WO2022012104A1 - 自动卸车投料系统及卸车投料方法 - Google Patents

自动卸车投料系统及卸车投料方法 Download PDF

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Publication number
WO2022012104A1
WO2022012104A1 PCT/CN2021/088343 CN2021088343W WO2022012104A1 WO 2022012104 A1 WO2022012104 A1 WO 2022012104A1 CN 2021088343 W CN2021088343 W CN 2021088343W WO 2022012104 A1 WO2022012104 A1 WO 2022012104A1
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WO
WIPO (PCT)
Prior art keywords
bag
frame
lifting
fixed
shaped hook
Prior art date
Application number
PCT/CN2021/088343
Other languages
English (en)
French (fr)
Inventor
程洪波
冯玉军
高坤
Original Assignee
扬州中欧工业机器人有限公司
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Filing date
Publication date
Application filed by 扬州中欧工业机器人有限公司 filed Critical 扬州中欧工业机器人有限公司
Publication of WO2022012104A1 publication Critical patent/WO2022012104A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/24—Unloading land vehicles
    • 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
    • B65B69/0033—Unpacking of articles or materials, not otherwise provided for by cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/56—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections
    • B65G47/57—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections for articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
    • B65G65/32—Filling devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
    • B65G69/18—Preventing escape of dust
    • B65G69/181—Preventing escape of dust by means of sealed systems
    • B65G69/182—Preventing escape of dust by means of sealed systems with aspiration means

Definitions

  • the invention relates to an automatic feeding system, in particular to an automatic unloading and feeding system; the invention also relates to a method for unloading and feeding packaging bags, which can be applied to packaging bags in the fields of feed, grain and oil, food, chemical industry, medicine, plastics, etc. Feeding.
  • feed, grain, oil, food and other industries often use woven bags to package materials. After packaging, they are often transported by trucks.
  • the packaging bags are stacked in the carriage in multiple layers. When they arrive at the unloading point, if they are transported bag by bag, the workload is too large. In order to reduce the labor intensity of workers, forklifts or other automated equipment are used to assist unloading in many occasions.
  • multiple bags are stacked on the pallet.
  • four to six bags can be stacked on each layer of the pallet, and multiple layers can be stacked up and down. , so that several packaging bags can be transferred at a time, which greatly improves the work efficiency.
  • the empty pallet needs to be returned to the unloading station to be put into use again.
  • workers are stacked one by one on the shovel arm of the forklift truck. After stacking multiple pieces, they are transported back to the unloading station by the forklift truck. This method of operation is labor-intensive and low-automation.
  • the bag In traditional feeding, the bag is mainly opened manually, and then the material in the bag is dumped into the silo for storage.
  • the work efficiency is low, and a lot of raw material dust will be generated during the operation, which will affect the health of the operator.
  • the packaging bag after feeding needs to be discharged from the system in time to avoid mixing into the material.
  • the primary purpose of the present invention is to overcome the problems in the prior art and provide an automatic unloading and feeding system, which can automatically unload the packaging bags on the truck, and the pallets can be automatically recovered and recycled, with high unloading efficiency.
  • an automatic unloading and feeding system of the present invention includes a parking station and an unloading station set up side by side, and the unloading station is provided with an unloading platform extending along the Y direction.
  • the solid pallet conveyor and the empty pallet conveyor located on the lower layer, the rear part of the solid pallet conveyor is located at the bag grabbing station of the automatic feeding system, and the automatic feeding system includes a bag grabbing mechanism, a bag cutting and unloading device and a bag feeding device.
  • the rear end of the solid pallet conveyor is provided with a rear lift bracket, a rear lift cylinder is fixed on the rear lift bracket, and a rear lift platform is supported on the top of the piston rod of the rear lift cylinder, and the rear lift
  • the platform is provided with a rear platform two-way conveyor;
  • the front end of the solid pallet conveyor is provided with a front lifting bracket, a front lifting cylinder is fixed on the front lifting bracket, and a front lifting platform is supported on the top of the piston rod of the front lifting cylinder , the front lifting platform is provided with a front platform bidirectional conveyor.
  • the present invention achieves the following beneficial effects: after the empty pallet is placed on the upper solid pallet conveyor, it waits for packing bags to be loaded; At the end of the machine, the solid pallet stays, waiting for the bag grabbing mechanism of the automatic feeding system to grab the packaging bag, and then the solid pallet conveyor moves backwards, so that the empty pallet reaches the rear platform two-way conveyor, and the rear platform two-way conveyor runs backwards first , to make the empty pallet leave the solid pallet conveyor and completely reach the rear platform two-way conveyor, then the piston rod of the rear lift cylinder is retracted to make the rear lift platform descend, and the rear platform two-way conveyor will follow with the empty pallet to descend to the lower layer, and then after The platform two-way conveyor runs forward to make the empty pallets reach the empty pallet conveyor, the empty pallet conveyor carries the empty pallets and moves forward, the rear lifting platform rises and resets, and after the empty pallets enter the front platform two-way conveyor, the front platform two-way conveying The machine first runs forward to make the empty pallet
  • the automatic unloading system can automatically recycle empty pallets, realize the alternate cycle operation of real pallets and empty pallets, and has high unloading efficiency and low labor intensity.
  • the bag grabbing mechanism includes a moving frame, the left and right sides of the moving frame are respectively provided with X-direction walking rollers, the X-direction walking rollers are respectively supported on X-direction guide rails, and the X-direction guide rails are respectively X-direction chains are respectively provided on the moving frame;
  • a traveling deceleration motor is installed on the moving frame, the output end of the traveling deceleration motor is installed with a traveling drive shaft extending along the Y direction, and the two ends of the traveling drive shaft are respectively installed with X
  • the two X-direction travel sprockets are respectively engaged with the X-direction chain;
  • a scissor arm is connected below the moving frame, a lifting frame is connected to the bottom of the scissor arm, and a plurality of The lower end of the row of C-shaped hooks can be opened and closed, a limit plate is arranged below each C-shaped hook, and a plurality of limit plate hook holes for the C-
  • the lifting frame first descends with the limit plate and the C-shaped hook.
  • the C-shaped hook protrudes from the hook hole of the limit plate and is inserted into the top of the packaging bag, and then the lifting frame rises.
  • the scissor arm retracts to lift the top-layer packaging bag, and then the travel gear motor drives the X-direction travel sprocket to rotate through the travel drive shaft.
  • the X-direction travel sprocket travels along the corresponding X-direction chain, and the X-direction travel roller advances along the X-direction guide rail.
  • the mobile frame can be moved to the unloading station with the scissor arm, the lifting frame and the grabbed bag.
  • the present invention can automatically grab the packaging bag from the tray through the insertion of the C-shaped hook, the lifting of the elevating frame and the translation of the moving frame, and transfer to the unloading station for breaking the bag for unloading, with a high degree of automation.
  • the hook tips of the two adjacent rows of C-shaped hooks in the front and rear are facing and staggered from each other, the hook tips of the front C-shaped hooks are rearward, and the fixed ends of the front C-shaped hooks in the same row are fixed on the same front C-shaped hook.
  • the two ends of the front C-shaped hook square tube are respectively coaxially connected with the front C-shaped hook rotation shaft, and the two ends of the front C-shaped hook rotation shaft are respectively supported on the lifting frame through the front C-shaped hook bearing and its bracket.
  • the hook tip of the rear C-shaped hook is forward, and the fixed ends of the rear C-shaped hooks in the same row are fixed on the same rear C-shaped hook square tube, and the two ends of the rear C-shaped hook square tube are respectively connected with the rear C-shaped hook shaft.
  • both ends of the rear C-shaped hook rotating shaft are respectively supported on the lifting frame through the rear C-shaped hook bearing and its bracket;
  • one end of each front C-shaped hook square tube is respectively connected with the front C-shaped hook swing arm, each The upper ends of the front C-shaped hook swing arms are respectively hinged on the front C-shaped hook links, and one of the front C-shaped hook swing arms extends upward and is hinged with the end of the piston rod of the front C-shaped hook cylinder.
  • the hook cylinder is fixed on the lifting frame; the other end of each rear C-shaped hook square tube is respectively connected with a rear C-shaped hook swing arm, and the upper end of each rear C-shaped hook swing arm is hinged on the rear C-shaped hook link, respectively.
  • One of the rear C-shaped hook swing arms extends upward and is hinged with the end of the piston rod of the rear C-shaped hook cylinder, and the rear C-shaped hook cylinder is fixed on the lifting frame.
  • the front C-shaped hook and the rear C-shaped hook are staggered to each other, which can not only increase the grasping point, but also avoid tearing of the grasping part of the woven bag when lifting.
  • the body of each front C-shaped hook is fixed on the front C-shaped hook square tube to avoid relative rotation.
  • the front C-shaped hook rotating shaft rotates
  • the front C-shaped hook square tube drives the front C-shaped hooks to extend or retract synchronously
  • the rear C-shaped hook rotating shaft drives the rear C-shaped hooks to extend or retract synchronously through the rear C-shaped hook square tube.
  • the front C-shaped hook connecting rod drives the upper end of each front C-shaped hook swing arm to swing forward synchronously, and each front C-shaped hook swing arm synchronously drives each front C-shaped hook rotation shaft forward direction.
  • each front C-shaped hook protrudes from the hook hole of the limit plate to complete the bagging;
  • the piston rod of the rear C-shaped hook cylinder extends synchronously with the front C-shaped hook cylinder, and the rear C-shaped hook connecting rod drives each rear C-shaped hook.
  • the upper end of the hook swing arm swings backward synchronously, each rear C-shaped hook swing arm synchronously drives each rear C-shaped hook rotating shaft to rotate in the opposite direction, and each rear C-shaped hook extends from the hook hole of the limit plate to complete the bagging.
  • a lift reduction box is installed on the moving frame, the input end of the lift reduction box is driven by a lift motor, and the output end of the lift reduction box is installed with a lift drive shaft extending along the Y direction,
  • the two ends of the lifting drive shaft are symmetrically fixed with belt winding drums, and lifting belts are respectively wound on the belt winding drums, the lower ends of the two lifting belts are respectively fixed on the lifting lifting lugs, and the lower ends of the two lifting lifting lugs are symmetrical fixed on the top of the lifting frame; the lower ends of the two lifting belts are wrapped around the corresponding lifting lugs and fixed by the lifting belt joint, and the lifting belt joint is fixed with a eccentric weight block; one side of the eccentric weight block is respectively provided with The eccentric block probe for detecting its position is respectively installed on the upper end of the eccentric block detection bracket, the bottom of the eccentric block detection bracket is fixed on the lifting top plate, and the lifting top plate is fixed above the lifting frame.
  • the lift motor drives the lift drive shaft to rotate through the lift reduction box, the lift drive shaft drives the two belt winding drums to rotate forward synchronously, and the two belt winding drums release the lifting belt synchronously downward, and the lifting frame goes down; otherwise, the belt winding drum Synchronous and reverse rotation, the two belt winding drums wind up the lifting belt synchronously, and the lifting belt lifts the lifting frame upward through the lifting lugs.
  • the lifting top plate falls on the packaging bag, the two belt winding drums continue to release the lifting belt, and the eccentric weight block gradually tilts downward, and is separated from the detection of the eccentric weight block probe.
  • the winding drum stops releasing the lifting belt, and the lifting belt is always kept in a taut state, preventing excessive release from causing mess and ensuring the reliable operation of the lifting system. It can automatically adapt to the change of the layer height of the packaging bag. No matter the packaging bag to be grabbed is on the top layer or the bottom layer, the lifting motor can stop accurately, so that the C-shaped hook can accurately grasp the packaging bag.
  • a position detection mechanism is installed below the moving frame, the position detection mechanism includes a position detection bracket, and two guide rods are connected between the top plate and the bottom plate of the position detection bracket, and the two The guide rod is provided with a floating signal slider, the middle part of the signal slider is connected with a sliding rod extending downward, the lower end of the sliding rod passes through the bottom plate of the position detection bracket and extends downward, the The top plate of the position detection bracket is fixed below the moving frame, the vertical plate of the position detection bracket is provided with a position detection bracket long slot extending vertically, and the detection signal slider is installed in the position detection bracket long slot Height position detection probe.
  • the position detection probes can include variable speed point probes, stop point probes and limit position probes, and the position detection probes and the weighted block probes can be travel switches, proximity switches or photoelectric switches.
  • the belt winding drum synchronously winds the lifting belt upwards, the lifting belt lifts the lifting frame upwards.
  • the lifting top plate touches the lower end of the sliding rod, the sliding rod and the signal slider are pushed up, and the two guide rods are opposite to the signal slider.
