CN117284603B - An intelligent residue-free unpacking system and its control method - Google Patents
An intelligent residue-free unpacking system and its control methodInfo
- Publication number
- CN117284603B CN117284603B CN202311313482.1A CN202311313482A CN117284603B CN 117284603 B CN117284603 B CN 117284603B CN 202311313482 A CN202311313482 A CN 202311313482A CN 117284603 B CN117284603 B CN 117284603B
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- CN
- China
- Prior art keywords
- bag
- unpacking
- waste
- material bag
- control unit
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Classifications
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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
- B65B69/0008—Opening and emptying bags
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- 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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- 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
- B65G53/00—Conveying materials in bulk through troughs, pipes or tubes by floating the materials or by flow of gas, liquid or foam
- B65G53/04—Conveying materials in bulk pneumatically through pipes or tubes; Air slides
- B65G53/24—Gas suction systems
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- 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
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- 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
- B65G69/185—Preventing escape of dust by means of non-sealed systems
- B65G69/186—Preventing escape of dust by means of non-sealed systems with aspiration means
Landscapes
- 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 unpacking equipment, and particularly discloses an intelligent residue-free unpacking system and a control method thereof, wherein the intelligent residue-free unpacking system comprises a control unit, and an AGV (automatic guided vehicle) trolley, a manipulator, a dust removing device, a waste bag collecting device, a conveying device, a unpacking device and a vacuum feeding device which are respectively connected with the control unit, wherein the AGV trolley conveys a material bag to a grabbing station of the manipulator; the mechanical arm grabs the material packet and places the material packet on the conveying device, the conveying device conveys the material packet into the unpacking device, the unpacking device shapes, cleans, positions, breaks bags, discharges the material packet and discharges the waste material packet, the waste bag collecting device collects the waste material packet, and the dust removing device removes dust existing in the conveying, unpacking and collecting stages of the material packet. The invention can realize rapid bag breaking, rapid blanking and automatic bag collecting, and the whole feeding process is completely carried out in a sealed environment, so that the material is prevented from generating stimulation to human bodies and environmental pollution when the bag is disassembled.
Description
Technical Field
The invention belongs to the technical field of unpacking equipment, and particularly relates to an intelligent residue-free unpacking system and a control method of the intelligent residue-free unpacking system.
Background
With the improvement of society, people's living standard has been improved, and the pharmaceutical, food and chemical industry all have been developed correspondingly, need put into the production line with powder or granular raw materials when pharmaceutical, food and chemical product processing, but current raw materials put into has some problems. At present, powder or granule materials of small bags are often put into production lines through manual moving and manual bag opening and equipment manholes or hand holes, and if powder or granule materials filled in the bags are released from the bags, dust and smoke flying up can be inhaled by operators and can be harmful to health. From a safety point of view, it is not recommended to manually open or release the high-risk powder/particles in the bag, and the automation still needs to consider whether the powder or particles in the bag will be released from the inside of the automation device to the outside environment, resulting in a bad working environment.
Disclosure of Invention
The invention aims to provide an intelligent residue-free unpacking system and a control method thereof, which are used for solving the problems that the manual unpacking in the background art is high in threat and labor intensity, is not beneficial to separating waste bag impurities and is easy to pollute the environment.
As a first aspect of the present invention, there is provided an intelligent residue-free unpacking system, comprising a control unit, an AGV trolley, a manipulator, a dust removing device, a waste bag collecting device, a conveying device, an unpacking device and a vacuum loading device, wherein the AGV trolley, the manipulator, the dust removing device, the waste bag collecting device, the conveying device, the unpacking device and the vacuum loading device are respectively connected with the control unit, the manipulator is arranged on a manipulator base, one end of the dust removing device is connected with a fan, the other end of the dust removing device is connected with the unpacking device, one side of the unpacking device is connected with the conveying device, the other side of the unpacking device is connected with the waste bag collecting device, and the bottom of the unpacking device is connected with the vacuum loading device through a negative pressure conveying device;
The AGV trolley is used for conveying the material bags to a grabbing station of the manipulator;
the manipulator is used for grabbing the material packet and placing the material packet on the conveying device;
The conveying device is used for conveying the material packet into the unpacking device;
the unpacking device is used for shaping, cleaning, positioning, bag breaking, discharging and discharging waste bags, wherein the unpacking device is used for conveying materials in the bags into the vacuum feeding device through the negative pressure conveying device;
the waste bag collecting device is used for collecting the waste bags discharged by the unpacking device in a full-sealing mode;
The dust removing device is used for removing dust possibly existing in the conveying stage and the unpacking stage of the material package and removing dust possibly existing in the collecting stage of the waste material package.
