CN117657566A

CN117657566A - Automatic tear bag open and throw manipulator that material was used

Info

Publication number: CN117657566A
Application number: CN202311751881.6A
Authority: CN
Inventors: 代光辉; 张晴晴; 葛庆樽; 程玉; 张佳豪
Original assignee: Chaohu University
Current assignee: Chaohu University
Priority date: 2023-12-19
Filing date: 2023-12-19
Publication date: 2024-03-08

Abstract

The invention discloses a manipulator for automatically unpacking and feeding bags, which relates to the technical field of unpacking cement bags, and comprises a manipulator body and a gripping apparatus body, wherein the gripping apparatus body comprises an assembly taper pipe, a bag inserting mechanism, a bag opening mechanism and a bag cutting mechanism, and the assembly taper pipe is connected to the execution tail end of the manipulator body; the inserting bag mechanism is arranged below the assembly taper pipe and comprises a first hydraulic cylinder, a second hydraulic cylinder and inserting bag claws, the inserting bag claws are driven by the hydraulic cylinder to be inserted into two ends of the cement bag, and the posture of the cement bag is adjusted by the second hydraulic cylinder; the bag supporting mechanism is arranged on the inserting bag claw and comprises a bag supporting strip and a hydraulic cylinder III, and the hydraulic cylinder III drives the bag supporting strip to be supported on the head of the cement bag; the bag cutting mechanism is arranged below the bag inserting mechanism and comprises a hydraulic cylinder IV, a motor and a bag cutting knife, and the hydraulic cylinder IV and the motor drive the bag cutting knife to cut off the middle part of the cement bag. The invention has the characteristics of reasonable scheme, compact structure and convenient use, and can realize bag inserting, bag cutting, bag opening, discharging and bag unloading.

Description

Automatic tear bag open and throw manipulator that material was used

Technical Field

The invention relates to the technical field of unpacking of cement bags, in particular to a manipulator for automatically unpacking and feeding.

Background

At present, most of unpacking and feeding of cement bags rely on manpower, and cement dust flies upwards in the unpacking and feeding process, so that the unpacking and feeding process has great harm to the body of operators.

The existing unpacking device mainly adopts the mode that the bag is broken firstly and then the bag is poured, the unpacking operation is carried out by utilizing various active or passive groups of blades to break the bag, then the broken cement bag is placed on a vibrating screen for shaking and discharging, a large amount of dust is easily generated, excessive cement is easily caused to remain in the bag, the bag cannot be completely poured, the bag is still required to be taken away by manual intervention later, and the residual cement in the bag is shaken off forcibly.

Because the cement bag is made of polypropylene through warp knitting after being drawn into filaments, the bag is very soft and lacks supporting force, and becomes flat along with the discharge of cement and is gradually attached together, so that residual cement is not easy to fall out from the cement bag, and the cement is easy to remain in the cement bag in the existing discharging mode.

Disclosure of Invention

The invention aims to provide a manipulator for automatically unpacking and feeding bags, which aims to solve the defects caused by the prior art.

The utility model provides an automatic tear bag open manipulator of throwing material usefulness, comprises manipulator body and gripping apparatus body, the gripping apparatus body is including assembly taper pipe, pocket mechanism, bag opening mechanism and cut bag mechanism, wherein: the assembly taper pipe is coaxially connected to the execution tail end of the manipulator body; the bag inserting mechanism is centrally arranged below the assembly taper pipe and comprises a first hydraulic cylinder, a second hydraulic cylinder and bag inserting claws, the bag inserting claws are driven by the hydraulic cylinders to be inserted into two ends of the cement bag, and the posture of the cement bag is adjusted by the second hydraulic cylinder; the bag supporting mechanism is arranged on each inserting bag claw and comprises a bag supporting strip and a hydraulic cylinder III, and the hydraulic cylinder III drives the bag supporting strip to be supported on the head of the cement bag; the bag cutting mechanism is arranged below the bag inserting mechanism in the middle and comprises a hydraulic cylinder IV, a motor and a bag cutting knife, and the hydraulic cylinder IV and the motor drive the bag cutting knife to cut off the middle of the cement bag.

