CN117416596A - Automatic unpacking device - Google Patents
Automatic unpacking device Download PDFInfo
- Publication number
- CN117416596A CN117416596A CN202311615568.XA CN202311615568A CN117416596A CN 117416596 A CN117416596 A CN 117416596A CN 202311615568 A CN202311615568 A CN 202311615568A CN 117416596 A CN117416596 A CN 117416596A
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- Prior art keywords
- clamping jaw
- bag
- controlling
- controller
- information
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- 230000007246 mechanism Effects 0.000 claims abstract description 162
- 238000004064 recycling Methods 0.000 claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 24
- 238000011084 recovery Methods 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims description 96
- 239000000428 dust Substances 0.000 claims description 33
- 238000004898 kneading Methods 0.000 claims description 33
- 238000007599 discharging Methods 0.000 claims description 28
- 238000010009 beating Methods 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 16
- 230000008569 process Effects 0.000 abstract description 16
- 238000009434 installation Methods 0.000 abstract description 6
- 230000010354 integration Effects 0.000 abstract description 4
- 230000001276 controlling effect Effects 0.000 description 48
- 238000001514 detection method Methods 0.000 description 18
- 230000001681 protective effect Effects 0.000 description 9
- 238000010415 tidying Methods 0.000 description 8
- 230000005484 gravity Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- -1 polypropylene Polymers 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 239000004698 Polyethylene Substances 0.000 description 1
- 239000004743 Polypropylene Substances 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 229920000728 polyester Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 229920001155 polypropylene Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
The invention provides an automatic unpacking device, which comprises a feeding mechanism, a bag breaking mechanism and a recycling mechanism which are sequentially arranged at intervals; the movable assembly is movably arranged among the feeding mechanism, the bag breaking mechanism and the recovery mechanism, the clamping jaw is arranged on the movable assembly in a lifting manner, and the controller is respectively in communication connection with the feeding mechanism, the movable assembly and the clamping jaw; the controller is used for controlling the moving assembly to drive the clamping jaw to sequentially move onto the feeding mechanism, the bag breaking mechanism and the recycling mechanism. The technical scheme of the invention has high integration level, and the feeding mechanism, the bag breaking mechanism and the recovery mechanism are arranged in a modularized manner, so that the installation difficulty is reduced, the debugging process is simplified after assembly, the use experience of a user is improved, and the degree of automation is improved.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to an automatic unpacking device.
Background
The ton bag is a flexible transport packaging container, is generally woven by using polyester fibers such as polypropylene and polyethylene, and has the characteristics of simple structure, light dead weight, foldability, small space occupied by recycling, low price and the like. The ton bag is widely applied to package and transportation of various powdery, granular and blocky articles such as chemical industry, building materials, plastic mineral products and the like, and can realize unitized transportation by being matched with a crane or a forklift.
The top of the ton bag is usually grabbed by a mechanical structure when the ton bag material is unloaded, and the bottom of the ton bag is unloaded in a mechanical bag breaking mode. In the prior art, a semi-automatic mode is adopted, ton bags are moved to corresponding bag breaking devices through hanging frames, and discharging is performed after bag breaking. The whole process needs manual auxiliary operation, the degree of automation is low, and all passes through the manipulator transmission between each equipment, and the no correlation, the integrated level is lower, and the debugging degree of difficulty is big after the installation, leads to user experience to reduce, and equipment study cost increases.
Disclosure of Invention
The invention mainly aims to provide an automatic unpacking device, and aims to solve the technical problems of lower automation degree, lower integration level and high debugging difficulty after installation in the prior art when a ton bag is unloaded.
In order to achieve the above object, the present invention proposes an automatic unpacking device,
the automatic unpacking device includes:
the feeding mechanism, the bag breaking mechanism and the recovery mechanism are sequentially arranged at intervals;
the clamping jaw is arranged on the moving assembly in a lifting manner, and the moving assembly is movably arranged among the feeding mechanism, the bag breaking mechanism and the recycling mechanism;
The controller is respectively in communication connection with the feeding mechanism, the moving assembly and the clamping jaw; the controller is used for:
controlling the moving assembly to drive the clamping jaw to move to the feeding mechanism, and controlling the clamping jaw to descend so as to clamp ton bag materials;
controlling the moving assembly to drive the clamping jaw to move to the bag breaking mechanism, and controlling the clamping jaw to descend so as to break bags of ton bag materials on the bag breaking mechanism and recycle the materials;
and controlling the moving assembly to drive the clamping jaw to move to the recycling mechanism, and controlling the clamping jaw to descend so as to place the empty ton bag on the recycling mechanism for recycling.
Optionally, the automatic unpacking device further comprises a first detection piece, the first detection piece is arranged on the feeding mechanism and is used for detecting material information, and the controller is in communication connection with the first detection piece;
the controller executes control the moving assembly to drive the clamping jaw to move onto the feeding mechanism, and the step of controlling the clamping jaw to descend so as to clamp ton bag materials specifically comprises the following steps:
receiving the material information;
controlling the moving assembly to drive the clamping jaw to move to the feeding mechanism according to the material information;
And controlling the clamping jaw to descend by a first preset height so as to grasp ton bag materials on the transmission piece.
Optionally, the controller executes control the moving assembly to drive the clamping jaw to move to the bag breaking mechanism, controls the clamping jaw to descend so as to break bags of ton bags of materials on the bag breaking mechanism, and the step of recycling the materials specifically comprises the following steps:
controlling the clamping jaw to reset to an initial height;
controlling the moving assembly to drive the clamping jaw to move to the recycling mechanism;
and controlling the clamping jaw to descend by a second preset height so as to break bags of ton bag materials on the bag breaking mechanism and recycle the materials.
Optionally, the automatic unpacking device further comprises a second detection piece, the second detection piece is arranged on the bag breaking mechanism and is used for detecting pressure information of the bag breaking mechanism, and the controller is in communication connection with the second detection piece;
after performing the step of controlling the jaws to descend by a second preset height, the controller is further configured to:
receiving the pressure information;
judging whether the pressure information is smaller than or equal to a preset pressure;
and when the pressure information is smaller than or equal to the preset pressure, controlling the clamping jaw to ascend by a third preset height.
