CN113023008A

CN113023008A - Pneumatic bag-beating type automatic unpacking and unloading method

Info

Publication number: CN113023008A
Application number: CN202110241854.9A
Authority: CN
Inventors: 邹细勇; 赵黄海; 张建生; 胡晓静; 杨凯; 陈亮
Original assignee: China Jiliang University; China Jiliang University Shangyu Advanced Research Institute Co Ltd
Current assignee: China Jiliang University; China Jiliang University Shangyu Advanced Research Institute Co Ltd
Priority date: 2021-03-04
Filing date: 2021-03-04
Publication date: 2021-06-25

Abstract

The invention discloses a pneumatic bag-patting type automatic unpacking and unloading method, which comprises the steps of conveying a material bag, enabling the non-sewing side surface of the material bag to gradually decline until the material bag vertically falls into a bag cutting bin, and arranging a passing interval at the bottom and two sides of the bag cutting bin; then the cutting mechanism is used for carrying out linear cutting on the bottom side surface of the material bag; after cutting, a fork needle penetrates through the material bag from the left side in the horizontal direction, the fork needle is clamped with a fork needle ligand on the right side to carry out hanging and limiting on the material bag, and a cross stop part is arranged on the left side of the fork needle; the pulse airflow is sprayed into the material bag through an air hole connected to the controllable compressed airflow on the fork needle, and the material bag which is inflated and fluctuated is passively flapped at the outer side through the unpowered flap lever. The invention realizes automatic unpacking and unloading, the material bag is subjected to drum vibration and beating through pulse air blowing and the passive extrusion of the beating rod, and the wall of the material bag is pulled in multiple directions, so that the materials remained at the small folding pits in the bag are cleared out, and the waste of raw materials is prevented.

Description

Pneumatic bag-beating type automatic unpacking and unloading method

Technical Field

The invention relates to the field of automatic feeding in industrial production, in particular to a pneumatic bag-patting type automatic unpacking and unloading method.

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 follow the matched equipment is easy to occur; secondly, the material bag switching is heavy and tedious physical labor, and the manual work is difficult to carry out all-weather feeding efficiently and stably. Therefore, a practical, rapid and efficient automatic feeding device is urgently needed in the plastic film production industry to replace manual feeding work so as to improve the production efficiency and competitiveness of products and reduce the consumption of human resources.

The woven bag is widely applied to the external packing of polymer materials, rice, flour, cement, chemical fertilizers and other products, and has large consumption in industrial production. For granular material bags, an automatic switching system for polymer granular material bags is developed in italy, the material bags are conveyed to the position above a special cutter head bag breaker by a manipulator, then the material bags are put down, and fall onto a cutter head to be broken and dropped, so that the system easily breaks woven bags, and the problem that the woven bag scraps pollute the raw materials is caused. Similarly, some domestic automatic unpacking devices have the problem, such as Chinese patent CN 2015103809614 and patent CN 2013102767140, which use a saw blade to destructively unpack the bag, and easily generate package scraps.

Chinese patent CN2015108873053 improves the 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 manual bag throwing engineering, a worker needs to shake the granular materials out of the material bag by force, so that the residual materials in the material bag are shaken off completely, and the waste of raw materials is avoided to the maximum extent. And chinese patent 2016110411377 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, and chinese patent 2017100372455 helps row material through carrying out the vibration to the material package from the outside and patting, discovers the shake that produces in these devices or the method in the test, and is better to the square brick shape material package effect, but its dynamics and effect are not enough to ordinary non-three-dimensional shaping material package, because the fold is many, still remain the defective material at partial corner especially range upon range of position easily, consequently need unpack the new method of unloading.

Therefore, automatic unpacking and unloading in the prior art often generate packaging bag scraps, the packaging bag scraps are easy to mix into materials, and the materials fall incompletely to cause the waste of residual materials.

Disclosure of Invention

In view of the above, an object of the present invention is to provide an automatic unpacking and unloading method with a pneumatic bag-beating function, which can automatically carry, cut and blank a material bag of a granular raw material, can completely empty the material bag during unloading, avoid residue of the remaining material, and finally can recover and collect the material bag.

The technical scheme of the invention is as follows: the pneumatic bag-beating type automatic unpacking and unloading method comprises the following steps:

the stacked material bags are sequentially conveyed by a conveyor belt, the non-sewing side surfaces of the material bags with the horizontal initial position gradually decline until the material bags fall into a bag cutting bin below the conveyor belt in a posture close to vertical downward, and the bottom and two sides of the bag cutting bin are provided with passing intervals,

triggering a first material bag sensor arranged at the tail end of the conveyor belt, adopting a cutting mechanism to perform linear cutting on the non-sewing side surface of the bottom of the material bag,

after the material bag is cut, the fork needle penetrates through the material bag from the left side in the horizontal direction, the fork needle is clamped with the fork needle ligand on the right side to carry out hanging and limiting on the material bag, a cross stop part is arranged on the left side of the fork needle,

the pulse airflow is sprayed into the material bag through the air hole connected to the controllable compressed airflow on the fork needle, and the material bag which is inflated and fluctuated is passively flapped at the outer side through the unpowered flap lever.

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

wherein k is an intensity coefficient, α and Φ are a preset fluctuation coefficient and a preset initial phase respectively, ξ is a disturbance coefficient, and rand () is a random function of a (0,1) interval.

Preferably, the bag is threaded by a pair of the fork pins, and the bag which is inflated and fluctuated is pressed by the racket rod while the pulse airflow is injected into the bag through the air holes in the process that the fork pins carry the bag to move upwards.

Preferably, at least one air hole is formed on the surface of the fork needle opposite to each sewing opening of the material bag.

Preferably, the fork needle adopts a permanent magnet, the fork needle is contracted in the fork needle emergence mechanism in an initial state, the fork needle emergence mechanism emits the fork needle after the material bag is cut and discharged, the fork needle penetrates through the material bag at intervals from the side surface of the bag cutting bin and then is attracted with the magnetic fork needle ligand at the opposite side,

the fork needle head comprises a needle point with a conical opening edge and an inclined wedge part connected with the needle body, the bottom of the needle point is slightly smaller than the cylindrical needle body, and the inclined wedge part is a frustum-shaped transition body and is used for bearing the magnetic attraction force of a fork needle ligand.

Preferably, the fork exit mechanism includes:

a first electromagnet that generates an electromagnetic force by power supply control of a first electromagnetic coil; and two ends of the first spring are respectively connected with the emergent base and the bottom of the hanging needle.

Preferably, in an initial state, the first spring is in a free state, and the lower part of the hanging needle is retracted to the bottom of the accommodating cavity defined by the first electromagnet; when the fork needle is ejected, the first electromagnetic coil is electrified, the magnetic force generated by the first electromagnet pushes the fork needle outwards from the bottom of the containing cavity of the fork needle, and the head of the fork needle penetrates through the material bag until the magnetic force is balanced with the resilience force of the first spring.

Preferably, the material bag is passively beaten by a bag beating mechanism,

the bag patting mechanism comprises a second material bag sensor, a first patting frame, a third material bag sensor and a second patting frame which are arranged on the auxiliary bracket and are sequentially distributed from bottom to top,

the first racket frame and the second racket frame respectively comprise a first rotating shaft, a support arm, a second rotating shaft and a racket rod which are sequentially connected, the support arm can rotate through the first rotating shaft to enable the racket rod at the tail end to retract to the auxiliary support positions towards two sides or move to the middle to clamp the material bag,

the racket rods rotate through the second rotating shaft, so that a plurality of parallel racket rods are vertically arranged or clamp the material bag in the horizontal direction, and the length of the racket rods is approximately equal to that of the material bag.

Preferably, the conveyor belt comprises a first conveyor belt, a second conveyor belt and a slide way which are connected in sequence, the surface of the first conveyor belt is parallel to the horizontal direction, the tail end of the slide way is parallel to the vertical plane,

the slideway is positioned above the bag cutting bin, a gap for the fork needle ligand to pass through is arranged between the slideway and the bag cutting bin, the tail end of the side surface of the slideway is provided with a first material bag sensor,

the fork needle emitting mechanism periodically and annularly moves along the track support through the moving base, and the bag cutting bin is supported on the auxiliary support.

Preferably, the rail bracket is of a ring structure and comprises a main rail, a secondary rail and a loop-back rail,

the auxiliary brackets are respectively arranged on the perpendicular bisector of the connecting line of the head parts of the fork pins; the spike ligand may be ejected by a first spike ligand magazine.

Preferably, the bag cutting mechanism 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;

cut a packet storehouse and include left frame, right frame and two left and right underframe that are located their below respectively, all have two breachs that supply the fork needle to pass through on left side frame and the right frame, and then have the interval that supplies the cutter to walk between two underframe, underframe surface is for being close to the one side of left frame or right frame than being close to the high zigzag inclined plane in interval one side and surperficial cloth have the through-hole.

Preferably, the fork and pin joint body is recovered through a fork and pin joint body recovery mechanism, the fork and pin joint body recovery mechanism comprises a fork and pin joint body recovery manipulator and a second fork and pin joint body bin, the fork and pin joint body recovery manipulator further comprises a base, a manipulator support arm, a manipulator rotating shaft and a gripper, and the gripper is provided with an electromagnet.

The working principle of the invention is as follows:

a pneumatic bag beating type automatic unpacking and unloading method includes the steps that material bags in a material bag stack are sequentially conveyed to an unloading mechanism through a bag conveying machine, and then complete material bag separation is carried out in the unloading mechanism. Raw materials for production such as plastic films are generally transported through a tray, after the whole tray stack is conveyed to a preset position through a forklift, a material bag is grabbed by a bag moving machine through a vacuum sucker at the tail end and is transferred to a first conveyor belt horizontally placed in an unloading mechanism, the material bag is transversely placed, and the width direction of the material bag is the same as the running direction of the conveyor belt. And then, transferring the material bag to a slideway through a second conveyor belt. The slide way is arc-shaped, and the tail end of the slide way is vertical to the horizontal plane. The material bag falls to the bag cutting bin below the material bag from the slide way, the width direction of the material bag is vertical upwards, the first material bag sensor positioned at the tail end of the slide way feeds back signals to the controller, and the controller controls the action of the bag cutting mechanism.

The cutter in the bag cutting mechanism is firstly aligned with the center of the bottom side edge of the material bag through the interval between the bottom frames of the bag cutting bin, then the material bag is cut along the length direction from the bottom side edge through the tool rest support arm and the tool rest rotating shaft along the linear movement of the slide block along the tool rest track, and the material bag falls down from the material bag gradually under the action of gravity because the material bag is in a vertical position. The bottom frame of the bale cutting bin is an inclined plane assembly and is provided with through holes, so that material accumulation is avoided.

And then, the fork needle emitting mechanism ejects a pair of fork needles retracted in the mechanism outwards in parallel, and the conical fork needle head penetrates through the material bag from the upper part of the material bag to the width of the bag edge 1/7-1/5 through the left frame notch of the bag cutting bin and then is connected with a fork needle ligand which is moved out of the first fork needle ligand bin simultaneously through the right frame notch of the bag cutting bin. Under the fixation of the fork needle ligand and the upper crosspiece of the fork needle, the material bag is limited and can move along with the fork needle.

Although most of the material can naturally flow out of the bag, the sewn flat woven bag in particular always has some residue left in the corners of the bag wall due to the unsmooth and wrinkled and angular shape of the bag. Therefore, the controller continuously commands the fork needle emitting mechanism to drive the material bag to move upwards under the traction of the moving base, and the bag shaking and shooting are carried out under the cooperation of the bag shooting mechanism so as to remove the residual materials.

In the reset state, the first racket frame and the second racket frame are close to the side of the auxiliary support, and the racket rods at the tail ends of the first racket frame and the second racket frame are in a vertical orientation. When the material bag moves upwards to trigger the second material bag sensor, the fork needle just passes through the position of the racket rod on the first racket frame, the controller controls the first racket frame to rotate the first rotating shaft and the second rotating shaft respectively, so that the racket rod at the tail end of the first racket frame rotates to the horizontal direction, and the support arms are drawn together towards the middle, so that the first racket frame clamps the lower end of the material bag from two sides. Meanwhile, the controller controls a compressed air channel connected with the forked needle air hole to intermittently convey high-pressure air to the forked needle air hole. The high-pressure gas swells the empty material bag, and the materials at the folded corners are vibrated and blown out under the fluctuation of the material bag wall; when the material bag moves upwards gradually, the lower end of the material bag is discontinuously flapped at high speed by a plurality of flappers due to the intermittent impact of high-pressure gas on the bag wall of the material bag, so that the material bag wall rapidly fluctuates to change the shape of the fold pit in the material bag, the stress direction of the residual material is changed, and the falling and the discharge of the residual material are accelerated under the direct impact of the airflow. And under the sensing assistance of the third material bag sensor, the second racket frame performs racket vibration on the material bags again, and the residual materials in the material bags are quickly emptied.

When the fork needle emitting mechanism continues to move forward to the auxiliary track at the upper end, the emptied waste bag rotates to the first rolling frame above the auxiliary track along with the fork needle emitting mechanism, and the first rolling frame supports the waste bag. When the waste bag advances to trigger the fourth material bag sensor, the controller controls the fork needle ligand recovery mechanism to recover the fork needle ligand:

the fork needle ligand recovery manipulator rotates a manipulator rotating shaft, swings a manipulator supporting arm, enables the gripper to be aligned with the fork needle ligand, an operation part in the gripper clamps the fork needle and transfers and recovers the fork needle, and if the magnetic fork needle ligand can be attracted away from the fork needle by electrifying an electromagnet; meanwhile, the fork needle is drawn back into the interior by the fork needle emergence mechanism; and rotating the main arm on the base by the fork pin ligand recovery manipulator, aligning the gripper with the second fork pin ligand cabin, demagnetizing the electromagnet in the gripper, and placing the fork pin ligand into the second fork pin ligand cabin.

After the fork needle ligand is recovered, the waste bag continues to move forward to the second rolling frame along with the roller conveyor belt in the bag collecting mechanism, slides down from the second rolling frame, and falls onto the platform after touching the side wall. The side of the rolling frame is provided with a baffle strip, the waste bags sliding down 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 bags are reached according to the count value, and after a certain amount of waste bags are accumulated, the conveying belt on the platforms rolls laterally to move the waste bag pile to a packing platform beside the platform.

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

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

2. The material bag is subjected to drum vibration and beating through pulse air blowing and passive extrusion of the beating rod, and the material remained in the small nest in the bag is cleared out through multidirectional traction on the wall of the material bag, so that the waste of raw materials is prevented.

3. The full-automatic bag opening and discharging machine realizes full-automatic operation of material bag discharging, and greatly improves the bag opening and discharging efficiency.

4. The invention can recover and arrange the waste bags, thereby further improving the automation level.

5. The fork needle and the ligand thereof adopted by the invention can be repeatedly used.

Drawings

The invention is further described with reference to the following figures and examples:

FIG. 1 is a schematic structural view of an automatic unpacking and feeding device applying a pneumatic bag-patting type automatic unpacking and discharging mechanism;

FIG. 2 is a schematic structural view of a discharging mechanism;

FIG. 3 is a schematic diagram of a bag cutting bin and a bag cutting;

FIG. 4 is a schematic view of a circular track structure;

FIG. 5 is a perspective view illustrating a bag-patting process;

FIG. 6A, FIG. 6B and FIG. 6C are schematic structural views of a bag-beating mechanism;

FIG. 7 is a schematic diagram of the spike ligand recovery;

FIG. 8 is a schematic structural view of a bag collecting mechanism;

FIG. 9A is a schematic structural view of the fork exit mechanism, the fork and the fork ligand;

FIG. 9B is a schematic view of a fork exit mechanism and a fork structure in another embodiment;

FIG. 9C is a schematic view of another embodiment of a prong and a prong ligand;

FIG. 9D is a schematic view of the orientation of the forked needle ligand in another embodiment;

FIGS. 9E and 9F are schematic views of the exit mechanism and the fork structure of another embodiment;

FIG. 9G is a schematic diagram of the fork needle and the air supply channel in another embodiment.

In the figure: 1. the automatic bag picking machine comprises a discharging mechanism 2, a feeding mechanism 3, a material collector 4, a bag carrying machine 5, a bag collecting mechanism 6, a bag rack 7, a bag pile 8, a first conveying belt 9, a second conveying belt 10, a slide rail 11, a bag cutting bin 12, a fork needle emitting mechanism 13, a rail support 14, a fork needle 15, a fork needle matching body 16, a first fork needle matching body bin 17, a bag cutting mechanism 18, a secondary support 19, a first clapping frame 20, a second clapping frame 21, a first bag sensor 22, a second bag sensor 23, a third bag sensor 24, a fourth bag sensor 25, a manipulator arm 26, a manipulator rotating shaft 27, a gripper 28, a fork needle matching body recovery manipulator 29, a second fork needle matching body bin 30, a fork needle matching body recovery mechanism 31, a bag clapping mechanism 41, a gas supply channel and a bag collecting mechanism 6

50. Power roller 51, first roller frame 52, roller conveyor belt 53, second roller frame 54, roller ring 55, counter 56, side wall 57, platform 58, base 59 and lifting rod

71. Material bag 72, waste bag

82. Fork needle firing mechanism

101. A first rotating shaft 102, a support arm 103, a second rotating shaft 104 and a racket rod

111. Left frame 112, right frame 113, interval 114, gap 115, bottom frame

121. A first electromagnet 122, a first spring 123, an exit base 124, a sleeve 125, a cam 126, a gap (through slot) 127, a first bent arm 128, a second bent arm 129, a pintle shaft

1211. First solenoid 131, primary rail 132, secondary rail 133, loop back rail

141. Needle 142, needle body 143, crosspiece 144, air hole 145 and second spring

1411. Needle point 1412, wedge part 1413, groove 1441, guide sheet (horn shape)

151. Attraction magnet 152, inclined rail 153, clamping bead 154, sliding tube 155, spring seat 156 and clamping bead spring

261. A second electromagnet 262, an electromagnetic coil 263, an operating handle 264, a clamping part 171, a tool post track 172, a slide 173, a tool post support arm 174, a tool post rotating shaft 175 and a cutting knife

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

401. Vacuum chuck

411. Air supply head 412, cone nozzle 413, air supply pipe 414 and clamping module

821. A trigger (cam, air valve, linear electric valve) 822, a third electromagnet 823, a third electromagnetic coil 824, an armature 825 and a third spring

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 present invention is applied to an automatic unpacking and unloading mechanism with a pneumatic bag beating type, and an automatic unpacking and loading device with an automatic unpacking and unloading mechanism with a pneumatic bag beating type comprises: the device comprises a bag carrying machine 4, a discharging mechanism 1, a material collector 3, a feeding mechanism 2, a fork needle ligand recovery mechanism 30, a bag collecting mechanism 5, a bag rack 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 bottom of the material bag frame 6 is provided with a lifting base, and after each bag is moved, the controller controls the base to rise by 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 to 5, the discharging mechanism further includes a first conveyor belt 8, a second conveyor belt 9, a slide way 10, a bag cutting bin 11 located below the slide way 10, a fork needle emitting mechanism 12 and a first fork needle matching bin 16 respectively located at two sides of the bag cutting bin 11, a bag cutting mechanism 17 and a bag beating mechanism 31 respectively located below and above the bag cutting bin 11, and a rail support 13 and a sub-support 18 respectively supporting the fork needle emitting mechanism 12, the bag cutting bin 11 and the bag beating mechanism 31. A fork needle 14 is arranged in the fork needle emergence mechanism 12, a fork needle matching body 15 which can be embedded with the fork needle 14 is arranged in a first fork needle matching body bin 16, a gap for the fork needle matching body 15 to pass through is arranged between the lower end of the slide way 10 and the bag cutting bin 11, and a first material bag sensor 21 is arranged at the tail end of the side surface of the slide way 10.

The bag-patting mechanism 31, which is located above the bag-cutting bin 11 and also supported by the auxiliary support 18, includes a second bag sensor 22, a first patting frame 19, a third bag sensor 23 and a second patting frame 20, which are sequentially distributed from bottom to top.

The surface of the first conveyor belt 8 is parallel to the horizontal direction, and the tail end of the slide way 10 is approximately vertical to the horizontal plane. The fork needle 14 comprises a fork needle head 141, a fork needle body 142 and a crosspiece 143, and at least one air hole 144 connected with a controllable compressed air channel is formed in the surface of the hollow fork needle body 142; the fork ejection mechanism 12 has a motion base enabling it to move along an annular rail support 13. The rail bracket 13, in turn, includes a primary rail 131, a secondary rail 132, and a loop back rail 133.

The bag cutting mechanism 17 includes a knife rest track 171, a slider 172, a knife rest arm 173, a knife rest rotating shaft 174, and a cutting knife 175, and the cutting knife 175 moves linearly along the knife rest track 171 along with the slider 172 through the knife rest arm 173 and the knife rest rotating shaft 174.

The bag cutting bin 11 comprises a left frame 111, a right frame 112 and two bottom frames 115 respectively positioned below the left frame 111 and the right frame 112, wherein the left frame 111 and the right frame 112 are respectively provided with two notches 114 for fork needles to pass through, a space 113 for a cutter to pass through is arranged between the two bottom frames 115, the surface of the bottom frame 115 is a saw-tooth-shaped inclined plane with one side close to the left frame 111 or the right frame 112 higher than one side close to the space 113, and through holes are distributed on the surface.

As shown in the attached drawings, when the first pocket sensor 21 detects that a pocket falls to the bag cutting bin 11, the controller controls the action of the pocket cutting mechanism 17, so that the cutter 175 cuts the pocket from the center of the bottom edge of the pocket placed on the side and the material falls; then, the fork ejection mechanism 12 ejects a pair of forks 14 to penetrate the material bag and then engages with the fork 15 removed from the first fork chamber 16.

As shown in fig. 3, 5, and 9A, the fork 14 is preferably a permanent magnet magnetic needle, and the head and tail ends of the magnetic needle are respectively pulled by the magnetic force of the fork matching body 15 and the fork exit mechanism 12.

In the fork needle 14, 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 frustum-shaped transition body and serves as a force bearing portion for bearing the magnetic attraction force of the fork needle assembly 15.

The fork exit mechanism 12 is provided with a first electromagnet 121 that generates electromagnetic force by power supply control of a first electromagnetic coil 1211; two ends of the first spring 122 are respectively connected with the exit base 123 and the bottom of the hanging needle 14.

Preferably, the first spring 122 is in a free state in the initial state, and the lower part of the hanging needle 14 is retracted to the bottom of the accommodating cavity surrounded by the first electromagnet 121; when the forked needle 14 needs to be ejected, the first electromagnetic coil 1211 is energized, the magnetic force generated by the first electromagnet 121 pushes the forked needle 14 outwards from the bottom of the accommodating cavity of the forked needle, and the head of the forked needle 14 penetrates through the material bag 71 until the magnetic force is balanced with the resilience force of the first spring 122.

The fork needle assembly 15 can be clamped and transferred to a preset position through a manipulator, and then the fork needle 14 is ejected; or the fork 14 is ejected before the fork 15 is ejected. The fork needle ligand 15 also adopts a permanent magnet matched with the fork needle 14 in the polarity direction, and the fork needle ligand and the permanent magnet are attracted and fixed through magnetic force.

A suction magnet 151 is arranged in the forked needle body 15, a reverse tapered cavity which is matched with the needle head 141 and is slightly larger than the needle head is arranged in the suction magnet 151, and a bevel stop 152 matched with the tapered wedge part 1412 is arranged at the bottom of an opening of the cavity. When the forkneedle 14 is ejected from the forkneedle exit mechanism 12 and passes through the bag 71, the magnetic force attracts the needle 141 of the magnetic forkneedle 14 in the cavity, and the ramp 152 contacts with the wedge portion 1412 of the needle 141, and the forkneedle 14 uses the wedge portion 1412 to bear the magnetic attraction force, thereby not affecting the sharpened tip of the needle.

As an improvement, a notch can be arranged at the conical bottom of the sharpening needle point in the needle head of the forked needle, and a protrusion opposite to the notch is arranged in the inverted conical accommodating cavity of the forked needle ligand so as to bear the magnetic force.

The fork needle emergence mechanism 12 moves upwards along the track support 13 under the driving of a bottom moving base, and under the successive detection feedback of the second material bag sensor 22 and the third material bag sensor 23, the first racket frame 19 and the second racket frame 20 rotate two rotating shafts after the fork needle 14 passes through the racket rods 104 in sequence to enable the racket rods 104 at two sides to clamp the lower parts of the material bags towards the middle; meanwhile, the air holes 144 on the fork pins 14 are controlled to jet air to the material bags in a pulse mode to bulge the material bags at intervals, high-pressure air flow is discharged from the notches at the lower ends of the material bags, the clapper rod 104 can be made of elastic deformable materials such as plastic materials to increase the clapping of the bag walls when the bag walls are rebounded after deformation, the lower ends of the material bags are shaken under the clamping of the clapper rod 104, and residual materials are emptied.

Because the main track and the auxiliary support are mutually interfered and crossed, the fork needle emergent mechanism can drive the material bag to pass through smoothly, and special design is needed. For this purpose, the secondary carriages 18 are arranged between the sections of track carriages 13, with the two carriages respectively being horizontally and vertically distributed in a top view; in order to enlarge the action range of the racket rod, the racket frame is designed into a structure with two rotating shafts capable of reversing.

6A, 6B and 6C, the three figures are respectively a front view, a top view and a left view of the bag-shooting mechanism; as shown in fig. 5, the pair of sub-brackets 18 are arranged on the midperpendicular of the line connecting the pair of main rails 131; the first racket frame 19 and the second racket frame 20 each comprise a first rotating shaft 101, a support arm 102, a second rotating shaft 103 and a racket rod 104 which are connected in sequence, wherein the support arm 102 can make the racket rod retract to the auxiliary support 18 from two sides or go to the middle through the first rotating shaft 101 to clamp the material bag, and the racket rod 104 can make a plurality of racket rods vertically parallel through the second rotating shaft 102 to reduce the occupied width in the horizontal direction so as to allow the fork needles to pass upwards, or make the racket rod horizontal and parallel to the length direction of the material bag to clamp the material bag in the transverse direction.

Preferably, a gap can be arranged on the moving base of the hoop track support pillar of the fork needle emergence mechanism, a support frame is connected through the gap and falls to the ground through the support frame, and the auxiliary support can be directly installed in a falling mode through a straight rod.