  • the lifting motor decelerates and the lifting belt continues to wind; when the height of the signal slider rises to the stop point position, the lifting motor stops and the lifting The belt stops winding; if the lifting belt unexpectedly continues to be wound and the signal slider is raised to the limit position, the entire equipment will stop to prevent the lifting belt from being pulled off and causing an accident.
  • one side of the moving frame in the forward direction is connected with an L-shaped bracket extending forward and then downward, and the lower end of the L-shaped bracket is hinged with a pocket swinging arm.
  • the front end is fixed with a Y-direction dial beam, and the Y-direction dial beam is evenly connected with a plurality of dial rods extending downward;
  • the middle of the Y-direction dial beam is fixed with a bag-pulling drive arm, and the front end of the bag-pulling drive arm is fixed It is hinged with the lower end of the piston rod of the bag-removing cylinder, and the cylinder body of the bag-removing cylinder is fixed in the middle of the upper end of the L-shaped bracket.
  • the moving frame carries the bag and translates to the unloading station.
  • the piston rod of the bag shifting cylinder is retracted, and the Y-direction shifting beam is driven by the bag shifting arm to rotate, and the Y-direction shifting beam is on the
  • Each lever is swiped in the forward direction, which can push the left bag skin on the bag grid into the bag skin collection bucket, so as to prevent the residual bag skin from being carried into the silo by the material.
  • the bag cutting device includes a fixed frame, the four corners of the fixed frame are supported on the ground by the fixed frame uprights, and the lower part of the fixed frame is provided with a collecting hopper, which is characterized in that: The left entrance of the fixed frame is provided with a knife roller extending along the Y direction, and a plurality of blades are evenly distributed on the knife roller.
  • the left and right ends of the grid are bent downward and fixed on the fixed frame; a plurality of mutually parallel bag shaking rods are arranged under the bag supporting grid, and each bag shaking rod is parallel to the bag supporting grid, The left and right ends of each bag-shaking rod are respectively bent downward and fixed on the Y-direction bag-shaking main rod, and the front and rear ends of the two Y-direction bag-shaking main rods respectively protrude from the avoidance grooves of the fixed frame and pass through the X-direction connecting rods respectively.
  • the front and rear sides of the fixed frame are respectively equipped with suspension seats, the upper ends of the suspension seats are respectively hinged with suspension rods, and the lower ends of the suspension rods respectively hang the Y-direction shaking bag main body.
  • the end of the rod; the side wall of the fixed frame is installed with a bag-shaking deceleration motor, and the output end of the bag-shaking deceleration motor is installed with an eccentric, the axis of the eccentric extends along the X direction and the shaking bag is hinged on the circumference A connecting rod, the other end of the shaking bag connecting rod is hinged on the shaking bag frame.
  • the bag grabbing mechanism uses a C-shaped hook to hook and lift the top of the packaging bag.
  • the knife roller rotates, and each blade draws multiple parallel X directions at the bottom of the packaging bag Then, the packaging bag is placed on the bag grid, and the material will open each slot under the action of gravity and fall into the collecting hopper below.
  • the bag shaking deceleration motor drives the eccentric wheel to rotate, and the circular motion of the eccentric wheel makes the bag shaking frame reciprocate in the front and rear directions through the shaking bag connecting rod.
  • Each bag-shaking rod swings back and forth under the bag-supporting grille, causing the packaging bag to shake, and constantly reciprocating to open each seam, so that the material can be drained.
  • an idler assembly is installed upstream of the knife roller, and the idler assembly includes a plurality of idler rollers extending along the Y direction, and the front and rear ends of each idler roller are respectively fixed on the idler swing frame , the right end of the idler swing frame is hinged on the idler fixing frame through the swing frame pin, the idler fixing frame is fixed on the fixed frame column, and the left end of the idler swing frame is provided with an upward
  • the extended arc-shaped arm of the swing frame, the arc-shaped arm of the swing frame is provided with an arc-shaped groove of the swing frame, the arc-shaped groove of the swing frame is coaxial with the pin shaft of the swing frame, and the arc-shaped groove of the swing frame is inserted into the arc-shaped groove of the swing frame.
  • a screw is connected to the idler fixing frame.
  • the lower part of the packaging bag When the upper part of the packaging bag is hooked and lifted, the lower part of the packaging bag will sag under the action of the material gravity.
  • the bottom of the packaging bag When moving from the bag grabbing station to the bag cutting station, the bottom of the packaging bag is easy to knock on the left frame of the knife roller. , resulting in a part of the packaging bag that has entered the top of the knife roller to be cut, and the bumped part is still blocked on the outside, which is easy to cause material scattering.
  • the device is provided with roller components at the parts that are prone to collision. Multiple parallel rollers not only play a guiding role, but also can rotate to reduce the frictional force on the bottom of the packaging bag, ensuring that the sagging packaging bag slides smoothly into the knife roller.
  • the arc-shaped arm of the swing frame and the arc-shaped groove of the swing frame are convenient to adjust the inclination angle of the swing frame of the idler relative to the fixed frame of the
  • dust collector connection flanges are respectively provided on the front and rear sides above the fixed frame, and a bag filter is respectively installed above the dust collector connection flange, and the bottom cone of the bag filter is connected to the The upper space of the collecting hopper is communicated.
  • the bag filter can pump the dust generated by the cutting into the bag filter for dust removal and improve the working environment.
  • the bag collecting device includes a bag collecting frame, the upper part of the bag collecting frame is provided with a bag skin collecting bucket, and the bottom of the bag skin collecting bucket is provided with a bag skin conveying auger.
  • the front end of the bag conveying auger is inserted into the inner cavity of the screen cylinder, the screen cylinder extends forward, and the inner wall of the screen cylinder is provided with a dial plate for conveying the bag skin forward, and each dial plate follows a spiral line
  • the front and rear ends of the screen drum are respectively provided with rolling rings, four limit rollers are evenly distributed on the outer periphery of the rolling rings, and the roller shafts of the four limit rollers are respectively fixed on the screen frame, and the screen
  • the outer periphery of the front port of the mesh cylinder is provided with a large sprocket of the screen cylinder, and the large sprocket of the screen cylinder is connected with the small sprocket of the screen cylinder drive through a chain, and the small sprocket
  • the auger reducer drives the bag skin conveying auger to rotate, rolls the bag skin into the bag skin conveying auger, and feeds it forward into the screen In the mesh cylinder;
  • the screen cylinder deceleration motor drives the small sprocket through the screen cylinder and the chain drives the large sprocket of the screen cylinder to rotate, and the large sprocket of the screen cylinder drives the screen cylinder to rotate continuously. Lean on the rolling ring to make the screen drum rotate freely and steadily.
  • the dial plate With the rotation of the screen drum, the dial plate in its inner cavity continuously lifts and drops the bag skin, so that the residual material in the bag skin passes through the screen mesh cylinder and falls into the residual material collection hopper; at the same time, under the action of the dial plate down, the bag skin is gradually moved forward until it is discharged from the front port of the screen drum.
  • Another object of the present invention is to overcome the problems existing in the prior art and provide a method for unloading and feeding packaging bags, which can automatically unload the packaging bags on the truck, and the trays can be automatically recovered and recycled, with high unloading efficiency. .
  • the automatic unloader feeding method of the present invention includes the following steps in turn: (1) the pallet carrying the packaging bag is transported backward by the solid pallet conveyor to the bag grabbing station; (2) the belt winding drum releases the lifting belt downward, The lifting frame is lowered, and the C-shaped hooks are extended to complete the grasping of the bag; (3) The belt winding drum winds the lifting belt upward, so that after the packaging bag is raised, the moving frame is translated to the bag cutting station, the bottom of the packaging bag is cut, and the material fall into the collecting hopper; (4) the moving frame continues to translate to the bag skin collection station, each C-shaped hook retracts, and the empty bag skin falls into the bag skin collecting device; (5) after the packaging bag on the tray is grabbed, the empty tray Advance to the two-way conveyor of the rear platform; (6) The rear lifting platform descends, and the empty pallet reaches the lower layer; (7) The two-way conveyor of the rear platform advances, so that the empty pallet reaches the empty pallet conveyor, and continues to enter the two-way conveyor
  • the automatic unloading system can automatically recover empty pallets, realize the alternate cycle operation of real pallets and empty pallets, high unloading efficiency, low labor intensity, and can ensure that the system can be used for a long time. continue to operate.
  • FIG. 1 is a perspective view 1 of the automatic unloading and feeding system of the present invention.
  • Fig. 2 is a perspective view 2 of the automatic unloading and feeding system of the present invention.
  • FIG. 3 is a perspective view of the unloading station in the present invention.
  • FIG. 4 is a perspective view of the automatic feeding system in the present invention.
  • Figure 5 is a front view of the bag grabbing mechanism in the automatic feeding system.
  • FIG. 6 is a left side view of FIG. 5 .
  • FIG. 7 is a right side view of FIG. 5 .
  • FIG. 8 is a perspective view 1 of FIG. 5 .
  • FIG. 9 is a second perspective view of FIG. 5 .
  • Figure 10 is a perspective view of the automatic feeding system with the upper part of the lifting frame removed.
  • Figure 11 is a perspective view of the position detection mechanism in the automatic feeding system.
  • Figure 12 is a perspective view 1 of the bag cutting and unloading device in the automatic feeding system.
  • Figure 13 is a perspective view 2 of the bag cutting and unloading device in the automatic feeding system.
  • FIG. 14 is an enlarged view of FIG. 13 with the fixing frame and the collecting hopper removed.
  • Figure 15 is a perspective view of the bag collecting device in the automatic feeding system.
  • Fig. 16 is an enlarged perspective view of the screen drum part in the automatic feeding system.
  • Moving frame 1a. X-direction walking roller; 2. Scissor arm; 2a. Upper hinge seat of scissors arm; 2b. Lower hinge seat of scissors arm; 2c. Upper sliding seat of scissors arm; 2d. ; 2e. Upper roller of scissor arm; 2f. Lower roller of scissor arm; 3. Travel gear motor; 3a. Travel drive shaft; 3b. X-direction travel sprocket; 3c. Motor; 4a. Lifting reduction box; 4b. Lifting drive shaft; 4c. Belt winding drum; 4d. Lifting belt; 4e. Lifting lifting lug; 4f. 4h1. Vertical long slot of bracket; 5. Position detection mechanism; 5a. Position detection bracket; 5a1.
  • Rear C-shaped hook cylinder 9. Limit plate; 9a. Limit plate hook hole; 9b. Guide vertical plate; 9c. Connecting plate ;10.L-shaped bracket; 10a.Bag cylinder; 10b.Bag drive arm; 10c.Y-direction beam;
  • idler assembly 11a. idler; 11b. idler swing frame; 11b1. swing frame arc arm; 11b2. swing frame arc groove; 11c. idler fixing frame; 12. cutter motor; 12a. Knife reducer; 12b. Knife roller; 12c. Blade; 13. Bag support grid; 14. Shake bag reduction motor; 14a. Eccentric wheel; 14b. Shake bag connecting rod; 14c. Shaking bag main pole; 14e. Shaking bag pole; 14f. Boom; 14g. Suspension seat; 15. Hopper; 16. Fixed frame; 16a. Fixed frame column; 16b. Dust collector connecting flange; device;
  • Bag collection bucket 18. Bag conveying auger; 18a. Auger reducer; 19. Screen drum; 19a. Roller ring; 19b. Large sprocket of screen drum; 21. Screen frame; 22. Chain; 23. Screen drum gear motor; 23a. Screen drum driving small sprocket; 24. Screen drum shield; 25. Residual material collection bucket; 26. Bag receiving rack.
  • the automatic unloading system of the present invention includes a parking station and an unloading station set up side by side, the unloading station is provided with an unloading platform extending along the Y direction, and the unloading platform includes a solid pallet conveyor on the upper layer. 32 and the empty pallet conveyor 33 located on the lower layer.
  • the rear part of the solid pallet conveyor 32 is located at the bag grabbing station of the automatic unloading and feeding system.
  • the rear end of the solid pallet conveyor 32 is provided with a rear lifting bracket 34.
  • a rear lifting cylinder 35 is fixed, the top of the piston rod of the rear lifting cylinder 35 supports a rear lifting platform 36, and the rear lifting platform 36 is provided with a rear platform bidirectional conveyor 37; the front end of the solid pallet conveyor 32 is provided with a front lifting bracket 38, A front lifting cylinder 39 is fixed on the front lifting bracket 38 , a front lifting platform 40 is supported on the top of the piston rod of the front lifting cylinder 39 , and a front platform bidirectional conveyor 41 is arranged on the front lifting platform 40 .
