阅读说明：本技术 一种自动上料破袋装置及方法 (Automatic feeding bag breaking device and method ) 是由 刘海燕 张昱 陈见君 吴明山 陈华兵 于 2019-10-28 设计创作，主要内容包括：一种自动上料破袋装置及方法,包括滚筒传输线、袋包抓取机构、破袋处理机构；所述滚筒传输线包括进料滚筒线、中滚筒线及空盘滚筒线；所述袋包抓取机构包括抓盘,抓盘上端与升降连杆机构连接,升降连杆机构安装在轨道车上,轨道车沿支架前后滑动；所述破袋处理机构包括料斗,料斗靠近滚筒传输线一侧安装有破袋刀,料斗上方正对固定有废袋支撑架,废袋支撑架上方活动设有斗料架,斗料架通过第六气缸驱动来回移动。本发明提供的一种自动上料破袋装置及方法,能自动上料、破袋,具有高效性。(An automatic feeding bag breaking device and a method thereof comprise a roller transmission line, a bag grabbing mechanism and a bag breaking processing mechanism; the roller transmission line comprises a feeding roller line, a middle roller line and an empty coil roller line; the bag grabbing mechanism comprises a grabbing disc, the upper end of the grabbing disc is connected with a lifting connecting rod mechanism, the lifting connecting rod mechanism is installed on the rail car, and the rail car slides back and forth along the support; the bag breaking processing mechanism comprises a hopper, a bag breaking cutter is installed on one side, close to the roller transmission line, of the hopper, a waste bag support frame is fixed above the hopper, a hopper material frame is movably arranged above the waste bag support frame, and the hopper material frame is driven to move back and forth through a sixth air cylinder. The automatic feeding bag breaking device and the automatic feeding bag breaking method provided by the invention can automatically feed and break bags and have high efficiency.)

1. The utility model provides an automatic broken bagging apparatus of material loading which characterized in that: comprises a roller transmission line (1), a bag grabbing mechanism (2) and a bag breaking processing mechanism (3);

the roller transmission line (1) comprises a feeding roller line (1-1), a middle roller line (1-2) and an empty roller line (1-3), wherein a positioning mechanism is arranged on the periphery of the middle roller line (1-2), and comprises a front photoelectric switch (1-7), a rear photoelectric switch (1-7) and a left positioning limiting mechanism (1-8) and a right positioning limiting mechanism; an empty tray processing mechanism is arranged at the position of the empty tray roller line (1-3), and comprises a supporting and lifting mechanism (1-10) arranged on the left and the right and a lifting mechanism (1-11) arranged on one side;

the bag grabbing mechanism (2) comprises a grabbing disc (2-1), the upper end of the grabbing disc (2-1) is connected with a lifting connecting rod mechanism (2-2), the lifting connecting rod mechanism (2-2) is installed on a rail car (2-3), and the rail car (2-3) slides back and forth along a support (2-4);

the grabbing plate (2-1) comprises a plate frame (2-5), a plurality of groups of grabbing mechanisms (2-6) are mounted on the plate frame (2-5), each group of grabbing mechanisms (2-6) comprises a left grabbing hook (2-7) and a right grabbing hook (2-8), and the left grabbing hook (2-7) and the right grabbing hook (2-8) are respectively mounted on a left rotating shaft (2-9) and a right rotating shaft (2-10); wherein, the left rotating shaft (2-9) and the right rotating shaft (2-10) are driven to rotate by respective parallel link mechanisms (2-11);

the bag breaking processing mechanism (3) comprises a hopper (3-1), a bag breaking cutter (3-2) is installed on one side, close to the roller transmission line (1), of the hopper (3-1), a waste bag support frame (3-3) is fixed over the hopper (3-1), a movable hopper material frame (3-4) is arranged over the waste bag support frame (3-3), and the hopper material frame (3-4) is driven by a sixth air cylinder (3-7) to move back and forth.

2. An automatic feeding bag-breaking device according to claim 1, characterized in that: the positioning and limiting mechanism comprises a first air cylinder (1-20), the first air cylinder (1-20) is arranged below the middle roller line (1-2), the first air cylinder (1-20) is connected with a roller assembly (1-9), and the roller assembly (1-9) extends out of the middle roller line (1-2) and is positioned above the middle roller line (1-2).

3. An automatic feeding bag-breaking device according to claim 1, characterized in that: the supporting and lifting mechanism (1-10) comprises a second cylinder (1-19) and a linear guide rail (1-12), and the piston rod end of the second cylinder (1-19) and one end of the linear guide rail (1-12) are connected with the supporting plate (1-13).