As a further improvement of the invention, the tail end of the manipulator is provided with a bag grabbing clamp, and the bag grabbing clamp can grab a material bag to do up-down and left-right movement.
As a further improvement of the invention, the intelligent recognition system is arranged in the bag grabbing clamp, and the intelligent recognition system can recognize the identity information of the material bag and the position information of the material bag.
As a further improvement of the invention, the unpacking device comprises a frame, a left shell and a right shell which are arranged on the frame, wherein the left end of the left shell is provided with a first gate, the right end of the left shell is provided with a second gate, the bottom of the left shell is provided with a dust removing hopper, the left shell, the first gate, the second gate and the dust removing hopper are enclosed into a closed space, a conveying wheel, a shaping roller and a wind shower dust remover are positioned in the closed space, and the conveying wheel is used for conveying a material bag in the left shell; the bottom of the right shell is provided with a blanking hopper, the right shell, a second gate and the blanking hopper are enclosed to form a bag cutting space, a bearing overturning supporting plate for placing and overturning a bag is arranged in the bag cutting space, a third action executing element for driving the bearing overturning supporting plate to overturn is arranged on the frame, the third action executing element is connected with the bearing overturning supporting plate through a connecting rod, after the bag is cut, the third action executing element rotates by pushing the connecting rod, so that the bearing overturning plate overturns, materials enter the blanking hopper, one end of the clamping overturning plate is movably connected to the bottom end of an inclined plane of the right shell, a dust removing port at the upper part is arranged on the side surface of the right shell, a cross rod fixing and blowing component is arranged on the right side of the right shell, an air bag and a pulse valve are arranged on the right shell, high-pressure air in the air bag is transmitted into the cross rod fixing and blowing component through an air path by the pulse valve, a first action executing element for driving the cross rod fixing and blowing component to move is arranged on the right shell, when the cross rod fixing and blowing component moves, the material can be overturned, the material can be blown by the cutter is arranged on the left shell, the cutter is arranged on the frame, the cutter is arranged on the right shell, and the cutter is arranged on the side of the cutter, the cutting knife part can puncture the material package on the bearing upset layer board when the motion, side direction fixed establishment sets up on the right side of right shell, side direction fixed establishment can puncture when the motion material package on the bearing upset layer board, be provided with negative pressure pulse dust remover on the unloading hopper, the bottom of unloading hopper is provided with the material boots, the material in the unloading hopper is passed through in the material boots gets into negative pressure conveyor, then exports in the vacuum loading attachment.
As a further improvement of the invention, the cutter part comprises a cutter blade and a linear motion actuator, the cutter part is positioned on the outer side of the bottom of the unpacking device, and the linear motion actuator is used for driving the cutter blade to move, so that the cutter blade can puncture a material bag on the bearing overturning supporting plate when moving.
As a further improvement of the invention, the waste bag collecting device comprises a waste bag collector, the waste bag collector is arranged on the right side of the right shell, the inlet end of the waste bag collector is sequentially provided with a double-row roller and a single-row roller, the waste bag collector is provided with a second action executing element for driving the double-row roller to rotate, the waste bag collector is provided with a fourth action executing element and a fifth action executing element, the outlet end of the waste bag collector is provided with a waste bag sealing device, and the waste bag collector is used for conveying collected waste bags into a waste bag collecting box through the waste bag sealing device.
