CN105173761A - Automatic bag opening machine for material bags stacked on pallets - Google Patents

Automatic bag opening machine for material bags stacked on pallets Download PDF

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Publication number
CN105173761A
CN105173761A CN201510581079.6A CN201510581079A CN105173761A CN 105173761 A CN105173761 A CN 105173761A CN 201510581079 A CN201510581079 A CN 201510581079A CN 105173761 A CN105173761 A CN 105173761A
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CN
China
Prior art keywords
pocket
bag opening
opening machine
automatic bag
pallet
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201510581079.6A
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Chinese (zh)
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CN105173761B (en
Inventor
张中利
周志刚
李更更
党玉功
张利娟
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Henan University of Science and Technology
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Henan University of Science and Technology
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Publication date
Application filed by Henan University of Science and Technology filed Critical Henan University of Science and Technology
Priority to CN201510581079.6A priority Critical patent/CN105173761B/en
Publication of CN105173761A publication Critical patent/CN105173761A/en
Application granted granted Critical
Publication of CN105173761B publication Critical patent/CN105173761B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention relates to an automatic bag opening machine for material bags stacked on pallets. The automatic bag opening machine for the material bags stacked on the pallets comprises a pallet entering conveyer, a material-bag output conveyer and a material-bag picking device located between the pallet entering conveyer and the material-bag output conveyer. The material-bag picking device is installed on a three-coordinate movement device. The material-bag picking device comprises a rotation base capable of rotating by at least 90 degrees. The rotation base is provided with a vacuum sucking cup used for sucking the material bags and clamping jaws used for clamping the material bags. The material-bag picking device has the rotation function and can be used for opening the conventional material bags stacked on the pallets. Meanwhile, the rotation base is provided with the vacuum sucking cup and the clamping jaws, the material bags are sucked upwards first and then clamped, and the problem that the bags fall down because the picking device moves fast can be solved. The automatic bag opening machine for the material bags stacked on the pallets is compact in overall structure and low in manufacturing cost, replaces manual bag opening, and can reduce production cost and improve the bag opening efficiency.