Optionally, the clamping jaw is further used for generating position information and sending the position information to the controller;
before performing 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 position information;
judging whether the clamping jaw breaks bags successfully or not according to the position information and the pressure information;
when the position information is low and the pressure information is greater than 0, judging that the clamping jaw is successful in breaking the bag, and executing the step of judging whether the pressure information is smaller than or equal to preset pressure;
and when the position information is high or the pressure information is smaller than or equal to 0, judging that the clamping jaw does not successfully break the bag, and returning to execute the step of judging whether the clamping jaw successfully breaks the bag according to the position information and the pressure information.
Optionally, before performing the step of controlling the jaw to descend by a second preset height, the controller is further configured to:
judging 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, judging that the bag breaking mechanism is blocked, and returning to execute the judgment of whether the bag breaking mechanism is blocked according to the position information and the pressure information;
And when the position information is high and the pressure information is smaller than 0, judging that the bag breaking mechanism is not blocked, and executing the step of controlling the clamping jaw to descend by a second preset height.
Optionally, after performing the step of controlling the jaws to rise by a third preset height, the controller is further configured to:
and alternately controlling the clamping jaw to descend by a fourth preset height and then ascend by the fourth preset height at intervals of preset period.
Optionally, the bag breaking mechanism further comprises a dust remover, the bag breaking mechanism is provided with a dust removing port, the dust remover is arranged on the dust removing port, and the dust remover is in communication connection with the controller;
after performing the step of receiving the pressure information, the controller is further configured to:
opening or closing the dust remover according to the pressure information;
when the pressure information is greater than 0, controlling the dust remover to be started;
and when the pressure information is smaller than or equal to 0, controlling the dust remover to be closed.
Optionally, the automatic unpacking device further comprises a third detection piece, the third detection piece is arranged between the moving assembly and the clamping jaw, the third detection piece is used for detecting tension information on the clamping jaw, and the controller is in communication connection with the third detection piece;
The controller is used for:
receiving the tension information;
judging whether the clamping jaw is overloaded according to the tension information;
and when the tension information is greater than or equal to a first preset tension, judging that the clamping jaw is overloaded, and alarming.
Optionally, the bag breaking mechanism further comprises a pushing and kneading rod, the pushing and kneading rod is arranged on the bag breaking mechanism, and the controller is in communication connection with the pushing and kneading rod;
after performing the step of controlling the jaws to descend by a second preset height, the controller is further configured to:
controlling the opening of the pushing and kneading rod according to the tension information;
and when the pressure information is smaller than or equal to the second preset pulling force, controlling the pushing and kneading rod to be opened.
Optionally, the bag breaking mechanism further comprises a bag beating device, the bag beating device is rotatably arranged above the bag breaking mechanism, the bag beating device is abutted with the ton bag material above the discharge hopper when rotating, and the bag beating device is in communication connection with the controller;
after performing the step of controlling the jaws to descend by a second preset height, the controller is further configured to:
controlling the opening of the pushing and kneading rod according to the tension information;
and when the pressure information is smaller than or equal to the third preset tension, controlling the bag beating device to rotate.
Optionally, after performing the step of controlling the jaw to descend by a second preset height, the controller is further configured to:
controlling the swing of the moving assembly according to the tension information;
and when the pressure information is smaller than or equal to the fourth preset tensile force, controlling the moving assembly to sequentially move left and right back and forth for a preset distance according to a preset frequency.
According to the technical scheme, the moving assembly controls the clamping jaw to move onto the feeding mechanism at first, the clamping jaw grabs ton bag materials after descending, and then the moving assembly drives the clamping jaw to move onto the bag breaking mechanism for bag breaking and discharging; and finally, the empty bag after unloading is driven by the moving assembly to move to the recycling mechanism for recycling. The whole process is finished by receiving and transmitting instructions through the independent controller, the integration level is high, the feeding mechanism, the bag breaking mechanism and the recycling mechanism are arranged in a modularized mode, the installation difficulty is reduced, the debugging process is simplified after assembly, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an automatic unpacking device according to the present invention;
FIG. 2 is a schematic diagram showing a specific structure of a bag breaking mechanism in the automatic unpacking device of the present invention;
FIG. 3 is a schematic view showing a specific structure of a discharge hopper in the automatic unpacking device of the present invention;
FIG. 4 is a side view of a discharge hopper of the automatic unpacking device of the present invention;
FIG. 5 is a schematic view of the structure of the clamping jaw in the automatic unpacking device of the present invention;
fig. 6 is a schematic structural view of a jaw provided with a protective cover in the automatic unpacking device of the present invention;
FIG. 7 is a schematic view of the bag beating device in the automatic unpacking device;
fig. 8 is a schematic structural view of a mobile cart in the automatic unpacking device of the present invention.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; the device can be mechanically connected or in communication; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
The invention provides an automatic unpacking device which comprises a feeding mechanism, a bag breaking mechanism 10, a recovery mechanism 70, a movable assembly 20, clamping jaws and a controller, wherein the feeding mechanism, the bag breaking mechanism 10 and the recovery mechanism 70 are sequentially arranged at intervals, the movable assembly 20 is movably arranged among the feeding mechanism, the bag breaking mechanism 10 and the recovery mechanism 70, the clamping jaws are arranged on the movable assembly 20 in a lifting mode, and the controller is respectively in communication connection with the feeding mechanism, the movable assembly 20 and the clamping jaws 40.