As a further improvement of the invention, the cutter member is sealed by a double seal assembly.
As a further improvement of the invention, the cross rod fixing blowing component can adjust the position and the blowing amount according to the size of the material bag.
As a further improvement of the invention, the dust removing device comprises a filter element, wherein the filter element is respectively connected with the dust removing hopper and the discharging hopper through dust removing air pipes, and the filter element is used for filtering dust input by the dust removing air pipes and is discharged through the fan after being filtered.
As a second aspect of the present invention, there is provided a control method of an intelligent residue-free unpacking system, comprising the steps of:
The method comprises the following steps that S1, a control unit controls an AGV trolley to transport a material packet to a grabbing station of a manipulator along a set route from a material packet pre-storing area;
S2, an intelligent recognition system in the manipulator recognizes the identity code of the material packet and the position information of the material packet, and if the identity code is recognized correctly, a control unit controls the manipulator to grasp the material packet and put the material packet on a tray of a conveying device according to the position information of the material packet;
Step S3, after the material package is placed in place on a tray of the conveying device, the control unit controls the first gate to be opened, and the control unit controls the conveying device to convey the material package from the first gate to the inside of the unpacking device;
S4, after the material packet completely enters the unpacking device, the control unit controls the first gate to be closed, the second gate is in a closed state, and the control unit controls the shaping roller to shape the material packet;
S5, controlling the opening of a dust removing hopper and the opening of a shower dust remover by a control unit, performing blowing cleaning on the shaped material packet, wherein the blown dust enters the dust removing hopper at the moment, controlling the opening of a second gate by the control unit after the blowing cleaning of the material packet is finished, controlling the closing of the second gate by the control unit, and opening the first gate after the material packet enters a bag cutting space;
S6, after a material bag enters a bag cutting space, a control unit controls a negative pressure pulse dust collector to open and controls a clamping turning plate to turn over, the material bag is pushed onto a bearing turning support plate through the turning of the clamping turning plate, the material bag is in a vertical state on the bearing turning support plate, a first action executing element is controlled to push a cross rod fixing and blowing component to puncture the material bag on the bearing turning support plate, and meanwhile, a control unit controls a lateral fixing mechanism to move and a cutting knife component to move so as to puncture the material bag on the bearing turning support plate;
S7, after the material packet is cut, the control unit controls the third action executing element to push the connecting rod to rotate, so that the bearing overturning supporting plate overturns, and materials in the material packet enter the blanking hopper;
s8, controlling the pulse valve to periodically move by the control unit, and spraying high-pressure air in the air bag into the material bag through an air outlet on the cross rod fixed spraying part so as to remove residual materials in the material bag;
S9, controlling a waste bag discharging push plate to push the waste bag to a waste bag collector by a control unit, and controlling a cross rod to fix a blowing component, a lateral fixing mechanism and a cutting knife component to retract to the original position by the control unit;
And S10, after the waste bag enters the waste bag collector, the waste bag is conveyed to a single-row roller by a double-row roller, and then is pushed to fall through a fifth action executing element, and the control unit controls a fourth action executing element to push the fallen waste bag into a waste bag sealing device and finally enters a waste bag collecting box.
Compared with the prior art, the invention has the beneficial effects that:
1. Intelligent management, namely, entering raw materials of an AGV into an intelligent manipulator for intelligent identification and intelligent positioning, and performing bag breaking by an automatic unpacking mechanism to achieve the functions of intelligent conveying and intelligent identification of the raw materials of powder or particles, so as to complete real-time recording of material information;
2. The full-sealed feeding is that the unpacking device at the rear end of the conveying device is carried out in a fully sealed space in the whole feeding unpacking process, dust such as dust, smoke and the like which fly during the release from the bag are escaped, and the pollution of the working environment during the bag unpacking of materials is avoided;
3. the powder or the granule material is suitable for the small bag package of various materials and specifications;
4. the material is low in residue, namely the broken packaging bag is perfectly separated from the material, and the material achieves high-definition of the waste bag under the action of high-pressure pulse blowing, so that no residue exists in a discharging bin;
5. automatic bag collection and dust-free treatment, namely, automatic arrangement of broken packaging bags, collection and arrangement of waste bags are realized, and the waste bags are packaged by adopting sealing bags and then are subjected to centralized treatment.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent residue-free unpacking system provided by the invention.