4. An automatic feeding bag-breaking device according to claim 1, characterized in that: the parallel link mechanisms (2-11) are fixedly connected with the grab hook swing rods (2-12) of each left rotating shaft (2-9) or each right rotating shaft (2-10), the other ends of the grab hook swing rods (2-12) are hinged with the grab hook cross rods (2-13), one end of one grab hook swing rod (2-12) extends out of the grab hook cross rod (2-13) and is hinged with the fourth air cylinder (2-14), and the fourth air cylinder (2-14) is hinged on the plate frame (2-5).

5. An automatic feeding bag-breaking device according to claim 1, characterized in that: the lifting connecting rod mechanism (2-2) comprises scissor mechanisms (2-16) and weighing traction mechanisms (2-22), wherein the scissor mechanisms (2-16) are arranged in a left-right two-group mode, the upper ends of the scissor mechanisms (2-16) are installed on the rail car (2-3), and the lower ends of the scissor mechanisms (2-16) are installed on the grabbing disc (2-1); the weighing traction mechanism (2-22) comprises a winding mechanism arranged on the rail car (2-3), and the lower end of the winding mechanism is connected with a gravity sensor (2-23) on the grabbing disc (2-1).

6. An automatic feeding bag-breaking device according to claim 1, characterized in that: the rail car (2-3) comprises a car frame (2-18), and the car frame (2-18) is arranged on the rail of the bracket (2-4) in a sliding mode through a second sliding block (2-19) from left to right; the upper end of the frame (2-18) is connected with a belt transmission mechanism (2-20) on the bracket (2-4) and is driven by the belt transmission mechanism (2-20) to move back and forth.

7. An automatic feeding bag-breaking device according to claim 1, characterized in that: the waste bag support frame (3-3) and the hopper material frame (3-4) respectively comprise a left fixing rod and a right fixing rod, and inverted U-shaped bent pipes are arranged on the left fixing rod and the right fixing rod; the bent pipes of the waste bag support frames (3-3) and the hopper material frames (3-4) are arranged in a staggered mode, and the bent pipes of the hopper material frames (3-4) are higher than the bent pipes of the waste bag support frames (3-3).

8. The method for bag breaking by an automatic feeding bag breaking device according to any one of claims 1 to 7, wherein: the method comprises the following steps:

step 1), a pallet filled with 48 bags of raw materials is conveyed to a material waiting area by a forklift, and a full-load pallet is conveyed to a layer grabbing feeding area by a roller conveying line (1) and the position of the full-load pallet is adjusted to be centered;

step 2), the no-load grabbing disc (2-1) moves downwards to the right position through the lifting connecting rod mechanism (2-2), and the grabbing disc (2-1) grabs six bags of material in one step; the grabbing disc (2-1) moves upwards in full load, the lifting connecting rod mechanism (2-2) is wound and contracted, the grabbing disc (2-1) rises to the right position, and the gravity sensor (2-23) weighs the weight of the grabbed material and transmits corresponding information to the PLC; the grabbing disc (2-1) is moved to a bag breaking and blanking area through the rail car (2-3), and meanwhile, the previous bag breaking is pushed away; firstly, a bag breaking knife (3-2) is utilized to cut a packaging bag, then the packaging bag falls on a waste bag support frame (3-3), and a hopper material frame (3-4) shakes back and forth to feed a main hopper into a hopper (3-1);

step 3), the grabbing disc (2-1) returns through the rail car (2-3) and moves down to the position again, and the grabbing disc returns to the bag grabbing area; recycling the process of 2); meanwhile, a forklift delivers a next tray filled with 48 bags of raw materials to be placed in a material waiting area;

step 4), when the photoelectric switch (7) detects that no material bag on the tray is shielded, the tray is an empty tray; the empty trays move to an empty tray area, the empty trays are lifted, accumulated and stacked through a supporting and lifting mechanism (1-10) and a lifting mechanism (1-11), and the empty tray group falls back to keep the bottom layer overhead; when the pile is piled to a certain height, the pile can be taken down by a forklift and can be repeatedly used.

Technical Field

The invention relates to mixing equipment, in particular to an automatic feeding bag breaking device.

Background

In the process of processing PE, PVC and other pipelines, the raw materials are firstly proportioned. The white resin and the black color master batch are mixed according to the proportion of 100:4, and a third ingredient or a crushed reclaimed material can be added according to different pipelines produced in the process.

The existing manipulator has several problems in the process of bag breaking and blanking of material bags:

1) the manipulator moves in a large distance in the material grabbing process, so that the materials are easy to spill;

2) the empty tray needs to be cleaned additionally by manpower;

3) the feeding stroke is long and not compact, so that the overall efficiency is reduced;

4) the existing mechanical gripper has no weighing function, and is easy to miss gripping in the feeding process, so that errors exist in subsequent batching.

