a supporting frame rotating shaft 21, a supporting frame supporting arm 22, a supporting claw rotating shaft 23, a supporting claw arm 24, a supporting claw 25, a silica gel cap 26, an air hole 27 and a crochet hook mechanism

221. First support claw rotating shaft 222 and first support claw rotating shaft coupler

30. Crochet hook 40, crochet hook ligand 41, electromagnetic coil group 42 and spring

301. A crochet needle base 302, a crochet needle body 303, a needlepoint 304, a sharp inner edge 305, a sharp outer edge 306 and a bent inner bulge

401. Ligand mounting part 402, elbow opening 403, elbow

51. Rolling frame 52, side wall 53, base 54, lifting rod 55, platform 56, counter 57, blocking piece 58 and notch

71. Material bag 141, carriage 201, blanking pipe 202, material pump 203, upper material conveying pipe

Detailed Description

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention is not limited to only these embodiments. The invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention.

In the following description of the preferred embodiments of the present invention, specific details are set forth in order to provide a thorough understanding of the present invention, and it will be apparent to those skilled in the art that the present invention may be practiced without these specific details.

The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in simplified form and are not to precise scale, which is only used for convenience and clarity to assist in describing the embodiments of the present invention.

Example 1:

as shown in figure 1, the automatic granule unpacking and feeding device comprises: the automatic bag conveying machine comprises a bag conveying machine 4, a discharging mechanism, a material collector 3, a feeding mechanism 2, a bag collecting mechanism 5, a material bag frame 6 and a controller, wherein the discharging mechanism comprises a bag supporting mechanism 1, a cutting mechanism 10 and a folding and unfolding mechanism 11.

The bag carrying machine 4, the bag supporting mechanism 1 and the bag collecting mechanism 5 are sequentially arranged, and the inverted cone-shaped material collector 3 is positioned below the discharging mechanism. The feeding mechanism 2 comprises a discharging pipe 201, a material pump 202 and an upper material conveying pipe 203, wherein the discharging pipe 201 receives materials from the conical bottom of the material collector, and the material pump 202 conveys the materials to a high place through the upper material conveying pipe 203 in a particle flow mode to feed materials to subsequent production equipment.

The bag carrying machine 4 is a multi-axis robot or a rectangular coordinate robot, the end effector of the robot is a vacuum chuck, the bearing capacity is matched with the carried material bag, and the material bag of 25KG is usually adopted in the manufacture of BOPP films. Every time the bag material is carried to holding in the palm a packet mechanism 1 back to carrying chartered plane 4, the height of the material package 7 on the material package frame 6 just reduces a check, owing to adopt standard operation, can obtain the three-dimensional coordinate who waits to carry the material package through the method of teaching in advance to it can accurately snatch the material package in succession to carry the chartered plane. As the improvement, can also install a liftable base at the material bag frame bottom, every remove a packet after, controller control base risees a check to it need not to change the operating height to remove the chartered plane, the repeated transport orbit can.

As shown in fig. 2A, 3, and 4, the bag supporting mechanism 1 includes a first bar 9, a second bar 8, a first bracket 13, and a second bracket 12. The first support 13 and the second support 12 each comprise four vertical struts and respectively support the first strut 9 and the second strut 8; the first supporting rod 9 and the second supporting rod 8 are respectively composed of two horizontal parallel cross rods; the four vertical pillars of the first bracket 13 are located outside the four vertical pillars of the second bracket 12 in the first-pillar direction and in two directions perpendicular to the direction on the horizontal plane.

The cutting mechanism 10 comprises a slide block 14, two cutter rest support arms 16, three cutter rest rotating shafts 15, a cutter rest 17 and a blade 18, wherein the axes of the cutter rest rotating shafts 15 are parallel to the first support rod 9. By rotating the three blade holder spindles 15, the blade holder arms 16 can be extended and retracted, folding the blade holder 17 and the blade 18 near the first bar 9, or unfolding the blade to the position of the central axis of the second bar 8. The slide 14 moves horizontally along the carriage 141, the carriage 141 is parallel to one of the cross bars of the first support bar 9 and is suspended at the bottom thereof, and the blade 18 can move linearly in a direction parallel to the first support bar 9 by moving the slide 14 on the carriage 141.

The folding and unfolding mechanism 11 further comprises a support frame base 19, three support frame rotating shafts 20, three support frame supporting arms 21, a pair of supporting claw rotating shafts 22, a pair of supporting claw arms 23 and a pair of supporting claws 24.