Fig. 2 is a schematic structural diagram of the unpacking device provided by the invention.
Fig. 3A to 3C are schematic collection diagrams of the waste bag collector provided by the present invention.
Fig. 4A is a schematic view of a first double seal of a cutter member according to the present invention.
Fig. 4B is a schematic view of a second double seal of the cutter member provided by the present invention.
The reference numerals indicate that the Automatic Guided Vehicle (AGV) comprises a 1-AGV trolley, a 2-material bag, a 3-manipulator, a 4-manipulator base, a 5-fan, a 6-dust removing device, a 7-waste bag collecting device, an 8-conveying device, a 9-unpacking device, a 10-vacuum feeding device, a 2.1-rack, a 2.2-dust removing hopper, a 2.3-conveying wheel, a 2.4-first gate, a 2.5-shaping roller, a 2.6-air shower dust remover, a 2.7-second gate, a 2.8-clamping flap, a 2.9-upper dust removing port, a 2.10-cross bar fixed blowing component, a 2.11-air bag, a 2.12-pulse valve, a 2.13-first action executing component, a 2.14-waste bag discharging push plate, a 2.15-second action executing component, a 2.16-cutting knife component, a 2.17-side fixing mechanism, a 2.18 overturning device, a 2.19-waste bag collector, a 2.20-waste bag collecting box, a 2.21-negative pressure pulse hopper, a 2.22-double-load bearing device, a 2.23-carrier, a 2.24-load-carrying component, a 2.24-carrying roller and a third-carrying component, and a 2.24-fourth action executing component.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the invention herein. Furthermore, the terms "comprise" and "have," and the like, mean that other elements not already listed can be "comprised" and "have" in addition to those already listed in "comprising" and "having," e.g., a process, method, system, article, or apparatus that can comprise a series of steps or elements is not necessarily limited to those steps or elements already listed, but can include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Due to the drawing angle problem, some parts may not be drawn, but the positions and connection relations of the parts may be understood according to the text expression part.
As shown in fig. 1, the invention relates to an intelligent residue-free unpacking system, which comprises a control unit, an AGV (automatic guided vehicle) trolley 1, a manipulator 3, a dust removing device 6, a waste bag collecting device 7, a conveying device 8, an unpacking device 9 and a vacuum feeding device 10, wherein the AGV trolley is respectively connected with the control unit, the manipulator 3 is arranged on a manipulator base 4, one end of the dust removing device 6 is connected with a fan 5, the other end of the dust removing device is connected with the unpacking device 9, one side of the unpacking device 9 is connected with the conveying device 8, the other side of the unpacking device 9 is connected with the waste bag collecting device 7, and the bottom of the unpacking device 9 is connected with the vacuum feeding device 10 through a negative pressure conveying device;
The AGV trolley 1 is used for stacking and conveying the material bags 2 to a grabbing station of the manipulator 3;
the manipulator 3 is used for grabbing the material packet 2 and placing the material packet on the conveying device 8;
the conveying device 8 is used for conveying the material package 2 into the unpacking device 9;
the unpacking device 9 is used for shaping, cleaning, positioning, bag breaking and discharging the material bags 2 and discharging waste material bags, wherein the unpacking device 9 is used for conveying materials in the material bags 2 into the vacuum feeding device 10 through the negative pressure conveying device;
the waste bag collecting device 7 is used for collecting the waste bags discharged by the unpacking device 9 in a full-sealing way;
The dust removal device 6 is used for removing dust possibly existing in the conveying stage and the unpacking stage of the material package 2 and removing dust possibly existing in the collecting stage of the waste material package.
Specifically, a bale grabbing clamp is installed at the tail end of the manipulator 3, and the bale grabbing clamp can grab the bale 2 to move up and down and left and right.