Description

The automatic bag opening machine of pallet stack pocket
Technical field
The present invention relates to the automatic bag opening machine of a kind of pallet stack pocket.
Background technology
At the chemical fertilizer of China, flour, starch, feed, the grease dregs of rice, the industries such as salt, its product material adopts packed form, often after packaging adopt automatic stacking machine pocket piling on pallet, the stacking carrying out pallet stack pocket by fork truck at storehouse again stores, the widespread use of automatic stacking machine efficiently solves the heap bag piling of pocket, but the pallet stack pocket leaving storehouse in finally all wants outbound entrucking and transportation and sale, when pallet stack pocket carries out unpacking entrucking, because the pile pocket on pallet contacts with each other and is ventilative flexible body, mechanical equipment is adopted to carry out unpacking difficulty large.Up to the present also do not have effective mechanical equipment to realize unpacking to pallet stack pocket, basic complete in manually pocket being pulled down laggard luggage car from pallet by bag, exist labour intensity greatly, unpacking entrucking efficiency is low, the problem that productive costs is high.
Summary of the invention
The object of the present invention is to provide a kind of automatic bag opening machine of pallet stack pocket that can reduce productive costs, improve unpacking efficiency.
For achieving the above object, the technical scheme of the automatic bag opening machine of pallet stack pocket of the present invention is: the automatic bag opening machine of pallet stack pocket comprises that pallet enters conveyer, pocket exports conveyer and enters conveyer and pocket at pallet and exports pocket pick-up between conveyer, described pocket pick-up is arranged on three-coordinate motion device, described pocket pick-up comprises the revolving bed that at least can rotate 90 °, and revolving bed is provided with the vacuum cup for drawing pocket and the clamping claw for clamping pocket.
Described revolving bed being fixed with rotary support, rotary support being hinged with the straight line cylinder for driving revolving bed to rotate, described three-coordinate motion device is hinged with air cylinder support, straight line cylinder is fixed on described air cylinder support.
Described revolving bed is provided with clamp bracket, and the upper end thereof of clamping claw, in clamp bracket, is hinged with the gripper cylinder for driving clamping claw opening and closing movement between two clamping claws.
Described vacuum cup adopts vacuum sponge sucker.
It is roller conveyor or chain converyer that described pallet enters conveyer, and it is band conveyor that described pocket exports conveyer.
Described revolving bed is provided with apomecometer and position transduser.
Described three-coordinate motion device is arranged on gantry support.
Described three-coordinate motion device comprises and is respectively used to drive pocket pick-up longitudinally, laterally and the longitudinal movement device of vertical movement, transverse moving device and vertical motion device, described vertical motion device comprises lifting bar, and described pocket pick-up is arranged on the lower end of lifting bar.
Described revolving bed is by revolving support and lifting bar normal-running fit.
The invention has the beneficial effects as follows: the automatic bag opening machine of pallet stack pocket of the present invention comprises that pallet enters conveyer, pocket exports conveyer and enters conveyer and pocket at pallet and exports pocket pick-up between conveyer, pocket pick-up is arranged on three-coordinate motion device, pocket pick-up has spinfunction, can realize carrying out unpacking to the pallet stack pocket of routine, revolving bed is arranged simultaneously vacuum cup and clamping claw, first upwards draw and then clamp pocket, can prevent pick-up rapid movement from occurring falling the problem of bag.The automatic bag opening machine compact overall structure of pallet stack pocket, low cost of manufacture, instead of artificial unpacking, can reduce productive costs, improve unpacking efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of the automatic bag opening machine of pallet stack pocket of the present invention;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the structural representation of pocket pick-up in Fig. 1;
Fig. 4 is the birds-eye view of Fig. 3;
Fig. 5 is the left view of Fig. 3.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention are described further.
The specific embodiment of the automatic bag opening machine of pallet stack pocket of the present invention, as shown in Figures 1 to 5, the automatic bag opening machine of pallet stack pocket comprises pallet and enters conveyer 1, mounting bracket 2 and pocket output conveyer 16, mounting bracket 2 is provided with three-coordinate motion device, and three-coordinate motion device is connected with the pocket pick-up of band spinfunction.Pallet enters conveyer 1 for the pocket of pallet and upper pile thereof is transported to pocket pick-up place.Mounting bracket 2 is gantry support, comprises four supporting legs fixed on the ground.Three-coordinate motion device comprises the longitudinal movement device 3 vertically moved for realizing pocket pick-up, for realizing the transverse moving device 4 of the transverse shifting of pocket pick-up and the vertical motion device 5 for the vertical direction displacement that realizes pocket pick-up, three-coordinate motion device is connected with the controller controlling all directions movement accordingly, vertical motion device 5 comprises lifting bar 51, and lifting bar 51 lower end is connected with pocket pick-up.
Pocket pick-up comprises rotational structure, vacuum cup 9 and clamping device.Rotational structure comprises revolving bed 6 and the rotating driving device for driving revolving bed 6 to rotate, rotating driving device comprises straight line cylinder 15, the lower end convex of lifting bar 51 is provided with supporting plate, revolving bed 6 is by being positioned at revolving support on supporting plate 8 and lifting bar 51 normal-running fit, revolving bed 6 is fixed with rotary support 13, the piston rod of straight line cylinder 15 is hinged to be hinged and connected with rotary support 13, the cylinder barrel of straight line cylinder 15 is fixed on air cylinder support 14, air cylinder support 14 is hinged on connecting panel 19 by revolute axes configuration 20, connecting panel 19 is fixed on lifting bar 51, as shown in Figure 3, the expanding-contracting action of straight line cylinder 15 can make revolving bed 6 forward and backwards rotation 90 °.The bottom of revolving bed 6 is fixed together by terminal pad 7 and vacuum cup 9, and vacuum cup 9 is connected with vacuum generator.Clamping device comprises the clamp bracket 10 be connected with revolving bed 6, clamp bracket 10 there are two the clamping claws 12 for clamping pocket being positioned at pocket both sides by hinge, two clamping claws 12 are hinged with gripper cylinder 11 for driving two clamping claw 12 opening and closing movements, by the contraction of gripper cylinder 11 with uphold the clip pack that can realize clamping claw 12 pairs of pockets and put bag action.In the present embodiment, vacuum cup 9 is vacuum sponge sucker, revolving support 8 is roller revolving support or thrust bearing, vacuum cup 9 adopts cellular polyurethane material, terminal pad 7 is provided with ultrasonic range finder 17 and position transduser 18, is controlled to carry out by the electrical part in electric cabinet and PLC.Pallet enters conveyer 1 for roller conveyor or chain converyer, and it is band conveyor that pocket exports conveyer 16
Pocket on pallet usually every layer have five Bag Material bags, with the mode horizontal arrangement of three vertical two horizontal strokes, the direction of depositing pocket structure that wherein three bags of pockets longitudinally placed and pocket export conveyer is consistent, two bags of pockets laterally placed then the export conveyer direction of depositing pocket structure with pocket is perpendicular, when the automatic bag opening machine work of pallet stack pocket, three-coordinate motion device is controlled by controller, make pocket pick-up close to the pocket longitudinally placed, the backward upper absorption pocket in vacuum cup contact pocket surface, after pocket rising certain altitude, clamping device action, the pocket drawn by vacuum cup is gripped, then by each cooperatively interacting to running gear of three-coordinate motion device, pocket is placed on pocket output conveyer and sends.When retracting the pocket laterally placed, needing to make pocket pick-up first half-twist under the effect of rotational structure, drawing and clamp pocket and go back to 90 ° again, make pocket and pocket export conveyer parallel after, pocket is placed on pocket output conveyer and sends.Successively retract from top to bottom like this, until torn the pocket of basecoat on pallet open, torn the empty pallet after pocket open to be entered conveyer by pallet and send unpacking position, the next pallet piling with pocket moves to the below of pocket pick-up simultaneously, more successively retracts pocket from top to bottom.
In other embodiments, ultrasonic range finder can also replace with laser or infrared range-measurement system.

