An empty bag grabbing device suitable for automatic unpacking station

Abstract

The present invention discloses an empty bag grabbing device suitable for an automatic unpacking station, wherein a horizontal adjustment device of the empty bag grabbing device is fixedly arranged on a mounting seat of the empty bag grabbing device, a pitch adjustment device is connected to the horizontal adjustment device, a rotating cylinder is respectively connected to the horizontal adjustment device and the pitch adjustment device through a forearm, a rotating arm is connected to the output end of the rotating cylinder, a front end of the rotating arm is fixedly connected to the double-axis cylinder, a finger cylinder is fixedly arranged on the output shaft of the double-axis cylinder, and a gripper is fixedly arranged at the output end of the finger cylinder. The present invention can perform secondary separation of powder materials into bags and accurately place the separated empty bags into a waste bag spiral conveying device, the empty bag grabbing device replaces manual secondary separation of bags by shaking and swaying, and ensures that the residual powder materials in the empty bags are not greater than 0.1% of the total weight, the separation of bags has a high degree of automation, and no personnel are involved in the separation process of bags, thereby eliminating the health effects of dust on workers, reducing labor costs, and improving work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of pharmaceutical or food production machinery, and in particular to an empty bag grabbing device suitable for an automatic unpacking station. Background Art

[0002] Woven bags and kraft paper bags are a very common form of material transfer, which are widely used in pharmaceutical and food companies. The bagged materials are divided into two layers. The inner bag is a PE bag that directly fills the materials, and the outer layer is a woven bag or kraft paper bag, which is used to prevent damage and dust during transportation. During the use of bagged materials, the outer bag needs to be unpacked in advance before it can be transported to the clean area for unpacking the inner bag and feeding. In the process of unpacking the inner bag and feeding, the manual unpacking station and semi-automatic unpacking machine need to manually separate the bags and collect the empty bags after unpacking. It is inevitable to come into contact with powder and flying dust during work, which affects the health of workers.

[0003] Therefore, it is necessary to provide an empty bag grabbing device suitable for an automatic unpacking station to replace manual secondary separation of material bags and collect empty material bags. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide an empty bag grabbing device suitable for an automatic unpacking station, so as to accurately grab the packaging bags separated from the material bags of the automatic unpacking station and perform secondary separation of the material bags, and transfer the empty bags to a waste bag spiral conveying device.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] An empty bag grabbing device suitable for an automatic unpacking station comprises an automatic unpacking station and an empty bag grabbing device, the automatic unpacking station comprises a feeding bin and an empty bag grabbing device mounting seat, a bag outlet door is provided on one side of the feeding bin, and the empty bag grabbing device mounting seat is horizontally arranged at the bottom outside the bag outlet door; the empty bag grabbing device comprises a rotating cylinder, a double-axis cylinder, a finger cylinder, a gripper, a horizontal adjustment device and a pitch adjustment device, the horizontal adjustment device is fixedly arranged on the empty bag grabbing device mounting seat, the pitch adjustment device is connected to the horizontal adjustment device, the rotating cylinder is respectively connected to the horizontal adjustment device and the pitch adjustment device through a forearm, the output end of the rotating cylinder is connected to a rotating arm, the front end of the rotating arm is fixedly connected to the double-axis cylinder, the finger cylinder is fixedly arranged on the output shaft of the double-axis cylinder, and the gripper is fixedly arranged at the output end of the finger cylinder.

[0007] Preferably, the horizontal adjustment device includes a first swing arm, a second swing arm and a horizontal stroke cylinder, the first swing arm is fixedly arranged on the empty bag grabbing device mounting seat through the first swing arm mounting seat, the second swing arm is fixedly arranged on the empty bag grabbing device mounting seat through the second swing arm mounting seat, the first swing arm and the second swing arm are arranged in parallel, the output end of the horizontal stroke cylinder is connected to the top end of the second swing arm through a pin shaft, and the horizontal stroke cylinder base is fixedly arranged on the empty bag grabbing device mounting seat between the first swing arm mounting seat and the second swing arm mounting seat through the horizontal stroke cylinder mounting seat. By extending the horizontal stroke cylinder in the horizontal adjustment device, the forearm and the rotary cylinder can be driven to move forward and move to the center position of the feeding bin.