Disclosure of Invention

The invention aims to provide an automatic feeding bag breaking device and method, which can automatically break and blend bags and improve the blending efficiency.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

an automatic feeding bag breaking device comprises a roller transmission line, a bag grabbing mechanism, a bag breaking processing mechanism, a waste bag processing mechanism and a mixing mechanism;

the roller transmission line comprises a feeding roller line, a middle roller line and an empty coil roller line, wherein a positioning mechanism is arranged around the middle roller line and comprises a front photoelectric switch, a rear photoelectric switch and a left positioning limiting mechanism and a right positioning limiting mechanism; an empty tray processing mechanism is arranged at the position of the empty tray roller line and comprises a supporting and lifting mechanism arranged on the left and the right and a lifting mechanism arranged on one side;

the bag grabbing mechanism comprises a grabbing disc, the upper end of the grabbing disc is connected with a lifting connecting rod mechanism, the lifting connecting rod mechanism is installed on the rail car, and the rail car slides back and forth along the support;

the grabbing plate comprises a plate frame, a plurality of groups of grabbing mechanisms are mounted on the plate frame, each group of grabbing mechanisms comprises a left grabbing hook and a right grabbing hook, and the left grabbing hook and the right grabbing hook are mounted on a left rotating shaft and a right rotating shaft respectively; the left rotating shaft and the right rotating shaft are driven to rotate through respective parallel connecting rod mechanisms;

the bag breaking processing mechanism comprises a hopper, a bag breaking cutter is installed on one side, close to the roller transmission line, of the hopper, a waste bag support frame is fixed above the hopper, a hopper material frame is movably arranged above the waste bag support frame, and the hopper material frame is driven to move back and forth through a sixth air cylinder.

The positioning and limiting mechanism comprises a first air cylinder, the first air cylinder is arranged below the middle roller line and connected with a roller assembly, and the roller assembly extends out of the middle roller line and is positioned above the middle roller line.

The supporting and lifting mechanism comprises a second cylinder and a linear guide rail, and the end of a piston rod of the second cylinder and one end of the linear guide rail are connected with the supporting plate.

The parallel link mechanism is fixedly connected with the grapple swing rods of each left rotating shaft or each right rotating shaft, the other ends of the grapple swing rods are hinged with the grapple cross rod, one end of one grapple swing rod extends out of the grapple cross rod and is hinged with a fourth air cylinder, and the fourth air cylinder is hinged on the tray frame.

The lifting connecting rod mechanism comprises a scissor type mechanism and a weighing traction mechanism, wherein the scissor type mechanism is arranged in a left group and a right group, the upper end of the scissor type mechanism is arranged on the rail car, and the lower end of the scissor type mechanism is arranged on the grab plate; the weighing traction mechanism comprises a winding mechanism arranged on the rail car, and the lower end of the winding mechanism is connected with a gravity sensor on the grabbing disc.

The rail car comprises a frame, and the frame is arranged on a rail of the bracket in a sliding manner through a second sliding block from left to right; the upper end of the frame is connected with a belt conveying mechanism on the bracket and is driven to move back and forth by the belt conveying mechanism.

The waste bag supporting frame and the hopper material frame respectively comprise a left fixing rod and a right fixing rod, and inverted U-shaped bent pipes are arranged on the left fixing rod and the right fixing rod; the waste bag support frame and the bent pipes of the hopper material frame are arranged in a staggered mode, and the bent pipes of the hopper material frame are higher than the bent pipes of the waste bag support frame.

An automatic feeding bag-breaking method is characterized in that: the method comprises the following steps:

step 1), a pallet filled with 48 bags of raw materials is conveyed to a material waiting area by a forklift, and a full-load pallet is conveyed to a layer grabbing feeding area by a roller conveying line and the position of the full-load pallet is adjusted to be centered;

step 2), the unloaded grabbing disc moves downwards to the right position through a lifting connecting rod mechanism, and the grabbing disc grabs six bags of material bags in a one-step layer; the grabbing disc moves upwards when being fully loaded, the lifting connecting rod mechanism is wound and contracted, the grabbing disc ascends in place, and the gravity sensor weighs the weight of the grabbed materials and transmits corresponding information to the PLC. Moving the grabbing disc to a bag breaking and blanking area through a rail car, and meanwhile pushing away the previous bag breaking; firstly, cutting a broken packaging bag by using a bag breaking knife, then, after the broken packaging bag falls on a waste bag support frame, shaking a hopper material frame back and forth to feed a main hopper into a hopper;

step 3), returning the grabbing disc through the rail car, moving the grabbing disc downwards to the right position again, and returning the grabbing disc to a bag grabbing area; and (3) circulating the process 2). Meanwhile, a forklift delivers a next tray filled with 48 bags of raw materials to be placed in a material waiting area;

and 4) when the photoelectric switch detects that no material bag is blocked on the tray, the tray is an empty tray. The empty tray moves to the empty tray area, the empty tray is lifted, accumulated and stacked through the supporting and lifting mechanism and the lifting mechanism, and the empty tray set falls back to keep the bottom layer overhead. When the pile is piled to a certain height, the pile can be taken down by a forklift and can be used repeatedly;

the automatic feeding bag-breaking device and the method have the following technical effects:

1) the feeding in-place, material grabbing and empty tray processing can be realized by arranging the transverse roller transmission line, and the feeding in-place, the material grabbing and the empty tray processing are independent and do not influence each other; through setting up fore-and-aft bag and snatching mechanism, broken bag processing mechanism, can accomplish fast and grab bag broken handling, whole process need not manual operation, not only save time, reduces workman's intensity of labour, realizes high efficiency, high quality, low cost. The following results are obtained after actual operation: the feeding requirement of 9 tons can be completed within two hours.

2) The bag grabbing mechanism with the weighing sensor is arranged, so that the number of actually grabbed bags can be determined, and the corresponding proportion of other ingredients can be adjusted according to the real-time monitored weight even if the stacked bags are not full; in addition, the bag grabbing mechanism can automatically position and grab the bag without adopting an expensive visual system. The reason is that: when the grabbing disc falls, the measured mass of the empty grabbing disc is the mass of the empty grabbing disc, when the grabbing disc falls onto a material package, the weight is reduced, and the weighing sensor transmits a signal to the controller, so that the grabbing operation can be realized. The existing bale grabbing robots do not have the characteristics, so the flexibility and the high adaptability of the device are not achieved.

3) Drive motor all adopts servo motor in this application, because the wrapping bag of material package can adopt multiple like gunny bag, braided bag etc. and the size of different wrapping bags, thickness etc. are all inequality, can in time adjust the parameter through servo motor, improve the flexibility. In addition, the servo motor response is fast, and the accurate adaptability to the material package of different height of action and can be guaranteed to utilize servo motor drive railcar to remove or grab the in-process that the dish falls, reduce to miss and grab or grab by mistake, save time. In addition, the servo motor can be self-locked, and the safety is improved.

4) The roller transmission line is arranged perpendicularly with broken bag processing mechanism in this application, and only need when the bag snatchs the mechanism operation broken bag processing mechanism, useless bag processing mechanism top round trip movement or go up and down both can, overall structure is very compact, and the operation stroke is short. High efficiency and simultaneously avoids the materials from spilling everywhere.

5) The anti-falling hook is further mounted on the rail car, when the bag grabbing mechanism moves to the bag breaking processing mechanism, the hook can be hung with the hook, the bag grabbing mechanism is prevented from falling due to breakage of the lifting rope and contacting with the bag breaking cutter rotating at a high speed, and safety is improved.

6) The grapple of bag package snatching mechanism in this application can realize that the whole layer snatchs, realizes high-efficient operation in batches, and the grapple whole face is covered with, and non-directivity special requirement, intensity is high, and is not blockked up, non-maintaining, and lossless, and the condition of taking by the way or pile irregularity is just allowed.

Drawings

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

fig. 1 is a schematic structural diagram of an automatic batching system.

Fig. 2 is a schematic structural diagram of an automatic batching system.

FIG. 3 is a schematic view of a roller conveyor line according to the present invention.

Fig. 4 is a partial top view of a roller conveyor line according to the present invention.

Fig. 5 is a partially enlarged schematic view of a portion a of fig. 3.

Fig. 6 is a schematic structural view of the positioning and limiting mechanism of the present invention.

Fig. 7 is a schematic structural view of the hollow plate roller line according to the present invention.

Fig. 8 is a partially enlarged view of the position B in fig. 3 according to the present invention.

Fig. 9 is a schematic view of the operation state of the hollow plate roller line according to the present invention.

Fig. 10 is a schematic structural view of a bag gripping mechanism according to the present invention.

Fig. 11 is a schematic structural view of the catch tray of the present invention.

Fig. 12 is a schematic view showing the connection of the right grapple with the parallel link mechanism in the present invention.

Fig. 13 is a schematic view showing the connection of the left grapple with the parallel link mechanism in the present invention.

Fig. 14 is a schematic structural view of a lifting link mechanism according to the present invention.

Fig. 15 is a schematic structural view of the railcar of the present invention.

Fig. 16 is a schematic structural view of the railcar of the present invention.

Fig. 17 is a schematic position diagram of the bag gripping mechanism and the bag breaking mechanism according to the present invention.

Fig. 18 is a schematic structural view of a bag breaking processing mechanism according to the present invention.