Claims (9)

1. the automatic bag opening machine of pallet stack pocket, it is characterized in that: the automatic bag opening machine of pallet stack pocket comprises that pallet enters conveyer, pocket exports conveyer and enters conveyer and pocket at pallet and exports pocket pick-up between conveyer, described pocket pick-up is arranged on three-coordinate motion device, described pocket pick-up comprises the revolving bed that at least can rotate 90 °, and revolving bed is provided with the vacuum cup for drawing pocket and the clamping claw for clamping pocket.
2. the automatic bag opening machine of pallet stack pocket according to claim 1, it is characterized in that: described revolving bed is fixed with rotary support, rotary support is hinged with the straight line cylinder for driving revolving bed to rotate, described three-coordinate motion device is hinged with air cylinder support, and straight line cylinder is fixed on described air cylinder support.
3. the automatic bag opening machine of pallet stack pocket according to claim 1, it is characterized in that: described revolving bed is provided with clamp bracket, the upper end thereof of clamping claw, in clamp bracket, is hinged with the gripper cylinder for driving clamping claw opening and closing movement between two clamping claws.
4. the automatic bag opening machine of pallet stack pocket according to claim 1, is characterized in that: described vacuum cup adopts vacuum sponge sucker.
5. the automatic bag opening machine of pallet stack pocket according to claim 1, is characterized in that: it is roller conveyor or chain converyer that described pallet enters conveyer, and it is band conveyor that described pocket exports conveyer.
6. the automatic bag opening machine of pallet stack pocket according to claim 1, is characterized in that: described revolving bed is provided with apomecometer and position transduser.
7. the automatic bag opening machine of pallet stack pocket according to claim 1, is characterized in that: described three-coordinate motion device is arranged on gantry support.
8. the automatic bag opening machine of pallet stack pocket according to claim 1 to 7 any one, it is characterized in that: described three-coordinate motion device comprises and is respectively used to drive pocket pick-up longitudinally, laterally and the longitudinal movement device of vertical movement, transverse moving device and vertical motion device, described vertical motion device comprises lifting bar, and described pocket pick-up is arranged on the lower end of lifting bar.
9. the automatic bag opening machine of pallet stack pocket according to claim 8, is characterized in that: described revolving bed is by revolving support and lifting bar normal-running fit.
CN201510581079.6A 2015-09-14 2015-09-14 The automatic bag opening machine of pallet stack pocket Expired - Fee Related CN105173761B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510581079.6A CN105173761B (en) 2015-09-14 2015-09-14 The automatic bag opening machine of pallet stack pocket