  • the empty pallet 42 After the empty pallet 42 is placed on the upper solid pallet conveyor 32, it waits for the packaging bags to be loaded. After the packaging bags are stacked, the solid pallet conveyor 32 is transported backward, and at the end of the solid pallet conveyor 32, the solid pallets stay, Wait for the bag grabbing mechanism of the automatic feeding system to grab the packaging bag, and then the real pallet conveyor 32 moves backwards, so that the empty pallets arrive on the rear platform bidirectional conveyor 37, and the rear platform bidirectional conveyor 37 runs backwards first to make the empty pallets It is separated from the real pallet conveyor 32 and completely reaches the rear platform two-way conveyor 37, and then the piston rod of the rear lift cylinder 35 is retracted, so that the rear lift platform 36 is lowered, and the rear platform two-way conveyor 37 is followed by empty trays.
  • the rear platform two-way conveyor 37 runs forward, so that the empty pallets reach the empty pallet conveyor 33, the empty pallet conveyor 33 carries the empty pallets and moves forward, the rear lifting platform 36 rises and resets, and the empty pallets enter the front platform for two-way transportation.
  • the front platform two-way conveyor 41 first runs forward to make the empty pallets detach from the empty pallet conveyor 33 and completely locate on the front platform two-way conveyor 41, and then the piston rod of the front lift cylinder 39 is pushed out, and the front lift platform 40 is pushed out.
  • the front platform two-way conveyor 41 carries the empty pallets to the upper layer, and then the front platform two-way conveyor 41 runs backwards to transport the empty pallets to the real pallet conveyor 32, and the real pallet conveyor 32 carries the empty pallets Entering the next cycle, the front lifting platform 40 is lowered and reset.
  • the outer sides of the parking station and the unloading station are provided with mutually parallel Y-direction driving rails 27, two Y-direction driving rails 27 are provided with driving vehicles 28, and the left and right ends of the driving vehicles 28 are respectively supported on the Y-direction driving rails by the Y-directional driving wheels.
  • the traveling vehicle 28 includes two parallel X-direction traveling beams at the front and rear, and an X-direction trolley 29 is installed on the traveling vehicle, and the front and rear sides of the X-direction trolley 29 are respectively supported on the corresponding X-direction traveling beams by the X-direction trolley;
  • a Z-direction lifting mechanism 30 is installed on the X-direction trolley 29 , and a bag grabbing jaw 31 is installed at the lower end of the Z-direction lifting mechanism 30 .
  • the truck is parked at the parking station, the X-direction trolley 29 is located above the truck first, and the Z-direction lifting mechanism 30 descends, so that the bag-catching gripper 31 contacts the packaging bag on the truck and realizes the bag-holding, and then the Z-direction lifting mechanism 30 rises to grasp the bag.
  • the bag clamping claw 31 picks up the packaging bag, and then the X-direction trolley 29 moves to the unloading station, so that the bag-catching clamping claw 31 brings the packaging bag to the top of the unloading platform, the Z-direction lifting mechanism 30 descends, and the bag-catching clamping claw 31
  • the bags are released on pallets located on the solid pallet conveyor 32 .
  • the carriage 28 moves along the Y-direction carriage track 27 so that the X-direction trolley 29 can load a plurality of pallets on the solid pallet conveyor 32 .
  • the automatic unloading and feeding system includes a bag grabbing mechanism, a bag cutting device and a bag skin collecting device.
  • the bag grabbing mechanism includes a moving frame 1. The left and right sides of the moving frame 1 are respectively provided with X-direction walking.
  • the rollers 1a and the X-direction walking rollers 1a are respectively supported on the X-direction guide rails 3c, the X-direction guide rails 3c are respectively provided with the X-direction chains 3d, the moving frame 1 is installed with a traveling deceleration motor 3, and the output end of the traveling deceleration motor 3 is installed with
  • the travel drive shaft 3a extending along the Y direction is provided with X-direction travel sprockets 3b at both ends of the travel drive shaft 3a, and the X-direction travel sprockets 3b are respectively engaged with the X-direction chains 3d.
  • a scissors arm 2 is connected below the moving frame 1, and a lifting frame 6 is connected to the bottom of the scissors arm 2. Below the lifting frame 6, there are multiple rows of C-shaped hooks whose lower ends can be opened and closed, and a limit plate is arranged below each C-shaped hook. 9.
  • the limit plate 9 is connected with the lifting frame 6 through connecting plates 9c around it.
  • the limit plate 9 is evenly distributed with a plurality of limit plate hook holes 9a for the C-shaped hooks to pass through.
  • the lifting frame 6 first descends with the limit plate 9 and the C-shaped hook.
  • the C-shaped hook protrudes from the hook hole 9a of the limit plate, and is inserted into the top of the packaging bag.
  • the lifting frame 6 rises, the scissor arm 2 shrinks, and the packaging bag on the top layer is lifted up, and then the traveling deceleration motor 3 drives the X-direction traveling sprocket 3b to rotate through the traveling drive shaft 3a, and the X-direction traveling sprocket 3b rotates along the corresponding X-direction chain 3d
  • make the X-direction travel roller 1a advance along the X-direction guide rail 3c so that the moving frame 1 can move to the unloading station with the scissor arm 2, the lifting frame 6 and the grabbed packaging bag.
  • the grasped part is at the top of the packaging bag, it does not affect the bag breaking and discharging at the bottom; after the discharging is completed, the C-shaped hook retracts from the hook hole 9a of the limiter plate, and the limiter plate 9 blocks the bag skin at the bottom of the bag. Below, the complete separation of the bag skin and the C-shaped hook is completed, so as to prevent the bag skin from being brought up by the C-shaped hook.
  • the present invention can automatically grab the packaging bag from the pallet through the insertion of the C-shaped hook, the lifting of the lifting frame 6 and the translation of the moving frame 1, and transfer it to the unloading station for breaking the bag and discharging, with a high degree of automation.
  • the hook tips of the two adjacent rows of C-shaped hooks face each other and are staggered, the hook tips of the front C-shaped hooks 7 are rearward, and the fixed ends of the front C-shaped hooks 7 in the same row are fixed on On the same front C-shaped hook square tube 7a, both ends of the front C-shaped hook square tube 7a are respectively coaxially connected with the front C-shaped hook rotation shaft 7b, and both ends of the front C-shaped hook rotation shaft 7b pass through the front C-shaped hook bearing 7c respectively.
  • the hook tip of the rear C-shaped hook 8 is forward, and the fixed ends of the rear C-shaped hooks 8 in the same row are all fixed on the same rear C-shaped hook square tube 8a, and the rear C-shaped hook Both ends of the square tube 8a are respectively coaxially connected with the rear C-shaped hook rotating shaft 8b, and both ends of the rear C-shaped hook rotating shaft 8b are respectively supported on the lifting frame 6 through the rear C-shaped hook bearing 8c and its bracket.
  • the front C-shaped hook 7 and the rear C-shaped hook 8 are staggered with each other, which can not only increase the grasping point, but also avoid tearing of the grasping part of the woven bag during lifting.
  • each front C-shaped hook 7 is fixed on the front C-shaped hook square tube 7a to avoid relative rotation.
  • the front C-shaped hook rotating shaft 7b rotates
  • the front C-shaped hook square tube 7a drives each front C-shaped hook 7 synchronously extends or extends.
  • the rear C-shaped hook rotating shaft 8b drives each rear C-shaped hook 8 to extend or retract synchronously through the rear C-shaped hook square tube 8a.
  • each front C-shaped hook square tube 7a is respectively connected with a front C-shaped hook swing arm 7d, and the upper end of each front C-shaped hook swing arm 7d is hinged to the front C-shaped hook respectively.
  • one of the front C-shaped hook swing arms 7d extends upward and is hinged with the end of the piston rod of the front C-shaped hook cylinder 7f, and the front C-shaped hook cylinder 7f is fixed on the lifting frame 6;
  • the other end of the hook square tube 8a is respectively connected with a rear C-shaped hook swing arm 8d, the upper end of each rear C-shaped hook swing arm 8d is hinged on the rear C-shaped hook link 8e, and one of the rear C-shaped hook swing arms 8d
  • the rear C-shaped hook cylinder 8f is fixed to the lift frame 6, extending upward and hinged with the end of the piston rod of the rear C-shaped hook cylinder 8f.
  • the front C-shaped hook link 7e drives the upper ends of the front C-shaped hook swing arms 7d to swing forward synchronously, and the front C-shaped hook swing arms 7d synchronously drive the front C-shaped hook swing arms 7d.
  • the hook rotating shaft 7b rotates in the forward direction, and each front C-shaped hook 7 protrudes from the hook hole 9a of the limit plate to complete the bagging;
  • the hook link 8e drives the upper end of each rear C-shaped hook swing arm 8d to swing backward synchronously, each rear C-shaped hook swing arm 8d synchronously drives each rear C-shaped hook rotation shaft 8b to rotate in the opposite direction, and each rear C-shaped hook 8 rotates from the limit.
  • the hook hole 9a of the bit plate protrudes to complete the bagging.
  • a lift reduction box 4a is installed on the moving frame 1.
  • the input end of the lift reduction box 4a is driven by the lift motor 4, and the output end of the lift reduction box 4a is installed with a lift drive shaft extending along the Y direction.
  • the two ends of the lifting drive shaft 4b are symmetrically fixed with a belt winding drum 4c
  • the belt winding drum 4c is respectively wound with a lifting belt 4d
  • the lower ends of the two lifting belts 4d are respectively fixed on the lifting ears 4e.
  • the lower ends of the ears 4e are fixed to the top of the lifting frame 6 symmetrically.
  • the lift motor 4 drives the lift drive shaft 4b to rotate through the lift reduction box 4a, the lift drive shaft 4b drives the two belt winding drums 4c to rotate in the forward direction synchronously, and the two belt winding drums 4c release the lifting belt 4d downward synchronously, then the lifting frame 6
  • the belt winding drum 4c rotates in the opposite direction synchronously, the two belt winding drums 4c wind up the lifting belt 4d synchronously, and the lifting belt 4d lifts the lifting frame 6 upward through the lifting lugs 4e.
  • the lower ends of the two lifting belts 4d are wrapped around the corresponding lifting ears 4e and are fixed by the lifting belt joints, and the lifting belt joints are fixed with an overweight block 4f; one side of the overweight block 4f is respectively provided with
  • the eccentric weight probe 4g for detecting its position is respectively installed on the upper end of the eccentric weight detection bracket 4h, and the bottom of the eccentric weight detection bracket 4h is fixed on the lifting top plate 6a, and the lifting top plate 6a is fixed above the lifting frame 6.
  • the two belt winding drums 4c continue to release the lifting belt 4d, then the eccentric weight block 4f is gradually inclined downward, and is separated from the detection of the eccentric weight block probe 4g, the eccentric weight block probe 4g is triggered, and the control system stops
  • the elevating motor 4 is running, the belt winding drum 4c stops releasing the elevating belt 4d, and the elevating belt 4d is always kept in a taut state, preventing excessive release from causing confusion and ensuring the reliable operation of the elevating system. It can automatically adapt to the change of the layer height of the packaging bag. No matter whether the packaging bag to be grabbed is on the top layer or the bottom layer, the lifting motor 4 can accurately stop, so that the C-shaped hook can accurately grasp the packaging bag.
  • the upper end of the eccentric weight detection bracket 4h is provided with a vertical long slot 4h1 of the bracket, and the eccentric weight probes 4g respectively pass through the vertical long grooves 4h1 of the bracket and protrude in the direction of the eccentric weight block 4f.
  • the height of 4g corresponds to the height of the eccentric weight 4f when the lifting belt 4d is in a taut state; the middle part of the lifting lug 4e passes through the escape groove of the lifting top plate 6a.
  • the eccentric weight probe 4g can adjust its installation height through the vertical long slot 4h1 of the bracket, so as to accurately send a signal to control the operation of the lifting motor 4 .
  • a position detection mechanism 5 is installed below the moving frame 1.
  • the position detection mechanism 5 includes a position detection bracket 5a.
  • Two guide rods 5b are connected between the top plate and the bottom plate of the position detection bracket 5a.
  • the two guide rods 5b A floating signal slider 5c is provided on the upper part.
  • the middle of the signal slider 5c is connected with a sliding rod 5d extending downward.
  • the lower end of the sliding rod 5d passes through the bottom plate of the position detection bracket 5a and extends downward.