Preferably, the inserting bag mechanism further comprises a mounting frame and a mounting plate, wherein the middle of the mounting frame is horizontally connected with a 'n' -shaped mounting strip, an assembling taper pipe is centrally connected with the middle of the mounting strip, a pair of hydraulic cylinders are arranged on the mounting strip in a front-back symmetrical mode, a lifting strip is vertically downwards arranged at the tail end of a piston rod of the hydraulic cylinder, the lifting strip is arranged in a left-right direction and is provided with lifting grooves at two ends of the lifting strip, the mounting plate is provided with a pair of symmetrically arranged inside the mounting frame, the outer edge of the mounting plate is rotationally connected to the mounting frame through a mounting shaft, the inner edge of the mounting plate is connected to adjacent lifting grooves in a sliding mode through a mounting shaft II, a pair of hydraulic cylinders II are arranged on the mounting plate symmetrically connected to the two sides, the hydraulic cylinders II are vertically arranged downwards and are connected with a hinge seat I at the tail end of a piston rod of the hydraulic cylinders II, an L-shaped hinge strip I is hinged to the hinge seat I, a hinge seat II is connected to the lower side of the mounting plate, a L-shaped hinge strip II is hinged to the hinge seat II, the other end of the hinge strip II is hinged to the other end of the hinge strip I, the side faces of the two hinge strips I on the same side are connected with a turnover plate jointly, and a pair of L-shaped inserting bag claws are symmetrically connected to the front side and the rear side of the inner side of the turnover plate.

Preferably, the bag supporting strips are arranged on the sides of the bag inserting claws in a symmetrical mode, each bag supporting strip is connected to the bag inserting claws through a pair of hinging strips, torsion springs are arranged at the joints of the bag supporting strips and the hinging strips, the hydraulic cylinders are arranged vertically upwards and are connected to the side faces of the overturning plates through fixing sheets, the tail ends of the piston cylinders of the hydraulic cylinders are connected with mounting blocks, two traction ropes are connected to the mounting blocks, and the two traction ropes penetrate through inflection points of the bag inserting claws and are correspondingly connected to the end portions of the two bag supporting strips.

Preferably, the bag cutting mechanism further comprises a fixing strip and a connecting strip, the fixing strip is horizontally connected between the front lifting strip and the rear lifting strip, the four hydraulic cylinders are provided with a pair of lifting blocks which are correspondingly connected to the two ends of the fixing strip, the four hydraulic cylinders are vertically downwards arranged and are connected with the lifting blocks at the tail ends of piston rods of the four hydraulic cylinders, the connecting strip is provided with a pair of lifting blocks which are correspondingly arranged between the two connecting strips, the motors are connected with friction wheels at the output ends of the two motors in a mutual mode, the friction wheels are in friction contact with the friction strips, and the bag cutting knife is of an inverted T-shaped structure and is centrally connected to the lower portion of the friction strips.

Preferably, the turnover plate is symmetrically welded with two rows of reinforcing sheets at two sides of the first hinge strip.

Preferably, a pair of first spraying pipes are symmetrically arranged below the lifting strips in a left-right mode, the first spraying pipes are connected to the lower sides of the front lifting strip and the rear lifting strip, spraying holes are uniformly distributed in the lower sides of the first spraying pipes, and the first spraying pipes are connected to the front end and the rear end of the first spraying pipes.

Preferably, a pair of vibration motors are symmetrically arranged on the front side and the rear side of the bag inserting claw.

Preferably, a pair of spray pipes II are symmetrically arranged on the front side and the rear side of the friction strip, the spray pipes II are connected to the end parts of the friction strip through a pair of connecting sheets, spray holes II are uniformly distributed on the lower side of the spray pipes II, and the spray pipes II are connected to the left end and the right end of the spray pipes II.

Preferably, the friction strip is evenly connected with a plurality of elastic rods between the front lifting block and the rear lifting block, and two ends of each elastic rod are respectively suspended below the two hydraulic cylinders II.

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

1. automatic bag inserting: the piston rods of the left hydraulic cylinder II and the right hydraulic cylinder II extend to drive the left and the right pairs of bag inserting claws to turn downwards and outwards, and the bag inserting claws are inserted into two ends of the cement bag.

2. Automatically bag opening: the piston rod of the hydraulic cylinder III contracts and releases the traction rope, and the bag supporting strips at two sides are supported on the side surfaces of the bag inserting claws so as to be convenient for fixing the cement bag on the bag inserting claws.

3. Automatic bag cutting: the piston rod of the front hydraulic cylinder and the rear hydraulic cylinder extend and drive the bag cutting knife to move downwards and contact the cement bag, and meanwhile, the motor is used for rapidly reversing forward and reversing and driving the bag cutting knife to reciprocate back and forth, and the bag cutting knife with the two movement modes is used for cutting off the middle of the cement bag.