The controller is used for executing the following steps:
step S10: controlling the moving assembly 20 to drive the clamping jaw 40 to move onto the feeding mechanism, and controlling the clamping jaw 40 to descend so as to clamp ton bag materials;
step S20: controlling the moving assembly 20 to drive the clamping jaw 40 to move onto the bag breaking mechanism 10, and controlling the clamping jaw 40 to descend so as to break bags of ton bags of materials on the bag breaking mechanism 10 and recycle the materials;
Step S30: the moving assembly 20 is controlled to drive the clamping jaw 40 to move onto the recycling mechanism 70, and the clamping jaw 40 is controlled to descend so as to place empty ton bags on the recycling mechanism 70 for recycling.
Referring to fig. 1, the automatic unpacking device may further include a support frame 60, wherein the moving assembly 20, the clamping jaw 40, the bag breaking mechanism 10, the recycling mechanism 70 and the feeding mechanism are all disposed in the support frame 60.
The moving assembly 20 is arranged at the top of the supporting frame 60, and the feeding mechanism, the bag breaking mechanism 10 and the recycling mechanism 70 are sequentially arranged at the bottom of the supporting frame 60 at intervals. The moving path of the moving assembly 20 passes through the feeding mechanism, the bag breaking mechanism 10 and the recovery mechanism 70 in sequence.
Specifically, the moving assembly 20 includes a guide rail 22 and a moving trolley 21, the guide rail 22 is disposed at the top of the supporting frame 60, one end of the guide rail 22 is located above the feeding mechanism, and the other end extends and sequentially passes through the bag breaking mechanism 10 and the recovery mechanism 70.
The moving trolley 21 is arranged on the guide rail 22, and the moving trolley 21 is driven by a motor to move back and forth on the guide rail 22.
The clamping jaw 40 comprises a clamping jaw 40 body and a lifting driving member 30, the lifting driving member 30 can adopt 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 travelling car 21 through the linear module.
The controller can adopt a PLC logic controller or a mobile PC end and the like, and the communication connection between the controller and other equipment and instruments can be realized in a wired or wireless mode. Wherein, three position coordinates are preset to correspond to the upper parts of the feeding mechanism, the bag breaking mechanism 10 and the recovery mechanism 70, respectively, so as to control the moving trolley 21 to move to the corresponding position coordinates.
The controller firstly controls the movable trolley 21 to drive the clamping jaw 40 to move to the upper side of the feeding mechanism, and the clamping jaw 40 descends, so that ton bag materials placed on the feeding mechanism are grabbed.
After the ton bag material is grabbed, the movable trolley 21 is continuously controlled to drive the clamping jaw 40 to move above the bag breaking mechanism 10, and the clamping jaw 40 is also controlled to descend, so that the bottom of the ton bag material is damaged by the bag breaking mechanism 10, and the material falls from an opening at the bottom of the ton bag and is collected.
When the materials in the ton bags are all collected, the controller continuously controls the movable trolley 21 to move above the recovery mechanism 70, and also controls the clamping jaw 40 to descend for a certain distance, and loosens the empty ton bags, and the empty ton bags are recovered through the recovery mechanism 70.
In this embodiment, the dimensions and the mounting structure of the feeding mechanism, the bag breaking mechanism 10 and the recovery mechanism 70 are all adapted to the supporting frame 60, so as to improve the convenience of assembly and realize quick assembly and disassembly; meanwhile, communication between the devices and the instruments is completed through the controller, so that the debugging process is simplified. The requirements on the use place of the user are lower, and the use experience is improved.
According to the technical scheme of the invention, the moving assembly 20 controls the clamping jaw 40 to move onto the feeding mechanism at first, the clamping jaw 40 grabs ton bag materials after descending, lifts ton bag materials upwards and then drives the ton bag materials to move onto the bag breaking mechanism 10 by the moving assembly 20; the clamping jaw 40 descends again to break bags and discharge; finally, the empty bags after being discharged are driven by the moving assembly 20 to move the clamping jaw 40 to the recycling mechanism 70 for recycling. The whole process is finished by receiving and transmitting instructions through the independent controller, the integration level is high, the feeding mechanism, the bag breaking mechanism 10 and the recovery mechanism 70 are arranged in a modularized mode, the installation difficulty is reduced, the debugging process is simplified after assembly, the user use experience is improved, and the automation degree is improved.
Further, the automatic unpacking device further comprises a first detection piece, wherein the first detection piece is arranged on the feeding mechanism and used for detecting material information, and the controller is in communication connection with the first detection piece.
The controller executing step S10 specifically includes the following steps:
step S11: receiving the material information;
step S12: controlling the moving assembly 20 to drive the clamping jaw 40 to move onto the feeding mechanism according to the material information;
step S13: the jaws 40 are controlled to descend a first predetermined height to grasp the ton bag material on the transfer member.
The feeding mechanism 80 comprises a transmission member 81 and a first detection member, a feeding end of the transmission member 81 is in butt joint with external feeding equipment, a discharging end 82 of the transmission member 81 is arranged on one side of the bag breaking mechanism 10, and the transmission direction of the transmission member 81 is that the feeding end faces the discharging end 82; the first detecting member is disposed on the blanking end 82.
The transmission piece can be transmitted by adopting a roller way mechanism. Ton bag material is placed on the transmission member 81 by means of a tray.
The feeding end is used for being in butt joint with external feeding equipment or in butt joint with the discharging end 82 of the previous process, so that after the previous process is finished, the transmission part is directly used for continuous transmission, compatibility is improved, and the automatic requirement is met.
The first detecting member is disposed on one side of the blanking end 82, and may be an induction device such as a pressure sensor, so that when the ton bag material reaches the blanking end 82, the first detecting member can detect the ton bag material. And generating a corresponding material signal. For example, when a pressure sensor is used, the pressure is detected and the material signal is produced by a change in the level of the pressure.
After receiving the material signal, the controller correspondingly controls the mobile trolley 21 to move to the upper part of the feeding mechanism. When the moving trolley 21 drives the clamping jaw 40 to move to the upper side of the feeding mechanism 80, the clamping jaw 40 is driven to descend by the first preset height, the first preset height can be obtained through measurement, so that the clamping jaw 40 can be just flush with the position of the ton bag material after descending by the first preset height, and the grabbing accuracy is guaranteed.