  • the top plate is fixed under the moving frame 1, the vertical plate of the position detection bracket 5a is provided with a position detection bracket long slot 5a1 extending vertically, and a position detection probe for detecting the height of the signal slider 5c is installed in the position detection bracket long slot 5a1. 5e.
  • the position detection probe 5e may include a variable speed point probe, a stop point probe and a limit position probe in order from bottom to top, and the position detection probe 5e and the weighted block probe 4g may be a travel switch, a proximity switch or a photoelectric switch.
  • the belt winding drum 4c winds up the lifting belt 4d synchronously, the lifting belt 4d lifts the lifting frame 6 upward, and when the lifting top plate 6a contacts the lower end of the sliding rod 5d, the sliding rod 5d and the signal slider 5c are lifted upwards , the two guide rods 5b play a guiding role in the lifting of the signal slider 5c.
  • the upper end surface of the limiter plate 9 is provided with a plurality of pairs of upwardly erected guide vertical plates 9b, each pair of guide vertical plates 9b are respectively located on the left and right sides of the upper port of each limiter plate hook hole 9a.
  • the C-shaped hook is easily deformed after being bagged for many times and subjected to force, and it is easy to tie on the edge of the limit plate hook hole 9a when it is extended, causing damage.
  • the C-shaped hooks After being guided to the vertical plate 9b, the C-shaped hooks are restrained from being skewed to both sides, and even if skew occurs, they can smoothly enter and exit the stopper plate hook holes 9a.
  • the upper left part of the scissor arm 2 is hinged in the upper hinge seat 2a of the scissors arm, the upper right part of the scissors arm is supported in the horizontal long groove of the upper sliding seat 2c of the scissors arm through the upper roller 2e of the scissors arm, and the upper hinge seat 2a of the scissors arm is connected to the scissors arm.
  • the upper sliding seat 2c is respectively fixed under the moving frame 1; the lower left part of the scissor arm is hinged in the lower hinge seat 2b of the scissors arm, and the lower right part of the scissor arm is supported by the lower roller 2f of the scissors arm in the horizontal long groove of the lower seat 2d of the scissor arm , the scissor arm lower hinge seat 2b and the scissor arm sliding seat 2d are respectively fixed above the lifting frame 6 .
  • One side of the moving frame 1 in the forward direction is connected with an L-shaped bracket 10 extending forward and downward.
  • the lower end of the L-shaped bracket 10 is hinged with a bag-shifting swing arm 10e, and the front end of the bag-shifting swing arm 10e is fixed with a Y-direction shifting beam 10c , the Y-direction dial beam 10c is evenly connected with a plurality of downwardly extending dial rods 10d; the middle of the Y-direction dial beam 10c is fixed with a bag dialing drive arm 10b, and the front end of the bag dialing drive arm 10b is connected with the piston rod of the bag dialing cylinder 10a
  • the lower ends are hinged, and the cylinder body of the bag-pulling cylinder 10a is fixed in the middle of the upper end of the L-shaped bracket 10 .
  • the moving frame 1 After the bag is grasped and lifted into place, the moving frame 1 carries the packaging bag and translates to the unloading station. At this time, the piston rod of the bag-pulling cylinder 10a is retracted, and the Y-direction beam 10c is driven by the bag-pulling swing arm 10e to rotate. By swiping the levers 10d on the lever 10c in the forward direction, the leftover bags on the bag grille can be pushed into the bag collection bucket, so as to prevent the remaining bags from being carried into the silo by the material.
  • the bag cutting device includes a fixed frame 16.
  • the four corners of the fixed frame 16 are supported on the ground by the fixed frame uprights 16a.
  • the lower part of the fixed frame 16 is provided with a collecting hopper 15.
  • the fixed frame 16 There is a knife roller 12b extending along the Y direction at the left entrance of the knife roller 12b.
  • the right side of the knife roller 12b is provided with a bag grid 13.
  • the ends are bent downward and fixed on the fixed frame 16; a plurality of mutually parallel bag shaking rods 14e are arranged below the bag support grill 13, each bag shaking rod 14e is parallel to the support bag grill 13, and each bag shaking rod 14e
  • the left and right ends are respectively bent downward and fixed on the Y-direction shaking bag main rods 14d.
  • the front and rear ends of the two Y-direction shaking bag main rods 14d respectively protrude from the avoidance grooves of the fixing frame 16 and pass through the X-direction connecting rods 14c respectively.
  • the front and rear sides of the fixed frame 16 are respectively installed with suspension seats 14g, the upper ends of the suspension seats 14g are respectively hinged with suspension rods 14f, and the lower ends of the suspension rods 14f are respectively suspended to the Y direction shaking bag main body.
  • the end of the rod 14d; the side wall of the fixed frame 16 is installed with a bag shaking deceleration motor 14, and the output end of the shaking bag deceleration motor 14 is installed with an eccentric wheel 14a, the axis of the eccentric wheel 14a extends along the X direction and the shaking bag is hinged on the circumference
  • the connecting rod 14b, the other end of the shaking bag connecting rod 14b is hinged on the shaking bag frame.
  • the bag grabbing mechanism uses a C-shaped hook to hook and lift the top of the packaging bag. During the process of translation to the right, it first passes over the knife roller 12b. Then, the packaging bag is placed on the support bag grille 13, and the material will open each slot under the action of gravity and fall into the collecting hopper 15 below. At the same time, the bag shaking deceleration motor 14 drives the eccentric wheel 14a to rotate, and the circular motion of the eccentric wheel 14a makes the bag shaking frame reciprocate in the front and rear directions through the shaking bag connecting rod 14b. In the action of shaking the sieve, each bag shaking rod 14e swings back and forth under the bag support grille 13, causing the packaging bag to shake, and constantly reciprocating to open each slot, so that the material can be discharged.
  • One end of the cutter roller 12b is driven by the cutter reduction gear 12a, and the input end of the cutter reduction gear 12a is driven by the cutter motor 12.
  • the cutter motor 12 drives the cutter roller 12b to rotate through the cutter reducer 12a, and the cutters on the cutter roller 12b continue to perform cutting operations.
  • An idler assembly 11 is installed upstream of the knife roller 12b.
  • the idler assembly 11 includes a plurality of idler rollers 11a extending along the Y direction.
  • the front and rear ends of each idler roller 11a are respectively fixed on the idler swing frame 11b.
  • the right end of 11b is hinged on the idler fixing frame 11c through the swing frame pin, the idler fixing frame 11c is fixed on the fixed frame column 16a, and the left end of the idler swing frame 11b is provided with an upwardly extending swing frame arc arm 11b1.
  • the frame arc-shaped arm 11b1 is provided with a swing frame arc-shaped groove 11b2, the swing frame arc-shaped groove 11b2 is coaxial with the swing frame pin shaft, and a screw is inserted into the swing frame arc-shaped groove 11b2 to connect with the idler fixing frame 11c.
  • the lower part of the packaging bag When the upper part of the packaging bag is hooked and lifted, the lower part of the packaging bag will sag under the action of the material gravity. When moving from the bag grabbing station to the bag cutting station, the bottom of the packaging bag will easily hit the frame on the left side of the knife roller 12b. As a result, a part of the packaging bag has entered the top of the knife roller 12b to be cut, and the bumped part is still blocked on the outside, which is likely to cause material scattering.
  • the device is provided with an idler assembly 11 at the position that is prone to collision.
  • the multiple parallel idler rollers 11a not only play a guiding role, but also can rotate to reduce the frictional force on the bottom of the packaging bag, so as to ensure that the sagging packaging bag slides smoothly into the knife rollers 12b.
  • the swing frame arc arm 11b1 and the swing frame arc groove 11b2 on it are convenient to adjust the inclination angle of the idler swing frame 11b relative to the idler fixed frame 11c, so as to adapt to various types and specifications of packaging bags.
  • the front and rear sides above the fixed frame 16 are respectively provided with dust collector connecting flanges 16b.
  • the bag filter 16c is connected through the filter connection flange 16b, and the dust generated by the blanking can be drawn into the bag filter 16c for dust removal, thereby improving the working environment.
  • the bag collecting device includes a bag collecting frame 26, the upper part of the bag collecting frame 26 is provided with a bag collecting bucket 17, and the bottom of the bag collecting bucket 17 is provided with a bag conveying auger 18 , the front end of the bag conveyor auger 18 is inserted into the inner cavity of the screen cylinder 19, the screen cylinder 19 extends forward, and the inner wall of the screen cylinder 19 is provided with a dial plate 19c for conveying the bag skin forward, and each dial plate 19c Distributed along the helical line; the front and rear ends of the screen cylinder 19 are respectively provided with rolling rings 19a, the outer circumference of the rolling ring 19a is evenly distributed with four limit rollers 20, and the roller shafts of the four limit rollers 20 are respectively fixed on the screen frame 21 On the outer periphery of the front port of the screen drum 19, there is a large screen drum sprocket 19b.
  • the sieve cylinder deceleration motor 23 On the output shaft of the motor 23, the sieve cylinder deceleration motor 23 is fixed on the sieve frame 21, the sieve frame 21 is provided with a sieve cylinder shield 24 covering the sieve mesh cylinder 19, and the lower part of the sieve frame 21 is provided with a sieve mesh cylinder 19.
  • the residual material collection hopper 25 of the material On the output shaft of the motor 23, the sieve cylinder deceleration motor 23 is fixed on the sieve frame 21, the sieve frame 21 is provided with a sieve cylinder shield 24 covering the sieve mesh cylinder 19, and the lower part of the sieve frame 21 is provided with a sieve mesh cylinder 19.
  • the residual material collection hopper 25 of the material On the output shaft of the motor 23, the sieve cylinder deceleration motor 23 is fixed on the sieve frame 21, the sieve frame 21 is provided with a sieve cylinder shield 24 covering the sieve mesh cylinder 19, and the lower part of the sieve frame 21 is provided with a sieve mesh cylinder 19.
  • the auger reducer 18a drives the bag skin conveying auger 18 to rotate, and the bag skin is rolled into the bag skin conveying auger 18. , and feed it forward into the screen drum 19;
  • the screen drum deceleration motor 23 drives the small sprocket 23a and the chain 22 through the screen drum to drive the large screen drum 19b to rotate, and the large screen drum 19b drives the screen drum 19 to rotate continuously , the four limit rollers 20 at the front and rear ends of the screen drum 19 abut on the rolling ring 19a, so that the screen drum 19 can rotate freely and stably.
  • the dial plate 19c With the rotation of the screen drum 19, the dial plate 19c in its inner cavity continuously lifts and drops the bag, so that the residual material in the bag passes through the screen drum 19 and falls into the residual material collection hopper 25; Under the action of the dial 19c, the bag skin gradually moves forward until it is discharged from the front port of the screen drum 19.
  • the unloading and feeding method of the packaging bag of the present invention sequentially includes the following steps: (1) The belt winding drum 4c releases the lifting belt 4d downward, the lifting frame 6 and the limit plate 9 descend, and the scissor arm 2 extends; (2) When the limit plate 9 falls, After being placed on the packaging bag, with the continuous release of the belt, the eccentric weight block 4f tilts away from the detection range of the eccentric weight block probe 4g, and the belt winding drum 4c stops at this time; (3) Each C-shaped hook protrudes from the limit plate hook hole 9a , inserted into the packaging bag; (4) the belt winding drum 4c winds up the lifting belt 4d, the lifting frame 6 lifts up the grabbed packaging bags, and the scissor arm 2 shrinks; (5) When the lifting frame 6 reaches the speed change point, the belt winding drum 4c decelerates; (6) after the lifting frame 6 reaches the set height, the belt winding drum 4c stops; (7) moves the frame 1 to move the packaging bag to the bag cutting station.