[0008] Preferably, the pitch adjustment device includes a triangular bracket and a pitch stroke cylinder, the two ends of the bottom wall of the triangular bracket are respectively connected to the top of the first swing arm and the second swing arm through a pin shaft, the output end of the pitch stroke cylinder is connected to the front end top of the forearm through a pin shaft, the base of the pitch stroke cylinder is connected to the top of the triangular bracket through a pin shaft, the rear end of the forearm is connected to the top of the second swing arm through a pin shaft, and the rotating cylinder is fixedly arranged at the bottom of the front end of the forearm. By extending the pitch stroke cylinder of the pitch adjustment device, the forearm and the rotating cylinder can be driven to move downward and move to the position of grabbing empty bags in the feeding bin.

[0009] Preferably, the output shaft of the double-axis cylinder is arranged vertically and at the bottom end of the double-axis cylinder, a finger cylinder connecting plate is fixedly provided on the output shaft of the double-axis cylinder, and the finger cylinder is fixedly provided on the finger cylinder connecting plate.

[0010] The rotating arm is extended into the feeding bin by the rotating cylinder drive, and is fully extended by the horizontal stroke cylinder to ensure that the finger cylinder reaches the center of the feeding bin. The gripper on the finger cylinder is fully extended by the pitch stroke cylinder to ensure that it is in the best gripping position. The finger cylinder closes and drives the gripper to fold upward to grab the empty bag. The double-axis cylinder is repeatedly extended and retracted 3 times to achieve the up and down bag shaking function. The rotating arm is driven to rotate left and right 3 times by the rotating cylinder to achieve the left and right shaking function. The pitch stroke cylinder and the horizontal stroke cylinder are retracted, and the rotating cylinder rotates to drive the rotating arm back to the initial position. The finger cylinder opens, and the empty bag falls into the waste bag screw conveyor by gravity.

[0011] Preferably, the feeding bin of the automatic unpacking station is also provided with a feeding door, and the feeding door corresponds to the bag outlet door.

[0012] Preferably, a blanking platform and a blanking platform cylinder are further provided on one side of the feed gate of the feeding bin. The blanking platform cylinder is tilted at the bottom of the blanking platform. A vibrating screen is provided in the feeding bin, and the vibrating screen is docked with the blanking platform. The material is placed on the blanking platform of the bag removal assembly. The blanking platform is tilted after being thrust by the blanking platform cylinder. The material slides down by gravity and slides through the feed gate to the vibrating screen in the feeding bin. The feed gate is completely closed, and the vibration motor of the vibrating screen is started to achieve the first separation of the material bags. When the vibrating screen finishes working, the bag outlet door is fully opened, and the empty bag grabbing device is started. The blanking platform is reset and the material is loaded. When the empty bag grabbing device completes the empty bag grabbing action, the bag outlet door is completely closed, the feed gate is fully opened, the material has been placed on the blanking platform, and the equipment enters a new working cycle.

[0013] Preferably, a dust removal assembly is provided on the top of the feeding bin, and the dust removal assembly adopts a metal sintered mesh filter element with a dust removal fan to prevent dust from escaping.

[0014] Preferably, it also includes a waste bag screw conveyor, which is arranged below the finger cylinder when the rotating arm is in the initial position.

[0015] Preferably, the horizontal stroke cylinder is a 100-stroke cylinder, and the pitch stroke cylinder is a 50-stroke cylinder.

[0016] The beneficial effects of the present invention are as follows:

[0017] The present invention adopts the above technical scheme, which can separate the powder into bags for the second time and put the separated empty bags into the waste bag screw conveyor accurately. The empty bag grabbing device replaces manual shaking and shaking to separate the bags for the second time, ensuring that the powder residue in the empty bag is no more than 0.1% of the total weight. The separation of bags is highly automated, and there is no human involvement in the separation process, which eliminates the health effects of dust on workers, reduces labor costs, and improves work efficiency. The equipment has the advantages of simple structure, safety, and convenience, and has broad application prospects in the pharmaceutical, veterinary, food and other industries.

[0018] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, and to make the above and other purposes, technical features and advantages of the present invention easier to understand, one or more preferred embodiments are listed below and described in detail with the accompanying drawings as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0020] Figure 1 The figure shows the overall structure of an empty bag grabbing device suitable for an automatic unpacking station according to the present invention.

[0021] Figure 2 A schematic diagram of the structure of an automatic unpacking station of an empty bag grabbing device suitable for an automatic unpacking station of the present invention is shown.