Specifically, referring to fig. 5 to 6, the clamping jaw 40 body includes a first connecting arm 41, a second connecting arm 42, a first driving component 43, an elastic component 44 and a hook 45, where the first connecting arm 41 is used to be fixed on an external supporting structure; one end of the second connecting arm 42 is hinged with the first connecting arm 41; one end of the first driving 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 towards one side far 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 being elastically deformed.
The first connecting arm 41 may be fixed to the external support structure by bolts using a plate-shaped connecting mechanism such as an iron plate, a wood plate, etc. The external support structure may be, for example, a hanger, a wall surface, or the like.
The second connecting arm 42 is hinged to the first connecting arm 41. Specifically, the first connecting arm 41 and the second connecting arm 42 may be provided with a hole, a ring, or the like, and the hole and the ring are abutted, so that the hinge connection is realized by passing the hole and the ring through the pin shaft, that is, the second connecting arm 42 can rotate around the hinge position.
The second connecting arm 42 is driven by the first driving assembly 43. The first driving unit 43 may be connected by using a rod-shaped connector corresponding to the assembly, such as an air cylinder, a linear module, etc., so as to push the second connecting arm 42 to swing.
The elastic component 44 and the hook 45 are both disposed on the second connecting arm 42, and when the second connecting arm 42 rotates, the elastic component 44 and the hook 45 are driven to rotate synchronously.
As an embodiment, by adjusting the mounting position of the first connecting arm 41, the hook 45 is disposed toward the left, and when the second connecting arm 42 is driven to swing leftwards, the hook 45 performs a grabbing action, and is abutted against the side surface of the ton bag; when the second connecting arm 42 is driven to swing rightward, the hook 45 is released and separated from the side of the ton bag.
As another embodiment, by adjusting the mounting position of the first connecting arm 41, the hook 45 is disposed toward the right, and the grabbing and releasing actions of the hook 45 are opposite to those of the case of disposing toward the left.
Regardless of whether the hooks 45 are disposed to the left or right, the elastic members 44 provide cushioning to the hooks 45 during the gripping action. That is, when the hook 45 is tightly attached to the side surface of the ton bag, the hook 45 is affected by gravity of the ton bag, so that the elastic component 44 deforms, and the hook 45 floats along with the deformation of the elastic component 44, so that the hook 45 can be completely attached to the side surface of the ton bag without piercing the surface of the ton bag. The deformation amount of the elastic component 44 changes according to the gravity of the ton bag, so that the ton bag with different weight can be adapted, and the compatibility is improved.
The clamping jaw 40 further comprises a protective cover 46, one end of the protective cover 46 is connected with the first connecting arm 41, and the other end extends to one side of the second connecting arm 42; wherein, the second connecting arm 42 rotates to drive the hook 45 to extend out of the protective cover 46 or retract into the protective cover 46.
The protective cover 46 is used for dust prevention and water prevention, and can prevent electronic components or metal components of the inner wall from being corroded. On the other hand, the distance between the hook 45 and the surface of the protective cover 46 is shorter, i.e. the hook is attached to the surface of the protective cover 46. Therefore, when the hook 45 needs to loosen the ton bag, the second connecting arm 42 is pushed to rotate back, so that the protective cover 46 can be matched to push the side surface of the ton bag away from the hook 45.
Further, referring to fig. 2 to 4, the bag breaking mechanism 10 includes a discharge hopper 11 and a bag breaking knife 12, wherein the discharge hopper 11 is disposed between the feeding mechanism and the recovery mechanism 70; the bag breaking knife 12 is arranged in the discharging hopper 11, and the cutting edge of the bag breaking knife 12 is arranged towards one side of the moving assembly 20.
The discharging hopper 11 is provided with a discharging bin, a feeding hole 113 and a discharging hole 114 which are communicated with the discharging bin and are oppositely arranged; the feeding hole 113 is upward, the discharging hole 114 is downward, the bag breaking knife 12 is arranged in the discharging bin, and the cutting edge of the bag breaking knife 12 is arranged towards the feeding hole 113.
The controller executing step S20 specifically includes the following steps:
step S21: controlling the clamping jaw to reset to an initial height;
step S22: controlling the moving assembly to drive the clamping jaw to move to the recycling mechanism;
step S23: and controlling the clamping jaw to descend by a second preset height so as to break bags of ton bag materials on the bag breaking mechanism and recycle the materials.
The jaws 40 are first controlled to return to the original height so as to avoid interference between the ton bags and other equipment. Alternatively, the step S21 may be omitted by providing a height difference between the feeding mechanism 80 and the bag breaking mechanism 10.
When the controller controls the clamping jaw 40 to clamp the ton bag material, the moving assembly 20 is controlled to drive the clamping jaw 40 to move above the bag breaking mechanism 10 for unloading.
During discharging, the ton bag material is moved to be right above the feed inlet 113, after the controller controls the clamping jaw 40 to descend by the second preset height, the position of the ton bag is lower than the height of the cutting edge of the bag breaking knife 12, under the combined action of the gravity of the ton bag and the external conveying mechanism, the bag breaking knife 12 can break the ton bag to form an opening, so that the material in the ton bag falls into the discharge hopper 11 from the opening, and the material is introduced into the external recycling mechanism 70 through the discharge hopper 11.
In special cases, for example, when the volume of the ton bag is large or the bottom surface of the ton bag is shaped like a special shape, the opening formed by the bag-breaking knife 12 on the ton bag cannot cover the whole bottom of the ton bag, so that part of the material remains at the positions of the peripheral top corners of the ton bag.
Further, the bag breaking mechanism 10 further includes a second detecting member, which is disposed at the bottom of the bag breaking blade 12, and is configured to detect pressure information on the bag breaking blade 12; the controller is in communication connection with the second detection part.
The controller further includes the following steps after executing step S23:
step S24: receiving the pressure information;
step S25: judging whether the pressure information is smaller than or equal to a preset pressure;
step S26: and when the pressure information is smaller than or equal to the preset pressure, controlling the clamping jaw to ascend by a third preset height.