FIG. 19 is a schematic view showing a structure in which a waste bag holding frame of the present invention is mounted on a hopper.

Fig. 20 is a schematic structural view of the hopper frame mounted on the hopper in the present invention.

Detailed Description

As shown in fig. 1-2, an automatic feeding bag breaking device is a part of an automatic batching system, and the automatic batching system comprises a roller transmission line 1, a bag grabbing mechanism 2, a bag breaking processing mechanism 3, a waste bag processing mechanism 4 and a mixing mechanism 5. The automatic feeding bag breaking device comprises a roller transmission line 1, a bag grabbing mechanism 2 and a bag breaking processing mechanism 3.

As shown in fig. 3, the roller transmission line 1 includes a feeding roller line 1-1, a middle roller line 1-2, and an empty coiling roller line 1-3, and the feeding roller line 1-1, the middle roller line 1-2, and the empty coiling roller line 1-3 divide the work into three independent work areas, which are: a material waiting area, a layer grabbing and feeding area and an empty tray area.

As shown in FIG. 4, the feeding roller line 1-1, the middle roller line 1-2 and the empty plate roller line 1-3 all comprise rollers 1-4, chain conveying mechanisms 1-5 are arranged at two ends of each roller 1-4, and the chain conveying mechanisms 1-5 are driven by first servo motors 1-6.

The chain transfer means 1-5 here comprise double chain wheels arranged at one end of each roller 1-4, the double chain wheels of adjacent rollers 1-4 being wound with a chain, the chain transfer means 1-5 on the feed roller line 1-1, the intermediate roller line 1-2 and the empty tray roller line 1-3 being driven by respective first servo motors 1-6.

As shown in figure 3, photoelectric switches 1-7 are arranged below the rollers 1-4 in front of and behind the middle roller line 1-2, and the position is detected through the photoelectric switches, so that the tray with the materials can be ensured to walk in place. The model of the photoelectric switch 1-7 is omron E3Z-D82

As shown in fig. 5-6, a positioning and limiting mechanism is arranged on the left and right of the middle roller line 1-2, the positioning and limiting mechanism comprises first air cylinders 1-20, the first air cylinders 1-20 are arranged in the gaps between the rollers 1-4 and are positioned below the upper surfaces of the rollers 1-4, roller assemblies 1-9 are arranged at one ends of the first air cylinders 1-20, each roller assembly 1-9 comprises a support, the supports extend out of the rollers 1-4, rollers are arranged on the left and right of the supports, and the rollers are opposite to the tray 6. Two groups are respectively arranged on the left and the right of the positioning and limiting mechanism, and four groups are provided. The left and right roller assemblies 1-9 can be adjusted by the first air cylinders 1-20, and the full-loading tray 6 can be pushed to the middle designated position by the roller assemblies 1-9.

The full-load tray 6 is in place through the photoelectric switches 1-7 and the positioning limiting mechanism, so that the subsequent bale grabbing is convenient.

As shown in fig. 3 and 7-8, a supporting and lifting mechanism 1-10 is arranged on the left and right of the upper end of the empty plate roller line 1-3, a lifting mechanism 1-11 is arranged on one side of the empty plate roller line, the supporting and lifting mechanism 1-10 comprises a second cylinder 1-19, and one end of the second cylinder 1-19 is connected with a supporting plate 1-13 through a pushing plate 1-18. In addition, linear guide rails 1-12 are further arranged on two sides of the second air cylinders 1-19, one ends of the linear guide rails 1-12 are connected with the supporting plates 1-13, and the other ends of the linear guide rails 1-12 are installed on the supporting frames of the empty plate roller lines 1-3.

As shown in fig. 3 and 7-8, the lifting mechanism 1-11 comprises a third cylinder 1-14, the third cylinder 1-14 is connected with a door frame 1-15, one end of the door frame 1-15 is provided with a pulley, the pulley is in sliding fit with a sliding groove on a frame 1-16, the other end of the door frame 1-15 is fixedly connected with a lifting frame 1-17, and the lifting frame 1-17 is arranged in a gap between the rollers 1-4. And is lower than the drums 1-4.

The forklift places the tray 6 stacked with the material bag stack 7 on the feeding roller line 1-1, the tray 6 stacked with the material bag stack 7 is moved to the middle roller line 1-2 through the rotation of the rollers 1-4, the front and back positioning is carried out through the photoelectric switches 1-7, the left and right positioning is carried out through the stretching of the roller assemblies 1-9, after the positioning is finished, the rollers 1-4 stop moving, and the bag grabbing mechanism 2 waits for grabbing.

Eight layers of the tray can be stacked at one time according to normal production, and two groups of the feeding roller line 1-1 and the middle roller line 1-2 can be stacked at one time. Like this fork truck once can accomplish the material loading of 2.4 tons of packages for fork truck material loading time interval lengthens, and fork truck can conveniently use in other places.