Abstract

一种自动卸车投料系统及卸车投料方法，卸车平台包括位于上层的实托盘输送机（32）和位于下层的空托盘输送机（33），实托盘输送机（32）的后部位于自动投料系统的抓袋工位，自动投料系统包括抓袋、割袋下料和袋皮收集装置；实托盘输送机（32）的后端设有后升降平台（36），后升降平台（36）上设有后平台双向输送机（37）；实托盘输送机（32）的前端设有前升降平台（40），前升降平台（40）上设有前平台双向输送机（41）。卸车投料方法依次包括如下步骤：承载包装袋的托盘被实托盘输送机（32）向后运送至抓袋工位；抓袋后平移至割袋工位割袋投料，然后平移至袋皮收集工位，空托盘前进至后升降平台（36）上后，下降至下层，再向前输送至前升降平台（40），再升高至上层，如此循环。该系统可以自动回收托盘，循环使用。

Description

自动卸车投料系统及卸车投料方法 技术领域
本发明涉及一种自动投料系统，特别涉及一种自动卸车投料系统；本发明还涉及一种包装袋的卸车投料方法，可应用于饲料、粮油、食品、化工、医药、塑料等领域的包装袋投料。
背景技术
目前饲料、粮油、食品等行业，经常采用编织袋包装物料，包装后多采用卡车转运，包装袋多层叠置在车厢里，到了卸货地点，如果逐袋转运则工作量太大。为减轻工人劳动强度，很多场合采用铲车或其它自动化设备辅助卸料，通常先把多个包装袋码放在托盘上，通常托盘上每层可以码放四至六个包装袋，上下可以叠置多层，这样一次可以转运数个包装袋，大大提高了工作效率。
托盘上的包装袋投料完毕后，空托盘需要回到卸料工位重新进行投入使用。通常由工人逐个码放在铲车的铲臂上，叠置多个后，由铲车运回卸料工位，这样的作业方法工人的劳动强度大，自动化程度低。
传统投料时，主要采用人工拆袋，再将袋中物料倾倒入料仓中存储，工作效率较低，在操作过程中会产生很多原料粉尘，影响操作人员的身体健康。投料后的包装袋需要及时排出系统，避免混入物料中。
发明内容
本发明的首要目的在于，克服现有技术中存在的问题，提供一种自动卸车投料系统，可以对卡车上的包装袋进行自动卸车，并且托盘可以自动回收，循环使用，卸车效率高。
为解决以上技术问题，本发明的一种自动卸车投料系统，包括并排设立的停车工位和卸车工位，所述卸车工位设有沿Y向延伸的卸车平台，所述卸车平台包括位于上层的实托盘输送机和位于下层的空托盘输送机，所述实托盘输送机的后部位于自动投料系统的抓袋工位，所述自动投料系统包括抓袋机构、割袋下料装置和袋皮收集装置；所述实托盘输送机的后端设有后升降支架，所述后升降支架上固定有后升降气缸，所述后升降气缸的活塞杆顶部支撑有后升降平台，所述后升降平台上设有后平台双向输送机；所述实托盘输送机的前端设有前升降支架，所述前升降支架上固定有前升降气缸，所述前升降气缸的活塞杆顶部支撑有前升降平台，所述前升降平台上设有前平台双向输送机。
相对于现有技术，本发明取得了以下有益效果：空托盘置于上层的实托盘输送机上 后，等待装载包装袋，包装袋叠置完成后，实托盘输送机向后运输，在实托盘输送机的末端，实托盘停留，等待自动投料系统的抓袋机构将包装袋抓走，然后实托盘输送机向后前进，使空托盘到达后平台双向输送机上，后平台双向输送机先向后运行，使空托盘脱离实托盘输送机，完全到达后平台双向输送机上，然后后升降气缸的活塞杆缩回，使后升降平台下降，后平台双向输送机带着空托盘跟随下降至下层，接着后平台双向输送机向前运行，使空托盘到达空托盘输送机上，空托盘输送机载着各空托盘向前移动，后升降平台上升复位，空托盘进入前平台双向输送机后，前平台双向输送机先向前运行使空托盘脱离空托盘输送机，完全位于前平台双向输送机上，然后前升降气缸的活塞杆顶出，将前升降平台升高，前平台双向输送机载着空托盘到达上一层，接着前平台双向输送机向后运行，将空托盘输送至实托盘输送机上，实托盘输送机载着空托盘进入下一个循环，前升降平台下降复位。该自动卸车系统可以对空托盘进行自动回收，实现实托盘与空托盘的交替循环运行，卸车效率高，劳动强度低。
作为本发明的改进，所述抓袋机构包括移动框架，所述移动框架的左右两侧分别设有X向行走滚轮，所述X向行走滚轮分别支撑在X向导轨上，所述X向导轨上分别设有X向链条；所述移动框架上安装有行走减速电机，所述行走减速电机的输出端安装有沿Y向延伸的行走驱动轴，所述行走驱动轴的两端分别安装有X向行走链轮，两X向行走链轮分别与X向链条相啮合；所述移动框架的下方连接有剪刀臂，所述剪刀臂的底部连接有升降框架，所述升降框架的下方设有多排下端可以启闭的C形钩，各C形钩的下方设有限位板，所述限位板上均匀分布有多个供C形钩穿过的限位板钩孔。升降框架先带着限位板及C形钩下降，当限位板接触到顶层包装袋时，C形钩从限位板钩孔中伸出，扎入包装袋的顶部，然后升降框架上升，剪刀臂收缩，将顶层的包装袋拎起，然后行走减速电机通过行走驱动轴驱动X向行走链轮转动，X向行走链轮沿相应的X向链条行走，X向行走滚轮沿X向导轨前进使移动框架可以带着剪刀臂、升降框架及被抓取的包装袋平移至卸料工位。由于抓取的部位在包装袋的顶部，不影响底部的破袋及卸料；卸料完毕后，C形钩从限位板钩孔中缩回，限位板将袋皮阻挡在其下方，即完成袋皮与C形钩的彻底分离，避免袋皮被C形钩带到上面。本发明通过C形钩扎入、升降框架提升及移动框架平移可以将包装袋从托盘上自动抓取，并转移至卸料工位破袋卸料，自动化程度高。
作为本发明的改进，前后相邻两排C形钩的钩尖相向且相互错开，前C形钩的钩尖向后，且同一排前C形钩的固定端均固定在同一根前C形钩方管上，前C形钩方管的两端分别与前C形钩转轴同轴连接，前C形钩转轴的两端分别通过前C形钩轴承及其支架支撑在所述升降框架上；后C形钩的钩尖向前，且同一排后C形钩的固定端均固定在同一根后 C形钩方管上，后C形钩方管的两端分别与后C形钩转轴同轴连接，后C形钩转轴的两端分别通过后C形钩轴承及其支架支撑在所述升降框架上；各前C形钩方管的一端分别连接有前C形钩摆臂，各前C形钩摆臂的上端分别铰接在前C形钩连杆上，其中一根前C形钩摆臂向上延伸且与前C形钩气缸的活塞杆端部相铰接，所述前C形钩气缸固定在所述升降框架上；各后C形钩方管的另一端分别连接有后C形钩摆臂，各后C形钩摆臂的上端分别铰接在后C形钩连杆上，其中一根后C形钩摆臂向上延伸且与后C形钩气缸的活塞杆端部相铰接，所述后C形钩气缸固定在所述升降框架上。前C形钩与后C形钩相互错开，既可以增加抓取点，又可以避免提升时编织袋的抓取部位撕裂。各前C形钩的本体固定在前C形钩方管上可避免相对转动，前C形钩转轴转动时，前C形钩方管带动各前C形钩同步伸出或缩回；同时，后C形钩转轴通过后C形钩方管带动各后C形钩同步伸出或缩回，前C形钩与后C形钩的钩尖相向，伸出时与包装袋的结合可靠。前C形钩气缸的活塞杆伸出时，前C形钩连杆驱动各前C形钩摆臂的上端同步向前摆动，各前C形钩摆臂同步驱动各前C形钩转轴正向转动，各前C形钩从限位板钩孔中伸出，完成扎袋；后C形钩气缸的活塞杆与前C形钩气缸同步伸出，后C形钩连杆驱动各后C形钩摆臂的上端同步向后摆动，各后C形钩摆臂同步驱动各后C形钩转轴反向转动，各后C形钩从限位板钩孔中伸出，完成扎袋。
作为本发明的进一步改进，所述移动框架上安装有升降减速箱，所述升降减速箱的输入端由升降电机驱动，所述升降减速箱的输出端安装有沿Y向延伸的升降驱动轴，所述升降驱动轴的两端对称固定有皮带卷绕筒，所述皮带卷绕筒上分别卷绕有升降带，两升降带的下端分别固定在升降吊耳上，两升降吊耳的下端对称固定在所述升降框架的顶部；两升降带的下端绕包在相应升降吊耳上且由升降带接头固定，所述升降带接头上固定有偏重块；所述偏重块的一侧分别设有探测其位置的偏重块探头，所述偏重块探头分别安装于偏重块探测支架的上端，所述偏重块探测支架的底部固定在升降顶板上，所述升降顶板固定在所述升降框架的上方。升降电机通过升降减速箱驱动升降驱动轴转动，升降驱动轴带动两个皮带卷绕筒同步正向转动，两皮带卷绕筒同步向下释放升降带，则升降框架下行；反之，皮带卷绕筒同步反向转动，两皮带卷绕筒同步向上卷绕升降带，则升降带通过升降吊耳将升降框架向上提起。当升降顶板落在包装袋上时，两皮带卷绕筒继续释放升降带，则偏重块逐步向下倾斜，脱离偏重块探头的探测，偏重块探头被触发，控制系统停止升降电机的运行，皮带卷绕筒停止释放升降带，升降带始终保持在绷紧状态，防止过分释放造成凌乱，保证升降系统的可靠运行。可以自动适应包装袋层高的变化，无论待抓取的包装袋处于顶层还是底层，升降电机 都能准确停车，使C形钩准确抓取包装袋。
作为本发明的进一步改进，所述移动框架的下方安装有位置检测机构，所述位置检测机构包括位置检测支架，所述位置检测支架的顶板与底板之间连接有两根导向杆，两所述导向杆上设有可浮动的信号滑块，所述信号滑块的中部连接有向下延伸的滑动杆，所述滑动杆的下端穿过所述位置检测支架的底板并向下延伸，所述位置检测支架的顶板固定在所述移动框架的下方，所述位置检测支架的竖板上设有沿竖向延伸的位置检测支架长槽，所述位置检测支架长槽中安装有探测信号滑块高度的位置检测探头。位置检测探头自下而上依次可以包括变速点探头、停止点探头和极限位置探头，位置检测探头和偏重块探头可以为行程开关、接近开关或光电开关。当皮带卷绕筒同步向上卷绕升降带，则升降带将升降框架向上提起，当升降顶板接触到滑动杆的下端时，将滑动杆及信号滑块向上顶起，两导向杆对信号滑块的升降起到导向作用，当信号滑块的高度升高至变速点位置时，升降电机减速，升降带继续卷绕；当信号滑块的高度升高至停止点位置时，升降电机停止，升降带停止卷绕；如果升降带意外继续卷绕，信号滑块升高至极限位置使，则整个设备停车，防止升降带被拉断造成事故。
作为本发明的进一步改进，所述移动框架前进方向的一侧连接有向前再向下延伸的L形支架，所述L形支架的下端铰接有拨袋摆臂，所述拨袋摆臂的前端固定有Y向拨梁，所述Y向拨梁上均匀连接有多根向下延伸的拨杆；所述Y向拨梁的中部固定有拨袋驱动臂，所述拨袋驱动臂的前端与拨袋气缸的活塞杆下端相铰接，所述拨袋气缸的缸体固定在所述L形支架的上端中部。在抓袋完成并提升到位后，移动框架载着包装袋向卸料工位平移，此时拨袋气缸的活塞杆缩回，通过拨袋摆臂驱动Y向拨梁转动，Y向拨梁上各拨杆向前进的方向划动，可以将托袋格栅上的遗留袋皮推入袋皮收集斗，避免残留的袋皮被物料带入料仓中。