Preferably, the endmost support arm 21 is bifurcated, and each branch is connected to a support jaw pivot 22, and a support jaw 24 is fixed to the end of the support jaw arm 23. The axis of the support frame rotating shaft 20 is vertical to the first supporting rod 9 in the horizontal plane direction, and the axis of the supporting claw rotating shaft 22 is parallel to the first supporting rod 9. By rotating the three support frame rotating shafts 20, the support claw can be folded near the support frame base 19, or the support frame support arm 21 can be unfolded, and the support claw 24 can be moved near the central axis position of the second support rod 8.

The supporting jaw 24 comprises a base having an L-shaped cross-section, on which a silicon cap 25 having a conical shape, such as a pyramid having four triangular sides, is arranged, and air holes 26 connected to the compressed air passage are formed at the top ends of the pyramids of the silicon cap 25. Preferably, the compressed air channel can be connected to a high-pressure air source through a controllable valve by routing through the supporting claw arm and the supporting frame supporting arm.

First support 13 is slightly higher than inboard second support 12, and as preferred, its difference in height is 0.05 ~ 0.15 times of material package width. When the material bag 71 is transported to the first support bar 9 and the second support bar 8, the length direction thereof is parallel to the support bars and the central line thereof is aligned with the central line, i.e. the central axis, of the two parallel cross bars of the second support bar 8, and the middle part thereof sinks and the two sides thereof slightly tilt under the action of gravity. The controller controls the folding cutting mechanism 10 to extend the carriage arm 16 to move the blade 18 to the central axis of the two parallel cross bars of the second bar 8, the height of the blade 18 being slightly higher than the lowest point of the material bag 71. Afterwards, the controller controls the cutting mechanism 10 to move the sliding block 14, the blade 18 travels to the other end along the central axis of the two parallel cross rods of the second support rod 8, the material bag 71 is cut along the length direction, when the next material bag is cut, the sliding block 14 can be moved in the reverse direction, the cutting mechanism 10 does not need to be folded and reset every time, and the stroke is saved.

In the material bag discharging test, the material discharging efficiency is low and residual materials still exist at folds and the like by adopting simple air blowing or beating in the traditional method. Therefore, it is necessary to design a more skillful structure so that bag removal and discharge are continuously and efficiently performed. At the fold position of the sewing end of the common non-three-dimensional formed material bag, because the material at the sewing position is continuously discharged, a plurality of small pits are formed on the nearby bag wall, the invention adopts high-frequency pulse type high-speed airflow to perform discontinuous impact on the material bag wall, so that the small pits swell and rapidly fluctuate, and the residual material at the small pits is dragged to move under the action of fluid flow, and continuously falls and slides from the cutting position of the material bag at the lower position after being separated from the fold angle of the material bag.

Referring to fig. 5, and shown in fig. 3 and 4, the ratio from the arm of the support frame to the support claw in fig. 4 is enlarged in a non-equal proportion, and the granular material rapidly falls from the cut, and simultaneously drives the bag edges at the two sides of the cut to be continuously separated towards the two sides. The controller controls the folding and unfolding mechanism 11 folded at one side of the base to extend the supporting frame supporting arm 21 and move the supporting claw 24 to the center of the cutting opening of the material bag 71; when the supporting claw rotating shaft 22 is in a reset state, the two supporting claws 24 are folded, as shown in fig. 2A, the cross section of the upper surface of the supporting claw is in a narrow strip shape, so that the supporting claw can be conveniently inserted from the cutting opening of the material bag; then, the support claw 24 is moved upwards, and the material bag 71 is inserted from the center of the cut; then, the supporting claw rotating shaft 22 is controlled to rotate, the supporting claw arms 23 are unfolded, the two supporting claws 24 which are combined together are separated towards two sides, meanwhile, the supporting bracket rotating shaft 20 is continuously rotated, the material bag 71 is lifted, and the material bag 71 with less excess materials is lifted away from the two supporting rods; at this time, most of the granular materials fall off, only the leftover materials are left at the folds at the corners of the material bag 71, and the supporting claws 24 have conical saw-toothed surfaces and are in an inclined direction, so that the materials cannot be accumulated on the surfaces of the supporting claws 24; then, the controller controls the compressed air channel to convey high-pressure gas to the supporting claw, and the airflow is intermittently ejected at high speed from the air hole 26 of the supporting claw in a high-frequency pulse mode to swell and fluctuate the material bag; then, temporarily closing the air flow, reversely rotating the strut rotating shaft 20 and rapidly closing the two strut claws 24; the material bag 71 is folded and unfolded many times by repeatedly and rapidly rotating the supporting claw rotating shaft back and forth, so that the residual material is emptied.