The second detecting member may also employ a pressure sensor or the like. After the ton bag is broken, the material is recovered through the bottom outlet 114, and the pressure detected by the corresponding second detecting member becomes smaller gradually.
After a period of time, the materials in the ton bags are easily accumulated at the bottom under the influence of gravity, so that the feeding hole 113 is blocked. Therefore, the clamping jaw 40 can be controlled to rise to the third preset height so as to dredge the material blocked at the position of the feed inlet 113.
The third preset height can be adjusted according to experience of an operator.
Specifically, the pressure information of the second detecting member is used to determine the remaining amount of the material in the ton bag, so as to control the clamping jaw 40 to perform the lifting operation at a proper time.
The controller receives the pressure information and judges whether the pressure information is smaller than or equal to preset pressure; and when the pressure information is smaller than or equal to the preset pressure, controlling the clamping jaw 40 to ascend by a third preset height.
The preset pressure can be specifically adjusted according to the carrying capacity of the ton bag and the on-site detection result.
Further, a sensor may be provided on the lift drive 30 of the jaw 40 to detect the current height of the jaw 40 and generate positional information. The position information includes a high position and a low position, for example, when the position information is higher than a certain position, the position information is high, and when the position information is lower than a certain position, the position information is low. Specifically, the stroke amount of the lift driving member 30 can be adjusted.
The clamping jaw is also used for generating position information and sending the position information to the controller; the controller further includes, before executing step S25, executing the steps of:
step S27: receiving the position information;
step S28: judging whether the clamping jaw breaks bags successfully or not according to the position information and the pressure information;
step S29: when the position information is low and the pressure information is greater than 0, judging that the clamping jaw is successful in breaking the bag, and executing a step S25;
step S210: and when the position information is high or the pressure information is smaller than or equal to 0, judging that the clamping jaw does not successfully break the bag, and returning to the step S28.
When the ton of bag material descends onto the bag-breaking knife 12, the weight borne by the bag-breaking knife 12 is detected by the second detecting member. By combining the position information of the clamping jaw 40 and the sum of the pressure information, whether the clamping jaw 40 descends in place or not is judged, and whether the ton bag is broken normally or not is judged, so that accuracy is improved, and smooth completion of discharging is ensured.
When the position information is high, it indicates that the clamping jaw 40 is not lowered in place, that is, the ton bag is not abutted with the bag breaking knife 12, so that normal bag breaking cannot be completed. When the position information is in a low position, the clamping jaw 40 is indicated to be lowered to be in place, the pressure information needs to be combined for judging in order to improve the detection precision, and when the pressure information is detected to be changed, the ton bag is indicated to be in normal contact with the bag breaking knife 12, and the bag breaking is successful; and when the pressure information is detected to be unchanged, abnormal conditions can occur, and meanwhile, the result shows that the bag is not successfully broken, so that accidents are avoided when the next step is executed.
Further, before executing step S23, the controller is further configured to execute the following steps:
step S211: judging whether the bag breaking mechanism is blocked according to the position information and the pressure information;
Step S212: when the position information is high and the pressure information is greater than 0, judging that the bag breaking mechanism is blocked, and returning to the step S211;
step S213: and when the position information is high and the pressure information is smaller than 0, judging that the bag breaking mechanism is not blocked, and executing the step S23.
In the process of unloading, the large gap of the ton bag is damaged, which results in a high unloading speed, or when the material is more, the material inlet 113 of the unloading hopper 11 may be blocked.
Therefore, in order to avoid that the clamping jaw 40 continues to move the next ton bag to the bag breaking knife 12 for breaking the bag when the discharging hopper 11 is blocked, comprehensive detection and judgment are performed through the position information and the pressure information, so that the accuracy of judgment is improved.
Specifically, when the position information is in the low position, it indicates that the clamping jaw 40 is performing a bag breaking or blanking operation, so that the blockage determination is not performed. And when the position information is high, that is, after the discharging of the clamping jaw 40 is completed, the discharging hopper 11 is detected. It will be appreciated that when the blockage occurs, the material is pressed against the bag breaker 12, so as to cause pressure to the second detecting member, so that when the position information is high and the pressure information is detected to change, the blockage of the discharge hopper 11 is determined, and operations such as a buzzer alarm can be performed to prompt an operator to dredge in time.
In the absence of a jam, the jaws 40 perform the next operation.
Further, after performing step S26, the controller is further configured to perform the following steps:
step S214: and alternately controlling the clamping jaw to descend by a fourth preset height and then ascend by the fourth preset height at intervals of preset period.
After the ton bag is broken, and the clamping jaw 40 is controlled to ascend by the third preset height, in order to ensure the dredging effect, the clamping jaw 40 can be controlled to ascend and descend repeatedly to move back and forth, so that the smooth unloading of materials is ensured.
The preset period is set according to a certain time length, namely, corresponding operation is carried out after the time length is divided. For example, after the third preset height is raised, the clamping jaw 40 is controlled to be lowered by the fourth preset height, and after the period time, the clamping jaw 40 is controlled to be raised by the fourth preset height, so that the clamping jaw is reciprocated.
In this embodiment, the gripping jaw 40 may be continuously controlled to alternately descend and ascend until the material in the ton bag is completely discharged, or the preset times may be set, and the gripping jaw 40 may be stopped after descending and ascending for the preset times.
Further, the bag breaking mechanism 10 further comprises a dust remover, the bag breaking mechanism 10 is provided with a dust removing opening 14, the dust remover is arranged on the dust removing opening 14, and the dust remover is in communication connection with the controller.
In the blanking process, because the middle area is shielded by the ton bag, the flying dust can only escape from the gap between the ton bag and the inner wall surface of the discharging bin, the dust removing opening 14 is formed in the side wall of the discharging bin, and the dust remover is arranged, so that negative pressure is formed at the dust removing opening 14 for dust removing operation, and dust materials are prevented from escaping to pollute other parts of equipment when the ton bag is prevented from being broken and blanking.
