CN117963294A - Self-adaptive unpacking machine equipment and unpacking method - Google Patents
Self-adaptive unpacking machine equipment and unpacking method Download PDFInfo
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- CN117963294A CN117963294A CN202410376515.5A CN202410376515A CN117963294A CN 117963294 A CN117963294 A CN 117963294A CN 202410376515 A CN202410376515 A CN 202410376515A CN 117963294 A CN117963294 A CN 117963294A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000005484 gravity Effects 0.000 claims abstract description 55
- 230000009467 reduction Effects 0.000 claims abstract description 17
- 210000000078 claw Anatomy 0.000 claims abstract description 15
- 230000001276 controlling effect Effects 0.000 claims description 21
- 230000003044 adaptive effect Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 14
- 230000002596 correlated effect Effects 0.000 claims description 12
- 230000000875 corresponding effect Effects 0.000 claims description 11
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 13
- 239000000463 material Substances 0.000 description 15
- 238000009825 accumulation Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 6
- 238000007599 discharging Methods 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0008—Opening and emptying bags
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0075—Emptying systems for flexible intermediate bulk containers [FIBC]
- B65B69/0083—Emptying systems for flexible intermediate bulk containers [FIBC] using frames whereby the container is only suspended
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
The invention relates to the technical field of bale breakers, in particular to self-adaptive bale breaker equipment and a bale breaking method, wherein the method comprises the following steps: hanging the bag body, rotationally cutting the bag body from the lower part of the bag body, determining the reduction speed of hanging quality, detecting the falling and hanging characteristics of the bag body if the reduction speed is smaller than the preset speed and the hanging quality is larger than the preset quality, determining the optimal cutting depth if the falling and hanging characteristics exist, cutting the falling and hanging characteristic position of the bag body with the optimal cutting depth, and stopping controlling the position of the hooks to enable the bag body to rebound in the direction far away from the hook claw if the hanging quality is smaller than the preset quality and the gravity detected by each hook is smaller than the preset gravity; determining a rebound distance according to the gravity detected by the characteristic hooks, and stopping the movement of each hook when the rebound distance is reached; the characteristic positions of the falling hooks are determined and cut in a targeted mode, and the bag body can be unhooked in a self-adaptive mode through self inertia, so that the unpacking efficiency is guaranteed, and meanwhile, the unpacking effect is effectively improved.
Description
Technical Field
The invention relates to the technical field of bale breakers, in particular to self-adaptive bale breaker equipment and a bale breaking method.
Background
Many products in life are bagged, such as fertilizer, cement and the like, so the packaging bag of the product must be opened and disassembled when the product is used. Because the manual opening and disassembling efficiency is low, and the dust raised during opening and disassembling is harmful to human bodies, the bale breaker for replacing the manual opening and disassembling is arranged for solving the problem.
Chinese patent grant bulletin number: CN112623409B discloses a bale breaker, comprising a cabinet body; the cabinet body is internally provided with a clamping component and an unpacking component; the clamping assembly comprises a movable frame which is slidably arranged at the top of the cabinet body and a bag clamping device which is arranged on the movable frame in a lifting manner; the unpacking component comprises a cutter which is slidably arranged at the bottom of the cabinet body; the sliding direction of the cutter is the same as that of the movable frame. The bottom of the bag body can be cut through the unpacking component. The bag body can be clamped and lifted by matching with the liftable bag holder, so that materials in the bag body are discharged through the unpacking opening, and the unpacking function is realized.
However, the above-mentioned unpacking machine has excessive active control actions for unpacking actions, and the unpacking actions cannot be effectively controlled in combination with the state of the bag body, so that the unpacking efficiency cannot be ensured, and meanwhile, the unpacking effect cannot be effectively ensured.
Disclosure of Invention
Therefore, the invention provides a self-adaptive unpacking machine and an unpacking method, which are used for solving the problems that the unpacking machine is excessively actively controlled in the unpacking action and can not be effectively controlled in combination with the state of a bag body in the prior art, so that the unpacking efficiency can not be ensured and the unpacking effect can not be effectively ensured.