After the material bags on the trays are grabbed by the bag grabbing mechanism 2, the rollers 1-4 rotate, and the first empty tray is moved to the position of the empty tray roller line 1-3 and then stops. The empty trays are lifted above the supporting plates 1-13 through the lifting mechanisms 1-11, the supporting plates 1-13 extend out for supporting, meanwhile, the lifting mechanisms 1-11 move downwards to reset for preparing for lifting of the second empty tray, and at the moment, the first empty tray falls on the supporting plates 1-13. When the second empty tray is in place again, the lifting mechanisms 1-11 lift the second empty tray again, when the second empty tray is close to the supporting plates 1-13, the supporting plates 1-13 contract, the first empty tray falls onto the second empty tray, the lifting mechanisms 1-11 lift the first empty tray and the second empty tray integrally and simultaneously, when the second empty tray reaches the position above the supporting plates 1-13, the supporting plates 1-13 at the two ends extend out simultaneously, the lifting mechanisms 1-11 descend and reset, and the two empty trays fall onto the supporting plates 1-13 and are supported by the supporting plates 1-13.

The process can realize continuous stacking of 6-8 continuous empty trays, and the empty trays can be moved out subsequently through a forklift, so that manual carrying is not needed, and the labor intensity is reduced.

As shown in fig. 10, the bag gripping mechanism 2 comprises a gripping disk 2-1, the upper end of the gripping disk 2-1 is connected with a lifting link mechanism 2-2, the lifting link mechanism 2-2 is installed on a rail car 2-3, and the rail car 2-3 slides back and forth along a support 2-4.

As shown in fig. 11, the gripping disk 2-1 comprises a disk frame 2-5, a plurality of groups of gripping mechanisms 2-6 are mounted on the disk frame 2-5, each group of gripping mechanisms 2-6 comprises a left gripping hook 2-7 and a right gripping hook 2-8, and the left gripping hooks 2-7 are mounted on a left rotating shaft 2-9 and are arranged side by side along the axial direction of the left rotating shaft 2-9. The right grapples 2-8 are arranged on the right rotating shaft 2-10 and are arranged side by side along the axial direction of the right rotating shaft 2-10.

As shown in FIGS. 12-13, parallel link mechanisms 2-11 are respectively arranged above the left rotating shaft 2-9 and the right rotating shaft 2-10, and the left rotating shaft 2-9 and the right rotating shaft 2-10 are driven to rotate by the respective parallel link mechanisms 2-11.

As shown in fig. 13, the parallel link mechanism 2-11 at the left rotation axis 2-9 will be described as an example. The parallel link mechanism 2-11 comprises a fourth cylinder 2-14, the fourth cylinder 2-14 is hinged on the tray frame 2-5, a piston rod of the fourth cylinder 2-14 is hinged with the longest one of the 4 grapple swing rods 2-12, one end of each of the 4 grapple swing rods 2-12 is hinged with the grapple cross rod 2-13, and the other end of each of the 4 grapple swing rods 2-12 is fixedly connected with the 4 left rotating shafts 2-9. 4 grab swing rods 2-12 are parallel to each other. The fourth cylinder 2-14 drives the longest grapple swing link 2-12 to move, and other grapple swing links in the parallel link mechanism 2-11 can also move along with the movement. The grapple swing link 2-12 swings, and the left rotating shaft 2-9 fixedly connected with the grapple swing link rotates along with the swing link to drive the left grapple 2-7 arranged on the left rotating shaft 2-9 to rotate.

As shown in figure 12, the right grapple 2-8 and the right rotating shaft 2-10 are driven by another set of parallel link mechanism and have the same structure.

As shown in fig. 11, a bottom protection plate 2-15 is arranged at the bottom end of the tray frame 2-5, and a through hole for the left grapple 2-7 and the right grapple 2-8 to pass through is arranged on the bottom protection plate 2-15.

When the robot is not grabbed, the fourth air cylinder 2-14 extends out, the left grabbing hook 2-7 and the right grabbing hook 2-8 rotate by 90 degrees and keep a relatively opened state, and the left grabbing hook 2-7 and the right grabbing hook 2-8 retract to the position above the bottom protection plate 2-15. When grabbing is needed, the fourth cylinders 2-14 of the left grapple 2-7 and the right grapple 2-8 are controlled to retract simultaneously, the left grapple 2-7 and the right grapple 2-8 are relatively folded, and the left grapple 2-7 and the right grapple 2-8 extend out of the bottom protection plate 2-15, so that grabbing can be achieved. The tail ends of the left grapple 2-7 and the right grapple 2-8 are sharp, and the material bag can be directly punctured, so that the material bag can be firmly grabbed.