The dust remover can adopt equipment such as a vacuum air source and the like to realize the dust removing effect. The controller is further used for judging whether the pressure information is larger than 0; the processing module is also used for controlling the dust remover to be started when the pressure information is more than 0; and when the pressure information is smaller than or equal to 0, controlling the dust remover to be closed. Therefore, the automatic unpacking device can be opened automatically in time after the bag is broken, and the degree of automation and the reliability of the automatic unpacking device are improved.
Further, referring to fig. 8, the automatic unpacking device further includes a third detecting member 90, the third detecting member 90 is disposed between the moving assembly 20 and the clamping jaw 40, the third detecting member 90 is configured to detect tension information on the clamping jaw 40, and the controller is communicatively connected to the third detecting member 90.
The controller is used for executing the following steps:
step S40: receiving the tension information;
step S50: judging whether the clamping jaw is overloaded according to the tension information;
step S60: and when the tension information is greater than or equal to a first preset tension, judging that the clamping jaw is overloaded, and alarming.
The third detecting member 90 may be installed at a connection position of the travelling car 21 and the clamping jaw 40, so that when the clamping jaw 40 grips the ton bag material, a downward pulling force is generated on the clamping jaw 40, and the pulling force information is generated by detecting the third detecting member 90.
In the process of gripping the ton bag material by the gripping jaw 40, the third detecting member 90 detects the tension information in real time, so as to prevent the tension borne by the gripping jaw 40 from exceeding the threshold range thereof, that is, prevent the gripping jaw 40 from being overloaded, thereby causing potential safety hazards.
Specifically, by judging whether the tension information is greater than or equal to the first preset tension, when the tension information is greater than or equal to the first preset tension, the overload of the clamping jaw 40 is indicated, and the buzzer is used for alarming to prompt an operator to timely process, so that potential safety hazards are avoided.
The magnitude of the first preset tension force can be adjusted according to the material of the clamping jaw 40 and the connection rigidity between the clamping jaw and the mobile trolley 21, so as to ensure the stability and the safety of the equipment in the running process.
The discharging hopper 11 is also provided with the pushing and kneading rod 13, and the angle of the ton bag is adjusted through an external conveying mechanism, or the installation position of the pushing and kneading rod 13 on the discharging hopper 11 is adjusted, so that the pushing and kneading rod 13 is aligned to the peripheral top angles of the ton bag. The push-kneading bars 13 are controlled to extend so as to push out materials remained at the top corners of the periphery from the ton bag to the opening position.
It should be noted that, in the normal assembly situation, the position of the inlet 113 is above the outlet 114, and the ton bag is unloaded from top to bottom under the action of gravity. However, the positions of the peripheral top corners of the ton bag are lower than the height of the opening under the influence of the gravity of the materials, so that the materials cannot be discharged normally.
Therefore, in order to ensure that the material can be discharged normally, the moving direction of the pushing and kneading rod 13 is set towards the feeding hole 113, that is, the pushing and kneading rod 13 pushes the peripheral top corners of the ton bag obliquely upwards, so that the material is ensured to move upwards and finally be discharged from the middle opening.
When aiming at different application scenes, the moving directions of the feeding hole 113 and the pushing and kneading rod 13 can be correspondingly adjusted, and only the pushing and kneading rod 13 is required to be ensured to move towards the feeding hole 113.
In addition, the discharging bin comprises a dust removing section 112 and a discharging section 111 which are sequentially arranged from the feeding hole 113 to the discharging hole 114; the blanking section 111 is tapered along the direction from the feeding hole 113 to the discharging hole 114, 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.
The blanking section 111 is contracted from the feed inlet 113 to the discharge outlet 114, that is, the blanking section is contracted from top to bottom to form a funnel shape. On the one hand, the material collection is convenient, on the other hand, the blanking section 111 is inclined and forms an included angle with the vertical direction, so that when the moving direction of the pushing and kneading rod 13 is vertical to the side wall of the blanking section 111, the pushing and kneading rod 13 can be ensured to push the material upwards.
And, the feed inlet 113 is located at the center of the discharge hopper 11, and the moving direction of the pushing and kneading rod 13 is set to be perpendicular to the side wall of the discharge hopper 11, so that the pushing and kneading rod 13 pushes the material toward the center of the feed inlet 113 when extending. It will be appreciated that the opening of the ton bag is usually formed in the center of the bottom surface, so that the pushing and kneading rod 13 is ensured to push the materials with the top corners around to the opening in the center, and the reliability of discharging is improved.
Further, the controller is in communication connection with the kneading rod 13;
after performing step 23, the controller is further configured to perform the steps of:
step S215: controlling the opening of the pushing and kneading rod according to the tension information;
step S216: and when the pressure information is smaller than or equal to the second preset pulling force, controlling the pushing and kneading rod to be opened.
It will be appreciated that during the discharge process, material flows from the ton bag, so that the weight of the ton bag becomes smaller and the tension detected by the third detecting member becomes smaller.
In order to further increase the degree of automation, when the tension signal is smaller than the second preset tension, the pushing and kneading rod 13 is opened.
The second preset tension may be empirically adjusted. When the second preset tension is reached, a part of the material in the ton bag is dropped, the surface tension of the ton bag is reduced, and the ton bag is flattened, so that the situation that the material remains at the bending position of the ton bag may exist.
Therefore, when the pulling force is smaller than the second preset pulling force, the pushing and kneading rod 13 is opened timely to push and squeeze the materials in the ton bag, so that smooth blanking of the materials is ensured.
Further, referring to fig. 7, the bag breaking mechanism 10 further includes a bag beating device 50, the bag beating device 50 is rotatably disposed above the discharge hopper 11, and when the bag beating device 50 rotates, it abuts against the ton of bag material above the discharge hopper 11; the bag holder 50 is communicatively coupled to the controller.