[0022] Figure 3 A schematic structural diagram of an empty bag grabbing device suitable for an automatic unpacking station of the present invention is shown.

[0023] Description of main reference numerals:

[0024] 1-automatic unpacking station, 101-feeding platform, 102-feeding platform cylinder, 103-feeding bin, 104-dust removal assembly, 105-vibrating screen, 106-bag outlet door, 107-feeding door, 108-empty bag grabbing device mounting seat, 2-empty bag grabbing device, 201-first swing arm mounting seat, 202-first swing arm, 203-second swing arm mounting seat, 204-second swing arm, 205-horizontal stroke cylinder mounting seat, 206-horizontal stroke cylinder base, 207-horizontal stroke cylinder, 208-triangular bracket, 209-pitch stroke cylinder base, 210-pitch stroke cylinder, 211-forearm, 212-rotating cylinder, 213-rotating arm, 214-double-axis cylinder, 215-finger cylinder connecting plate, 216-finger cylinder, 217-gripper, 3-waste bag spiral conveyor. DETAILED DESCRIPTION

[0025] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0026] Unless explicitly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising”, etc., will be understood to include the stated elements or components but not to exclude other elements or components.

[0027] In this document, for the convenience of description, spatial relative terms such as "below", "below", "down", "above", "above", "upper", etc. may be used to describe the relationship between one element or feature and another element or feature in the accompanying drawings. It should be understood that the spatial relative terms are intended to include different orientations of the object in use or operation in addition to the orientation depicted in the figure. For example, if the object in the figure is turned over, the element described as being "below" or "below" other elements or features will be oriented "above" the element or feature. Therefore, the exemplary term "below" can include both below and above. Objects may also have other orientations (rotated 90 degrees or other orientations) and the spatial relative terms used in this document should be interpreted accordingly.

[0028] like Figure 1-Figure 3 As shown, an empty bag grabbing device suitable for an automatic unpacking station includes an automatic unpacking station 1 and an empty bag grabbing device 2, wherein the automatic unpacking station 1 includes a feeding bin 103 and an empty bag grabbing device mounting seat 108, a bag outlet door 106 is provided on one side of the feeding bin 103, and the empty bag grabbing device mounting seat 108 is horizontally arranged at the bottom outside the bag outlet door 106.

[0029] The feeding bin 103 of the automatic unpacking station 1 is further provided with a feeding door 107 , and the feeding door 107 corresponds to the bag discharging door 106 .

[0030] A material drop platform 101 and a material drop platform cylinder 102 are also provided on one side of the feed gate 107 of the feeding bin 103. The material drop platform cylinder 102 is tilted at the bottom of the material drop platform 101. A vibrating screen 105 is provided in the feeding bin 103, and the vibrating screen 105 is docked with the material drop platform 101. The material is placed on the material drop platform 101 of the bag removal assembly. The material drop platform 101 is tilted after being thrust by the material drop platform cylinder 102. The material slides down by gravity and slides onto the vibrating screen 105 in the feeding bin 103 through the feed gate 107. The feed gate 107 is completely closed, and the vibration motor of the vibrating screen 105 is started to realize the first separation of the material bags. The vibrating screen 105 finishes working, the bag outlet door 106 is fully opened, and the empty bag grabbing device 2 is started. The material drop platform 101 is reset and the material is loaded. When the empty bag grabbing device 2 completes the empty bag grabbing action, the bag outlet door 106 is completely closed, the feed door 107 is completely opened, the material has been placed on the material drop platform 101, and the equipment enters a new working cycle.

[0031] A dust removal assembly 104 is provided on the top of the feeding bin 103. The dust removal assembly 104 uses a metal sintered mesh filter element with a dust removal fan to prevent dust from escaping.

[0032] The empty bag grabbing device 2 includes a rotating cylinder 212, a dual-axis cylinder 214, a finger cylinder 216, a gripper 217, a horizontal adjustment device and a pitch adjustment device. The horizontal adjustment device is fixedly arranged on the empty bag grabbing device mounting seat 108, and the pitch adjustment device is connected to the horizontal adjustment device. The rotating cylinder 212 is respectively connected to the horizontal adjustment device and the pitch adjustment device through a forearm 211. The output end of the rotating cylinder 212 is connected to a rotating arm 213, and the front end of the rotating arm 213 is fixedly connected to the dual-axis cylinder 214. The finger cylinder 216 is fixedly arranged on the output shaft of the dual-axis cylinder 214, and the gripper 217 is fixedly arranged at the output end of the finger cylinder 216.