4. Automatic discharging: during the cement is scattered from the cutting opening, the piston rods of the front hydraulic cylinder I and the rear hydraulic cylinder I extend and drive the front lifting strip and the rear lifting strip to move downwards, so that the left bag opening mechanism, the right bag opening mechanism and the broken cement bag are driven to be adjusted to an inclined state, and meanwhile, the cement attached to the inner wall of the cement bag is shaken off by the aid of the vibrating motor, so that the cement is poured out from the cement bag.

5. Automatic bag unloading: after pouring the cement in the cement bag, stretching and tensioning the traction rope through the piston rod of the hydraulic cylinder III, and enabling the bag supporting strips at two sides to be clung to the side surfaces of the bag inserting claw so as to facilitate the cement bag to slip off from the bag inserting claw, and then shrinking and driving the front lifting strip and the rear lifting strip to move upwards through the piston rod of the front hydraulic cylinder I and the rear hydraulic cylinder I so as to drive the left bag supporting mechanism and the right bag supporting mechanism to be adjusted to be in a vertical state; the piston rods of the left hydraulic cylinder II and the right hydraulic cylinder II shrink and drive the left and the right pairs of bag inserting claws to turn upwards and inwards, and the broken cement bags slide down from the bag inserting claws under the action of self gravity and the vibration action of the vibration motor.

Drawings

Fig. 1 is a schematic diagram of the structure of the present invention in different states.

FIG. 2 is a schematic view of the overall three-dimensional structure of the present invention.

Fig. 3 and 4 are schematic structural views of the bag inserting mechanism according to the present invention.

Fig. 5 and 6 are schematic structural views of a bag opening mechanism according to the present invention.

Fig. 7 and 8 are schematic structural views of a bag cutting mechanism in the present invention.

Wherein:

10-assembling a taper pipe;

20-a bag inserting mechanism; 201-a mounting frame; 202-mounting bars; 203-a first hydraulic cylinder; 204-lifting bars; 204 a-lifting groove; 205-mounting plate; 206-mounting a first shaft; 207-mounting a second shaft; 208-a second hydraulic cylinder; 209-hinge seat one; 210-hinge strip one; 211-a second hinging seat; 212-hinging a second strip; 213-reinforcing sheets; 214-flipping panels; 215-pocket claws; 216-spraying pipe I; 216 a-spray aperture one; 217-a first mist inlet pipe;

30-a bag supporting mechanism; 301-bag supporting strips; 302-hinge strip three; 303-torsion spring; 304-fixing sheets; 305-hydraulic cylinder three; 306-mounting blocks; 307-hauling rope; 308-a vibration motor;

40, a bag cutting mechanism; 401-fixing strips; 402-hydraulic cylinder four; 403-lifting blocks; 404-friction bars; 405-connecting strips; 406-an electric motor; 407-friction wheel; 408-a bag cutter; 409-a connecting piece; 410-spraying pipe II; 410 a-spray orifice two; 411-a fog inlet pipe II; 412-an elastic rod;

50-cement bags.

Detailed Description

The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.

As shown in fig. 1 to 8, an automatic bag-opening and feeding manipulator is composed of a manipulator body and a gripper body, wherein the gripper body comprises an assembly taper pipe 10, a bag inserting mechanism 20, a bag opening mechanism 30 and a bag cutting mechanism 40, and the automatic bag-opening and feeding manipulator comprises the following components: the assembly taper pipe 10 is coaxially connected to the execution end of the manipulator body; the inserting bag mechanism 20 is centrally arranged below the assembly taper pipe 10 and comprises a first hydraulic cylinder 203, a second hydraulic cylinder 208 and inserting bag claws 215, the inserting bag claws 215 are driven by the first hydraulic cylinder 203 to be inserted into two ends of the cement bag 50, and the posture of the cement bag 50 is adjusted by the second hydraulic cylinder 208; the bag opening mechanism 30 is arranged on each inserting bag claw 215 and comprises a bag opening strip 301 and a hydraulic cylinder III 304, and the bag opening strip 301 is driven to open at the head of the cement bag 50 by the hydraulic cylinder III 304; the bag cutting mechanism 40 is centrally arranged below the bag inserting mechanism 20 and comprises a hydraulic cylinder IV 402, a motor 406 and a bag cutting knife 408, and the hydraulic cylinder IV 402 and the motor 406 drive the bag cutting knife 408 to cut off the middle part of the cement bag 50.