Specifically, an intelligent recognition system is installed in the bag grabbing clamp, and the intelligent recognition system can recognize identity information of the material bag 2 and position information of the material bag 2. The intelligent recognition system comprises an industrial code reading system and a manipulator vision system, wherein the industrial code reading system can recognize the identity information of the material packet 2, and the manipulator vision system can recognize the position information of the material packet 2.
Specifically, as shown in fig. 2, the unpacking device 9 includes a frame 2.1, and a left casing and a right casing disposed on the frame 2.1, a first gate 2.4 is disposed at the left end of the left casing, a second gate 2.7 is disposed at the right end of the left casing, a dust removing hopper 2.2 is disposed at the bottom of the left casing, the first gate 2.4, the second gate 2.7 and the dust removing hopper 2.2 enclose a closed space, a conveying wheel 2.3, a shaping roller 2.5 and a shower dust remover 2.6 are disposed in the closed space, the closed space is used for sealing the material bag in the bag breaking process, and the conveying wheel 2.3 is used for conveying the material bag 2 in the left casing; the bottom of the right shell is provided with a blanking hopper 2.22, the right shell, a second gate 2.7 and the blanking hopper 2.22 are surrounded to form a bag cutting space, a bearing overturning supporting plate 2.18 for placing and overturning a material bag 2 is arranged in the bag cutting space, a third action executing element 2.24 for driving the bearing overturning supporting plate 2.18 to overturn is arranged on the frame 2.1, the third action executing element 2.24 is connected with the bearing overturning supporting plate 2.18 through a connecting rod 2.25, after the material bag 2 is cut, the third action executing element 2.24 rotates by pushing the connecting rod 2.25, so that the bearing overturning plate 2.18 overturns, the material enters the blanking hopper 2.22, one end of a clamping overturning plate 2.8 is movably connected to the bottom end of a slope of the right shell, an upper dust removing port 2.9 is arranged on the side surface of the right shell, a cross rod fixing blowing part 2.10 is arranged on the right side of the right shell, an air bag 2.11 and a pulse valve 2.12 are arranged on the right shell, the pulse valve 2.11 is connected with the air path 2.10 through the pulse valve 2.11 and the pulse valve 2.10, the air path is connected with the air path 2.10 through the pulse valve 2.10, the right shell is provided with a first action executing element 2.13 for driving the cross rod fixed blowing component 2.10 to move, the cross rod fixed blowing component 2.10 can puncture a material bag 2 on the bearing turnover supporting plate 2.18 when moving, a waste bag discharging push plate 2.14 is arranged on the left side of the right shell, a cutting knife component 2.16 is arranged on a frame 2.1, the cutting knife component 2.16 can puncture the material bag 2 on the bearing turnover supporting plate 2.18 when moving, a lateral fixing mechanism 2.17 is arranged on the right side of the right shell, the lateral fixing mechanism 2.17 can puncture the material bag 2 on the bearing turnover supporting plate 2.18 when moving, a negative pressure pulse dust remover 2.21 is arranged on a discharging hopper 2.22, a material shoe 2.23 is arranged at the bottom end of the discharging hopper 2.22, and materials in the discharging hopper 2.22 enter a negative pressure conveying device through the material shoe 2.23 and are output to the vacuum device 10.
In the embodiment of the present invention, the first action executing element 2.13 and the third action executing element 2.24 may be cylinders, which is not limited by the present invention, and may be set by a person skilled in the art according to needs.
Specifically, the cutter member 2.16 includes a cutter blade and a linear motion actuator, where the cutter member 2.16 is located at the outer side of the bottom of the unpacking device 9, and the linear motion actuator is used to drive the cutter blade to move, so that the cutter blade can puncture the packet 2 on the load-bearing turnover pallet 2.18 when moving.
In the embodiment of the invention, the cutter speed and the cutter angle of the cutter component are flexible, and can be changed according to the characteristics of materials so as to realize bag breaking of various materials.
Further, the cutter speed can be achieved by controlling the air source pressure.