After the controller performs step S23, the controller is further configured to perform the following steps:
step S217: controlling the opening of the pushing and kneading rod according to the tension information;
step S218: when the pressure information is smaller than or equal to the third preset tension, controlling the bag beating device to rotate
The bag beating device 50 comprises a supporting mechanism 51, a rotating assembly 52, a beating piece 53 and a second driving assembly 54, wherein the rotating assembly 52 is rotatably arranged on the supporting mechanism 51; one end of the beating member 53 is connected with the rotating assembly 52, and the other end extends out of the supporting mechanism 51; the second driving component 54 is movably arranged on the supporting mechanism 51, and the second driving component 54 is connected with the rotating component 52; the second driving component 54 is configured to drive the rotating component 52 to rotate, and when the rotating component 52 rotates, the flapping component 53 is driven to rotate so as to perform a flapping action.
The supporting mechanism 51 comprises a bracket 511 and a mounting plate 512, wherein one end of the bracket 511 is used for being supported on an external supporting surface; the mounting plate 512 is disposed at the other end of the bracket 511, and the rotating assembly 52 and the driving shaft assembly are disposed at both sides of the mounting plate 512, respectively.
The support 511 can be connected through the strip spliced pole that multistage length is different, realizes high adjustment through the quantity of increase and decrease spliced pole, when beating to the ton bag of equidimension, can carry out the adaptation through the regulating height, improves the compatibility.
The mounting plate 512 has a flat plate structure, and the bracket 511 and the mounting plate 512 may be made of wood or metal materials, so as to ensure supporting strength.
As an example, the second driving unit 54 may be a motor, and an output shaft is connected to the rotating unit 52, so as to drive the rotating unit 52 to rotate.
As another embodiment, the second driving unit 54 may also use a cylinder, where a piston rod of the cylinder is connected to an edge of the rotating unit 52, and the piston rod stretches to drive the rotating unit 52 to rotate.
The specific assembly mode can be adjusted according to the application scene. In this embodiment, the driving by the cylinder is described.
When the rotating assembly 52 rotates, the flappers 53 are driven to synchronously rotate. The supporting mechanism 51 is mounted at the edge of the blanking position of the ton bag, so that the flapping piece 53 abuts against the ton bag when rotating, and the simulated flapping effect is realized.
The beating member 53 adopts an elongated rod-shaped structure, so that the contact surface between the beating member 53 and the ton bag is small, and the beating member 53 can beat the ton bag with large force when rotating at a high speed, and meanwhile the ton bag cannot shake.
In the flapping process, the side surface of the ton bag is stressed and vibrated, so that internal materials cannot be accumulated or adhered to the inner surface, and the ton bag can fall normally.
The plurality of flapping devices are sequentially arranged at intervals along the axial direction around the edge of the bag breaking device discharging hopper 11. The periphery of the ton bag is flapped simultaneously, and the smooth falling of the materials is ensured.
In this embodiment, the bag beating device 50 is controlled to be opened automatically by the tension information.
When the tension signal is smaller than the third preset tension, the bag beating device 50 is started.
The third preset tension may be empirically adjusted. When the third preset tension is reached, a part of the material in the ton bag is dropped, the surface tension of the ton bag is reduced, and the ton bag is flattened, so that the situation that the material remains at the bending position of the ton bag may exist.
Therefore, when the pulling force is smaller than the third preset pulling force, the bag beating device 50 is opened timely to beat the material in the ton bag, so that smooth blanking of the material is ensured.
Further, after executing step S23, the controller is further configured to execute the following steps:
step S219: controlling the swing of the moving assembly according to the tension information;
step S220: and when the pressure information is smaller than or equal to the fourth preset tensile force, controlling the moving assembly to sequentially move left and right back and forth for a preset distance according to a preset frequency.
In order to further improve the unloading effect, prevent material residue. When the tension information is smaller than the fourth preset tension, the moving trolley 21 is controlled to move back and forth according to a preset frequency, for example, 30 times within one minute. The moving distance is the preset distance.
The preset frequency and the preset distance can be adjusted according to the size of the equipment.
When the travelling car 21 moves back and forth, the ton bags at the bottom are driven to swing back, so that the unloading effect is improved.
Further, the recycling mechanism 70 comprises a bag tidying device, the bag tidying device is arranged at one side of the bag breaking mechanism 10, and the bag tidying device is in communication connection with the controller; when the clamping jaw 40 is controlled to descend by a second preset height, the controller is further configured to wait for a preset time period, control the moving assembly 20 to drive the clamping jaw 40 to move above the bag tidying device, and control the clamping jaw 40 to descend by a fifth preset height to place the ton bag material on the bag tidying device.
Through the mode of setting time delay, the average time length of unloading the ton bag can be detected through experiments, and the corresponding time delay time length, namely the preset time length, is set according to the average time length. So that when the clamping jaw 40 moves above the bag breaking mechanism 10 for the preset time period, the movable trolley 21 is automatically controlled to drive the clamping jaw 40 to move above the bag tidying device. And placing empty ton bags on the bag tidying device.
In addition, whether the material is discharged or not can be judged through the pressure signal. When the pressure information is 0, it indicates that the ton bag material is completely discharged, so that the clamping jaw 40 can be controlled to move onto the bag tidying device to recover the empty ton bag.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (12)
1. An automatic unpacking device, characterized in that it comprises:
the feeding mechanism, the bag breaking mechanism and the recovery mechanism are sequentially arranged at intervals;
The clamping jaw is arranged on the moving assembly in a lifting manner, and the moving assembly is movably arranged among the feeding mechanism, the bag breaking mechanism and the recycling mechanism;
the controller is respectively in communication connection with the feeding mechanism, the moving assembly and the clamping jaw; the controller is used for:
controlling the moving assembly to drive the clamping jaw to move to the feeding mechanism, and controlling the clamping jaw to descend so as to clamp ton bag materials;
controlling the moving assembly to drive the clamping jaw to move to the bag breaking mechanism, and controlling the clamping jaw to descend so as to break bags of ton bag materials on the bag breaking mechanism and recycle the materials;
and controlling the moving assembly to drive the clamping jaw to move to the recycling mechanism, and controlling the clamping jaw to descend so as to place the empty ton bag on the recycling mechanism for recycling.