After the supporting claw is unfolded, the cutting opening of the material bag is tensioned, the supporting claw is tightly attached to the inner bag wall of the material bag, and the generated air flow is ejected from the air hole 26 to impact the material bag wall and shake off residual granular materials.

Preferably, the pulse-type air supply of the air flow in the air hole on the supporting claw modulates the air flow intensity in a PWM mode, and after the period of the PWM pulse is selected, the pulse width is changed:

the x axis is parallel to the long edge of the support claw L-shaped substrate, and the center of the long edge is taken as the origin of the x axis; k is the intensity coefficient, a and b are preset fluctuation coefficients, L is the length of the long side of the L-shaped base of the claw, and rand1 and rand2 are random numbers in two (0,1) intervals as disturbance coefficients.

Preferably, the maximum distance d reached after the spreading of the jaws satisfies: d ═ p · (W-L),

wherein, W is the length that the material package cut open, and p is apart from the magnification, can be according to material package size and prop claw arm length preferred, if take the value between 1.1 ~ 1.5.

Preferably, the rotating shaft of the bracket is rotated while the material bag is folded and unfolded repeatedly, so that the material bag is lifted and lowered continuously; preferably, the material bag is lifted when the rotating shaft of the supporting claw is folded, and the material bag is lowered when the rotating shaft of the supporting claw is unfolded. After lifting the material bag, the operation of the rotating shaft of the bracket can be facilitated.

After the complete separation of the material and the bale, the waste bale is automatically recycled, as shown in fig. 6. And continuously controlling the strut rotating shaft to transfer the emptied waste ladle to the upper part of the rolling frame 51 in the ladle collecting mechanism 5, enabling the surfaces of the supporting claws to be approximately parallel to the surface of the rolling frame, simultaneously rotating the supporting claw rotating shaft to close the two supporting claws, and controlling the strut rotating shaft to enable the supporting claws to be drawn back from the gap 58 of the rolling frame 51.

The long side of the rolling frame 51 is provided with a straight stopping strip, the frame of the rolling frame is embedded with a plurality of parallel cross rod supports, the supports are strung with rollers capable of freely rolling, the waste bag after sliding from the rollers of the rolling frame 51 touches the stopping strips 57 on the side wall 52 in the bag collecting mechanism 5 does not advance in the horizontal direction, and the waste bag falls on the platform 55 under the action of gravity. The side wall 52 is provided with a counter 56 which is slightly lower than the bottom end of the rolling frame 51 and counts the waste bags and feeds the waste bags back to the controller, the controller controls the lifting rod 54 on the base 53 and on the supporting platform 55 according to the count, and the lifting rod is controlled to descend after collecting a plurality of waste bags, so that the height of the platform for receiving the waste bags is approximately kept unchanged, and the waste bags are piled up neatly. When a certain number of waste bales are accumulated on the platform 55, the controller controls the conveyor belt on the platform 55 to roll transversely to move the waste bale stack to a nearby baling station.

Example 2:

in this embodiment, as shown in fig. 2B, the width direction of the material bag 71 is parallel to the first support bar 9 and the second support bar 8 when the material bag is transported to the first support bar 9 and the second support bar 8, which is different from embodiment 1.

The controller controls the cutting mechanism 10 to move the sliding block 14, the blade 18 travels to the other end along the central axis of the two parallel cross rods of the second supporting rod 8, the material bag 71 is cut off from the width direction, the granular materials rapidly fall from the cut, and meanwhile, the bag edges at the two sides of the cut are driven to be continuously separated towards the two sides. The controller controls the folding and unfolding mechanism 11 folded at one side of the base to extend the supporting frame supporting arm 21 and move the supporting claw 24 to the center of the cutting opening of the material bag 71; and the supporting claws 24 are inserted into the cutting opening in a closed state, the material bag is folded and unfolded by rotating the rotating shafts 22 of the supporting claws in two directions, and in the process, when the supporting claws 24 are unfolded to the maximum angle to tension the material bag 71, the pulse type airflow conveyed to the air holes 26 at the tail ends of the supporting claws 24 is controlled to perform discontinuous impact on the wall of the material bag, so that the material bag shakes in a wave manner from the middle to the sewing positions at two sides, and the residual materials at the folding positions are shaken off.

Example 3:

as shown in fig. 7, 8, 9, 10, 11 and 12, in the present embodiment, a crochet hook mechanism is attached to the distal end of the supporting claw 24, which is different from embodiment 1. The crochet hook mechanism comprises a crochet hook 30 and a crochet hook ligand 40 which is matched with the crochet hook to work, when the supporting claw is unfolded to a position close to two ends, the crochet hook 30 is penetrated into the material bag 71 and the material bag 71 is hooked in the folding and unfolding process.