In tests, it was found that simply by simple blowing or beating, the discharge efficiency was low and there was still residual material in the folds etc. Therefore, a skillful structure is required so that bag removal and discharge can be continuously and efficiently performed. At the fold part of the sewing end of the common non-three-dimensional forming material bag, because the material at the sewing part is continuously discharged, a plurality of small pits are formed on the nearby bag wall, the invention adopts high-frequency pulse type high-speed airflow to carry out discontinuous impact on the bag wall of the material bag, so that the small pits swell and rapidly fluctuate

High-pressure airflow is blown into the material bag through the air holes, the bag wall of the material bag is expanded due to the positive pressure of the airflow, after the material bag is expanded to a certain degree, the tensile force generated by the weak deformation of the material bag counteracts the positive blowing airflow pressure due to the elasticity of the material bag, and the material bag stops expanding. Under the action of pulse impact airflow, when the airflow at a certain bag wall is dissipated, the configuration of the bag wall at the certain bag wall and the configuration of the bag wall nearby the certain bag wall are changed under the action of deformation force; along with the change of the air flow strength at a plurality of positions, the bag wall of the material bag is rapidly fluctuated by the torrent action, and then the material in the bag is dragged.

Preferably, the fluctuant bag wall is passively flapped, under the action of fluid flow, the residual materials at the small pits are dragged and moved by a plurality of multidirectional acting forces, such as impact force of airflow, beating force transmitted by the flap rod through the bag wall and pulling force of disorder and shaking of the bag wall, and fall continuously and slide from the cut of the low bag after departing from the fold angle of the bag.

Preferably, prongs 14 are connected to an externally controllable source of pressurized gas through a gas supply channel 41 secured to crosspiece 143.

Preferably, the pulse-type air supply of the air flow in the plurality of air holes 144 arranged on the fork 14 modulates the air flow intensity in a PWM mode, and after the period of the PWM pulse is selected, the pulse width is changed:

Preferably, the air holes 144 are distributed in the other direction except the direction of the opening side, and the orientation of the air holes 144 is optimized by the air flow impact test, so that the number of the air holes facing the openings at both ends of the pocket is the majority.

Preferably, the air vent nozzle is of a conical configuration to produce a conical jet of air. Preferably, the prongs may not be in the same horizontal plane.

Referring to fig. 7 and 8, when the material completely falls and the emptied waste bag 72 continues to move forward to the upper end of the auxiliary track 132 along with the fork exit mechanism 12, the bag body of the waste bag 72 gradually turns to the first rolling frame 51 located above the auxiliary track 132, when the waste bag 72 moves forward to trigger the fourth bag sensor 24, the controller controls the fork ligand recovery mechanism 30 to recover the fork ligand 15, the fork ligand recovery manipulator 28 rotates the manipulator rotating shaft 26, swings the manipulator arm 25 to align the gripper 27 with the fork ligand 15, and the electromagnet in the gripper 27 is electrified to magnetically suck the fork ligand 15 from the fork 14; meanwhile, the fork needle 14 is drawn back into the interior by the fork needle emergence mechanism 12; the forked probe head recovery robot 28 rotates the main arm of the base so that the gripper 27 is aligned with the second forked probe head chamber 29, and the electromagnet in the gripper is demagnetized to place the forked probe head 15 in the second forked probe head chamber 29.

Preferably, the grip 27 may also use a gripping portion to pull the prong engaging body 15 away from the prong 14 and transfer it to the second prong engaging body magazine 29.

When the forked needle assembly 15 is recovered, the first electromagnetic coil 1211 is powered off, and the forked needle 14 retracts to the bottom of the accommodating cavity of the first electromagnet 121 under the action of the resilience force of the first spring 122.

The waste bag 72 with the fork pins 14 removed falls onto the roller conveyor 52 and the fork pin exit mechanism 12 carries the fork pins on to return from the loop back track to the left side of the main track bale cutting bin. The first rolling frame 51 is a curved wedge shape, and is slightly higher than the auxiliary rail 132 from the lower oblique section to the horizontal section, so that the first rolling frame can be inserted between the rail and the waste bag to support the waste bag; the width of the first roller frame 51 is slightly smaller than the distance between the fork pins, and a small section at the front end of the roller conveyor belt 52 is of a gradually-widened structure so as to allow the fork pins to pass through.

The waste bag 72 is driven by the power roller 50 on the roller conveyor belt 52 to move forward to the second rolling frame 53, slide off the second rolling frame 53, touch the side wall 56 vertical to the base 58 and then fall onto the platform 57. The side edge of the rolling frame is provided with a baffle strip, the waste bag 72 which slides down from the rolling frame triggers the counter 55 at the middle part of the rolling frame, the counter 55 feeds back to the controller, the controller controls the lifting rod 59 to lower the platform 57 once every several waste bags according to the counting value, after a certain amount of waste bags are accumulated, the conveying belt on the platform 57 rolls laterally, and the waste bag pile is horizontally moved to the nearby packing platform.

Between the roller conveyor belt 52 and the second roller frame 53, there is a gap for the fork pin exit mechanism 12 to operate to the loop back track; preferably, a slightly wider gap than the space occupied by a pair of prongs may be provided at the head of the second roller frame 53 on the side facing the roller conveyor 52.

Preferably, the prong ejecting mechanism 12 exchanges the electromagnetic force mode for ejecting the prongs 14 with other reciprocally movable driving mechanisms, such as a cam, a cylinder, or a linear electric actuator.

As shown in FIG. 9B, the fork exit mechanism 12 is provided with a cam 125, a sleeve 124 is provided on the outer surface of the cam 125, and the two side rails of the fork 14 are connected to the sleeve 124 through a second spring 145. As the cam 125 rotates, the prongs 14, which initially are retracted below the lower end of the sleeve 124, are pushed outwardly and pause as their needles penetrate the bag to a distal most point; then when the bag is transported and the remnant is discharged to recover the fork needle matching body, the cam is operated to the other extreme position, and the fork needle returns to the initial position.

Example 2:

in this embodiment, as shown in fig. 9C, the hanging needle 14 is inserted into the forked needle assembly 15 by a snap-in method, 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 head 141 and is slightly larger than the needle head is still arranged in the fork needle matching body 15, 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 bead 153 and a clamping bead spring 156 which are connected in sequence, wherein the clamping bead spring 156 is fixed on a spring seat 155 and drives the clamping bead 153 to move left and right through a sliding pipe 154. Preferably, a circular truncated cone-shaped pouring part with a larger caliber can be arranged at the inlet part of the fork needle ligand 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 fork needle ligand acts to quickly eject a pair of hanging needles to the right, and the needle heads of the hanging needles penetrate through the material bag and then enter the containing cavities of the fork needle ligand; 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 fork needle ligand, so that the hanging needle is hung on the bale dragging manipulator.

Preferably, the grooves and the clamping beads are mutually replaceable, namely, the grooves are positioned on the forked needle ligand 15, and the clamping beads are positioned on the hanging needle.

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 such as a linear actuator.

When the fork needle ligand is recovered, the end part of the fork needle ligand recovery manipulator adopts the openable clamping part to clamp the fork needle ligand and pull out the fork needle ligand from the fork needle, at the moment, the side wall of the hanging needle groove pushes the clamping ball to compress the spring, and the hanging needle withdraws 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 clamps the fork needle ligand; the fork needle ligand is clamped and separated with the fork needle through the clamping part, and a storage battery can be arranged in the fork needle ligand and is controlled to supply power through a touch switch controlled by the clamping part.

Example 3:

different from the above embodiments, in this embodiment, the fork is fired and ejected by the fork firing mechanism located outside the fork ejection mechanism.

As shown in fig. 9E, the fork exit mechanism 12 is connected to the sleeve 124 by a first bent arm 127 connected to the motion base, and the two side rails of the fork 14 are connected to the sleeve 124 by a second spring 145. In the initial state, the lower part of the fork 14 is retracted to the lower end of the sleeve 124.

Opposite the pair of prongs 14, a pair of prong firing mechanisms 82 is provided. The fork pin firing mechanism 82 includes a firing device 821 that is actuated by the controller when the bag is cut to rapidly push the fork pins 14 outward to pass through and pick up the bag. The fork firing mechanism may be floor supported similar to the secondary support.

Preferably, the trigger 821 uses a drive mechanism, such as a cam, gas valve, or linear electric actuator, that reciprocates the prongs quickly.

As shown in fig. 9E, following the reciprocating action of the trigger 821, the fork 14, which is initially retracted from the lower end of the sleeve 124, is outwardly ejected, and then when the fork completely forks the bag, completes the coupling with the fork ligand and moves upward, the trigger 821 is operated to the other extreme position, and the fork 14 returns to the initial position in the horizontal direction by the second spring 145. In order to allow the fork exit mechanism 12 to freely pass over the fork firing mechanism 82, a gap 126, such as a through slot, is provided in the connecting sleeve 124, and an initial position is left between the bottom end of the fork 14 and the upper portion of the actuator 821.

Example 4:

in contrast to embodiment 3, in this embodiment, as shown in fig. 9F, the fork needle firing mechanism 82 employs an electromagnetic firing mechanism, and employs two second curved arms 128 on the inner side to connect the motion base and the sleeve 124.

In the firing mechanism 82, a third electromagnetic coil 823 is arranged on the periphery of a third electromagnet 822, an armature 824 connected to the base through a third spring 825 is arranged in a containing cavity formed by the third electromagnet 822, and the armature 824 is arranged opposite to the fork needle 14.

When the forked needle 14 needs to be ejected, the controller controls the third electromagnetic coil 823 to be electrified, the magnetic force of the third electromagnet 822 ejects the armature 824, and the armature strikes the tail of the forked needle 14 to fire the forked needle.

Example 5:

unlike the above embodiments, the method of discharging the residue is optimized by controlling the impact strength of the plurality of adjacent pores in the present embodiment.

As shown in fig. 9G, after the air supply channel 41 is connected to the fork 14, air is supplied to the air holes 144 through the plurality of controllable air supply heads 411 by the air supply pipe 413 inside, and the air supply heads 411 realize independent control of each path through the controllable air valves.

Preferably, after one end of the air supply pipe 413 obtains compressed air from an external air source through a hose, the other end of the air supply pipe is a hard pipe to carry the air supply head 411, for convenient assembly, the hard pipe is further connected to a support rod supported at two ends on the inner pipe wall of the forked needle through a clamping module 414, the clamping module 414 can slide along the support rod and has two limit positions, so that the conical nozzle 412 at the head of the air supply head 411 is inserted into the air hole with the guide piece 1441 at the periphery and is limited by sliding upwards after the forked needle is inserted in the assembly, and the guide piece 1441 can be a bell mouth.

wherein the x axis is parallel to the material bag seam, and the crosspiece position of the fork needle is taken as the origin of the x axis; k is an intensity coefficient, a and b are preset fluctuation coefficients, L is the length of a seam on one side of the material bag, xi is a disturbance coefficient, and rand () is a random function of a (0,1) interval.

Preferably, the pulse-type air supply of the air flow in the air holes 144 of the fork 14 modulates the intensity of the air flow in a PWM manner, the intensity of the air flow on the adjacent air holes changes in a large gradient, and after the period of the PWM pulse is selected, the pulse width is changed:

Δ＝k·|sin(x)|/?x-N·floor(x/N)|+N·rand()

wherein the x axis is parallel to the material bag seam, and the crosspiece position of the fork needle is taken as the origin of the x axis; k is an intensity coefficient, N is a preset fluctuation width coefficient, and floor () and rand () are a down-rounding function and a random function in the interval (0,1), respectively.

Preferably, N is an integral multiple of the number of pores.

Example 6:

different from the above embodiment, the present embodiment further optimizes the residue discharge by changing the airflow injection direction and the air pressure positive and negative.

Referring to FIG. 9B, a pintle shaft 129 is provided on the base of the prong exit mechanism 12 so that the prongs 14 may rotate about the shaft to change the orientation of the walls of the air jet pockets. Preferably, when the fork is rotated, the engagement of the fork joint with the fork is released at intervals.

In the gap impacted by positive pressure air flow, the air holes are controlled to impact the bag wall by negative pressure, namely the material discharge is assisted by changing the inlet and outlet directions of the air flow in the air holes. With the bionic theory, tinnitus may occur when a person passes through a tunnel or in an aircraft low pressure environment, because the pressure on both sides of the eardrum is unbalanced, and this condition can be improved by repeated inspiration and ballooning.

Preferably, the negative pressure is achieved by a reversing valve, i.e. the selected air hole is switched into the air passage through the air suction pump by the reversing valve. Alternatively, a high pressure air stream may be directed against a conical outer orifice, with a short length of air tube in the controlled air supply circuit connecting the selected orifice to the vicinity of the conical base of the orifice, so that the orifice draws air from the selected orifice in the pocket by swirling.

When the air hole is impacted by negative pressure, the surrounding bag wall is adsorbed on the air hole nozzle or tends to be adsorbed on the air hole nozzle, and accordingly the bag wall in a local range is wrinkled, and the wrinkling change of the bag is stopped when the negative suction force is balanced with the acting force generated by the weak deformation of the bag and the supporting force of the air hole nozzle. Under the action of negative pressure pulse impact airflow, the configuration of the bag wall at and near the negative pressure pulse impact airflow changes along with the airflow change. The wall of the material bag is rapidly fluctuated by the action of negative pressure torrent, thereby forming the dragging of the material in the bag.

Preferably, the air hole adopting negative pressure can be a plurality of air holes which are adjacent to the positive pressure air hole, and the positive sequence, the negative sequence and the mixed sequence of the bag wall are further fluctuated through the time-sharing positive and negative pressure control so as to pull the residual materials at the small nest in the material bag.

Preferably, the variation of the intensity of the air flow is also achieved by varying the pulse time period of the air flow control.

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. A pneumatic bag-beating type automatic unpacking and unloading method comprises the following steps:

2. The automatic unpacking and unloading method based on the pneumatic bag beating type as claimed in claim 1, wherein the pulse air supply of the air flow in the air holes modulates the air flow intensity in a PWM mode, and after the period of PWM pulse is selected, the pulse width is changed:

3. The automatic unpacking and unloading method by pneumatic bag beating type according to claim 2,

the material bag is hung by the aid of the fork needles, pulse airflow is sprayed into the material bag through the air holes while the material bag is driven by the fork needles to move upwards, the material bag which is inflated and fluctuated is extruded by the aid of the racket rod, and at least one air hole is formed in the surface of each fork needle in an opposite mode relative to each sewing opening of the material bag.

4. The automatic unpacking and unloading method by pneumatic bag beating type according to claim 1,

the fork needle adopts a permanent magnet, is contracted in the fork needle emergence mechanism in an initial state, is ejected by the fork needle emergence mechanism after the material bag is cut and discharged, penetrates through the material bag at intervals from the side surface of the bag cutting bin and then is attracted with the magnetic fork needle ligand at the opposite side,

5. The automatic unpacking and unloading method by pneumatic bag beating type according to claim 1,

the fork ejection mechanism includes: a first electromagnet that generates an electromagnetic force by power supply control of a first electromagnetic coil; two ends of the first spring are respectively connected with the bottom of the emergent base and the bottom of the hanging needle,

in an initial state, the first spring is in a free state, and the lower part of the hanging needle is retracted to the bottom of the accommodating cavity defined by the first electromagnet; when the fork needle is ejected, the first electromagnetic coil is electrified, the magnetic force generated by the first electromagnet pushes the fork needle outwards from the bottom of the containing cavity of the fork needle, and the head of the fork needle penetrates through the material bag until the magnetic force is balanced with the resilience force of the first spring.

6. The automatic unpacking and unloading method with pneumatic bag beating as claimed in claim 1, wherein the bag is passively beaten by the bag beating mechanism,

7. The automatic unpacking and unloading method by pneumatic bag beating type according to claim 1, characterized in that the conveyor belt comprises a first conveyor belt, a second conveyor belt and a slide way which are connected in sequence, the surface of the first conveyor belt is parallel to the horizontal direction, the tail end of the slide way is parallel to the vertical plane,

8. The automatic unpacking and unloading method by pneumatic bag beating type according to claim 1, characterized in that the track support is of a ring structure and comprises a main track, an auxiliary track and a loop-back track,

9. The automatic unpacking and unloading method by pneumatic bag beating type according to claim 1,

the bag cutting mechanism 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;

10. The automatic unpacking and unloading method by pneumatic bag beating type according to claim 1,

the fork needle ligand recovery mechanism comprises a fork needle ligand recovery manipulator and a second fork needle ligand bin, the fork needle ligand recovery manipulator comprises a base, a manipulator support arm, a manipulator rotating shaft and a gripper, and an electromagnet is arranged on the gripper.