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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CN105173761B CN105173761B (en) 2018-01-09

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105923357A (en) * 2016-06-07 2016-09-07 浙江理工大学 Material discharging device for material barrels
CN106395377A (en) * 2016-11-22 2017-02-15 中山市合赢智能装备有限公司 Robot grabbing hand and medical bed discharging line using robot grabbing hand and discharging method of medical bed discharging line
CN108974931A (en) * 2018-07-25 2018-12-11 会稽山绍兴酒股份有限公司 A kind of flat-pushing blanking partition transfer equipment
CN109823846A (en) * 2019-04-03 2019-05-31 江西联大高科有限责任公司 A kind of automatic stacking machine applied to feed packing bag
CN111153344A (en) * 2019-12-26 2020-05-15 桐乡市建春塑业股份有限公司 Transfer mechanism of plastic granules storage bag
CN111302103A (en) * 2018-12-12 2020-06-19 上海霏润机械设备有限公司 Full-automatic bag hanging device
CN111422630A (en) * 2020-03-06 2020-07-17 宝开(上海)智能物流科技有限公司 Unstacking control device and method based on laser ranging guidance

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CN103395620A (en) * 2013-07-02 2013-11-20 河南科技大学 Bag locking steering device for material bags and stacker crane utilizing same
CN203317803U (en) * 2013-04-28 2013-12-04 杭州彼特环保包装有限公司 Bag receiving and feeding mechanism
CN203652796U (en) * 2013-12-12 2014-06-18 符世朝 Material bag tray unstacker
US20150203304A1 (en) * 2014-01-22 2015-07-23 Axium Inc. Vision-Assisted Robotized Depalletizer
CN204587429U (en) * 2015-02-10 2015-08-26 常州世展自动化设备有限公司 A kind of automatic bag taking bag delivering device

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0891574A (en) * 1994-09-22 1996-04-09 Kubota Corp Position detecting device for bagging work
JPH08113363A (en) * 1994-10-13 1996-05-07 Kubota Corp Position detecting device of bagged work
WO2006117814A1 (en) * 2005-05-05 2006-11-09 Arisi S.R.L. Automatic depalletizer
CN201432814Y (en) * 2009-06-18 2010-03-31 安徽正远包装科技有限公司 Bag taking device of woven bag packaging machine
CN201816805U (en) * 2010-09-19 2011-05-04 安徽正远包装科技有限公司 Bag-taking mechanism on packaging machine
CN102303721A (en) * 2011-05-17 2012-01-04 安徽正远包装科技有限公司 Quick bagging mechanism of secondary packing machine
CN203317803U (en) * 2013-04-28 2013-12-04 杭州彼特环保包装有限公司 Bag receiving and feeding mechanism
CN103395620A (en) * 2013-07-02 2013-11-20 河南科技大学 Bag locking steering device for material bags and stacker crane utilizing same
CN203652796U (en) * 2013-12-12 2014-06-18 符世朝 Material bag tray unstacker
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105923357A (en) * 2016-06-07 2016-09-07 浙江理工大学 Material discharging device for material barrels
CN106395377A (en) * 2016-11-22 2017-02-15 中山市合赢智能装备有限公司 Robot grabbing hand and medical bed discharging line using robot grabbing hand and discharging method of medical bed discharging line
CN106395377B (en) * 2016-11-22 2019-01-08 中山市合赢智能装备有限公司 The medical bed of robot gripper and the application robot gripper goes out stockline and its discharging method
CN108974931A (en) * 2018-07-25 2018-12-11 会稽山绍兴酒股份有限公司 A kind of flat-pushing blanking partition transfer equipment
CN111302103A (en) * 2018-12-12 2020-06-19 上海霏润机械设备有限公司 Full-automatic bag hanging device
CN109823846A (en) * 2019-04-03 2019-05-31 江西联大高科有限责任公司 A kind of automatic stacking machine applied to feed packing bag
CN111153344A (en) * 2019-12-26 2020-05-15 桐乡市建春塑业股份有限公司 Transfer mechanism of plastic granules storage bag
CN111422630A (en) * 2020-03-06 2020-07-17 宝开(上海)智能物流科技有限公司 Unstacking control device and method based on laser ranging guidance

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