The crochet hook 30 comprises a crochet hook seat 301, a magnetic crochet hook body 302 and a needle point 303 which are sequentially distributed from bottom to head, the crochet hook seat 301 is in an inverted T shape, the crochet hook body 302 is an arc rod body and is matched with the inner wall of a bent pipe 403 of the crochet hook ligand 40, a transition part between the needle point 303 and the crochet hook body 302 consists of a sharp inner edge 304, a sharp outer edge 305 and an inward bent bulge 306, the sharp inner edge 304 and the sharp outer edge 305 are both in an arc shape and are respectively positioned at the inner side and the outer side of the needle point 303, the crochet hook forms a olette-shaped sharp edge at the head, and a bulge part facing the arc inner part of the crochet hook body 302, namely the inward bent bulge 306, is arranged between the sharp inner edge 304. Preferably, both sides of the convex portion of the inward convex portion 306 are concave.

The crochet hook ligand 40 comprises a magnetic arc-shaped bent pipe 403 matched with the crochet hook body 302, an electromagnetic coil group 41 and a spring 42, wherein the spring 42 is positioned in the bent pipe 403, and two ends of the spring 42 are respectively connected with the ligand mounting part 401 and the crochet hook seat 301; the electromagnetic coil groups 41 are distributed on the periphery of the bent pipe 403.

The crochet hook mechanism 27 is fitted to the middle portion of the stay 24 through the ligand attaching portion 401.

The crochet hook 30 is in the arc bend 403 in the initialization state, after the material bag is cut to discharge the material, when the support claw extends into the material bag to lift the material bag and expand the material bag to the maximum angle, the electromagnetic coil group 41 is controlled to be powered, the crochet hook 30 is pushed by electromagnetic force to be ejected from the bend opening 402, and the material bag 701 is hooked by the arc rod body and the inward bent projection 306 of the crochet hook body 302 after the material bag 71 is punctured. As shown in fig. 9, during the process of folding and unfolding the material bag by the folding and unfolding mechanism, the hook needle hooks the material bag wall, so the maximum angle of separation of a pair of supporting claws can be smaller without tensioning the material bag by the hook needle, and when the material bag is folded, a recess is formed in the middle of the material bag without cutting one side bag wall, due to the action of the hook needle, so that friction and beating are formed on the two side bag walls at the position, and the friction and beating are transmitted to the sewing fold position to help the discharge of the residual material.

When the folded and unfolded material bag discharges the residual materials and finishes the material bag recovery, the emptied waste bag is transferred to the upper part of the rolling frame in the material bag collecting mechanism, the electromagnetic coil group 41 is controlled to be powered off, and the crochet needle 30 retracts into the bent pipe 403 from the bent pipe opening 402 under the action of the spring 42.

Inside the elbow opening 402 at the head of the elbow 403, there is preferably a stopper for the hook needle holder 301, and the inner diameter of the stopper is slightly larger than the hook body 302 and smaller than the hook needle holder 301.

Preferably, as shown in fig. 7, the crochet hook holder 301 side of the crochet hook 30 is an N pole, and when the electromagnetic coil group 41 is energized, the bent pipe opening 402 side of the crochet hook fitting 40 is an S pole.

As shown in fig. 2B, preferably, at least one air hole is formed in the supporting claw at each sewing opening of the opposite material bag; preferably, the number of the air holes is larger in a direction toward the sewing opening than in other directions.

Example 4:

in the embodiment, referring to fig. 5 and 9 in combination with fig. 11 and 12, the branch-shaped supporting arm at the extreme end is replaced by an openable arm similar to the supporting arm, i.e. another supporting arm 23, and the two branches are respectively rotated by a coaxial first supporting-claw rotating shaft 221, which is axially parallel to the supporting-claw rotating shaft 22. The first supporting claw rotating shaft 221 is connected by a first supporting claw rotating shaft coupler 222 and rotates oppositely by a transmission mechanism.

Unlike fig. 7 and 8, referring to fig. 10, in this embodiment, the main body of the crochet hook 30 is located outside the bent pipe 403 in the free state of the spring 42. When the electromagnetic coil set 41 is energized, the electromagnetic force overcomes the resilience of the spring 42 to attract the bearded needle 30 inside the magnetic bent tube 403.

Example 5:

different from the above embodiment, in this embodiment, the bag wall of the material bag is also pulled and vibrated by the variable speed movement of the claw arm in the folding and unfolding mechanism, so as to accelerate the discharge of the residual material.