In this embodiment, the bag inserting mechanism 20 further includes a mounting frame 201 and a mounting plate 205, the middle of the mounting frame 201 is horizontally connected with a mounting bar 202 of a 'shape' and connects the assembly taper pipe 10 to the middle of the mounting bar 202 in a centered manner, the first hydraulic cylinder 203 is provided with a pair of mounting plates 205 symmetrically connected to two sides in a front-back manner, the first hydraulic cylinder 203 is vertically disposed downward and is connected with a lifting bar 204 at the tail end of a piston rod thereof, the lifting bar 204 is disposed left and right facing to the mounting plates and is provided with lifting grooves 204a at two ends thereof, the mounting plate 205 is provided with a pair of symmetrically disposed inside the mounting frame 201, the outer edge of the mounting plate 205 is connected to the mounting frame 201 in a rotating manner through a mounting shaft 206, the inner edge of the mounting plate 205 is connected to the adjacent lifting groove 204a position through a mounting shaft 207 in a sliding manner, the second hydraulic cylinder 208 is provided with a pair of symmetrically connected to the mounting plate 205 on two sides, the second hydraulic cylinder 208 is vertically disposed downward and is connected to a hinge seat 209 at the tail end thereof, the first hinge seat 209 is hinged to the hinge seat 209, the first hinge seat is hinged to the second hinge seat is connected to the second hinge seat 212 at the opposite side of the piston rod 205, and is hinged to the second hinge seat 212 is connected to the second hinge seat 212 at the opposite side of the first hinge seat, and is hinged to the second hinge seat 212 is hinged to the second hinge seat at the opposite side of the second hinge seat. The piston rods of the front hydraulic cylinder I203 and the rear hydraulic cylinder II 208 extend to drive the left and right pairs of bag inserting claws 215 to turn down and outwards by 90 degrees, and the bag inserting claws 215 are inserted into two ends of the cement bag 50. After the cement in the cement bag 50 is poured, the piston rods of the front hydraulic cylinder one 203 and the rear hydraulic cylinder two 208 and the left hydraulic cylinder two 208 are contracted to drive the left and right pairs of bag inserting claws 215 to turn upwards and inwards for 110-120 degrees until the cement bag returns to the initial posture, and the broken cement bag 50 slides down from the bag inserting claws 215 under the action of self gravity.

In this embodiment, the bag supporting strips 301 are provided with a pair of symmetrical sides of the bag inserting claws 215, each bag supporting strip 301 is connected to the bag inserting claws 215 through a pair of third hinge strips 302, a torsion spring 303 is installed at the connection position of the bag supporting strip 301 and the third hinge strips 302, the third hydraulic cylinder 305 is vertically arranged upwards and connected to the side face of the turnover plate 214 through a fixing plate 304, the tail end of the piston cylinder of the third hydraulic cylinder 305 is connected with a mounting block 306, two traction ropes 307 are connected to the mounting block 306, and the two traction ropes 307 pass through inflection points of the bag inserting claws 215 and are correspondingly connected to the end parts of the two bag supporting strips 301. The pulling rope 307 is stretched and tensioned through the piston rod of the hydraulic cylinder III 304, and the bag supporting strips 301 at the two sides are tightly attached to the side surfaces of the bag inserting claws 215, so that the bag inserting claws 215 are conveniently inserted into the cement bag 50; after pouring the cement in the cement bag 50, the pulling rope 307 is stretched and pulled by the piston rod of the hydraulic cylinder III 304, and the bag supporting strips 301 at the two sides are tightly attached to the side surfaces of the bag inserting claws 215, so that the cement bag 50 can be easily slipped off the bag inserting claws 215.