作为本发明的进一步改进，所述割袋下料装置包括固定框架，所述固定框架的四个角部通过固定框架立柱支撑于地面，所述固定框架的下部设有集料斗，其特征在于：所述固定框架的左侧入口处设有沿Y向延伸的刀辊，所述刀辊上均匀分布有多道刀片，所述刀辊的右侧设有托袋格栅，所述托袋格栅的左右两端向下弯曲且固定在所述固定框架上；所述托袋格栅的下方设有多根相互平行的抖袋杆，各抖袋杆均平行于所述托袋格栅，各抖袋杆的左右两端分别向下弯曲且固定在Y向抖袋主杆上，两Y向抖袋主杆的前后两端分别从固定框架的避让槽伸出且分别通过X向连接杆相互连接为抖袋框架，所述固定框架的前后两侧分别安装有悬吊座，所述悬吊座的上端分别铰接有吊杆，各吊杆的下端分别悬吊住所述Y向抖袋主杆的端头；所述固定框架的侧壁安装有抖袋减速电机，所述抖袋减速电机的输出端安装有偏心轮，所述偏心轮的轴线沿X向延伸且圆周上铰接有抖袋连接杆，所述抖袋连接杆 的另一端铰接在所述抖袋框架上。抓袋机构采用C形钩将包装袋的顶部钩住并提起，向右平移过程中，先经过刀辊的上方，刀辊旋转，各刀片在包装袋的底部划出多道相互平行的X向条缝，然后包装袋被搁置在托袋格栅上，物料在重力作用下将各道条缝撑开，并落入下方的集料斗中。同时抖袋减速电机驱动偏心轮转动，偏心轮的圆周运动通过抖袋连接杆使抖袋框架作前后方向的往复运动，抖袋框架悬吊在四根吊杆下端作类似于抖筛子的动作，各抖袋杆在托袋格栅下方前后摆动，使包装袋产生晃动，并且不断往复拨开各道条缝，使物料可以排清。
作为本发明的进一步改进，所述刀辊的上游安装有托辊组件，所述托辊组件包括多根沿Y向延伸的托辊，各托辊的前后两端分别固定在托辊摆架上，所述托辊摆架的右端通过摆架销轴铰接在所述托辊固定架上，所述托辊固定架固定在所述固定框架立柱上，所述托辊摆架的左端设有向上延伸的摆架弧形臂，所述摆架弧形臂上设有摆架弧形槽，所述摆架弧形槽与所述摆架销轴共轴线，所述摆架弧形槽中插接有螺钉与所述托辊固定架相连接。包装袋的上部被钩住提起时，包装袋的下部会在物料重力作用下产生下垂，从抓袋工位向割袋工位移动时，包装袋的底部容易磕在刀辊左侧的边框上，导致包装袋一部分已进入刀辊上方被割开，被磕碰的部位还被阻挡在外侧，容易造成撒料。本装置在容易发生磕碰的部位设置托辊组件，多根平行的托辊既起到导向的作用，又可以自转减轻包装袋底部受到的摩擦力，保证下垂的包装袋顺利滑入刀辊。摆架弧形臂及其上的摆架弧形槽，便于调整托辊摆架相对于托辊固定架的倾角，以适应多种品种和规格的包装袋。
作为本发明的进一步改进，所述固定框架上方的前后两侧分别设有除尘器连接法兰，所述除尘器连接法兰上方分别安装有布袋除尘器，所述布袋除尘器的底部锥斗与所述集料斗的上部空间相通。布袋除尘器可以将下料产生的粉尘抽入布袋除尘器进行除尘，改善工作环境。
作为本发明的进一步改进，所述袋皮收集装置包括收袋机架，所述收袋机架的上部设有袋皮收集斗，所述袋皮收集斗的底部设有袋皮输送绞龙，所述袋皮输送绞龙的前端插入筛网筒的内腔，所述筛网筒向前延伸，且筛网筒的内壁呈有将袋皮向前输送的拨板，各拨板沿螺旋线分布；所述筛网筒的前后两端分别设有滚环，所述滚环的外周均匀分布有四个限位滚轮，四个限位滚轮的滚轮轴分别固定在筛框架上，所述筛网筒的前端口外周设有筛筒大链轮，所述筛筒大链轮通过链条与筛筒驱动小链轮相连，所述筛筒驱动小链轮安装在筛筒减速电机的输出轴上，所述筛筒减速电机固定在所述筛框架上，所述筛框架设有包覆筛网筒的筛筒护罩，所述筛框架的下部设有承接筛网筒漏料的残料收集斗。底部被划破并且卸料后的袋 皮被释放在袋皮收集斗中，绞龙减速机驱动袋皮输送绞龙旋转，将袋皮卷入袋皮输送绞龙中，并向前送入筛网筒中；筛筒减速电机通过筛筒驱动小链轮及链条驱动筛筒大链轮转动，筛筒大链轮带动筛网筒连续旋转，筛网筒的前后两端各四个限位滚轮抵靠在滚环上，使筛网筒自由稳定地转动。随着筛网筒的旋转，其内腔的拨板不断地将袋皮抄起落下，使袋皮中的残料透过筛网筒，落入残料收集斗中；同时在拨板的作用下，袋皮逐渐向前移动，直至从筛网筒的前端口排出。
本发明的另一个目的在于，克服现有技术中存在的问题，提供一种包装袋的卸车投料方法，可以对卡车上的包装袋进行自动卸车，并且托盘可以自动回收，循环使用，卸车效率高。
为解决以上技术问题，本发明的自动卸车投料方法，依次包括如下步骤：⑴承载包装袋的托盘被实托盘输送机向后运送至抓袋工位；⑵皮带卷绕筒向下释放升降带，升降框架下降，各C形钩伸出完成抓袋；⑶皮带卷绕筒向上卷绕升降带，使包装袋升起后，移动框架平移至割袋工位，包装袋的底部被割开，物料落入集料斗中；⑷移动框架继续平移至袋皮收集工位，各C形钩缩回，空袋皮落入袋皮收集装置中；⑸托盘上的包装袋被抓取完毕后，空托盘前进至后平台双向输送机上；⑹后升降平台下降，空托盘到达下层；⑺后平台双向输送机前进，使空托盘到达空托盘输送机上，并继续向前进入前平台双向输送机；⑻前升降平台升高，空托盘到达上层；⑼前平台双向输送机向后运行，将空托盘输送至实托盘输送机上，进入下一个循环。
相对于现有技术，本发明取得了以下有益效果：该自动卸车系统可以对空托盘进行自动回收，实现实托盘与空托盘的交替循环运行，卸车效率高，劳动强度低，可以保证系统可以长期连续运行。
附图说明
下面结合附图和具体实施方式对本发明作进一步详细的说明，附图仅提供参考与说明用，非用以限制本发明。
图1为本发明自动卸车投料系统的立体图一。
图2为本发明自动卸车投料系统的立体图二。
图3为本发明中卸车工位的立体图。
图4为本发明中自动投料系统的立体图。
图5为自动投料系统中抓袋机构的主视图。
图6为图5的左视图。
图7为图5的右视图。
图8为图5的立体图一。
图9为图5的立体图二。
图10为自动投料系统去掉升降框架上方部件的立体图。
图11为自动投料系统中位置检测机构的立体图。
图12为自动投料系统中割袋下料装置的立体图一。
图13为自动投料系统中割袋下料装置的立体图二。
图14为图13中隐去固定框架和集料斗后的放大图。
图15为自动投料系统中袋皮收集装置的立体图。
图16为自动投料系统中筛网筒部位的立体放大图。
图中：1.移动框架；1a.X向行走滚轮；2.剪刀臂；2a.剪刀臂上铰座；2b.剪刀臂下铰座；2c.剪刀臂上滑座；2d.剪刀臂下滑座；2e.剪刀臂上滚轮；2f.剪刀臂下滚轮；3.行走减速电机；3a.行走驱动轴；3b.X向行走链轮；3c.X向导轨；3d.X向链条；4.升降电机；4a.升降减速箱；4b.升降驱动轴；4c.皮带卷绕筒；4d.升降带；4e.升降吊耳；4f.偏重块；4g.偏重块探头；4h.偏重块探测支架；4h1.支架竖向长槽；5.位置检测机构；5a.位置检测支架；5a1.位置检测支架长槽；5b.导向杆；5c.信号滑块；5d.滑动杆；5e.位置检测探头；6.升降框架；6a.升降顶板；7.前C形钩；7a.前C形钩方管；7b.前C形钩转轴；7c.前C形钩轴承；7d.前C形钩摆臂；7e.前C形钩连杆；7f.前C形钩气缸；8.后C形钩；8a.后C形钩方管；8b.后C形钩转轴；8c.后C形钩轴承；8d.后C形钩摆臂；8e.后C形钩连杆；8f.后C形钩气缸；9.限位板；9a.限位板钩孔；9b.导向竖板；9c.连接板；10.L形支架；10a.拨袋气缸；10b.拨袋驱动臂；10c.Y向拨梁；10d.拨杆；10e.拨袋摆臂。
11.托辊组件；11a.托辊；11b.托辊摆架；11b1.摆架弧形臂；11b2.摆架弧形槽；11c.托辊固定架；12.切刀电机；12a.切刀减速机；12b.刀辊；12c.刀片；13.托袋格栅；14.抖袋减速电机；14a.偏心轮；14b.抖袋连接杆；14c.X向连接杆；14d.Y向抖袋主杆；14e.抖袋杆；14f.吊杆；14g.悬吊座；15.集料斗；16.固定框架；16a.固定框架立柱；16b.除尘器连接法兰；16c.布袋除尘器；
17.袋皮收集斗；18.袋皮输送绞龙；18a.绞龙减速机；19.筛网筒；19a.滚环；19b.筛筒大链轮；19c.拨板；20.限位滚轮；21.筛框架；22.链条；23.筛筒减速电机；23a.筛筒驱动小链轮；24.筛筒护罩；25.残料收集斗；26.收袋机架。
27.Y向行车轨道；28.行车；29.X向小车；30.Z向升降机构；31.抓包夹爪；32.实托 盘输送机；33.空托盘输送机；34.后升降支架；35.后升降气缸；36.后升降平台；37.后平台双向输送机；38.前升降支架；39.前升降气缸；40.前升降平台；41.前平台双向输送机；42.托盘。
具体实施方式
在本发明的以下描述中，术语“上”、“下”、“前”、“后”、“左”、“右”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指装置必须具有特定的方位。
如图1至图3所示，本发明的自动卸车系统包括并排设立的停车工位和卸车工位，卸车工位设有沿Y向延伸的卸车平台，卸车平台包括位于上层的实托盘输送机32和位于下层的空托盘输送机33，实托盘输送机32的后部位于自动卸车投料系统的抓袋工位，实托盘输送机32的后端设有后升降支架34，后升降支架34上固定有后升降气缸35，后升降气缸35的活塞杆顶部支撑有后升降平台36，后升降平台36上设有后平台双向输送机37；实托盘输送机32的前端设有前升降支架38，前升降支架38上固定有前升降气缸39，前升降气缸39的活塞杆顶部支撑有前升降平台40，前升降平台40上设有前平台双向输送机41。
空的托盘42置于上层的实托盘输送机32上后，等待装载包装袋，包装袋叠置完成后，实托盘输送机32向后运输，在实托盘输送机32的末端，实托盘停留，等待自动投料系统的抓袋机构将包装袋抓走，然后实托盘输送机32向后前进，使空托盘到达后平台双向输送机37上，后平台双向输送机37先向后运行，使空托盘脱离实托盘输送机32，完全到达后平台双向输送机37上，然后后升降气缸35的活塞杆缩回，使后升降平台36下降，后平台双向输送机37带着空托盘跟随下降至下层，接着后平台双向输送机37向前运行，使空托盘到达空托盘输送机33上，空托盘输送机33载着各空托盘向前移动，后升降平台36上升复位，空托盘进入前平台双向输送机41后，前平台双向输送机41先向前运行使空托盘脱离空托盘输送机33，完全位于前平台双向输送机41上，然后前升降气缸39的活塞杆顶出，将前升降平台40升高，前平台双向输送机41载着空托盘到达上一层，接着前平台双向输送机41向后运行，将空托盘输送至实托盘输送机32上，实托盘输送机32载着空托盘进入下一个循环，前升降平台40下降复位。
停车工位和卸车工位的外侧设有相互平行的Y向行车轨道27，两Y向行车轨道27上设有行车28，行车28的左右两端分别通过Y向行走轮支撑在Y向行车轨道27上，行车28包括前后两根相互平行的X向行车梁，行车上安装有X向小车29，X向小车29的前后两侧分别通过X向小车轮支撑在相应的X向行车梁上；X向小车29上安装有Z向升降机构 30，Z向升降机构30的下端安装有抓包夹爪31。
卡车停在停车工位，X向小车29先位于卡车上方，Z向升降机构30下降，使抓包夹爪31接触到卡车上的包装袋并实现抓包，然后Z向升降机构30上升，抓包夹爪31将包装袋拎起，然后X向小车29向卸车工位移动，使抓包夹爪31带着包装袋到达卸车平台的上方，Z向升降机构30下降，抓包夹爪31将包装袋释放在位于实托盘输送机32上的托盘上。行车28沿Y向行车轨道27移动，使X向小车29可以对实托盘输送机32上的多个托盘进行装载。