2. The automatic unpacking device according to claim 1, further comprising a first detecting member disposed on the feeding mechanism for detecting material information, wherein the controller is in communication connection with the first detecting member;
The controller executes control the moving assembly to drive the clamping jaw to move onto the feeding mechanism, and the step of controlling the clamping jaw to descend so as to clamp ton bag materials specifically comprises the following steps:
receiving the material information;
controlling the moving assembly to drive the clamping jaw to move to the feeding mechanism according to the material information;
and controlling the clamping jaw to descend by a first preset height so as to grasp ton bag materials on the transmission piece.
3. The automatic unpacking device according to claim 1, wherein the controller controls the moving assembly to drive the clamping jaw to move onto the bag breaking mechanism, and controls the clamping jaw to descend so as to break bags of ton bags of materials on the bag breaking mechanism and recover the materials, specifically comprises:
controlling the clamping jaw to reset to an initial height;
controlling the moving assembly to drive the clamping jaw to move to the recycling mechanism;
and controlling the clamping jaw to descend by a second preset height so as to break bags of ton bag materials on the bag breaking mechanism and recycle the materials.
4. The automatic unpacking device according to claim 3, further comprising a second detecting member, wherein the second detecting member is arranged on the bag breaking mechanism and is used for detecting pressure information of the bag breaking mechanism, and the controller is in communication connection with the second detecting member;
After performing the step of controlling the jaws to descend by a second preset height, the controller is further configured to:
receiving the pressure information;
judging whether the pressure information is smaller than or equal to a preset pressure;
and when the pressure information is smaller than or equal to the preset pressure, controlling the clamping jaw to ascend by a third preset height.
5. The automatic unpacking device of claim 4, wherein the jaw is further configured to generate and send position information to the controller;
before performing 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 position information;
judging whether the clamping jaw breaks bags successfully or not according to the position information and the pressure information;
when the position information is low and the pressure information is greater than 0, judging that the clamping jaw is successful in breaking the bag, and executing the step of judging whether the pressure information is smaller than or equal to preset pressure;
and when the position information is high or the pressure information is smaller than or equal to 0, judging that the clamping jaw does not successfully break the bag, and returning to execute the step of judging whether the clamping jaw successfully breaks the bag according to the position information and the pressure information.
6. The automatic unpacking device of claim 5, wherein the controller is further configured to, prior to performing the step of controlling the jaws to descend by a second predetermined height:
judging 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, judging that the bag breaking mechanism is blocked, and returning to execute the step of judging whether the bag breaking mechanism is blocked according to the position information and the pressure information;
and when the position information is high and the pressure information is smaller than 0, judging that the bag breaking mechanism is not blocked, and executing the step of controlling the clamping jaw to descend by a second preset height.
7. The automatic unpacking device of claim 4, wherein after performing the step of controlling the jaws to rise a third preset height, the controller is further configured to:
and alternately controlling the clamping jaw to descend by a fourth preset height and then ascend by the fourth preset height at intervals of preset period.
8. The automatic unpacking device according to claim 3, wherein the bag breaking mechanism further comprises a dust remover, a dust removing port is arranged on the bag breaking mechanism, the dust remover is arranged on the dust removing port, and the dust remover is in communication connection with the controller;
After performing the step of receiving the pressure information, the controller is further configured to:
opening or closing the dust remover according to the pressure information;
when the pressure information is greater than 0, controlling the dust remover to be started;
and when the pressure information is smaller than or equal to 0, controlling the dust remover to be closed.
9. The automatic unpacking device according to claim 4, further comprising a third detecting member disposed between the moving assembly and the clamping jaw, the third detecting member being configured to detect tension information on the clamping jaw, the controller being communicatively coupled to the third detecting member;
the controller is used for:
receiving the tension information;
judging whether the clamping jaw is overloaded according to the tension information;
and when the tension information is greater than or equal to a first preset tension, judging that the clamping jaw is overloaded, and alarming.
10. The automatic unpacking device according to claim 9, wherein the bag breaking mechanism further comprises a pushing and kneading rod, the pushing and kneading rod is arranged on the bag breaking mechanism, and the controller is in communication connection with the pushing and kneading rod;
after performing the step of controlling the jaws to descend by a second preset height, the controller is further configured to:
Controlling the opening of the pushing and kneading rod according to the tension information;
and when the pressure information is smaller than or equal to the second preset pulling force, controlling the pushing and kneading rod to be opened.
11. The automatic unpacking device according to claim 9, wherein the bag breaking mechanism further comprises a bag beating device which is rotatably arranged above the bag breaking mechanism, the bag beating device is abutted with the ton bag material above the discharging hopper when rotating, and the bag beating device is in communication connection with the controller;
after performing the step of controlling the jaws to descend by a second preset height, the controller is further configured to:
controlling the opening of the pushing and kneading rod according to the tension information;
and when the pressure information is smaller than or equal to the third preset tension, controlling the bag beating device to rotate.
12. The automatic unpacking device of claim 9, wherein after performing the step of controlling the jaws to descend by a second preset height, the controller is further configured to:
controlling the swing of the moving assembly according to the tension information;
and when the pressure information is smaller than or equal to the fourth preset tensile force, controlling the moving assembly to sequentially move left and right back and forth for a preset distance according to a preset frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311615568.XA CN117416596A (en) | 2023-11-29 | 2023-11-29 | Automatic unpacking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311615568.XA CN117416596A (en) | 2023-11-29 | 2023-11-29 | Automatic unpacking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117416596A true CN117416596A (en) | 2024-01-19 |
Family
ID=89526770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311615568.XA Pending CN117416596A (en) | 2023-11-29 | 2023-11-29 | Automatic unpacking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117416596A (en) |
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2023
- 2023-11-29 CN CN202311615568.XA patent/CN117416596A/en active Pending
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