To achieve the above object, in one aspect, the present invention provides an adaptive bale breaker apparatus, comprising:
A housing to provide an unpacking space;
The upper part of the supporting rod is connected with springs, the other ends of the springs are fixed, a plurality of hooks for hanging the bag body are uniformly distributed on the lower part of the supporting rod, and the hooks are connected with the supporting rod through a tension sensor;
the guide rail is arranged on the inner surface of the shell in a mirror image mode, is connected with two ends of the supporting rod and is used for moving the supporting rod in the vertical direction;
at least three unpacking shafts, wherein each unpacking shaft is arranged below the hooks side by side, each unpacking shaft is provided with a claw, and the claws on two adjacent unpacking shafts are distributed in a staggered manner;
And the upper computer is respectively connected with the guide rail and the tension sensor and is used for controlling the guide rail to move the support rod according to the gravity detected by the tension sensor.
Further, when the reduction speed of the hanging quality is smaller than the preset speed and the hanging quality is larger than the preset quality, the upper computer detects the falling and hanging characteristics of the unpacking process through the gravity detected by the tension sensor, and when the falling and hanging characteristics exist, the guide rail is controlled to drive the support rod to move downwards so as to cut the falling and hanging characteristic positions;
The falling and hanging device is characterized in that the gravity detected by any hook is larger than the preset gravity.
Further, the number of the springs is three.
In another aspect, the present invention provides an unpacking method of an adaptive unpacking machine, including:
step S1, hanging the bag body on a plurality of hooks which are uniformly distributed, controlling the hooks to rotationally cut the bag body from the lower part of the bag body, and determining the reduction speed of hanging quality;
step S2, if the reduction speed is smaller than a preset speed and the hanging quality is larger than the preset quality, detecting the falling and hanging characteristics of the bag body;
Step S3, if the falling and hanging features exist, determining the optimal cutting depth according to the gravity detected by the feature hooks and the reduction speed, and controlling the hooks to move to enable the falling and hanging feature positions to move towards the directions close to the hooks until the hooks cut the falling and hanging feature positions of the bag body at the optimal cutting depth;
s4, if the hanging mass is smaller than the preset mass and the gravity detected by each hook is smaller than the preset gravity, stopping controlling the positions of the hooks so as to enable the bag body to rebound in the direction away from the hook claw;
S5, determining rebound distances according to gravity detected by the characteristic hooks, and stopping movement of each hook when the rebound distances are reached;
The gravity that the bag body was applyed in the couple can detect and the top of each couple has linked firmly the spring, weigh down and hang the characteristic and be greater than the gravity that arbitrary couple detected predetermineeing gravity, the characteristic couple satisfies that the bag body is applyed in the biggest of this couple.
Further, determining a hysteresis characteristic value of the bag body according to the gravity ratio of the gravity detected by the characteristic hook to the gravity corresponding to the hanging quality and the reduction speed of the hanging quality;
wherein the hysteresis characteristic is positively correlated with the gravity ratio and negatively correlated with the decreasing speed.
Further, determining the optimal cutting depth of the bag body according to the hysteresis characteristic value, and driving the bag body to move downwards to a height corresponding to the optimal cutting depth by controlling the movement of a supporting rod fixedly connected with the hook on the guide rail;
wherein, the optimal cutting depth is positively correlated with the hysteresis characteristic value, and the elasticity of the spring above each hook is increased in the process of downward movement of the bag body.
Further, after the position of the drop feature is moved to the height corresponding to the optimal cutting depth, the guide rail is controlled to fix the support rod to maintain the current position until the drop feature disappears.
Further, the guide rail is controlled to stop controlling the position of the supporting rod, and the supporting rod moves along with the rebound of the spring in the direction away from the claw.
Further, the rebound distance is positively correlated with the gravity detected by the characteristic hook in the rebound process of the bag body, and the rebound distance is smaller than the length of the guide rail.
Further, after the bag body moves to the rebound distance, the support rod is controlled to stop through the guide rail, the bag body is separated from each hook through inertia of the bag body, and the bag body is recovered from the upper part of the support rod after the bag body is separated from each hook.
Compared with the prior art, the bag body self-adaptive unhooking device has the beneficial effects that whether the partial accumulation of materials in the bag body exists or not is determined through the detection of the falling and hanging features, and the targeted cutting of the partial accumulation position is realized through the movement of the falling and hanging feature position to the corresponding direction when the falling and hanging features exist.