Further, the cutter angle is realized depending on the arc-shaped mounting hole between the cutter and the mounting seat.
In the embodiment of the invention, the linear motion executing element can be a rodless cylinder, the invention is not limited, and the linear motion executing element can be set by a person skilled in the art according to the needs.
Specifically, as shown in fig. 3A to 3C, the waste bag collecting device 7 includes a waste bag collector 2.19, the waste bag collector 2.19 is disposed on the right side of the right housing, an inlet end of the waste bag collector 2.19 is sequentially provided with a double-row roller 2.19.1 and a single-row roller 2.19.2, a second motion executing element 2.15 for driving the double-row roller 2.19.1 to rotate is disposed on the waste bag collector 2.19, a fourth motion executing element 2.19.3 and a fifth motion executing element 2.19.4 are disposed on the waste bag collector 2.19, a waste bag sealing device 2.19.5 is disposed at an outlet end of the waste bag collector 2.19, and the waste bag collector 2.19 is used for conveying collected waste bags into the waste bag collecting box 2.20 through the waste bag sealing device 2.19.5. The distance between the double rows of rollers 2.19.1 can be adjusted, so that different waste bags can be quickly collected.
In the embodiment of the present invention, the second action executing element 2.15 may be a motor, the fourth action executing element 2.19.3 and the fifth action executing element 2.19.4 may be bag pressing cylinders, which are not limited by the present invention, and can be set by a person skilled in the art according to the needs.
Specifically, the dust removing device 6 comprises a filter element, the filter element is respectively connected with the dust removing hopper 2.2 and the discharging hopper 2.22 through dust removing air pipes, and the filter element is used for filtering dust input by the dust removing air pipes and discharging the dust through the fan 5 after filtering.
In this embodiment, as shown in fig. 4A, the cutter member 2.16 is sealed by a dual sealing assembly, where the dual sealing assembly includes a flexible sealing magnet 3.1, a flexible rubber guide bar 3.2 and an annular guide groove 3.3, the flexible sealing magnet 3.1 is installed inside the unpacking device 9, the flexible rubber guide bar 3.2 is tightly connected with the cutter member 2.16, the flexible sealing magnet 3.1 and the external flexible rubber guide bar 3.2 form a double-layer seal, and the flexible rubber guide bar 3.2 can horizontally slide in the annular guide groove 3.3 to play a sealing role.
In this embodiment, as shown in fig. 4B, the cutter member 2.16 is sealed by a double seal assembly, the double seal assembly includes two flexible magnet seal assemblies 4.1 and two negative pressure seal assemblies 4.2, the cutter member 2.16 is located in the middle of the two flexible magnet seal assemblies 4.1, and when the cutter moves rapidly, the two flexible magnet seal assemblies 4.1 will attract rapidly to form a closed cavity. The negative pressure sealing components 4.2 are arranged on two sides of the cutter component 2.16 and are always in a negative pressure state, and when a small amount of dust leaks from the magnetic sealing position, the negative pressure sealing can quickly recover the leaked dust.
In this embodiment, the position and the air injection amount of the cross rod fixing and blowing component 2.10 can be adjusted according to the size of the material packet 2 so as to adapt to the fixation of different material packet sizes and the cleaning of residues.