As shown in fig. 14, the lifting link mechanism 2-2 comprises a scissor mechanism 2-16 and a weighing traction mechanism 2-22, the scissor mechanism 2-16 comprises an upper X link assembly and a lower X link assembly which are arranged in bilateral symmetry, and both the upper X link assembly and the lower X link assembly are hinged into an X shape by two links.

The opposite sides of the upper X connecting rod assembly and the lower X connecting rod assembly are hinged with each other, the left side of one end, away from the lower X connecting rod assembly, of the upper X connecting rod assembly is hinged with the rail car 2-3, the right side of one end, away from the lower X connecting rod assembly, of the upper X connecting rod assembly is hinged with the first sliding block 2-17, and the first sliding block 2-17 is arranged on a sliding rail on the rail car 2. The left side of one end, far away from the upper X connecting rod assembly, of the lower X connecting rod assembly is hinged with the disc frame 2-5, the right side of one end, far away from the upper X connecting rod assembly, of the lower X connecting rod assembly is hinged with the first sliding block 2-17, and the first sliding block 2-17 is arranged on a sliding rail on the disc frame 2-5 in a sliding mode.

The sliding rail is a self-lubricating linear guide rail, so that the service life is long, and the reliability is improved.

As shown in fig. 14-15, the weighing traction mechanism 2-22 comprises a gravity sensor 2-23 mounted on the tray frame 2-5, a hanging ring 2-24 is arranged at the upper end of the gravity sensor 2-23, a third servo motor 2-25 is mounted on the corresponding rail car 2-3, and the third servo motor 2-25 is connected with the winding drum 2-27 through a chain transmission mechanism 2-26. The winding drum 2-27 can lower or wind the lifting rope (steel wire rope) and is connected with the suspension loop 2-24.

By starting the third servo motor 2-25, the winding drum 2-27 can release or wind the lifting rope, so that the grabbing disc 2-1 can be gradually lowered or lifted; meanwhile, the upper X connecting rod assembly and the lower X connecting rod assembly are closed or opened, and the weighing traction mechanisms 2-22 are matched to act simultaneously.

Here the gravity sensor brand 2-23: ZEMIC middle avionics survey, model: H3-C3-1T-3b can weigh the material package grabbed, and feed back information to the PLC controller in time, and when the material package missed grabbing occurs, the proportion of the subsequent counterweight hopper 5-3 can be correspondingly adjusted. In addition, the gravity sensor 2-23 can directly acquire the information of the grabbing disc 2-1 falling onto the material bag, so that the arrangement of a visual system is reduced, and the cost is reduced.

As shown in fig. 10 and 14-15, the rail car 2-3 comprises a car frame 2-18, second sliding blocks 2-19 are arranged on the left and right of the car frame 2-18, and the second sliding blocks 2-19 are slidably arranged on rails (self-lubricating linear guide rails) on the support 2-4. And the support 2-4 is provided with a belt conveying mechanism 2-20, and the belt conveying mechanism 2-20 is driven by a second servo motor 2-21. The upper half section of the belt conveying mechanism 2-20 is fixedly connected with the vehicle frame 2-18, and the vehicle frame 2-18 can be driven to move back and forth by the belt conveying mechanism 2-20.

As shown in figure 16, in order to avoid that the grab 2-1 falls off due to sudden breakage of the lifting rope when the grab 2-1 moves to the hopper 3-1 (the grab 2-1 contacts with the blade after falling, which damages the blade, and simultaneously the blade rotates rapidly to generate metal flying scraps to hurt people), the lower part of the frame 2-18 is also hinged with a hook 2-28, and the hook 2-28 is driven by a fifth cylinder 2-29. After the grabbing disc 2-1 is contracted and moved upwards to a position, the fifth cylinder 2-29 can be extended out to enable the hook 2-28 to be hung on the beam of the disc frame 2-5, so that the protection effect can be achieved, and the safety is improved.

When grabbing the material package, firstly, drive the bag package grabbing mechanism 2 to translate through the belt conveying mechanism 2-20, so that the bag package grabbing mechanism 2 is located right above the middle roller line 1-2. And then, starting a third servo motor 2-25, moving the grabbing disc 2-1 downwards, and controlling the grabbing disc 2-1 to stop by the system when the grabbing disc 2-1 falls onto the material package and the gravity sensor 2-23 changes. And then the fourth cylinder 2-14 acts, the left grapple 2-7 and the right grapple 2-8 are relatively folded, and the left grapple 2-7 and the right grapple 2-8 are inserted into the material bag to complete the grabbing of the material bag. And then the third servo motor 2-25 is started to enable the lifting rope to contract to complete the upward movement of the grabbing disc 2-1, and after the grabbing disc 2-1 moves upwards to a certain position, the fifth air cylinder 2-29 extends out, so that the hook 2-28 is hung on the cross beam of the disc frame 2-5. And finally, returning the belt conveying mechanism 2-20 to enable the grabbing disc 2-1 to carry the material bags to move towards the hopper 3-1, and pushing the waste bags on the waste bag supporting frame 3-3 into the waste bag processing mechanism 4. And finishing the grabbing work, returning the subsequent belt conveying mechanisms 2-20 again, and finishing grabbing repeatedly.