[0033] The horizontal adjustment device includes a first swing arm 202, a second swing arm 204 and a horizontal stroke cylinder 207. The first swing arm 202 is fixedly arranged on the empty bag grabbing device mounting seat 108 through the first swing arm mounting seat 201, and the second swing arm 204 is fixedly arranged on the empty bag grabbing device mounting seat 108 through the second swing arm mounting seat 203. The first swing arm 202 and the second swing arm 204 are arranged in parallel. The output end of the horizontal stroke cylinder 207 is connected to the top of the second swing arm 204 through a pin shaft, and the horizontal stroke cylinder base 206 is fixedly arranged on the empty bag grabbing device mounting seat 108 between the first swing arm mounting seat 201 and the second swing arm mounting seat 203 through the horizontal stroke cylinder mounting seat 205. By extending the horizontal stroke cylinder 207 in the horizontal adjustment device, the forearm 211 and the rotating cylinder 212 can be driven to move forward and move to the center position of the feeding bin 103. The horizontal stroke cylinder 207 is a 100 stroke cylinder.

[0034] The pitch adjustment device includes a triangular bracket 208 and a pitch stroke cylinder 210. The two ends of the bottom wall of the triangular bracket 208 are respectively connected to the top of the first swing arm 202 and the second swing arm 204 through a pin shaft. The output end of the pitch stroke cylinder 210 is connected to the front end top of the forearm 211 through a pin shaft. The pitch stroke cylinder base 209 is connected to the top of the triangular bracket 208 through a pin shaft. The rear end of the forearm 211 is connected to the top of the second swing arm 204 through a pin shaft. The rotating cylinder 212 is fixedly arranged at the bottom of the front end of the forearm 211. By extending the pitch stroke cylinder 210 of the pitch adjustment device, the forearm 211 and the rotating cylinder 212 can be driven to move downward and move to the position of grabbing empty bags in the feeding bin 103. The pitch stroke cylinder 210 is a 50 stroke cylinder.

[0035] The output shaft of the double-axis cylinder 214 is arranged vertically and at the bottom of the double-axis cylinder 214 . A finger cylinder connecting plate 215 is fixedly arranged on the output shaft of the double-axis cylinder 214 , and the finger cylinder 216 is fixedly arranged on the finger cylinder connecting plate 215 .

[0036] The device further comprises a waste bag screw conveyor 3 , which is arranged below the finger cylinder 216 when the rotating arm 213 is in the initial position.

[0037] The rotating arm 213 is extended into the feeding bin 103 by the rotating cylinder 212, and is fully extended by the horizontal stroke cylinder 207 to ensure that the finger cylinder 216 reaches the center of the feeding bin 103. The pitch stroke cylinder 210 is fully extended to ensure that the gripper 217 on the finger cylinder 216 is in the best gripping position. The finger cylinder 216 is closed to drive the gripper 217 to fold upward to grab the empty bag. The double-axis cylinder 214 is repeatedly extended and retracted 3 times to realize the up and down shaking bag function. The rotating arm 213 is driven to rotate left and right 3 times by the rotating cylinder 212 to realize the left and right shaking function. The pitch stroke cylinder 210 and the horizontal stroke cylinder 207 are retracted, and the rotating cylinder 212 rotates to drive the rotating arm 213 back to the initial position. The finger cylinder 216 opens, and the empty bag falls into the waste bag screw conveyor 3 by gravity.

[0038] The specific working steps of an empty bag grabbing device suitable for an automatic unpacking station of the present invention are as follows:

[0039] In step one, the material is placed on the blanking platform 101 of the unpacking component, and a signal will be output to control the start of the rotary knife motor and the start of the fan of the dust removal component 104; at this time, the feed door 107 is a fully open state signal and the bag discharge door 106 is a fully closed state signal, the output end piston rod of the blanking platform cylinder 102 is extended, and the blanking platform cylinder 102 is equipped with a magnetic switch. When the piston rod is fully extended, there will be a signal feedback, a delay of 5 seconds, and the material slides by gravity onto the vibrating screen 105 in the feeding bin 103, and the cylinder of the feed door 107 is controlled to start, and the driving slider drives the feed door 107 to close. When the feed door 107 is completely closed, the photoelectric switch of the detection door will have a signal feedback, and this signal is used to control the start of the vibration motor of the vibrating screen 105 and the reset of the blanking platform 101. When the blanking platform 101 is fully reset, the magnetic switch on the blanking platform cylinder 102 will have a signal feedback to control the feeding device to feed the platform.