The feeding work flow of the invention is as follows:
(1) The AGV trolley 1 conveys the material packet 2 to a grabbing station of the manipulator 3 along a set route from a material packet pre-storing area, a code reading device on the manipulator 3 is used for identifying material information, after confirming that the material information is correct, a vision system is used for destacking operation, the material packet 2 is conveyed to the belt conveying device 8, and a shaping roller is arranged on the belt conveying device 8 to ensure that the material packet 2 does not deviate from the central position in the conveying process;
(2) The unpacking device opens the first gate 2.4, the material enters the unpacking device 9, continues to move forward, passes through the shaping roller 2.5 and the air shower dust remover 2.6, during which the second gate 2.7 is tightly closed all the time, the air shower dust remover 2.6 removes impurities and the like on the surface of the material packet 2, and enters the dust remover 6 through the bottom dust removing hopper 2.2;
(3) The material bag 2 enters after being clamped by the turnover plate 2.8, falls on a bearing turnover supporting plate 2.18 in a horizontal state, closes a second gate 2.7, turns the clamping turnover plate 2.8 from an initial inclined state to a vertical state, and then the horizontal rod fixing blowing part 2.10 pierces the material bag 2 to fix the upper part under the action of the action executing element 2.13, the lateral fixing mechanism 2.17 pierces the material bag 2 to fix the lower part under the action of power, a cutting knife on the cutting knife part 2.16 performs linear motion to carry out three-side bag breaking on the material bag 2 under the action of power, after the bag breaking is completed, the bearing turnover supporting plate 2.18 moves to a vertical state under the action of the action executing element 2.24 and the connecting rod 2.25, materials in the material bag 2 fall into a blanking hopper 2.22 under the action of gravity, enter a follow-up conveying device through a material boot 2.23, and then the residual materials in the material bag 2.10 are sucked into the horizontal rod fixing blowing part 2.10 through a pulse valve 2.12, and the high-pressure pulse gas in the air bag 2.11 can enter the horizontal rod fixing blowing part 2.10 (the air path is the fixed blowing part 2.10), and the residual dust can enter the air outlet of the dust collector 2.2.2.21 through the air path, and the air path of the air bag can be discharged into the air outlet 2.2.10 through the air path of the fixed blowing part, and the dust collector can be prevented from being blown into the air outlet part to the dust collector;
(4) After the material bag 2 is emptied, the cross rod fixes the injection part 2.10 and the cutting knife part 2.16 to return to the original position, the bag discharging push plate 2.14 pushes the waste material bag to the waste bag collector 2.19, the waste material bag is extruded from the double-row roller 2.19.1 under the action of the action executing element 2.15, and after the material bag is emptied, the bearing overturning supporting plate 2.18 and the lateral fixing mechanism 2.17 return to the original position to wait for the next feeding period.
The waste bag collecting flow of the invention is as follows:
Under the action of the action executing element 2.15, as shown in fig. 3A, the waste bag is extruded from the double-row roller 2.19.1, the waste bag falls into the waste bag collector 2.19 after passing through the single-row roller 2.19.2, as shown in fig. 3B, the action executing element 2.19.4 extrudes and shapes the entering waste bag, after the waste bag in the bin reaches the limit value, the waste bag is pushed out to the waste bag sealing device 2.19.5 under the action of the action executing element 2.19.3, the tail end of the waste bag is fastened twice under the action of the waste bag sealing device 2.19.5, as shown in fig. 3C, the waste bag is cut off from the middle, and the waste bag sealed after entering the waste bag collecting box 2.20 to wait for treatment.
The embodiment also provides a control method of the intelligent residue-free unpacking system, which comprises the following steps:
Step S1, a control unit controls an AGV trolley 1 to transport a material packet 2 to a grabbing station of a manipulator 3 along a set route from a material packet pre-storing area;
S2, an intelligent recognition system in the manipulator 3 recognizes the identity code of the material packet 2 and the position information of the material packet 2, and if the identity code is recognized correctly, a control unit controls the manipulator 3 to grasp the material packet 2 and put the material packet 2 on a tray of the conveying device 8 according to the position information of the material packet 2;
step S3, when the material packet 2 is placed in place on the tray of the conveying device 8, the control unit controls the first gate 2.4 to be opened, and the control unit controls the conveying device 8 to convey the material packet 2 from the first gate 2.4 to the inside of the unpacking device 9;