Furthermore, the invention effectively detects the falling and hanging characteristics, when the bag body unpacks, the hanging quality is gradually reduced, and under normal conditions, the higher the hanging quality is, the more the material in the bag body falls in unit time, if the hanging quality is higher and the speed of reducing the hanging quality in unit time is too slow, whether the bag body has accumulation at a local position can be determined by detecting the gravity distribution of each hook, the effective monitoring of the unpacking process is realized, the effective support is provided for the follow-up action, and the unpacking effect is further improved while the unpacking efficiency is ensured.
Further, when the bag body has the falling and hanging characteristics, the falling and hanging characteristic positions are cut by controlling the downward movement of the falling and hanging characteristic positions, the optimal cutting depth is determined according to the gravity detected by the characteristic hooks and the reducing speed, the sizes of the cuts formed by different cutting depths are different, and the full separation of materials in the bag body can be ensured while the damage degree of the bag body is reduced by determining the optimal cutting depth, so that the unpacking efficiency is ensured, and meanwhile, the unpacking effect is further improved.
Further, the invention realizes the further separation of materials and the recovery of the bag body through the spring rebound bag body, the bag body has a certain speed in the rebound process of the bag body, the support rod is stopped after the rebound distance is reached, the bag body is unhooked by inertia, and the residual small parts of materials in the bag body are separated from the bag body through the resistance applied by the hook in the unhooking process of the bag body, so that the bag body is prevented from being excessively cut to form chippings, the bag body after the materials are conveniently recovered, and the unpacking efficiency is ensured and the unpacking effect is further improved.
Further, the invention realizes the matching of the speed of the bag body and the self quality when the supporting rod stops by determining the rebound distance, thereby avoiding the bad unhooking effect of the bag body when the bag body is overweight or the complete separation of the bag body and the unpacking machine, and further improving the unpacking effect while ensuring the unpacking efficiency.
Furthermore, the self-adaptive unpacking machine equipment provided by the invention realizes self-adaptive control on unpacking and unhooking of the bag body by arranging the support rods, the guide rails and the upper computer, and further improves the unpacking effect while ensuring the unpacking efficiency.
Drawings
FIG. 1 is a flow chart of an unpacking method of an adaptive unpacking machine according to an embodiment of the invention;
Fig. 2 is a schematic structural diagram of an adaptive bale breaker apparatus according to an embodiment of the present invention;
FIG. 3 is a flow chart of a drop feature detection in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a hook connection according to an embodiment of the present invention;
In the figure: a tension sensor 1; a support bar 2; unpacking bin 3; discharging bin 4; a spring 5; a guide rail 6; an unpacking shaft 7; a claw 8; a hook 9; a housing 10; an upper connection point 11; a lower connection point 12.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, but do not indicate or imply that the apparatus or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Fig. 2 is a schematic structural diagram of an adaptive bale breaker apparatus according to an embodiment of the present invention, where the adaptive bale breaker apparatus includes:
A housing 10 for providing an unpacking space;
the upper part of the supporting rod 2 is connected with springs 5, the other ends of the springs are fixed, a plurality of hooks 9 for hanging the bag body are uniformly distributed on the lower part of the supporting rod 2, and the hooks are connected with the supporting rod through a tension sensor 1;
Referring to fig. 4, a schematic diagram of a hook connection according to an embodiment of the present invention is shown, in which in an implementation, an upper connection point 11 of the tension sensor 1 is fixedly connected to the support rod 2, and a lower connection point 12 is fixedly connected to the hook 9.
The guide rails 6 are arranged on the inner surface of the shell 10 in a mirror image mode, are connected with two ends of the support rods 2 and are used for moving the support rods 2 in the vertical direction;
At least three unpacking shafts 7, wherein each unpacking shaft is arranged below the hooks side by side, each unpacking shaft is provided with a hook claw 8, and the hook claws on two adjacent unpacking shafts are distributed in a staggered manner;
And the upper computer is respectively connected with the guide rail 6 and the tension sensor 1 and is used for controlling the guide rail 6 to move the support rod 2 according to the gravity detected by the tension sensor 1.
Each unpacking shaft is arranged in the unpacking bin 3, the lower part of the unpacking bin is connected with the discharging bin 4, and the discharging bin is used for screening materials, crushing bags and discharging.
For the sake of brief description, the bin and the upper computer are not shown in this embodiment, and the specific structures of the upper computer and the discharging bin are not limited in this invention, which is the prior art and will not be described herein again.
When the reduction speed of the hanging quality is smaller than the preset speed and the hanging quality is larger than the preset quality, the upper computer detects the falling and hanging characteristics of the unpacking process through the gravity detected by the tension sensor, and when the falling and hanging characteristics exist, the guide rail is controlled to drive the support rod to move downwards so as to cut the falling and hanging characteristic position;
The falling and hanging device is characterized in that the gravity detected by any hook is larger than the preset gravity.
It can be understood that the guide rail is any structure capable of driving the support rod to move and stop, the power device for realizing active control of the guide rail needs to be connected with active adjustment, the upper computer realizes the control of the up-and-down movement of the guide rail through the parameter control of the power device, and the guide rail for active control is in the prior art and is not described herein.
Specifically, the number of springs is three.
In the embodiment, the self-adaptive unpacking machine equipment realizes self-adaptive control on unpacking and unhooking of the bag body by arranging the support rods, the guide rails and the upper computer, and further improves unpacking effect while guaranteeing unpacking efficiency.
Referring to fig. 1 and 3 in conjunction with fig. 2, fig. 1 is a flowchart of an unpacking method of an adaptive unpacking machine according to an embodiment of the present invention, and fig. 3 is a flowchart of a detecting method of a hanging feature according to an embodiment of the present invention, where the unpacking method of the adaptive unpacking machine includes:
step S1, hanging the bag body on a plurality of hooks which are uniformly distributed, controlling the hooks to rotationally cut the bag body from the lower part of the bag body, and determining the reduction speed of hanging quality;
Step S2, if the reduction speed is smaller than the preset speed and the hanging quality is larger than the preset quality, detecting the falling and hanging characteristics of the bag body;
step S3, if the falling and hanging features exist, determining the optimal cutting depth according to the gravity and the reducing speed detected by the feature hooks, and controlling the hooks to move to the direction close to the hook claw until the hook claw cuts the falling and hanging feature position of the bag body with the optimal cutting depth;
in practice, step S4 is performed directly when the drop feature is not present.
S4, if the hanging quality is smaller than the preset quality and the gravity detected by each hook is smaller than the preset gravity, stopping controlling the positions of the hooks so as to enable the bag body to rebound in the direction away from the hook claw;
S5, determining rebound distances according to gravity detected by the characteristic hooks, and stopping movement of each hook when the rebound distances are reached;
the gravity that the bag body was applyed in the couple can detect and the top of each couple has linked firmly the spring, weighs down and hangs the gravity that the characteristics that any couple detected and is greater than the default gravity, and the characteristics couple satisfies that the bag body is applyed in the biggest of this couple.
It is understood that the suspended mass is the total mass of the bag body and the material in the bag body connected with each hook, and the reduction speed of the suspended mass is the reduction amount of the suspended mass in unit time.
In practice, the preferred value for the preset mass is 30% of the mass a of the bag body before unpacking, and the preferred value for the preset speed is 0.1a per second. The preset quality and the preset speed can be set to other values or to a plurality of changeable determined values according to actual working conditions and scenes, and only the determination requirements can be met, and the details are not repeated here.
In the embodiment, whether the partial accumulation of the material in the bag body exists or not is determined through the detection of the falling and hanging features, and the targeted cutting of the partial accumulation position is realized through the movement of the falling and hanging feature position to the corresponding direction when the falling and hanging features exist. And carry out effective detection to weighing down the string characteristic, when the bag body unpacks, hang the quality and reduce gradually, and hang the quality under the normal condition higher, the more the volume that falls in the unit time of the internal material of bag should be, if hang the speed that the quality reduces in the unit time too slowly when hanging the quality higher, can confirm through the gravity distribution that detects each couple that the bag body exists the accumulation of local position, the effective monitoring of unpacking process has been realized, effective support has been provided for follow-up action, unpacking efficiency has been further improved in the time of guaranteeing.
Specifically, determining a hysteresis characteristic value of the bag body according to a gravity ratio of gravity G1 detected by the characteristic hook to gravity G0 corresponding to the hanging mass and a reduction speed v of the hanging mass;
Wherein the hysteresis characteristic is positively correlated with the gravity ratio and negatively correlated with the decreasing speed.
Optionally, hysteresis feature valueWherein v0 is a preset speed.
Specifically, determining the optimal cutting depth of the bag body according to the hysteresis characteristic value, and driving the bag body to move downwards to a height corresponding to the optimal cutting depth by controlling the movement of a supporting rod fixedly connected with the hook on the guide rail;
Wherein, the optimal cutting depth is positively correlated with the hysteresis characteristic value, and the elasticity of the spring above each hook is increased in the downward moving process of the bag body.
Optionally, an optimal cutting depthWherein d0 is the maximum cutting depth that can be achieved when cutting the bag body at the size and rotational speed of the fingers.
It will be appreciated that the cut-off depth is the distance from the pocket surface at which the fingers cut the deepest.
In the above embodiment, when the bag body has the falling and hanging feature, the falling and hanging feature position is cut through controlling the downward movement of the falling and hanging feature position, and the optimal cutting depth is determined according to the gravity detected by the feature hook and the reducing speed, the cuts formed by different cutting depths are different in size, and the full separation of the materials in the bag body can be ensured while the damage degree of the bag body is reduced through the determination of the optimal cutting depth, so that the unpacking efficiency is ensured, and meanwhile, the unpacking effect is further improved.
Specifically, after the position of the pendant feature is moved to the height corresponding to the optimal cutting depth, the guide rail fixing support rod is controlled to maintain the current position until the pendant feature disappears.
Specifically, the control rail stops controlling the position of the support bar, which moves away from the fingers with the spring rebound.
Specifically, the rebound distance s is positively correlated with the gravity Gs detected by the characteristic hook in the rebound process of the bag body, and the rebound distance is smaller than the length D of the guide rail.
Optionally, the rebound distanceWherein m0 is a preset mass.
Specifically, after the bag body moves to the rebound distance, the support rod is controlled to stop through the guide rail, the bag body is separated from each hook through the inertia of the bag body, and the bag body is recovered from the upper part of the support rod after the bag body is separated from each hook.
In the above embodiment, the further separation of the material and the recovery of the bag body are realized through the spring rebound bag body, in the rebound process of the bag body, the bag body has a certain speed, after reaching the rebound distance, the support rod is stopped, the bag body is unhooked by inertia, and in the unhooking process of the bag body, the resistance applied to the bag body by the hook makes the residual small part of the material in the bag body and the bag body separate, so that on one hand, the bag body is prevented from being excessively cut to form chippings, on the other hand, the bag body after the material is conveniently recovered, and the matching of the speed of the bag body and the quality of the bag body is realized when the support rod stops, the overweight unhooking effect of the bag body is avoided, or the bag body is excessively light and the unpacking machine is completely separated, and the unpacking effect is further improved while the unpacking efficiency is ensured.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An unpacking method of an adaptive unpacking machine, comprising:
step S1, hanging the bag body on a plurality of hooks which are uniformly distributed, controlling the hooks to rotationally cut the bag body from the lower part of the bag body, and determining the reduction speed of hanging quality;
step S2, if the reduction speed is smaller than a preset speed and the hanging quality is larger than the preset quality, detecting the falling and hanging characteristics of the bag body;
Step S3, if the falling and hanging features exist, determining the optimal cutting depth according to the gravity detected by the feature hooks and the reduction speed, and controlling the hooks to move to enable the falling and hanging feature positions to move towards the directions close to the hooks until the hooks cut the falling and hanging feature positions of the bag body at the optimal cutting depth;
s4, if the hanging mass is smaller than the preset mass and the gravity detected by each hook is smaller than the preset gravity, stopping controlling the positions of the hooks so as to enable the bag body to rebound in the direction away from the hook claw;
S5, determining rebound distances according to gravity detected by the characteristic hooks, and stopping movement of each hook when the rebound distances are reached;
The gravity that the bag body was applyed in the couple can detect and the top of each couple has linked firmly the spring, weigh down and hang the characteristic and be greater than the gravity that arbitrary couple detected predetermineeing gravity, the characteristic couple satisfies that the bag body is applyed in the biggest of this couple.