[0040] Step 2: The vibration motor of the vibrating screen 105 starts after receiving the signal that the feed door 107 is completely closed. The vibration of the vibrating screen 105 replaces the manual shaking to achieve the first separation of the bag. The dust removal component 104 ensures that the dust does not escape when the bag is opened and the vibrating screen 105 is working, protecting the operating environment. The vibration motor of the vibrating screen 105 stops vibrating after 5 seconds, and there is a signal feedback to control the cylinder of the bag outlet door 106 of the feeding bin 103 to start, and the driving slider drives the bag outlet door 106 to open. When the bag outlet door 106 is fully opened, the photoelectric switch detects that there will be a signal feedback, and this signal is used to control the empty bag grabbing device 2 to start and the feed door 107 to open.

[0041] Step three, the empty bag grabbing device 2 is started, and the rotating arm 213 is extended into the feeding bin 103 by rotating the cylinder drive 212. The rotating position of the rotating arm 213 is controlled by rotating the magnetic switch 212. When it is fully in place, there is a signal feedback. This signal is used to control the piston rod of the horizontal stroke cylinder 207 to extend, ensuring that the finger cylinder 216 reaches the center position of the feeding bin 103. The horizontal stroke cylinder 207 is equipped with a magnetic switch to detect that the cylinder piston rod is fully extended, and there is a signal feedback after it is extended into place. This signal is used to control the piston rod of the pitch stroke cylinder 210 to start extending, ensuring that the gripper 217 is in the best grasping position. After it is extended to the right position, the magnetic switch on the cylinder will have a signal feedback. This signal is used to control the air supply of the finger cylinder 216. The finger cylinder 216 is closed, and the finger cylinder 216 drives the gripper 217 to fold upward to grab the empty bag. After the finger cylinder 216 is completely closed, the magnetic switch on the cylinder will have a signal feedback. This signal is used to control the retraction of the pitch stroke cylinder 210. After it is fully retracted, the magnetic switch on the cylinder will have a signal feedback. This signal is used to control the extension of the dual-axis cylinder 214. The dual-axis cylinder 214 has two magnetic switches that respectively control the full extension and full retraction of the cylinder piston rod. Use these two A magnetic switch controls the piston rod to extend repeatedly 3 times to realize the up and down shaking function of the empty bag. After the shaking is completed, the piston rod of the double-axis cylinder 214 is in a fully retracted state, and the magnetic switch on the cylinder will have a signal feedback. This signal is used to control the start of the rotating cylinder 212 to drive the rotating arm 213. When the magnetic switch in the middle of the rotating cylinder 213 has a signal output, this signal is used to control the change of the direction of the air supply solenoid valve of the rotating cylinder 212 to make the rotating cylinder 212 rotate. When the magnetic switch at the end of the rotating cylinder 212 has a signal feedback again, it is repeated to rotate back and forth 3 times to realize the left and right shaking function of the empty bag. The shaking stops, the rotating cylinder 212 is completely returned, and the end magnetic switch of the rotating cylinder 212 has a signal feedback. Use this signal to control the retraction of the horizontal stroke cylinder 207. The magnetic switch on the horizontal stroke cylinder 207 detects that it is fully retracted and has a signal feedback. Use this signal to start the rotating cylinder 212 and drive the rotating arm 213 back to the initial position. The starting end magnetic switch on the rotating cylinder 212 will have a signal feedback. This signal is used to control the reversing air supply of finger cylinder 216. Finger cylinder 216 opens, driving gripper 217 to reset downward and release. The empty bag falls into the empty bag screw conveyor 3 by gravity. After finger cylinder 216 is fully opened, the magnetic switch on the cylinder will have a signal feedback, and this signal is used to control the cylinder of bag outlet door 106

[0042] When the bag outlet door 106 is started, the piston moves downward to close the bag outlet door 106. When the photoelectric switch detects that the bag outlet door 106 is completely closed, a signal is fed back.