In this embodiment, the bag cutting mechanism 40 further includes a fixing strip 401 and a connecting strip 405, the fixing strip 401 is horizontally connected between the front lifting strip 204 and the rear lifting strip 204, the fourth hydraulic cylinder 402 is provided with a pair of lifting blocks 403 correspondingly connected to two ends of the fixing strip 401, the fourth hydraulic cylinder 402 is vertically disposed downward and connected to the left and right sides of the two lifting blocks 403 at the tail end of the piston rod, the connecting strip 405 is provided with a pair of lifting blocks and connected to the left and right sides of the two lifting blocks 403, the motor 406 is provided with a pair of lifting blocks and correspondingly installed between the two connecting strips 405, and the output ends of the two motors 406 are jointly connected with a friction wheel 407, the friction wheel 407 is in friction contact with the friction strip 404, and the bag cutting knife 408 is of an inverted "T" structure and is centrally connected to the lower part of the friction strip 404. The piston rod of the front and rear hydraulic cylinders IV 402 stretches to drive the bag cutter 408 to move downwards and contact the cement bag 50, meanwhile, the motor 406 rapidly rotates forwards and reversely to drive the bag cutter 408 to reciprocate forwards and backwards, the middle of the cement bag 50 is cut off by the bag cutter 408 with the two movement modes overlapped, after the cement bag 50 is cut off, the motor 406 is suspended, and the piston rod of the front and rear hydraulic cylinders IV 402 contracts to drive the bag cutter 408 to move upwards until the cement bag 50 returns to the initial height.

In this embodiment, the flipping plate 214 is symmetrically welded with two rows of reinforcing sheets 213 on both sides of the hinge strip 210. The strength of the connection between the roll-over plate 214 and the hinge strip one 210 can be enhanced by the reinforcement piece 213.

In this embodiment, a pair of first spray pipes 216 are symmetrically disposed below the lifting bars 204, and the first spray pipes 216 are connected to the lower sides of the front and rear lifting bars 204, and the lower sides of the first spray pipes 216 are uniformly distributed with first spray holes 216a, and the front and rear ends of the first spray pipes 216 are connected to first mist inlet pipes 217. The downward spraying of the moist mist through the first left and right spray pipes 216 can suppress the diffusion of the cement in the left and right directions when pouring the cement in the cement bag 50.

In this embodiment, a pair of vibration motors 308 are symmetrically installed on both front and rear sides of the pocket jaw 215. The vibration motor 308 can help to clean out the cement on the bag-holding claws 215, and when the vibration is transmitted to the cement bag 50, can help to clean out the residual cement in the cement bag 50.

In this embodiment, a pair of spray pipes 410 are symmetrically disposed on the front and rear sides of the friction strip 404, and the spray pipes 410 are connected to the ends of the friction strip 404 through a pair of connecting pieces 409, and spray holes 410a are uniformly distributed on the lower side of the spray pipes 410, and two mist inlet pipes 411 are connected to the left and right ends of the spray pipes 410. The spraying of the wet mist downward through the two front and rear spray pipes 409 can suppress the diffusion of the cement in the front and rear directions when pouring the cement in the cement bag 50.

In this embodiment, the friction bar 404 is uniformly connected with a plurality of elastic bars 412 between the front and rear lifting blocks 403, and two ends of the elastic bars 412 respectively overhang below the two second hydraulic cylinders 208. Striking the piston rod of cylinder two 208 with the spring rod 412 helps to clean out residual cement from the cement pocket 50 as vibrations are transmitted to the cement pocket 50.

The working principle of the manipulator for automatically opening and feeding the bags comprises the following steps:

step 1: transferring the gripper body to the position right above the cement bag 50 through the mechanical arm body;

step 2: the pulling rope 307 is stretched and tensioned through the piston rod of the hydraulic cylinder III 304, and the bag supporting strips 301 at the two sides are tightly attached to the side surfaces of the bag inserting claws 215, so that the bag inserting claws 215 are conveniently inserted into the cement bag 50;

step 3: the piston rods of the left and right hydraulic cylinders II 208 extend and drive the left and right pairs of bag inserting claws 215 to turn downwards and outwards by 90 degrees, and the bag inserting claws 215 are inserted into two ends of the cement bag 50;

step 4: the pulling rope 307 is contracted and released through the piston rod of the hydraulic cylinder III 304, and the bag supporting strips 301 at the two sides are supported on the side surfaces of the bag inserting claw 215 so as to fix the cement bag 50 on the bag inserting claw 215;

step 5: the piston rod of the front and rear hydraulic cylinders IV 402 stretches to drive the bag cutter 408 to move downwards and contact the cement bag 50, meanwhile, the motor 406 rapidly rotates forwards and reversely to drive the bag cutter 408 to reciprocate forwards and backwards, the middle of the cement bag 50 is cut off by the bag cutter 408 overlapped with the two movement modes, after the cement bag 50 is cut off, the motor 406 is suspended, and the piston rod of the front and rear hydraulic cylinders IV 402 contracts to drive the bag cutter 408 to move upwards until the cement bag 50 returns to the initial height;