2. The unpacking method of the self-adaptive unpacking machine according to claim 1, wherein in the step S3, a hysteresis characteristic value of the bag body is determined according to a gravity ratio of the gravity detected by the characteristic hook to the gravity corresponding to the hanging mass and a reduction speed of the hanging mass;
wherein the hysteresis characteristic is positively correlated with the gravity ratio and negatively correlated with the decreasing speed.
3. The unpacking method of the self-adaptive unpacking machine according to claim 2, wherein in the step S3, an optimal cutting depth for the bag body is determined according to the hysteresis characteristic value, and the bag body is driven to move downwards to a height corresponding to the optimal cutting depth by controlling the movement of a supporting rod fixedly connected with the hook on the guide rail;
wherein, the optimal cutting depth is positively correlated with the hysteresis characteristic value, and the elasticity of the spring above each hook is increased in the process of downward movement of the bag body.
4. The unpacking method of the self-adaptive unpacking machine according to claim 3, wherein in the step S3, after the position of the drop feature is moved to a height corresponding to the optimal cutting depth, the guide rail is controlled to fix the support rod to maintain the current position until the drop feature disappears.
5. The unpacking method of an adaptive unpacking machine according to claim 4, wherein in the step S4, the guide rail is controlled to stop controlling the position of the support rod, and the support rod moves in a direction away from the claw along with the rebound of the spring.
6. The unpacking method of an adaptive unpacking machine according to claim 5, wherein in the step S5, the rebound distance is positively correlated with gravity detected by a characteristic hook during rebound of a bag body, and the rebound distance is smaller than the length of the guide rail.
7. The unpacking method of the self-adaptive unpacking machine according to claim 6, wherein in the step S5, after the bag moves to a rebound distance, the support rod is controlled to stop by the guide rail, the bag body is separated from each hook by own inertia, and the bag body is recovered from above the support rod after the bag body is separated from each hook.
8. An adaptive bale breaker apparatus for performing bale breaking using the bale breaking method of any of claims 1-7, comprising:
A housing to provide an unpacking space;
The upper part of the supporting rod is connected with springs, the other ends of the springs are fixed, a plurality of hooks for hanging the bag body are uniformly distributed on the lower part of the supporting rod, and the hooks are connected with the supporting rod through a tension sensor;
the guide rail is arranged on the inner surface of the shell in a mirror image mode, is connected with two ends of the supporting rod and is used for moving the supporting rod in the vertical direction;
at least three unpacking shafts, wherein each unpacking shaft is arranged below the hooks side by side, each unpacking shaft is provided with a claw, and the claws on two adjacent unpacking shafts are distributed in a staggered manner;
And the upper computer is respectively connected with the guide rail and the tension sensor and is used for controlling the guide rail to move the support rod according to the gravity detected by the tension sensor.
9. The adaptive bale breaker apparatus according to claim 8, wherein the upper computer detects a drop-hanging feature of the bale breaking process by gravity detected by the tension sensor when a decrease speed of the hanging mass is smaller than a preset speed and the hanging mass is larger than the preset mass, and when the drop-hanging feature exists, cuts a drop-hanging feature position by controlling the guide rail to drive the support rod to move downward;
The falling and hanging device is characterized in that the gravity detected by any hook is larger than the preset gravity.
10. The adaptive bale breaker apparatus of claim 8, wherein the number of springs is three.
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| CN202410376515.5A CN117963294B (en) | 2024-03-29 | 2024-03-29 | Self-adaptive unpacking machine equipment and unpacking method |
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| CN202410376515.5A CN117963294B (en) | 2024-03-29 | 2024-03-29 | Self-adaptive unpacking machine equipment and unpacking method |
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| CN117963294B CN117963294B (en) | 2024-06-14 |
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| CN213315426U (en) * | 2020-08-07 | 2021-06-01 | 江苏牧格机械有限公司 | High-efficient, triaxial bale breaker of being convenient for retrieve |
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2024
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