[0043] Step 4: After the material discharge platform 101 detects the material signal, the bag discharge door 106 sends a fully closed signal and the feed door 107 sends a fully opened signal, and the equipment enters a new working cycle.

[0044] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. Any simple modifications, equivalent changes and modifications made to the above exemplary embodiments should fall within the scope of protection of the present invention.

Claims

1. An empty bag grabbing device suitable for an automatic unpacking station, characterized in that: It comprises an automatic unpacking station (1) and an empty bag grabbing device (2), wherein the automatic unpacking station (1) comprises a feeding bin (103) and an empty bag grabbing device mounting seat (108), a bag outlet door (106) is provided on one side of the feeding bin (103), and the empty bag grabbing device mounting seat (108) is horizontally arranged at the bottom outside the bag outlet door (106); The feeding bin (103) of the automatic unpacking station (1) is further provided with a feeding door (107), the feeding door (107) corresponding to the bag discharge door (106), a feeding platform (101) and a feeding platform cylinder (102) are further provided on one side of the feeding door (107) of the feeding bin (103), the feeding platform cylinder (102) being arranged obliquely at the bottom of the feeding platform (101), a vibrating screen (105) being provided in the feeding bin (103), the vibrating screen (105) being connected to the feeding platform (101); The empty bag grabbing device (2) comprises a rotating cylinder (212), a double-axis cylinder (214), a finger cylinder (216), a gripper (217), a horizontal adjustment device and a pitch adjustment device; the horizontal adjustment device is fixedly arranged on the empty bag grabbing device mounting seat (108); the pitch adjustment device is connected to the horizontal adjustment device; the rotating cylinder (212) is respectively connected to the horizontal adjustment device and the pitch adjustment device via a forearm (211); the output end of the rotating cylinder (212) is connected to a rotating arm (213); the front end of the rotating arm (213) is fixedly connected to the double-axis cylinder (214); the finger cylinder (216) is fixedly arranged on the output shaft of the double-axis cylinder (214); and the gripper (217) is fixedly arranged at the output end of the finger cylinder (216); The output shaft of the double-shaft cylinder (214) is arranged vertically and at the bottom end of the double-shaft cylinder (214); a finger cylinder connecting plate (215) is fixedly arranged on the output shaft of the double-shaft cylinder (214); and the finger cylinder (216) is fixedly arranged on the finger cylinder connecting plate (215); The horizontal adjustment device comprises a first swing arm (202), a second swing arm (204) and a horizontal stroke cylinder (207); the first swing arm (202) is fixedly arranged on the empty bag grabbing device mounting seat (108) via a first swing arm mounting seat (201); the second swing arm (204) is fixedly arranged on the empty bag grabbing device mounting seat (108) via a second swing arm mounting seat (203); the first swing arm (202) and the second swing arm (204) are arranged in parallel; the output end of the horizontal stroke cylinder (207) is connected to the top end of the second swing arm (204) via a pin shaft; and the horizontal stroke cylinder base (206) is fixedly arranged on the empty bag grabbing device mounting seat (108) between the first swing arm mounting seat (201) and the second swing arm mounting seat (203) via a horizontal stroke cylinder mounting seat (205); The pitch adjustment device comprises a triangular bracket (208) and a pitch stroke cylinder (210), the two ends of the bottom wall of the triangular bracket (208) are respectively connected to the top of the first swing arm (202) and the second swing arm (204) through a pin shaft, the output end of the pitch stroke cylinder (210) is connected to the front end top of the forearm (211) through a pin shaft, the pitch stroke cylinder base (209) is connected to the top of the triangular bracket (208) through a pin shaft, the rear end of the forearm (211) is connected to the top of the second swing arm (204) through a pin shaft, and the rotating cylinder (212) is fixedly arranged at the bottom of the front end of the forearm (211); and the waste bag screw conveying device (3) is also included, and the waste bag screw conveying device (3) is arranged below the finger cylinder (216) when the rotating arm (213) is in the initial position.

2. The empty bag grabbing device suitable for an automatic unpacking station according to claim 1, characterized in that: A dust removal component (104) is provided on the top of the feeding bin (103).

3. The empty bag grabbing device suitable for an automatic unpacking station according to claim 2, characterized in that: The horizontal stroke cylinder (207) is a 100-stroke cylinder, and the pitch stroke cylinder (210) is a 50-stroke cylinder.

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