step 6: during the cement is scattered from the cutting opening, the piston rods of the front hydraulic cylinder 203 and the rear hydraulic cylinder 203 extend and drive the front lifting bar 204 and the rear lifting bar 204 to move downwards, so that the left bag opening mechanism 30, the right bag opening mechanism 30 and the broken cement bag 50 are driven to be adjusted to an inclined state, and meanwhile, the vibration motor 308 is used for helping to shake off the cement attached to the inner wall of the cement bag so as to facilitate the cement to be poured out of the cement bag 50;

step 7: the steel wire rope 303 is stretched and tensioned through the piston rod of the hydraulic cylinder III 304, and the bag supporting strip 301 is tightly attached to the side surface of the bag inserting claw 215, so that the bag inserting claw 215 can be pulled out of the cement bag 50;

step 8: after the cement in the cement bag 50 is poured, the piston rods of the hydraulic cylinders III 304 stretch and tighten the traction ropes 307, the bag supporting strips 301 at the two sides are clung to the side surfaces of the bag inserting claws 215, so that the cement bag 50 can conveniently slip off the bag inserting claws 215, the piston rods of the front hydraulic cylinder I203 and the rear hydraulic cylinder I203 shrink and drive the front lifting strips 204 and the rear lifting strips 204 to move upwards, the left bag supporting mechanism 30 and the right bag supporting mechanism 30 are driven to be adjusted to be in a vertical state, the motor 406 is driven to rapidly forward and backward reciprocate, and when the piston rods of the hydraulic cylinders II 208 are knocked through the elastic rods 412, residual cement in the cement bag 50 can be cleaned when vibration is transmitted to the cement bag 50.

Step 9: the left and right two pairs of bag claws 215 are driven to turn upwards and inwards by the piston rods of the left and right two hydraulic cylinders 208 to 90 degrees, and the broken cement bag 50 slides down from the bag claws 215 under the action of self gravity and the vibration of the vibration motor 308.

Accordingly, the above disclosed embodiments are illustrative in all respects, and not exclusive. All changes that come within the scope of the invention or equivalents thereto are intended to be embraced therein.

Claims

1. The utility model provides an automatic tear bag open manipulator of material usefulness of throwing into which characterized in that: the manipulator comprises a manipulator body and a gripping apparatus body, wherein the gripping apparatus body comprises an assembly taper pipe (10), a pocket inserting mechanism (20), a pocket supporting mechanism (30) and a pocket cutting mechanism (40), and the manipulator comprises the following components: the assembly taper pipe (10) is coaxially connected to the execution tail end of the manipulator body; the inserting bag mechanism (20) is arranged below the assembly taper pipe (10) in the middle and comprises a first hydraulic cylinder (203), a second hydraulic cylinder (208) and inserting bag claws (215), the inserting bag claws (215) are driven by the first hydraulic cylinder (203) to be inserted into two ends of the cement bag (50), and the posture of the cement bag (50) is adjusted by the second hydraulic cylinder (208); the bag supporting mechanism (30) is arranged on each inserting bag claw (215) and comprises a bag supporting strip (301) and a hydraulic cylinder III (304), and the hydraulic cylinder III (304) drives the bag supporting strip (301) to be supported on the head of the cement bag (50); the bag cutting mechanism (40) is arranged below the bag inserting mechanism (20) in the middle and comprises a hydraulic cylinder IV (402), a motor (406) and a bag cutting knife (408), and the hydraulic cylinder IV (402) and the motor (406) drive the bag cutting knife (408) to cut off the middle of the cement bag (50).