step S4, when the material packet 2 completely enters the unpacking device 9, the control unit controls the first gate 2.4 to be closed, the second gate 2.7 is in a closed state, and the control unit controls the shaping roller 2.5 to shape the material packet 2;
S5, the control unit controls the dust removing hopper 2.2 to be opened and the air shower dust remover 2.6 to be opened, the shaped material bag 2 is subjected to blowing cleaning, and because the closed space is in a negative pressure state, the blown dust enters the dust removing hopper 2.2 at the moment, after the blowing cleaning of the material bag 2 is finished, the control unit controls the second gate 2.7 to be opened, the material bag 2 enters the bag cutting space, and then the control unit controls the second gate 2.7 to be closed, and the first gate 2.4 to be opened;
Step S6, after the material packet 2 enters a bag cutting space, the control unit controls the negative pressure pulse dust collector 2.21 to open and controls the clamping turning plate 2.8 to turn over, the material packet 2 is pushed onto the bearing turning support plate 2.18 through the turning of the clamping turning plate 2.8, the material packet 2 is in a vertical state on the bearing turning support plate 2.18, the first action executing element 2.13 is controlled to push the cross rod fixing blowing component 2.10 to puncture the material packet 2 on the bearing turning support plate 2.18, and meanwhile, the control unit controls the lateral fixing mechanism 2.17 to move and the cutter component 2.16 to move so as to puncture the material packet 2 on the bearing turning support plate 2.18;
step S7, when the material packet 2 is cut, the control unit controls the third action executing element 2.24 to push the connecting rod 2.25 to rotate, so that the bearing overturning supporting plate 2.18 overturns, and materials in the material packet 2 enter the blanking hopper 2.22;
Step S8, the control unit controls the pulse valve 2.12 to periodically move, high-pressure air in the air bag 2.11 is sprayed into the material bag 2 through an air outlet on the cross rod fixed spraying part 2.10 so as to remove residual materials in the material bag 2;
Step S9, the control unit controls the waste bag discharging push plate 2.14 to push the waste bag to the waste bag collector 2.19, and controls the cross rod to fix the blowing component 2.10, the lateral fixing mechanism 2.17 and the cutting knife component 2.16 to retract to the original position;
Step S10, after the waste bag enters the waste bag collector 2.19, the waste bag is conveyed to the position of the single-row roller 2.19.2 by the double-row roller 2.19.1, then is pushed to fall through the fifth action executing element 2.19.4, and the control unit controls the fourth action executing element 2.19.3 to push the fallen waste bag into the waste bag sealing device 2.19.5 and finally enters the waste bag collecting box 2.20.
The invention provides a control method of an intelligent residue-free unpacking system, which comprises the steps of (1) intelligent feeding, carrying materials to a fixed position of a feeding workshop by an AGV (automatic guided vehicle) according to required material information, waiting for feeding, carrying out recognition error correction and leading-in management on the materials during discharging by a manipulator to finish intelligent management on delivering the materials to the feeding conveying, (2) automatic feeding device, automatic error correction, shaping and material package fixation to realize rapid bag breaking, rapid blanking, reducing the material residue by pulse blowing, strictly controlling the chip amount generated by bag breaking in a one-time bag breaking mode, (3) fully sealing the whole feeding process, avoiding dust escaping, avoiding irritation and environmental pollution to human bodies during bag breaking, and carrying out dust escaping during bag breaking and material separation by sealing isolation and centralized dust removal.
It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.
Claims (9)
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| CN203667100U (en) * | 2014-01-09 | 2014-06-25 | 汉瑞普泽粉粒体技术（上海）有限公司 | Improved fully-automatic unstacking and unpacking system |
| CN210942630U (en) * | 2019-11-22 | 2020-07-07 | 无锡迅力自动化设备有限公司 | Subminiature intelligent bale breaker |
| KR102599603B1 (en) * | 2021-07-15 | 2023-11-07 | 한성현 | Automatic powder bag opening device |
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Country or region after: China Address after: No. 238 Fangda Road, Economic Development Zone, Xishan District, Wuxi City, Jiangsu Province, 214104 Applicant after: Wuxi Liqi Intelligent Equipment Co.,Ltd. Address before: No. 238 Fangda Road, Economic Development Zone, Xishan District, Wuxi City, Jiangsu Province, 214104 Applicant before: WUXI RICH INTELLIGENT EQUIPMENT Co.,Ltd. Country or region before: China |
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