如图4至图10所示，自动卸车投料系统包括抓袋机构、割袋下料装置和袋皮收集装置，抓袋机构包括移动框架1，移动框架1的左右两侧分别设有X向行走滚轮1a，X向行走滚轮1a分别支撑在X向导轨3c上，X向导轨3c上分别设有X向链条3d，移动框架1上安装有行走减速电机3，行走减速电机3的输出端安装有沿Y向延伸的行走驱动轴3a，行走驱动轴3a的两端分别安装有X向行走链轮3b，X向行走链轮3b分别与X向链条3d相啮合。
移动框架1的下方连接有剪刀臂2，剪刀臂2的底部连接有升降框架6，升降框架6的下方设有多排下端可以启闭的C形钩，各C形钩的下方设有限位板9，限位板9是四周通过连接板9c与升降框架6相连，限位板9上均匀分布有多个供C形钩穿过的限位板钩孔9a。
升降框架6先带着限位板9及C形钩下降，当限位板9接触到顶层包装袋时，C形钩从限位板钩孔9a中伸出，扎入包装袋的顶部，然后升降框架6上升，剪刀臂2收缩，将顶层的包装袋拎起，然后行走减速电机3通过行走驱动轴3a驱动X向行走链轮3b转动，X向行走链轮3b沿相应的X向链条3d行走，使X向行走滚轮1a沿X向导轨3c前进使移动框架1可以带着剪刀臂2、升降框架6及被抓取的包装袋平移至卸料工位。由于抓取的部位在包装袋的顶部，不影响底部的破袋及卸料；卸料完毕后，C形钩从限位板钩孔9a中缩回，限位板9将袋皮阻挡在其下方，即完成袋皮与C形钩的彻底分离，避免袋皮被C形钩带到上面。本发明通过C形钩扎入、升降框架6提升及移动框架1平移可以将包装袋从托盘上自动抓取，并转移至卸料工位破袋卸料，自动化程度高。
如图6及图10所示，前后相邻两排C形钩的钩尖相向且相互错开，前C形钩7的钩尖向后，且同一排前C形钩7的固定端均固定在同一根前C形钩方管7a上，前C形钩方管7a的两端分别与前C形钩转轴7b同轴连接，前C形钩转轴7b的两端分别通过前C形钩轴承7c及其支架支撑在升降框架6上；后C形钩8的钩尖向前，且同一排后C形钩8的固定端均固定在同一根后C形钩方管8a上，后C形钩方管8a的两端分别与后C形钩转轴8b同轴连接，后C形钩转轴8b的两端分别通过后C形钩轴承8c及其支架支撑在升降框架6上。 前C形钩7与后C形钩8相互错开，既可以增加抓取点，又可以避免提升时编织袋的抓取部位撕裂。各前C形钩7的本体固定在前C形钩方管7a上可避免相对转动，前C形钩转轴7b转动时，前C形钩方管7a带动各前C形钩7同步伸出或缩回；同时，后C形钩转轴8b通过后C形钩方管8a带动各后C形钩8同步伸出或缩回，前C形钩7与后C形钩8的钩尖相向，伸出时与包装袋的结合可靠。
如图6、图8及图10所示，各前C形钩方管7a的一端分别连接有前C形钩摆臂7d，各前C形钩摆臂7d的上端分别铰接在前C形钩连杆7e上，其中一根前C形钩摆臂7d向上延伸且与前C形钩气缸7f的活塞杆端部相铰接，前C形钩气缸7f固定在升降框架6上；各后C形钩方管8a的另一端分别连接有后C形钩摆臂8d，各后C形钩摆臂8d的上端分别铰接在后C形钩连杆8e上，其中一根后C形钩摆臂8d向上延伸且与后C形钩气缸8f的活塞杆端部相铰接，后C形钩气缸8f固定在升降框架6上。前C形钩气缸7f的活塞杆伸出时，前C形钩连杆7e驱动各前C形钩摆臂7d的上端同步向前摆动，各前C形钩摆臂7d同步驱动各前C形钩转轴7b正向转动，各前C形钩7从限位板钩孔9a中伸出，完成扎袋；后C形钩气缸8f的活塞杆与前C形钩气缸7f同步伸出，后C形钩连杆8e驱动各后C形钩摆臂8d的上端同步向后摆动，各后C形钩摆臂8d同步驱动各后C形钩转轴8b反向转动，各后C形钩8从限位板钩孔9a中伸出，完成扎袋。
如图5至图8所示，移动框架1上安装有升降减速箱4a，升降减速箱4a的输入端由升降电机4驱动，升降减速箱4a的输出端安装有沿Y向延伸的升降驱动轴4b，升降驱动轴4b的两端对称固定有皮带卷绕筒4c，皮带卷绕筒4c上分别卷绕有升降带4d，两升降带4d的下端分别固定在升降吊耳4e上，两升降吊耳4e的下端对称固定在升降框架6的顶部。升降电机4通过升降减速箱4a驱动升降驱动轴4b转动，升降驱动轴4b带动两个皮带卷绕筒4c同步正向转动，两皮带卷绕筒4c同步向下释放升降带4d，则升降框架6下行；反之，皮带卷绕筒4c同步反向转动，两皮带卷绕筒4c同步向上卷绕升降带4d，则升降带4d通过升降吊耳4e将升降框架6向上提起。
如图5、图10所示，两升降带4d的下端绕包在相应升降吊耳4e上且由升降带接头固定，升降带接头上固定有偏重块4f；偏重块4f的一侧分别设有探测其位置的偏重块探头4g，偏重块探头4g分别安装于偏重块探测支架4h的上端，偏重块探测支架4h的底部固定在升降顶板6a上，升降顶板6a固定在升降框架6的上方。当升降顶板6a落在包装袋上时，两皮带卷绕筒4c继续释放升降带4d，则偏重块4f逐步向下倾斜，脱离偏重块探头4g的探测，偏重块探头4g被触发，控制系统停止升降电机4的运行，皮带卷绕筒4c停止释放升降 带4d，升降带4d始终保持在绷紧状态，防止过分释放造成凌乱，保证升降系统的可靠运行。可以自动适应包装袋层高的变化，无论待抓取的包装袋处于顶层还是底层，升降电机4都能准确停车，使C形钩准确抓取包装袋。
如图10所示，偏重块探测支架4h的上端设有支架竖向长槽4h1，偏重块探头4g分别从支架竖向长槽4h1中穿过且向偏重块4f的方向伸出，偏重块探头4g的高度与升降带4d绷紧状态时偏重块4f的高度相对应；升降吊耳4e的中部从升降顶板6a的避让槽中穿过。偏重块探头4g通过支架竖向长槽4h1可以调整自身的安装高度，以准确发讯控制升降电机4的运行。
如图11所示，移动框架1的下方安装有位置检测机构5，位置检测机构5包括位置检测支架5a，位置检测支架5a的顶板与底板之间连接有两根导向杆5b，两导向杆5b上设有可浮动的信号滑块5c，信号滑块5c的中部连接有向下延伸的滑动杆5d，滑动杆5d的下端穿过位置检测支架5a的底板并向下延伸，位置检测支架5a的顶板固定在移动框架1的下方，位置检测支架5a的竖板上设有沿竖向延伸的位置检测支架长槽5a1，位置检测支架长槽5a1中安装有探测信号滑块5c高度的位置检测探头5e。
位置检测探头5e自下而上依次可以包括变速点探头、停止点探头和极限位置探头，位置检测探头5e和偏重块探头4g可以为行程开关、接近开关或光电开关。当皮带卷绕筒4c同步向上卷绕升降带4d，则升降带4d将升降框架6向上提起，当升降顶板6a接触到滑动杆5d的下端时，将滑动杆5d及信号滑块5c向上顶起，两导向杆5b对信号滑块5c的升降起到导向作用，当信号滑块5c的高度升高至变速点位置时，升降电机4减速，升降带4d继续卷绕；当信号滑块5c的高度升高至停止点位置时，升降电机4停止，升降带4d停止卷绕；如果升降带4d意外继续卷绕，信号滑块5c升高至极限位置使，则整个设备停车，防止升降带4d被拉断造成事故。
如图8所示，限位板9的上端面设有多对向上竖起的导向竖板9b，每对导向竖板9b分别位于各限位板钩孔9a上端口的左右两侧。C形钩在多次扎袋并受力后，容易发生变形，在伸出时容易扎在限位板钩孔9a的边缘，造成损坏，在限位板钩孔9a上端口的左右两侧设置导向竖板9b后，限制C形钩向两侧歪斜，即使发生歪斜，也能够顺利出入限位板钩孔9a。
剪刀臂2的左上部铰接在剪刀臂上铰座2a中，剪刀臂的右上部通过剪刀臂上滚轮2e支撑在剪刀臂上滑座2c的水平长槽中，剪刀臂上铰座2a与剪刀臂上滑座2c分别固定在移动框架1的下方；剪刀臂的左下部铰接在剪刀臂下铰座2b中，剪刀臂的右下部通过剪刀臂下滚轮2f支撑在剪刀臂下滑座2d的水平长槽中，剪刀臂下铰座2b与剪刀臂下滑座2d分别 固定在升降框架6的上方。剪刀臂在伸长或收缩时，左右铰接点之间的距离会发生变化，剪刀臂上滚轮2e在剪刀臂上滑座2c的水平长槽中滑动，剪刀臂下滚轮2f在剪刀臂下滑座2d的水平长槽中滑动，可以适应剪刀臂宽度的变化。
移动框架1前进方向的一侧连接有向前再向下延伸的L形支架10，L形支架10的下端铰接有拨袋摆臂10e，拨袋摆臂10e的前端固定有Y向拨梁10c，Y向拨梁10c上均匀连接有多根向下延伸的拨杆10d；Y向拨梁10c的中部固定有拨袋驱动臂10b，拨袋驱动臂10b的前端与拨袋气缸10a的活塞杆下端相铰接，拨袋气缸10a的缸体固定在L形支架10的上端中部。在抓袋完成并提升到位后，移动框架1载着包装袋向卸料工位平移，此时拨袋气缸10a的活塞杆缩回，通过拨袋摆臂10e驱动Y向拨梁10c转动，Y向拨梁10c上各拨杆10d向前进的方向划动，可以将托袋格栅上的遗留袋皮推入袋皮收集斗，避免残留的袋皮被物料带入料仓中。
如图12至图14所示，割袋下料装置包括固定框架16，固定框架16的四个角部通过固定框架立柱16a支撑于地面，固定框架16的下部设有集料斗15，固定框架16的左侧入口处设有沿Y向延伸的刀辊12b，刀辊12b上均匀分布有多道刀片12c，刀辊12b的右侧设有托袋格栅13，托袋格栅13的左右两端向下弯曲且固定在固定框架16上；托袋格栅13的下方设有多根相互平行的抖袋杆14e，各抖袋杆14e均平行于托袋格栅13，各抖袋杆14e的左右两端分别向下弯曲且固定在Y向抖袋主杆14d上，两Y向抖袋主杆14d的前后两端分别从固定框架16的避让槽伸出且分别通过X向连接杆14c相互连接为抖袋框架，固定框架16的前后两侧分别安装有悬吊座14g，悬吊座14g的上端分别铰接有吊杆14f，各吊杆14f的下端分别悬吊住Y向抖袋主杆14d的端头；固定框架16的侧壁安装有抖袋减速电机14，抖袋减速电机14的输出端安装有偏心轮14a，偏心轮14a的轴线沿X向延伸且圆周上铰接有抖袋连接杆14b，抖袋连接杆14b的另一端铰接在抖袋框架上。
抓袋机构采用C形钩将包装袋的顶部钩住并提起，向右平移过程中，先经过刀辊12b的上方，刀辊12b旋转，各刀片12c在包装袋的底部划出多道相互平行的X向条缝，然后包装袋被搁置在托袋格栅13上，物料在重力作用下将各道条缝撑开，并落入下方的集料斗15中。同时抖袋减速电机14驱动偏心轮14a转动，偏心轮14a的圆周运动通过抖袋连接杆14b使抖袋框架作前后方向的往复运动，抖袋框架悬吊在四根吊杆14f下端作类似于抖筛子的动作，各抖袋杆14e在托袋格栅13下方前后摆动，使包装袋产生晃动，并且不断往复拨开各道条缝，使物料可以排清。
刀辊12b的一端由切刀减速机12a驱动，切刀减速机12a的输入端由切刀电机12驱 动。切刀电机12通过切刀减速机12a驱动刀辊12b旋转，刀辊12b上的各切刀持续做切割动作。
刀辊12b的上游安装有托辊组件11，托辊组件11包括多根沿Y向延伸的托辊11a，各托辊11a的前后两端分别固定在托辊摆架11b上，托辊摆架11b的右端通过摆架销轴铰接在托辊固定架11c上，托辊固定架11c固定在固定框架立柱16a上，托辊摆架11b的左端设有向上延伸的摆架弧形臂11b1，摆架弧形臂11b1上设有摆架弧形槽11b2，摆架弧形槽11b2与摆架销轴共轴线，摆架弧形槽11b2中插接有螺钉与托辊固定架11c相连接。
包装袋的上部被钩住提起时，包装袋的下部会在物料重力作用下产生下垂，从抓袋工位向割袋工位移动时，包装袋的底部容易磕在刀辊12b左侧的边框上，导致包装袋一部分已进入刀辊12b上方被割开，被磕碰的部位还被阻挡在外侧，容易造成撒料。本装置在容易发生磕碰的部位设置托辊组件11，多根平行的托辊11a既起到导向的作用，又可以自转减轻包装袋底部受到的摩擦力，保证下垂的包装袋顺利滑入刀辊12b。摆架弧形臂11b1及其上的摆架弧形槽11b2，便于调整托辊摆架11b相对于托辊固定架11c的倾角，以适应多种品种和规格的包装袋。
固定框架16上方的前后两侧分别设有除尘器连接法兰16b。通过除尘器连接法兰16b连接布袋除尘器16c，可以将下料产生的粉尘抽入布袋除尘器16c进行除尘，改善工作环境。
如图15、图16所示，袋皮收集装置包括收袋机架26，收袋机架26的上部设有袋皮收集斗17，袋皮收集斗17的底部设有袋皮输送绞龙18，袋皮输送绞龙18的前端插入筛网筒19的内腔，筛网筒19向前延伸，且筛网筒19的内壁呈有将袋皮向前输送的拨板19c，各拨板19c沿螺旋线分布；筛网筒19的前后两端分别设有滚环19a，滚环19a的外周均匀分布有四个限位滚轮20，四个限位滚轮20的滚轮轴分别固定在筛框架21上，筛网筒19的前端口外周设有筛筒大链轮19b，筛筒大链轮19b通过链条22与筛筒驱动小链轮23a相连，筛筒驱动小链轮23a安装在筛筒减速电机23的输出轴上，筛筒减速电机23固定在筛框架21上，筛框架21设有包覆筛网筒19的筛筒护罩24，筛框架21的下部设有承接筛网筒19漏料的残料收集斗25。
工作中，底部被划破并且卸料后的袋皮被释放在袋皮收集斗17中，绞龙减速机18a驱动袋皮输送绞龙18旋转，将袋皮卷入袋皮输送绞龙18中，并向前送入筛网筒19中；筛筒减速电机23通过筛筒驱动小链轮23a及链条22驱动筛筒大链轮19b转动，筛筒大链轮19b带动筛网筒19连续旋转，筛网筒19的前后两端各四个限位滚轮20抵靠在滚环19a上， 使筛网筒19自由稳定地转动。随着筛网筒19的旋转，其内腔的拨板19c不断地将袋皮抄起落下，使袋皮中的残料透过筛网筒19，落入残料收集斗25中；同时在拨板19c的作用下，袋皮逐渐向前移动，直至从筛网筒19的前端口排出。
本发明包装袋的卸车投料方法，依次包括如下步骤：⑴皮带卷绕筒4c向下释放升降带4d，升降框架6及限位板9下降，剪刀臂2伸长；⑵当限位板9落在包装袋上后，随着皮带的继续释放，偏重块4f倾斜脱离偏重块探头4g的探测范围，此时皮带卷绕筒4c停止；⑶各C形钩从限位板钩孔9a中伸出，插入包装袋中；⑷皮带卷绕筒4c向上卷绕升降带4d，升降框架6将抓取的各包装袋升起，剪刀臂2收缩；⑸升降框架6到达变速点时，皮带卷绕筒4c减速；⑹升降框架6到达设定高度后，皮带卷绕筒4c停止；⑺移动框架1将包装袋移至割袋工位。

Claims (11)

  1. 一种自动卸车投料系统，包括并排设立的停车工位和卸车工位，其特征在于：所述卸车工位设有沿Y向延伸的卸车平台，所述卸车平台包括位于上层的实托盘输送机和位于下层的空托盘输送机，所述实托盘输送机的后部位于自动投料系统的抓袋工位，所述自动投料系统包括抓袋机构、割袋下料装置和袋皮收集装置；所述实托盘输送机的后端设有后升降支架，所述后升降支架上固定有后升降气缸，所述后升降气缸的活塞杆顶部支撑有后升降平台，所述后升降平台上设有后平台双向输送机；所述实托盘输送机的前端设有前升降支架，所述前升降支架上固定有前升降气缸，所述前升降气缸的活塞杆顶部支撑有前升降平台，所述前升降平台上设有前平台双向输送机。
  2. 根据权利要求1所述的自动卸车投料系统，其特征在于：所述抓袋机构包括移动框架，所述移动框架的左右两侧分别设有X向行走滚轮，所述X向行走滚轮分别支撑在X向导轨上，所述X向导轨上分别设有X向链条；所述移动框架上安装有行走减速电机，所述行走减速电机的输出端安装有沿Y向延伸的行走驱动轴，所述行走驱动轴的两端分别安装有X向行走链轮，两X向行走链轮分别与X向链条相啮合；所述移动框架的下方连接有剪刀臂，所述剪刀臂的底部连接有升降框架，所述升降框架的下方设有多排下端可以启闭的C形钩，各C形钩的下方设有限位板，所述限位板上均匀分布有多个供C形钩穿过的限位板钩孔。
  3. 根据权利要求2所述的自动卸车投料系统，其特征在于：前后相邻两排C形钩的钩尖相向且相互错开，前C形钩的钩尖向后，且同一排前C形钩的固定端均固定在同一根前C形钩方管上，前C形钩方管的两端分别与前C形钩转轴同轴连接，前C形钩转轴的两端分别通过前C形钩轴承及其支架支撑在所述升降框架上；后C形钩的钩尖向前，且同一排后C形钩的固定端均固定在同一根后C形钩方管上，后C形钩方管的两端分别与后C形钩转轴同轴连接，后C形钩转轴的两端分别通过后C形钩轴承及其支架支撑在所述升降框架上；各前C形钩方管的一端分别连接有前C形钩摆臂，各前C形钩摆臂的上端分别铰接在前C形钩连杆上，其中一根前C形钩摆臂向上延伸且与前C形钩气缸的活塞杆端部相铰接，所述前C形钩气缸固定在所述升降框架上；各后C形钩方管的另一端分别连接有后C形钩摆臂，各后C形钩摆臂的上端分别铰接在后C形钩连杆上，其中一根后C形钩摆臂向上延伸且与后C形钩气缸的活塞杆端部相铰接，所述后C形钩气缸固定在所述升降框架上。
  4. 根据权利要求2所述的自动卸车投料系统，其特征在于：所述移动框架上安装有升降减速箱，所述升降减速箱的输入端由升降电机驱动，所述升降减速箱的输出端安装有沿Y向延伸的升降驱动轴，所述升降驱动轴的两端对称固定有皮带卷绕筒，所述皮带卷绕筒上分别卷绕有升降带，两升降带的下端分别固定在升降吊耳上，两升降吊耳的下端对称固定在所述 升降框架的顶部；两升降带的下端绕包在相应升降吊耳上且由升降带接头固定，所述升降带接头上固定有偏重块；所述偏重块的一侧分别设有探测其位置的偏重块探头，所述偏重块探头分别安装于偏重块探测支架的上端，所述偏重块探测支架的底部固定在升降顶板上，所述升降顶板固定在所述升降框架的上方。
  5. 根据权利要求2所述的自动卸车投料系统，其特征在于：所述移动框架的下方安装有位置检测机构，所述位置检测机构包括位置检测支架，所述位置检测支架的顶板与底板之间连接有两根导向杆，两所述导向杆上设有可浮动的信号滑块，所述信号滑块的中部连接有向下延伸的滑动杆，所述滑动杆的下端穿过所述位置检测支架的底板并向下延伸，所述位置检测支架的顶板固定在所述移动框架的下方，所述位置检测支架的竖板上设有沿竖向延伸的位置检测支架长槽，所述位置检测支架长槽中安装有探测信号滑块高度的位置检测探头。
  6. 根据权利要求2所述的自动卸车投料系统，其特征在于：所述移动框架前进方向的一侧连接有向前再向下延伸的L形支架，所述L形支架的下端铰接有拨袋摆臂，所述拨袋摆臂的前端固定有Y向拨梁，所述Y向拨梁上均匀连接有多根向下延伸的拨杆；所述Y向拨梁的中部固定有拨袋驱动臂，所述拨袋驱动臂的前端与拨袋气缸的活塞杆下端相铰接，所述拨袋气缸的缸体固定在所述L形支架的上端中部。
  7. 根据权利要求2所述的自动卸车投料系统，其特征在于：所述割袋下料装置包括固定框架，所述固定框架的四个角部通过固定框架立柱支撑于地面，所述固定框架的下部设有集料斗，其特征在于：所述固定框架的左侧入口处设有沿Y向延伸的刀辊，所述刀辊上均匀分布有多道刀片，所述刀辊的右侧设有托袋格栅，所述托袋格栅的左右两端向下弯曲且固定在所述固定框架上；所述托袋格栅的下方设有多根相互平行的抖袋杆，各抖袋杆均平行于所述托袋格栅，各抖袋杆的左右两端分别向下弯曲且固定在Y向抖袋主杆上，两Y向抖袋主杆的前后两端分别从固定框架的避让槽伸出且分别通过X向连接杆相互连接为抖袋框架，所述固定框架的前后两侧分别安装有悬吊座，所述悬吊座的上端分别铰接有吊杆，各吊杆的下端分别悬吊住所述Y向抖袋主杆的端头；所述固定框架的侧壁安装有抖袋减速电机，所述抖袋减速电机的输出端安装有偏心轮，所述偏心轮的轴线沿X向延伸且圆周上铰接有抖袋连接杆，所述抖袋连接杆的另一端铰接在所述抖袋框架上。
  8. 根据权利要求7所述的自动卸车投料系统，其特征在于：所述刀辊的上游安装有托辊组件，所述托辊组件包括多根沿Y向延伸的托辊，各托辊的前后两端分别固定在托辊摆架上，所述托辊摆架的右端通过摆架销轴铰接在所述托辊固定架上，所述托辊固定架固定在所述固定框架立柱上，所述托辊摆架的左端设有向上延伸的摆架弧形臂，所述摆架弧形臂上设有摆 架弧形槽，所述摆架弧形槽与所述摆架销轴共轴线，所述摆架弧形槽中插接有螺钉与所述托辊固定架相连接。
  9. 根据权利要求7所述的自动卸车投料系统，其特征在于：所述固定框架上方的前后两侧分别设有除尘器连接法兰，所述除尘器连接法兰上方分别安装有布袋除尘器，所述布袋除尘器的底部锥斗与所述集料斗的上部空间相通。
  10. 根据权利要求2所述的自动卸车投料系统，其特征在于：所述袋皮收集装置包括收袋机架，所述收袋机架的上部设有袋皮收集斗，所述袋皮收集斗的底部设有袋皮输送绞龙，所述袋皮输送绞龙的前端插入筛网筒的内腔，所述筛网筒向前延伸，且筛网筒的内壁呈有将袋皮向前输送的拨板，各拨板沿螺旋线分布；所述筛网筒的前后两端分别设有滚环，所述滚环的外周均匀分布有四个限位滚轮，四个限位滚轮的滚轮轴分别固定在筛框架上，所述筛网筒的前端口外周设有筛筒大链轮，所述筛筒大链轮通过链条与筛筒驱动小链轮相连，所述筛筒驱动小链轮安装在筛筒减速电机的输出轴上，所述筛筒减速电机固定在所述筛框架上，所述筛框架设有包覆筛网筒的筛筒护罩，所述筛框架的下部设有承接筛网筒漏料的残料收集斗。
  11. 一种采用权利要求10所述自动卸车投料系统进行的卸车投料方法，其特征在于，依次包括如下步骤：⑴承载包装袋的托盘被实托盘输送机向后运送至抓袋工位；⑵皮带卷绕筒向下释放升降带，升降框架下降，各C形钩伸出完成抓袋；⑶皮带卷绕筒向上卷绕升降带，使包装袋升起后，移动框架平移至割袋工位，包装袋的底部被割开，物料落入集料斗中；⑷移动框架继续平移至袋皮收集工位，各C形钩缩回，空袋皮落入袋皮收集装置中；⑸托盘上的包装袋被抓取完毕后，空托盘前进至后平台双向输送机上；⑹后升降平台下降，空托盘到达下层；⑺后平台双向输送机前进，使空托盘到达空托盘输送机上，并继续向前进入前平台双向输送机；⑻前升降平台升高，空托盘到达上层；⑼前平台双向输送机向后运行，将空托盘输送至实托盘输送机上，进入下一个循环。
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