2. The manipulator for automatically opening and feeding a bag according to claim 1, wherein: the inserting bag mechanism (20) further comprises a mounting frame (201) and a mounting plate (205), wherein the middle of the mounting frame (201) is horizontally connected with a pair of mounting bars (202) of a 'type', the assembling taper pipe (10) is connected with the middle of the mounting bars (202) in a centered manner, a first hydraulic cylinder (203) is provided with a pair of lifting bars (204) which are symmetrically arranged on the mounting bars (202) front and back, the first hydraulic cylinder (203) is vertically downwards arranged, the tail ends of piston rods of the first hydraulic cylinder are connected with lifting bars (204), the left and right sides of the lifting bars (204) are arranged towards the left and right sides and are respectively provided with lifting grooves (204 a) at the two ends of the lifting bars, the mounting plate (205) is provided with a pair of lifting bars which are symmetrically arranged in the mounting frame (201), the outer edge of the mounting plate (205) is rotationally connected with the mounting frame (201) through a first mounting shaft (206), the inner edge of the mounting plate (205) is connected with the adjacent lifting grooves (204 a) in a sliding manner through a second mounting shaft (207), the second hydraulic cylinder (208) is provided with a pair of lifting bars (205) which are symmetrically connected with the mounting plates (205) at the two sides, the second hydraulic cylinder (208) is vertically arranged at the two sides, the second hydraulic cylinder (205) is connected with a hinge seat (209) at the tail ends of the first cylinder (209), and hinge seat two (211) is hinged with 'I' -type hinge strip two (212), the other end of hinge strip two (212) is hinged with the other end of hinge strip one (210), the side surfaces of two hinge strips one (210) positioned on the same side are connected with a turnover plate (214) together, and a pair of L-shaped inserting bag claws (215) are symmetrically connected on the front and back of the inner side of the turnover plate (214).

3. The manipulator for automatically opening and feeding a bag according to claim 2, wherein: the bag supporting strips (301) are arranged on the sides of the inserting bag claws (215) in a symmetrical mode, each bag supporting strip (301) is connected to the inserting bag claw (215) through a pair of hinge strips III (302), torsion springs (303) are arranged at the connecting positions of the bag supporting strips (301) and the hinge strips III (302), the hydraulic cylinders III (305) are vertically arranged upwards and connected to the side faces of the overturning plates (214) through fixing plates (304), the tail ends of the piston cylinders of the hydraulic cylinders III (305) are connected with mounting blocks (306), two traction ropes (307) are connected to the mounting blocks (306), and the two traction ropes (307) penetrate through inflection points of the inserting bag claws (215) and are correspondingly connected to the end portions of the two bag supporting strips (301).

4. The manipulator for automatically opening and feeding a bag according to claim 2, wherein: the utility model discloses a bag cutting mechanism, including fixed strip (401), connecting strip (405), fixed strip (401) horizontal connection is in the centre of two elevating strips (204) around, pneumatic cylinder four (402) are equipped with a pair of and correspond to be connected in the both ends of fixed strip (401), pneumatic cylinder four (402) are vertical to be set up downwards and are connected with elevating block (403) at its piston rod end-to-end connection, connecting strip (405) are equipped with a pair of and connect in the left and right sides of two elevating block (403), motor (406) are equipped with a pair of and correspond to install in the centre of two connecting strips (405) to be connected with friction pulley (407) jointly at the output of two motors (406), friction pulley (407) and friction strip (404) between frictional contact, bag cutting knife (408) are the below of falling "T" type structure and being connected in the middle of friction strip (404).

5. The manipulator for automatically opening and feeding a bag according to claim 2, wherein: two rows of reinforcing sheets (213) are symmetrically welded on two sides of the hinge strip I (210) of the turnover plate (214).

6. The manipulator for automatically opening and feeding a bag according to claim 2, wherein: a pair of first spraying pipes (216) are symmetrically arranged below the lifting strips (204) left and right, the first spraying pipes (216) are connected to the lower sides of the front lifting strip and the rear lifting strip (204), spraying holes (216 a) are uniformly distributed on the lower side of the first spraying pipes (216), and mist inlet pipes (217) are connected to the front end and the rear end of the first spraying pipes (216).

7. A manipulator for automatically removing and feeding bags according to claim 3, wherein: a pair of vibrating motors (308) are symmetrically arranged on the front side and the rear side of the bag inserting claw (215).

8. The manipulator for automatically opening and feeding a bag according to claim 4, wherein: the friction strip (404) is provided with a pair of spray pipes (410) symmetrically on the front side and the rear side, the spray pipes (410) are connected to the end parts of the friction strip (404) through a pair of connecting pieces (409), spray holes (410 a) are uniformly distributed on the lower side of the spray pipes (410), and two mist inlet pipes (411) are connected to the left end and the right end of the spray pipes (410).

9. The manipulator for automatically opening and feeding a bag according to claim 1, wherein: by a means of

A plurality of elastic rods (412) are uniformly connected between the front lifting block (403) and the rear lifting block (403) of the friction strip (404),

the two ends of the elastic rod (412) are respectively hung below the two hydraulic cylinders II (208).