As shown in fig. 17-18, the bag breaking processing mechanism 3 comprises a hopper 3-1, a bag breaking knife 3-2 is mounted at the upper end of one side of the hopper 3-1 close to the roller transmission line 1, a waste bag support frame 3-3 is fixed on the hopper 3-1 close to one side of the bag breaking knife 3-2, a movable hopper frame 3-4 is arranged above the waste bag support frame 3-3, the hopper frame 3-4 is connected with a cross rod 3-5, and the cross rod 3-5 is slidably arranged on a guide shaft 3-6 through a sliding block and is driven by a sixth cylinder 3-7 to move back and forth.

As shown in fig. 19, the waste bag support 3-3 includes a fixed pipe body 3-8 fixed to the left and right, and a plurality of groups of first bent pipes 3-9 are arranged on the fixed pipe body 3-8 along the width direction.

As shown in fig. 20, the hopper frame 3-4 includes a fixed beam 3-10 movable left and right, a plurality of groups of second bent pipes 3-11 are arranged on the fixed beam 3-10 along the width direction, the second bent pipes 3-11 are staggered with the first bent pipes 3-9, and the upper ends of the second bent pipes are higher than the first bent pipes 3-9.

The waste bag support frame 3-3 and the hopper material frame 3-4 can support the waste bag, and simultaneously, the hopper material frame 3-4 moves back and forth to shake all materials in the bag into the hopper 3-1 below as far as possible.

The bag breaking cutter 3-2 comprises a plurality of groups of disc cutters which are arranged on the hollow shaft and driven by a motor.

A guide roller 3-12 is also arranged on one side of the bag breaking knife 3-2 far away from the waste bag support frame 3-3. The guiding rollers 3-12 may provide support and guidance in case of a bag break.

When the material bag is grabbed by the bag grabbing mechanism 2 and translated to the bag breaking processing mechanism 3, the packaging bag is firstly cut by the bag breaking knife 3-2, and after the bag grabbing mechanism 2 loosens the material bag, the sixth air cylinder 3-7 drives the bucket material rack 3-4 to move back and forth, so that the packaging bag moves back and forth on the second bent pipe 3-11 to shake off the material in the bag. The broken bag can be directly pushed to the waste bag processing mechanism 4 when the follow-up bag grabbing mechanism 2 grabs the bag to pass through again, additional processing is not needed, and the continuity is improved.

The working principle and the process are as follows:

1) a pallet filled with 48 bags of raw materials is conveyed to a material waiting area by a forklift, and a full-load pallet is conveyed to a layer grabbing feeding area by a roller conveying line 1 and the position of the full-load pallet is adjusted to be centered;

2) the no-load grabbing disc 2-1 moves downwards to the right position through the lifting connecting rod mechanism 2-2, and the grabbing disc 2-1 grabs six bags of material in one step. The grabbing disc 2-1 moves upwards in full load, the lifting connecting rod mechanism 2-2 is wound and contracted, the grabbing disc 2-1 rises to the right position, and the gravity sensor 2-23 weighs the weight of the grabbed material and transmits corresponding information to the PLC. The grabbing disc 2-1 is moved to a bag breaking and blanking area through the rail car 2-3, and meanwhile, the previous bag breaking is pushed away. Firstly, a bag breaking knife 3-2 is used for cutting a packaging bag, then the packaging bag falls on a waste bag support frame 3-3, and a hopper material frame 3-4 shakes back and forth to feed a main hopper into a hopper 3-1;

3) the grabbing plate 2-1 returns through the rail car 2-3 and moves downwards to the position again, and the bag returns to the bag grabbing area. And (3) circulating the process 2). Meanwhile, a forklift delivers a next tray filled with 48 bags of raw materials to be placed in a material waiting area;

4) and when the photoelectric switch 7 detects that no material bag on the tray is blocked, the tray is an empty tray. And (3) moving the empty trays to an empty tray area, lifting, accumulating and stacking the empty trays through the supporting and lifting mechanisms 1-10 and the lifting mechanisms 1-11, and falling the empty tray group back to keep the bottom layer overhead. When the pile is piled to a certain height, the pile can be taken down by a forklift and can be repeatedly used.