As shown in fig. 13, in the folding and unfolding processes of the supporting claws, the rotating shafts of the supporting claws are controlled to rotate in the steps of acceleration, deceleration, uniform speed, acceleration and deceleration; preferably, the acceleration and deceleration time of the movement of the two ends is symmetrically distributed; during the period, a preset maximum speed vmax moment exists, a corresponding position is a pair of supporting claws to tension the material bag, and reverse deduction is carried out at other moments according to a preset stroke.

Preferably, the rotating speed of the rotating shaft of the end supporting claw is as follows:

wherein, t1, t2, t3 and t4 correspond to the strokes of 1/8D, 1/4D, 3/4D and 7/8D respectively, D is the maximum one-way stroke of folding or unfolding of a single supporting claw, and v is the maximum one-way stroke of folding or unfolding of the single supporting claw₀Is a preset working speed. 0 and t5 correspond to the moment when the supporting jaws are in the two end positions, respectively.

Preferably, the stroke that corresponds at time t1 is preferred according to pivot driving ability, material package ductility, and as big as possible to the increase is to the traction impact force of material package at stroke both ends.

Preferably, the preset working rotating speed v₀Variable, and fast first and slow second in the process of repeated folding and unfolding.

In addition, although the embodiments are described and illustrated separately, it will be apparent to those skilled in the art that some common techniques may be substituted and integrated between the embodiments, and reference may be made to one of the embodiments without explicit mention.

The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.

Claims

1. Automatic package loading attachment of tearing open of granule material includes:

2. The automatic granule material unpacking and feeding device of claim 1, which is characterized in that: it also comprises a material bag frame, the material bag frame is provided with a lifting base,

3. The automatic granule material unpacking and feeding device of claim 1, which is characterized in that:

the material collecting and feeding mechanism comprises a material collector and a feeding mechanism; the material collector is an inverted cone-shaped container, a layer of screen is arranged at a blanking port, and the diameter of the mesh of the screen is 3-7 times of that of the granules; the feeding mechanism comprises a discharging pipe, a material pump and an upper material conveying pipe.

4. The automatic granular material unpacking and feeding device of claim 1, wherein the unloading mechanism comprises:

5. The automatic granule material unpacking and feeding device of claim 4, wherein:

the support package mechanism comprises a first supporting rod, a second supporting rod, a first support and a second support, wherein the first supporting rod and the second supporting rod respectively comprise two horizontal parallel cross rods, the first supporting rod is arranged on the outer side of the second supporting rod and is slightly higher than the second supporting rod, and the first support and the second support respectively comprise four vertical supporting rods and respectively support the first supporting rod and the second supporting rod.

6. The automatic granule material unpacking and feeding device of claim 4, wherein:

the cutting mechanism comprises a sliding block, two tool rest support arms, three tool rest rotating shafts, tool rests and a blade, wherein the two tool rest support arms connect the tool rests to the sliding block through the three tool rest rotating shafts, the sliding of the sliding block is attached to a sliding frame which is parallel to one cross rod of the first support rod and is hung at the bottom of the cross rod, the blade is fixed on the tool rests, and the axes of the tool rest rotating shafts are parallel to the first support rod.

7. The automatic granule material unpacking and feeding device of claim 4, wherein: roll over exhibition mechanism and include support frame base, three support frame pivot, three support frame support arm, a pair of claw pivot, a pair of claw arm and a pair of claw that props, wherein a support frame support arm at the very end is two branch forked shapes, and a support claw pivot is respectively connected to its every branch end, and the claw that props is fixed in and props claw arm end, and three support frame support arm will prop the claw arm through three support frame pivot and a pair of claw pivot and be connected to on the support frame base, the axis of support frame pivot on the horizontal plane with first support rod is perpendicular, the axis that props the claw pivot is parallel with first support rod on the horizontal plane.

8. The automatic granule material unpacking and feeding device of claim 1, which is characterized in that: the tail end of the supporting claw is provided with a crochet hook mechanism which hooks the bag wall of the material bag on the supporting claw through a pair of arc crochet hooks which can extend and retract;

9. The automatic granule material unpacking and feeding device of claim 1, which is characterized in that: it is still including the receipts package mechanism that is used for retrieving the material package, receive package mechanism including rolling frame, lateral wall, base, lifter, platform, counter and separation blade, the lateral wall becomes the right angle with the base and distributes, counter and separation blade are installed on the lateral wall, and the counter rolls the frame minimum slightly lowly than, and the separation blade is located the counter below, the roll frame has a breach in one side that is close to shedding mechanism.

10. An automatic unpacking and unloading device for granular materials comprises: