CN113023005A

CN113023005A - Automatic bag-unpacking and feeding device with fluctuating shaking bag

Info

Publication number: CN113023005A
Application number: CN202110240828.4A
Authority: CN
Inventors: 邹细勇; 张建生; 赵黄海; 杨凯; 陈亮; 胡晓静
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 an automatic bag-disassembling and feeding device with fluctuating shaking bag types, which comprises: the bag carrying machine and the conveying belt are respectively used for carrying and conveying the material bags; the bag cutting table is connected with the tail end of the conveying belt, provides a station for cutting the material bags, and is provided with a gap for the hanging needle to penetrate through and hang the material bags; the cutting mechanism is arranged on the bag cutting table and unpacks the material bags when the material bags are conveyed to a preset position; the hanging needle is ejected by the hanging needle ejection mechanism after cutting is finished so as to drive the material bag to move upwards; the bag shaking mechanism is provided with a bag dragging mechanical hand which bears a hanging needle hung with a material bag and drives the hung material bag to move forwards on the wave track in a variable-speed zigzag manner so as to shake the material bag; the material collecting mechanism is used for collecting the discharged materials and automatically feeding the materials to the production machinery. The automatic bag opening, discharging and feeding device realizes automatic bag opening, discharging and feeding, and shaking the bag by adopting a multi-directional speed change method by referring to the experience of experts, so that no residual blanking is realized, and the waste of raw materials is prevented; the reusable hanging needle is used as a traction tool, so that tool consumption is reduced.

Description

Automatic bag-unpacking and feeding device with fluctuating shaking bag

Technical Field

The invention relates to the field of automatic feeding in industrial production, in particular to a fluctuating bag shaking type automatic unpacking and feeding device.

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 domestic feeding of the granular materials is 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 keep up with matched continuous production equipment easily occurs; 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 provides an automatic unpacking and feeding device for materials, which does not generate debris to mix into the materials and avoids the residue of the materials, so as to solve the technical problems in the prior art.

The technical solution of the present invention is to provide an automatic bag unpacking and feeding device with a following structure, which comprises:

the material bag conveying machine conveys the material bags to the conveying belt;

the surface of the conveying belt is downward spirally and is used for conveying the material bags, and the length direction of the material bags is parallel to the conveying direction of the conveying belt;

the bag cutting table is connected with the tail end of the conveying belt, provides a station for cutting the material bags, and is provided with a gap for the hanging needle to penetrate through and hang the material bags;

the cutting mechanism is arranged on the bag cutting table and acts to cut the middle of the lower side edge of the material bag when the material bag is conveyed to a preset position;

the hanging needle is positioned in the hanging needle emergence mechanism in an initial state, and is ejected onto the material bag by the hanging needle emergence mechanism after the material bag is cut and discharged, so that the material bag is driven to ascend;

the bag shaking mechanism is provided with a wave track and a bag dragging mechanical hand, the bag dragging mechanical hand is used for bearing a hanging needle hung with a material bag and driving the hung material bag to wave on the wave track and move forward and shake the material bag;

the material collector is arranged below the bag cutting table and the bag shaking mechanism, and feeds materials into the production machine through the feeding mechanism after collecting the materials.

As preferred, cut a packet platform and roll the frame including the cylinder conveyer belt that is located the middle part and the limit of both sides, gapped confession pin between cylinder conveyer belt and limit roll frame and pass, have side fender and end fender respectively cutting packet platform both sides and bottom, the length of cylinder conveyer belt is slightly longer than material package length, and the distance between the side fender of both sides is slightly wider than the material package width, there is a set of power cylinder on the cylinder conveyer belt, and each power cylinder surface is the plastic material and distributes and highly be horizontal stripe and the granule of 1 ~ 3mm height.

Preferably, the conveyor belt comprises an auxiliary conveyor belt and a main conveyor belt which are connected in sequence, the auxiliary conveyor belt is horizontally arranged, the main conveyor belt is in a spiral descending state, the side of the main conveyor belt is reduced more quickly from the same height at the two sides of the front end than the other side of the main conveyor belt, and an included angle of 35-55 degrees is formed between the rear end surface of the main conveyor belt and the horizontal plane,

the cutting platform is connected with the rear end of the main conveyor belt in parallel, and the cutting mechanism is located on the lower side of the bag cutting platform.

Preferably, a first material bag sensor and a second material bag sensor for detecting material bags are respectively arranged at the tail end of the side surface of the main conveyor belt and the tail end of the side surface of the cutting table,

trigger in when first material package sensor, second material package sensor detect the material package, the power cylinder begins operation and shut down respectively.

Preferably, the hanging needle adopts a permanent magnet, the initial state of the hanging needle is positioned in the hanging needle emergence mechanism, the hanging needle emergence mechanism shoots the material bag to the material bag after the material bag is cut and discharged, the material bag is driven to be hung on the bag shaking mechanism,

the bale dragging manipulator comprises a motion base, a first rotating shaft, a first right-angle support arm and a first end effector, wherein the first end effector is matched with the hanging needle and is internally provided with an electromagnet; the wave track comprises a sharp bend track, a gentle track and a loop back track which are sequentially connected in a loop, wherein the sharp bend track comprises at least one section of which the maximum included angle between the tangent direction and the horizontal advancing direction of the bale pulling manipulator forms an obtuse angle,

the bale dragging manipulator drives the bale to change speed and move forward in a zigzag manner.

Preferably, the wavy track comprises a sharp-bend track, a gentle track and a loop-back track which are sequentially connected in a loop.

Preferably, the cutting mechanism is fixed on one side of the bag cutting table and comprises a knife rest track, a sliding block, a knife rest support arm, a knife rest rotating shaft and a cutter, and the cutter moves linearly along the knife rest track along with the sliding block through the knife rest support arm and the knife rest rotating shaft; and the cutting knife acts to cut the material bag after the power roller stops running.

Preferably, the device also comprises a hanging needle recovery mechanism positioned at the front end of the gentle track; the hanging needle recovery mechanism comprises a hanging needle recovery mechanical arm and a hanging needle collector, the hanging needle recovery mechanical arm comprises a second rotating shaft, a second right-angle support arm and a second end actuator, the second end actuator is matched with the hanging needle and is internally provided with an electromagnet, a hanging needle groove is formed in the middle of the hanging needle collector, and a push rod corresponding to the hanging needle groove is formed in the middle of the hanging needle collector.

Preferably, be equipped with third material package sensor with the corresponding department of hanging needle collector on the wave track, when the material package moves ahead and triggers when the third material package sensor, the hanging needle is retrieved the manipulator and is followed the hanging needle is followed drag the package manipulator with the hanging needle switching and move and put in the hanging needle collector.

Preferably, the push rod acts once to push the hanging needle to the tail end of the hanging needle groove when receiving a pair of hanging needles.

Preferably, the hanging needles are a pair and both penetrate through the seasoning packet from the right side of the seasoning packet in the width direction of the seasoning packet to the width of the seasoning packet from the edges 1/8-1/6 of the seasoning packet and then hang the seasoning packet.

As preferred, it still includes receipts package mechanism, receive package mechanism including rolling frame, lateral wall, base, lifter, platform and counter, the lateral wall becomes the right angle with the base and distributes, roll the frame and include the frame and many inlay the support that has the rolling ring that can freely roll on the frame, the frame surface becomes 40 ~ 60 degrees with the horizontal plane, there is annular side direction conveyer belt on the platform, the counter is located rolls the frame middle part, respectively has a protruding portion in the upper end both sides of rolling the frame, has the breach that supplies the peg to pass between two protruding portions.

Preferably, the material collector is a conical container, a layer of screen is arranged at the blanking port, the diameter of meshes of the screen is 3-7 times of that of granules, and the material bag frame comprises a lifting base; the feeding mechanism comprises a discharging pipe, a material pump and an upper material conveying pipe.

Preferably, the bag carrying machine is a rectangular coordinate robot, a vacuum sucker is arranged at the tail end of the bag carrying machine, the material bag is placed on the material bag frame in an initial state, a liftable base is installed at the bottom of the material bag frame, and after each bag is carried, the controller controls the base to rise by one grid.

The working principle of the invention is as follows:

the utility model provides an undulant automatic unpacking loading attachment of bag formula of trembling, carries the shedding mechanism to the material package in piling the material package one by one through removing chartered plane etc. carries out the separation of complete material and package in shedding mechanism, and during the aggregate unit was fallen to the granule material, the production facility was given in the conveying of feeding mechanism, and useless wrapping bag was then retrieved the arrangement by receiving a packet mechanism.

The material package is transferred earlier in the shedding mechanism with the horizontal plane parallel vice conveyer belt on, later transports the main conveyer belt of spiral decline on, main conveyer belt transports the in-process of cutting a packet platform with the material package, converts the material package into the low high position in right side in left side gradually.

The bag cutting table is parallel to the rear end face of the main conveyor belt, and the surface of the bag cutting table and the horizontal plane form an included angle of about 35-55 degrees. The bag cutting table comprises a roller conveyor belt positioned in the middle and edge rolling frames on two sides of the roller conveyor belt, wherein the roller conveyor belt is an active mechanism for conveying material bags, the edge rolling frames are passive mechanisms, and a gap for a hanging needle to penetrate through is formed between the roller conveyor belt and the edge rolling frames; two sides and the bottom end of the bag cutting table are respectively provided with a side baffle and a bottom baffle; the roller conveyor belt is provided with a group of power rollers. When the material bag reaches the tail end of the main conveyor belt, the first material bag sensor is triggered, after a trigger signal is fed back to the controller, the controller commands the power roller to operate, and the material bag is continuously conveyed to the bag cutting table; when the material package all arrives and cuts a packet bench, be located the second material package sensor of cutting a packet platform side tip and triggered, according to this controller order power drum stall, simultaneously, the order is located and cuts the left cutting mechanism action of packet platform:

the cutter among the cutting mechanism aims at the central authorities of material package left side earlier, then follows the slider through knife rest support arm, knife rest pivot and follows knife rest track rectilinear movement, carves the material package from the side on length direction, because the material package is in the high incline orientation in the low right side in a left side, falls from the material package under the action of gravity gradually.

Although most of the material may naturally flow from the sachet, there will always be some excess material in the sachet due to the unsmooth and wrinkled and angular nature of the sachet. Therefore, the controller continues to command the hanging needle emergence mechanism located below the right gap between the roller conveyor belt and the side rolling frame to act, the pair of hanging needles are quickly ejected upwards, and simultaneously, the controller commands the electromagnet in the first end effector in the bale dragging manipulator located above the hanging needle emergence mechanism to be electrified to act, so that strong magnetic attraction is sent to the hanging needles, and the pair of hanging needles are attracted. The hanging needle pierces through the material package from the material package right side in the width direction apart from the place of material package border 1/8 ~ 1/6 material package width, takes the material up simultaneously, and the clout falls fast, only remains some defective materials in the material package. Moreover, when the hanging needle pierces the material bag, the material bag is also shocked.

In order to empty the residual materials, the bag shaking machine realizes the aim by a bag shaking mechanism by referring to the experience of professional operators in shaking bags. Except above-mentioned peg and bale dragging manipulator, tremble a packet mechanism and still include the wave track, the bale dragging manipulator includes the motion base again, first pivot, first right angle support arm and first end effector, wherein there is the holding chamber of holding and centre gripping peg in the first end effector, the wave track is then including the sharp bend track of ring joint in proper order, gentle track and loopback track, and still include a plurality of wave track segmentations on the sharp bend track, and wherein orbital tangential direction and bale dragging manipulator in at least one segmentation advance between the horizontal direction the biggest contained angle become the obtuse angle, make the material package forward motion in-process including the angle of pitch backward, thereby change the drawing and the direction of force of fold department defective material. After the bale pulling manipulator pulls up the bale, the first right-angle support arm is rotated through the first rotating shaft, so that the end effector turns from downward to rightward, and the notch of the bale faces downward.

The bag shaking action of a person is simulated, the moving base operates on the wave track in a variable speed mode, the bag dragging mechanical hand drives the material bags to shake in the air through waves, and the residual materials are emptied quickly.

And then, the bag dragging manipulator moves forwards slowly on the gentle track, when the bag dragging manipulator moves to a position of a position sensor opposite to the hanging needle collector, the controller firstly commands the bag dragging manipulator to rotate the first right-angle support arm, so that the end effector turns downwards from facing to the right, the hanging needle is vertical, and then the hanging needle recovery mechanism and the bag collecting mechanism are controlled to respectively recover the hanging needle and the waste bag. The position sensor can adopt a travel switch or a magnetic sensor, and the hanging needle collector is positioned below the notch at the upper end of the rolling frame.

The hanging needle recovery mechanism comprises a hanging needle recovery mechanical arm, a hanging needle collector and a position sensor, the hanging needle recovery mechanical arm is similar to the bag dragging mechanical arm and comprises a second rotating shaft, a second right-angle support arm and a second end effector, and an electromagnet is arranged in the second end effector. The hanging needle recovery manipulator rotates the second right-angle support arm through the second rotating shaft to enable the end effector to face upwards and align with the end effector of the bale pulling manipulator; and then, the electromagnet in the first end effector in the bale dragging manipulator is powered off and demagnetized, the electromagnet in the second end effector in the hanging needle recovery manipulator is powered on and magnetized, the hanging needle is transferred from the first end effector to the second end effector, and meanwhile, the waste bale drops on a rolling frame in the bale collecting mechanism. Then, the needle hanging recovery manipulator rotates the second right-angle support arm by 180 degrees again, the tail end of the second right-angle support arm faces downwards, the electromagnet in the second end effector is powered off, the needles fall into the needle hanging grooves of the needle hanging collector, and when one pair of needles come, the push rod acts once to push the needles to the tail end of the needle hanging grooves for subsequent arrangement and collection. Meanwhile, the bale dragging manipulator rotates to the position above the bale cutting table from the loop-back track.

The waste bag slides from the rolling frame and falls onto the platform after touching the side wall. The side of the rolling frame is provided with a stop bar, the waste packages falling from the rolling frame trigger a counter in the middle of the rolling frame, the counter feeds back to the controller, the controller controls the lifting rod to lower the platforms once every several waste packages according to the count value, and after the waste packages are accumulated to a certain number, the conveying belt on the platforms rolls laterally to move the waste packages to the packing platform beside.

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 materials to production equipment in the form of material flow through an upper material conveying pipe.

The bottom of the material bag frame is provided with a liftable base which can adjust and keep the height of the material bag at the top of the material bag pile in the material bag carrying process, so that the material bag can be continuously carried by the carrying machine only by repeated tracks.

Compared with the prior art, the structure of the invention has the following advantages: the invention realizes automatic unpacking, unloading and loading of industrial production, and greatly improves the loading efficiency; the material bag is cut by linear feed, so that the particle materials are not polluted by package bag scraps; by using expert experience for reference and adopting a wave speed change method to shake bags, residual-free blanking is realized, and raw material waste is prevented; the hanging needle is used as a traction tool, can be repeatedly used, and reduces the consumption.

Drawings

FIG. 1 is a schematic structural view of an automatic bag-removing and feeding device of the present invention;

FIG. 2 is a schematic structural diagram of a bale shaking mechanism according to the present invention;

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

FIG. 4 is a schematic structural diagram of a bag cutting table according to the present invention;

FIG. 5A, FIG. 5B, FIG. 5C, FIG. 5D and FIG. 5E are schematic structural views of the track 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 structural view of a needle recovery mechanism according to the present invention;

FIG. 8 is a schematic structural view of a latch needle and an end effector of the present invention;

FIG. 9 is a schematic structural diagram of a latch and an end effector in another embodiment.

In the figure: 1. the device comprises a discharging mechanism 2, a feeding mechanism 3, a material collector 4, a bag carrying machine 5, a bag collecting mechanism 6, a material bag frame 7, a material bag pile 8, an auxiliary conveying belt 9, a main conveying belt 10, a bag cutting table 11, a cutting mechanism 12, a bag shaking mechanism 13, a wave track 14, a hanging needle 15, a bag dragging manipulator 16, a first rotating shaft 17, a first right-angle supporting arm 18, a first end effector 19, a first material bag sensor 20, a second material bag sensor 21, a hanging needle recycling mechanism 22, a hanging needle recycling manipulator 23, a hanging needle collector 24, a second rotating shaft 25, a second right-angle supporting arm 26, a second end effector 27, a hanging needle groove 28, a push rod 29, a hanging needle emergence mechanism 30 and a third material bag sensor

51. Roller frame 52, protruding part 53, roller ring 54, counter 55, side wall 56, platform 57, lifting rod 58, base 71 and material bag

101. Roller conveyor belt 102, side rolling frame 103, gap 104, side baffle 105, bottom baffle 106 and power roller

111. Tool rest track 112, slide block 113, tool rest support arm 114, tool rest rotating shaft 115 and cutter

131. Sharp curved track 132, gentle track 133, loop back track 141, needle 142, needle 143, needle mount 1411, needle tip 1412, wedge 1413, groove

181. Clamping bead 182, sliding pipe 183, spring seat 184, spring 185, inclined rail 186, accommodating cavity 187 and first electromagnet

261. Second electromagnet 262, electromagnetic coil 263, operation handle 264, and holding part

201. A discharge pipe 202, a material pump 203 and an upper material conveying pipe

401. Vacuum chuck

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 fig. 1, the invention relates to a fluctuating shaking bag type automatic bag-detaching and feeding device, which comprises: the device comprises a bag carrying machine 4, a discharging mechanism 1, a material collector 3, a feeding mechanism 2, a bag receiving mechanism 5, a material bag frame 6 and a controller. The bag carrying machine 4, the unloading mechanism 1 and the bag collecting mechanism 5 are sequentially arranged, and the inverted cone-shaped material collector 3 is positioned below the unloading mechanism 1. 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 material from the conical bottom of the material collector, and the material pump 202 conveys the raw materials to a high place through the upper material conveying pipe 203 in a material flow mode to feed materials to subsequent production equipment.

The bag handling machine 4 is a cartesian robot having a vacuum chuck 401 at its end. The lifting base is arranged at the bottom of the material bag frame 6, and after each bag is moved, the controller controls the lifting of the base to one grid, so that the bag moving machine 4 does not need to change the operation height and can repeatedly move tracks.

As shown in fig. 2, 3, 4 and 5A, the discharging mechanism further includes a sub-conveyor 8, a main conveyor 9, a bag cutting table 10, a cutting mechanism 11 located on the left side of the bag cutting table 10, a bag shaking mechanism 12, a needle hanging emission mechanism 29 and a needle hanging recovery mechanism 21, which are respectively located above and below the right side of the bag cutting table 10.

The bale shaking mechanism 12 comprises a hanging needle 14, a wave track 3 and a bale pulling manipulator 15, and the bale pulling manipulator 15 comprises a motion base, a first rotating shaft 16, a first right-angle arm 17 and a first end effector 18. Wherein, the pair of hanging needles 14 is used for passing through the material bag 71 and hanging the material bag on the bale dragging manipulator 15; the first end effector 18 is matched with the head of the hanging needle 14 and fixes the head of the hanging needle, so that the material bag 71 is driven to shake and discharge materials by the bag dragging manipulator 15.

The head of the hanging needle is provided with a needle point with a cutting edge so as to penetrate through the wall of the material bag, and the tail of the hanging needle is provided with a crosspiece part for preventing the material bag from falling; and the needle tip is close to the tail end of the needle body, and a stress part bearing the acting force of the first end effector on the needle tip is arranged at the tail end of the needle body.

The auxiliary conveyor belt 8 is horizontally arranged, the main conveyor belt 9 immediately behind the auxiliary conveyor belt is in a spiral descending state, the left side of the auxiliary conveyor belt descends faster than the right side of the auxiliary conveyor belt from the same height at the two sides of the front end, the included angle A between the bottom side of the rear end face and the horizontal plane is 35-55 degrees, and the cutting platform 10 is connected with the rear end of the main conveyor belt 9 in parallel.

Cut a packet platform including the cylinder conveyer belt 101 that is located the middle part and the side rolling frame 102 of both sides, it supplies the peg 14 to pass to have a clearance 103 between cylinder conveyer belt 101 and side rolling frame 102, cut the both sides and the bottom of packet platform 10 and have side fender 104 and end fender 105 respectively, wherein the length of cylinder conveyer belt 101 is slightly longer than material package 71 length, the distance between the side fender 104 of both sides is slightly wider than material package 71 width, there is a set of power cylinder on the cylinder conveyer belt 101, each power cylinder surface is the plastic material and distributes and has horizontal stripe and the granule that highly is 1 ~ 3 mm.

Be equipped with first material package sensor 19 near cutting a packet platform 10 department at main conveyer belt 9 left surface tip, be equipped with second material package sensor 20 cutting a packet platform 10 left surface tip.

The cutting mechanism 11 is fixed on the left side of the bag cutting table 10 and comprises a knife rest track 111, a sliding block 112, a knife rest support arm 113, a knife rest rotating shaft 114 and a cutter 115, wherein the cutter 115 linearly moves along the knife rest track 111 along with the sliding block 112 through the knife rest support arm 113 and the knife rest rotating shaft 114, and is also aligned to the middle of the bag when the bag is cut through the angle adjustment of the knife rest rotating shaft 114.

Referring to the drawings, after the material package is conveyed to the main conveyor belt 9 through the auxiliary conveyor belt 8, under the sensing and triggering of the first material package sensor 19 and the second material package sensor 20, the controller controls the roller conveyor belt 101 in the cutting table 10 to convey the material package to the cutting table 10, then the cutting mechanism 11 cuts the material package from the left side in the length direction, and the material falls.

Although most of the material may naturally flow from the sachet, there will always be some excess material in the sachet due to the unsmooth and wrinkled and angular nature of the sachet.

Singly adopt vibration or pat to help row material among the prior art, discover the shake to the material package that these modes produced in the test, to square brick shape material package effect better, nevertheless not good enough to its dynamics of material package and effect of ordinary non-three-dimensional shaping, still have the defective material in the fold department of sewing up the mouth. Therefore, the invention simulates the expert experience of manual bag shaking and adopts a mode of changing the movement direction and speed of the material bag at a very high speed to help the residual material in the fold area of the sewing opening to be discharged.

After the cutting mechanism unpacks and discharges most materials, the controller continues to command the hanging needle emergence mechanism 29 below the right gap between the roller conveyor belt and the side rolling frame to act, a pair of hanging needles are quickly emerged upwards, and simultaneously, the controller commands an electromagnet in a first end effector in the bale dragging manipulator above the hanging needle emergence mechanism to act on, so that strong magnetic attraction is sent to the magnetic needles, and the magnetic needles are attracted. The magnetic hanging needle penetrates through the material bag from the right side of the material bag in the width direction to the width of the material bag from the edges 1/8-1/6 of the material bag through the gap 103, and the material bag is wrapped. Preferably, the connecting line of the action points of the two hanging needles is parallel to the side edge of the material bag.

In fig. 4, the left side of the material bag 71 faces downwards, preferably, the two seam ends of the material bag are higher in front and lower in back, the material is discharged from the higher end of the material bag more smoothly, when the material bag is pulled up by a hanging needle, the residual material at the lower end of the material bag also flows out rapidly, and residual material is left in some small pits at the folds at the two ends.

Furthermore, when the pick-up needle 14 pierces the cartridge 71 and the pick-up needle 14 is sucked by the first end-effector 18, the cartridge 71 is vibrated by the shock, the vibrating force moving the cartridge wall and rubbing it against the remnants, thereby removing some of the remnants from the pleat pockets and discharging them.

As shown in fig. 2 and 8, the first end effector 18 is preferably fixed to the force hanging needle 14 by a magnetic force. The hanging needle 14 adopts a permanent magnet magnetic needle, which comprises a needle head 141, a needle body 142 and a needle seat 143 which are connected in sequence; the needle 141 further comprises a needle point 1411 with a tapered edge and a wedge portion 1412 connected with the needle body 142, the bottom of the needle point 1411 is slightly smaller than the cylindrical needle body 142, and the wedge portion 1412 is a truncated cone or a frustum-shaped transition body and serves as a stress portion bearing the magnetic attraction force of the first end effector.

The first end effector 18 is provided with a first electromagnet 187 for holding or releasing the magnetic latch 14 by power supply control of an electromagnetic coil, and the first electromagnet 187 has an inverted conical housing 186 fitted to and slightly larger than the latch 141 and having a stopper 185 fitted to the wedge portion 1412 at the bottom of the opening thereof. When the hanging needle 14 is ejected from the hanging needle ejecting mechanism 29, the electromagnetic coil of the first electromagnet 187 is energized, the needle 141 of the magnetic hanging needle 14 passing through the material bag 71 is sucked into the accommodating cavity 186 by strong magnetic force, the inclined stopper 185 contacts the inclined wedge portion 1412 of the needle 141, and the hanging needle 14 adopts the inclined wedge portion 1412 to bear the electromagnetic suction force, so that the sharp needle tip portion is not affected.

As an improvement, a notch may be provided at the bottom of the first end effector, and a protrusion opposite to the notch is provided in the inverted cone-shaped cavity of the first end effector to receive the magnetic force.

In order to empty the residual materials, the movement structure of the bale shaking mechanism 12 is specially designed. In addition to the needle and bale pulling robot described above, the bale shaking mechanism 12 also includes a wave track 13. The bale pulling manipulator 15 comprises a motion base, a first rotating shaft 16, a first right-angle support arm 17 and a first end effector 18; the wavy track 13 includes a sharp-curved track 131, a gentle track 132 and a loop-back track 133, which are sequentially connected in a loop, and the sharp-curved track further includes a plurality of wavy track segments, and a tangent direction of an inner track of at least one segment forms an obtuse angle with a maximum included angle between the horizontal direction of the bale pulling manipulator.

After the bale dragging manipulator connects the bale, the first right-angle support arm is rotated through the first rotating shaft, so that the end effector turns from downward to rightward, and the notch of the bale faces downward. After being hung on shaking a packet mechanism, the material package 71 is pulled by dragging a packet manipulator 15, and the variable speed is shaken on wave track 13, shakes the incomplete material in the material package clean. Preferably, the bale pulling manipulator is triggered to start to operate by a magnetic sensor at the position corresponding to the emergence position of the hanging needle. As the improvement, set up elastomeric element on dragging the motion base of package manipulator, further increase the vibration to the repeated oscillation formula of material package.

As shown in fig. 5A, 5B, 5C and 2, the wavy track 3 includes a sharply curved track 131, a gentle track 132 and a loop-back track 133 that are sequentially looped. The wavy track 3 comprises at least one segment, so that an included angle B between the tangential direction of the segment and the overall horizontal advancing direction of the sharp-bending segment belongs to a third quadrant of a rectangular coordinate system taking the overall advancing level of the material package as a positive and horizontal axis, namely, the maximum value of the included angle B between the tangential direction of the track in the segment and the overall horizontal advancing direction of the sharp-bending segment of the dragging manipulator is more than 90 degrees. Preferably, the included angle is between 120 degrees and 150 degrees in the second quadrant.

So set up this track section, arrange the material and consider for trembling the package, obtuse angle bend makes the material package forward motion in-process have the angle of bending backward, through this kind of direction of pulling, make the frictional force direction between cull and the material package wall in the fold department nest except that the general direction of advance also this kind of backward direction, thereby make on the wave passageway cull can obtain multi-directional friction in different periods and pull, the distortion of the flexible bag body of rethread is undulant, reverse inertia reaction force of carrying on at the bottom of from sack to the bag, through this kind of compound multidirectional effort, let the cull granule remove from the nest, and from the notch department motion of material package wall to the direction of gravity, thereby break away from the material package.

Through the effect comparison to different bag strategies of trembling in the experiment, summarized trembled the expert's experience of bag action, the variable speed operation of drive motion base on wave track, the mechanical hand of dragging the package drives the material package and trembles at aerial wave, empties the defective material fast. Preferably, the linear velocity v at which the mobile base advances is periodically varied:

wherein k1 and k2 are velocity coefficients, rand () is a random function of (0,1) interval, v₀Is a predetermined base speed, v_min、v_maxRespectively minimum and maximum linear velocities.

Preferably, v is₀Is selected as v_max0.6 to 0.8 times of the total weight of the composition. The larger the speed coefficient k1 is, the wider the speed variation range is, and the smaller the value of k2 is. Preferably, k1+ k2 is 1.1; for example, k2 is 0.7, and k1 is 0.4.

Preferably, the motion base reduces the value of the advancing linear velocity at a place where the turning radius of the track is small.

Through the variable-speed movement, the residual materials are subjected to traction force which generates acceleration in multiple directions, and the traction force drives material particles through the friction of the material bag wall to assist the discharge of the material particles.

As shown in fig. 6, after emptying the remnant, the ladle drawing manipulator moves forward slowly on the gentle track, and when the ladle drawing manipulator moves to the third ladle sensor 30 opposite to the magnetic needle collector, the controller firstly commands the ladle drawing manipulator 15 to rotate the first right-angle support arm, so that the first end effector 18 turns from right to down, the hanging needle 14 is vertical to the gravity direction, and then the hanging needle recovery mechanism 21 and the ladle collection mechanism are controlled to respectively recover the hanging needle and the waste ladle. The position sensor can adopt a travel switch, and the hanging needle collector is positioned below the notch at the upper end of the rolling frame.

Referring to fig. 6, 7 and 8, when the material completely falls and the material bag 71 moves to the vicinity of the bag receiving mechanism, the bag dragging manipulator 15 moves to the upper side of the hanging needle collector 21 and triggers the third material bag sensor 30, and the controller commands the hanging needle recovery mechanism 21 and the bag receiving mechanism to recover the hanging needle 14 and the waste material bag 71 respectively. Preferably, the third material packet sensor 30 can adopt a photoelectric counter; a touch sensor triggered by a moving base or a magnetic proximity sensor triggered by a stylus may also be used.

The needle recovery mechanism 21 includes a needle recovery manipulator 22 and a needle collector 23, and the needle recovery manipulator 22 includes a second rotating shaft 24, a second right-angle arm 25 and a second end effector 26. The second end effector 26 receives the latch 14 from the first end effector 18, preferably by electromagnetic force for magnetic latch 14. The second end effector 26 comprises a second electromagnet 261 and an operating handle 263, and an electromagnetic coil 262 is arranged on the periphery of the second electromagnet 261; when the electromagnetic coil 262 is energized, the magnetic force of the second electromagnet 261 pulls the magnetic latch 14 released by the first end effector 18 onto the second end effector 26.

Preferably, a spring is connected between the second electromagnet 261 and the lever 263 for damping, and similarly, a damping member may be provided where the ramp 185 is connected to the body of the first end effector 18. Preferably, the magnetic latch needle may also be a spherical needle seat, and the end of the second electromagnet 261 is provided with a concave spherical head adapted to the needle seat.

By controlling the second end effector 26, the latch needle 14 is transferred from the first end effector 18 to the second end effector 26 through the gap between the protruding portions 52 on both sides of the upper end of the roller frame 51, and at the same time, the waste bag 71 is dropped on the roller frame 51 in the bag collecting mechanism. Then, the needle hanging recovery manipulator 22 rotates the second right-angle support arm 25 by 180 degrees again, the needles are placed into the needle hanging grooves 27 of the needle hanging collector 23, and the push rod 28 acts once every pair of needles, so that the needles are pushed to the tail ends of the needle hanging grooves 27 for subsequent arrangement and collection.

The waste bag 71 slides off the roller frame 51 and hits the side wall 55 perpendicular to the base 58 and falls onto the platform 56. The periphery of the rolling frame 51 is provided with a frame, the side edge of the rolling frame is provided with a baffle strip, a support which is strung with a freely rolling ring 52 is embedded on the frame, a waste bag 71 which slides down from the rolling frame 51 triggers a counter 54 at the middle part of the rolling frame, the counter 54 feeds back to a controller, the lifting rod 57 is controlled by the counter value controller to lower the platform once every several waste bags, after a certain amount of waste bags are accumulated, a conveying belt on the platform 56 rolls laterally, and the waste bag pile is horizontally moved to a nearby packing platform.

Example 2:

in this embodiment, as shown in fig. 9, the latch structure of the latch 14 is embedded in the first end effector 18, which is different from embodiment 1.

The hanging needle 14 is a steel needle, the needle head 141 is a tapered sharp needle point 1411, a pair of grooves 1413 are arranged on the upper part of the needle body 142, and the grooves can be spherical, columnar or cuboid.

An inverted cone-shaped accommodating cavity which is matched with the needle 141 and is slightly larger than the needle is still arranged in the first end effector 18, and a pair of clamping and embedding modules for clamping the needle hanging groove 1413 are arranged at the end part of one side of the accommodating cavity. The clamping module comprises a clamping ball 181 and a spring 184 which are connected in sequence, wherein the spring is fixed on a spring seat 183 and drives the clamping ball 181 to move left and right through a sliding pipe 182. Preferably, a circular truncated cone-shaped pouring part with a larger caliber can be arranged at the inlet part of the accommodating cavity, so that a wider adaptive area is provided for embedding the hanging needle.

After the material bag is cut, the hanging needle emergence mechanism with the emergence position aligned with the first end effector acts to quickly eject a pair of hanging needles upwards, the hanging needles drive the material bag to move upwards, and the needle head enters the accommodating cavity of the first end effector; when the needle body enters the accommodating cavity, the clamping beads are extruded, and the spring is compressed; when the groove part reaches the position of the clamping bead, the clamping bead is popped out by the resilience force of the spring, and the hanging needle is clamped. And then, the groove is used as a stress part for bearing the acting force of the first end effector, so that the hanging needle is hung on the bale dragging manipulator.

Preferably, the grooves and the beads are interchangeable, i.e. the grooves are located on the body of the first end-effector 18 and the beads are located on the needles. The expansion and contraction of the clamping beads can be controlled in an active control mode, and the spring is changed into a controllable cross bolt combining an electromagnet and the spring. Preferably, electromagnetic coils distributed along the periphery of the slide pipe are used for generating electromagnetic force along the direction of the slide pipe, and the clamping beads are permanent magnets, so that the electromagnetic force overcomes the resilience force of the spring and then pushes out the clamping beads. Preferably, the cartridge is pushed out of or pulled back into the slide tube by a short stroke drive member.

When the hanging needle is recovered, the end part of the second end effector 26 clamps the hanging needle by adopting the openable clamping part 264 and pulls out the hanging needle from the first end effector 18, at the moment, the spherical hanging needle groove pushes the clamping ball to compress the spring, and the hanging needle is withdrawn from the accommodating cavity of the first end effector. When the depth of the groove is large or the groove is columnar, an active control mode can be adopted, and the clamping beads are synchronously retracted into the slide pipe through the controller when the clamping part of the second end effector clamps the hanging needle.

Preferably, the second end effector 26 is configured to be a detent like the first end effector 18, and the needle is further provided with a pair of grooves or indentations on opposing sides of the needle base.

Example 3:

in the present embodiment, unlike embodiment 1, as shown in fig. 5E, on the first section of the wave track, i.e. the sharp curve track, for the smooth track, in the section with smaller curvature, by adding a plurality of convex and concave sections with smaller curvature radius, the centripetal force and the centrifugal force required by the turning acceleration generated in the small section are increased during the process of the bale pulling manipulator moving forward at the speed strategy, so as to increase the multi-directionality of the residual material particle stress.

Example 4:

different from the above embodiments, referring to fig. 5A and 5C, in this embodiment, the linear acceleration α and the linear velocity v of the motion base on the sharp-curved track are controlled:

wherein SU and SD are preset acceleration and deceleration sections, a₀₊、a_0-Acceleration and deceleration respectively, and ka1 and ka2 are coefficients corresponding to acceleration and deceleration respectively, a_min、a_maxRespectively, a minimum acceleration value and a maximum acceleration value, and rand () and sign () respectively are a random function and a sign function;

after the acceleration α is obtained, the linear velocity of the forward motion is periodically controlled:

wherein v' and v are linear speeds of the previous period and the present period respectively, and T is a control period.

Preferably, the acceleration control is achieved by driving current PWM increments in the motion base driver.

Referring to fig. 5C, marks such as proximity sensors are respectively arranged at the local highest point and the local lowest point of the track, and a sensing module corresponding to the proximity sensor is arranged on the motion base, so that the sensor can be triggered when the motion base reaches the point positions, and the position section can be known. Preferably, the acceleration section is preset from the local highest point to the local lowest point, and the deceleration section is preset from the local lowest point to the local highest point.

Preferably, as shown in fig. 5C, a horizontal plate is arranged above the wave track, and as a height reference point, an upward-detecting distance sensor is correspondingly arranged on the moving base, and the current position and section of the bale-dragging manipulator are obtained through monitoring of the distance sensor.

Preferably, the distance sensor determines the current position characteristic by a distance value difference, and moves the linear velocity v of the base forward by the following formula instead of the speed control mode:

wherein v 'and v are linear speeds of the previous period and the current period respectively, and h' and h are distance sensing values of the previous period and the current period respectively; after v is obtained, the speed of the maximum speed interval and the minimum speed interval is limited.

Preferably, a random disturbance component is further added to the linear velocity v, and the component is represented as:

vc＝v·[1-kv·(rand()-0.5)]，

wherein v is the velocity calculated according to the formula, vc is the linear velocity for executing control, kv is a preset coefficient, and rand () is a random function.

Example 5:

different from the above embodiment, referring to fig. 5D, in this embodiment, the track segments are divided by the height of the sharp-bent track and the concave-convex inflection point of the track, and then the material bag traction is changed for different segments. In fig. 5D, the extreme points are marked with black dots, and the inflection points are marked with diamonds.

In this embodiment, the linear velocity v at which the moving base advances is controlled by the following formula:

wherein v' and v are the linear velocities of the previous period and the present period, respectively, p is the current position of the motion base, S_p2bFor the interval from the extreme point to the inflection point, S_b2pThe section from the inflection point to the extreme point; after v is obtained, the speed of the maximum speed interval and the minimum speed interval is limited.

Preferably, a sensor is arranged at an extreme point and a concave-convex turning point of the track and is triggered by a trigger module on the motion base, so that the sensor can judge the section where the current position is located.

Preferably, the height sensor may be further used, and the current section is known by comparing the height sensor value sequence with the point location values in the preset extreme point and inflection point location list.

Preferably, the acceleration sensor value a in the direction of gravity_gJudging the concave-convex attribute c of the current position:

wherein g is a gravitational acceleration value, and when a_gAnd g is within a predetermined error threshold, leaving c empty.

And controlling the advancing linear velocity v of the movable base according to the concave-convex attribute and the height difference value:

where v 'is the linear velocity of the previous cycle, and h' and h are the distance sensing values of the previous cycle and the present cycle, respectively.

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. The utility model provides an automatic unpacking loading attachment of pocket type is trembled to fluctuation, includes:

2. The fluctuation bag-shaking type automatic bag-unpacking and feeding device as claimed in claim 1, wherein:

cut a packet platform including the side roll frame that is located the cylinder conveyer belt at middle part and both sides, roll the frame at cylinder conveyer belt and side, gapped confession hanging needle between the frame and pass, cut packet platform both sides and bottom and have side fender respectively and end fender, the length of cylinder conveyer belt is slightly longer than material package length, and distance between the side fender of both sides is slightly wider than material package width, there is a set of power cylinder on the cylinder conveyer belt, and each power cylinder surface is the plastic material and distributes and highly be horizontal stripe and the granule of 1 ~ 3mm height.

3. The fluctuation bag-shaking type automatic bag-unpacking and feeding device as claimed in claim 1, wherein:

the conveying belt comprises an auxiliary conveying belt and a main conveying belt which are sequentially connected, the auxiliary conveying belt is horizontally arranged, the main conveying belt is in a spiral descending state, the two sides of the front end of the main conveying belt are higher than the other side of the main conveying belt, the rear end face of the main conveying belt forms an included angle of 35-55 degrees with the horizontal plane,

4. The fluctuation bag-shaking type automatic bag-unpacking and feeding device as claimed in claim 1, wherein:

a first material bag sensor and a second material bag sensor for detecting material bags are respectively arranged at the tail end of the side surface of the main conveyor belt and the tail end of the side surface of the bag cutting table,

trigger in first material package sensor, second material package sensor detect the material package when, the power cylinder begins operation and shut down respectively.

5. The fluctuation bag-shaking type automatic bag-unpacking and feeding device as claimed in claim 1, wherein:

the hanging needle adopts a permanent magnet, the initial state of the hanging needle is positioned in the hanging needle emergence mechanism, the hanging needle emergence mechanism shoots the material bag to the material bag after the material bag is cut and discharged, the material bag is driven to be hung on the bag shaking mechanism,

6. The fluctuation bag-shaking type automatic bag-unpacking and feeding device as claimed in claim 1, wherein:

the cutting mechanism is fixed on one side of the bag cutting table and comprises a knife rest track, a sliding block, a knife rest support arm, a knife rest rotating shaft and a cutter, and the cutter moves linearly along the knife rest track along with the sliding block through the knife rest support arm and the knife rest rotating shaft; and the cutting knife acts to cut the material bag after the power roller stops running.

7. The fluctuation bag-shaking type automatic bag-unpacking and feeding device as claimed in claim 1, wherein:

the needle hanging recovery mechanism is positioned at the front end of the gentle track; the hanging needle recovery mechanism comprises a hanging needle recovery mechanical arm and a hanging needle collector, the hanging needle recovery mechanical arm comprises a second rotating shaft, a second right-angle support arm and a second end actuator, the second end actuator is matched with the hanging needle and is internally provided with an electromagnet, a hanging needle groove is formed in the middle of the hanging needle collector, and a push rod corresponding to the hanging needle groove is formed in the middle of the hanging needle collector.

8. The fluctuation bag-shaking type automatic bag-unpacking and feeding device as claimed in claim 7, wherein:

it is still including receiving a packet mechanism, receive a packet mechanism including rolling frame, lateral wall, base, lifter, platform and counter, the lateral wall becomes the right angle and distributes with the base, roll the frame and include the frame and many inlay the support that has the rolling ring that can freely roll on the frame, the frame surface becomes 40 ~ 60 degrees with the horizontal plane, there is annular side direction conveyer belt on the platform, the counter is located and rolls the frame middle part, respectively has a protruding portion in the upper end both sides that roll the frame, has the breach that supplies the peg to pass between two protruding portions.

9. The fluctuation bag-shaking type automatic bag-unpacking and feeding device as claimed in claim 1, wherein:

the material collector is a conical container, a layer of screen is arranged at a blanking port, the diameter of meshes of the screen is 3-7 times of that of granules, and the material bag frame comprises a lifting base; the feeding mechanism comprises a discharging pipe, a material pump and an upper material conveying pipe.

10. The fluctuation bag-shaking type automatic bag-unpacking and feeding device as claimed in claim 1, wherein:

remove the chartered plane and be the cartesian robot, its end has a vacuum chuck, and material package initial state places on the material package frame, but liftable base of material package frame bottom installation, every remove a packet back, controller control base risees a check.