Automatic unpacking clamp

Abstract

The utility model discloses an automatic unpacking clamp which comprises a clamping assembly and a first driving piece connected with the clamping assembly, and the first driving piece is used for driving the clamping assembly to be close to or away from a packaging bag. The clamping assembly comprises two clamping jaws which are oppositely arranged, each clamping jaw comprises a fixing shaft and M clamping pieces distributed in the length direction of the fixing shaft, the fixing shaft is connected with a second driving piece, and the second driving piece can drive the fixing shaft to turn over around the axis of the fixing shaft; when the clamping pieces in the two clamping jaws are overturned to be parallel to each other along with the fixing shaft and face the same direction, the clamping pieces can penetrate into the packaging bag. M is an integer greater than 0. According to the automatic unpacking clamp, through the mode that the clamping pieces penetrate into the packaging bags and then turn over the packaging bags, automatic clamping and unpacking of the packaging bags are achieved, the packaging bag feeding efficiency is improved, and raw material waste is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of unpacking clamp structure design, in particular to an automatic unpacking clamp. Background Art

[0002] Automated industrial robots can achieve various industrial processing and manufacturing functions by relying on their own power source and control system. With the continuous improvement of industrial automation level, the application of automated industrial robots in the industrial field is becoming more and more extensive. Industrial robots are mainly composed of three parts, namely mechanical system, sensor system and control system. Among them, the fixture, as a key component of the mechanical system, is the key to the industrial robot to achieve the preset functions.

[0003] At present, in the field of refrigerator manufacturing, operations such as sheet forming are all supplied by a centralized feeding system, and then the subsequent processing technology is realized by manual unpacking and loading. Manual loading leads to high labor intensity for employees, low operating efficiency, and certain safety hazards.

[0004] In order to realize the application of robots in automatic unpacking, the existing technology uses a visual inspection system to scan and locate the material bags with regular stacking rules, and then the unpacking robot controls the clamp to grab the material bags, feed the materials, and collect the packaging bags. Since the material bags are closed inside, when the clamps hold the material bags during the feeding process, as the raw materials in the material bags decrease, the gripping state of the clamps will change, resulting in unclean feeding of the raw materials in the material bags, and the inability to achieve complete feeding, which affects the feeding efficiency and the utilization rate of the raw materials. Utility Model Content

[0005] In order to overcome the problems existing in the related technology, one of the purposes of the utility model is to provide an automatic unpacking clamp, which realizes automatic clamping and unpacking of the packaging bag by inserting the clamping piece into the packaging bag and then flipping it, thereby improving the efficiency of packaging bag loading and avoiding waste of raw materials.

[0006] An automatic unpacking clamp comprises a clamping assembly and a first driving member connected to the clamping assembly, wherein the first driving member is used to drive the clamping assembly to approach or move away from a packaging bag;

[0007] The clamping assembly includes two clamping jaws arranged opposite to each other, and the clamping jaws include a fixed shaft and M clamping members distributed along the length direction of the fixed shaft. The fixed shaft is connected to a second driving member, and the second driving member can drive the fixed shaft to flip around its axis. When the clamping members in the two clamping jaws flip along with the fixed shaft to be parallel to each other and in the same direction, the clamping members can penetrate into the interior of the packaging bag; M is an integer greater than 0.

[0008] The clamping assembly of the present application adopts a piercing and flipping clamping method, which can penetrate into the packaging bag and then flip it to achieve clamping of the top of the packaging bag. As the raw materials in the packaging bag decrease, the clamping state will not change, which can ensure complete loading and improve loading efficiency and raw material utilization.

[0009] In a preferred technical solution of the utility model, the clamping member is a steel cone, the bottom of the steel cone is a conical structure, and the top of the steel cone is fixedly connected to the fixed shaft.

[0010] The material of the steel cone is relatively hard, and it is easier to penetrate the packaging bag and the granular raw materials inside the packaging bag; at the same time, the bottom of the steel cone, that is, the end away from the fixed axis, is set to a conical structure, that is, the bottom has a sharp angle, which makes it easier for the steel cone to pierce the packaging bag and enter the interior of the packaging bag, thereby improving the clamping efficiency.

[0011] In a preferred technical solution of the utility model, it also includes a main frame, which includes a frame top plate and a column fixed to the bottom of the frame top plate, and both ends of the fixed shaft are rotatably connected to the column.

[0012] The main frame is the supporting frame of the clamp of the present application. The frame top plate can be a rectangular structure. Four columns are arranged at the bottom of the frame top plate. The four columns are respectively located at the four corners of the frame top plate and on the side walls of the frame top plate. The two ends of the fixed shaft are respectively rotatably connected to the two columns on the same side. The fixed shaft is rotatably connected because it needs to be turned over under the drive of the second driving member, thereby driving the clamping member to turn over. The arrangement of the columns and the frame top plate in the present application can limit the clamping assembly inside the main frame, making the entire clamp structure compact and easy to carry and carry.

[0013] In a preferred technical solution of the utility model, a push plate is arranged below the frame top plate, and the push plate is arranged parallel to the frame top plate; the push plate is connected to a third driving member, and the third driving member is used to drive the push plate to move toward or away from the frame top plate.

[0014] The push plate is located inside the main frame and is arranged parallel to the top plate of the frame. When the clamping piece penetrates the packaging bag and then turns 90 degrees, the clamping piece just abuts against the push plate, and the packaging bag is clamped between the clamping piece and the push plate. The present application can achieve stable clamping of the packaging bag through the mutual abutment and cooperation between the push plate and the clamping piece, thereby improving the clamping stability and clamping efficiency.

[0015] At the same time, the push plate is connected to the third driving member, which can drive the push plate to move towards or away from the top plate of the frame; when the raw materials inside the packaging bag are loaded, the clamping assembly clamps an empty packaging bag. The first driving member drives the clamping assembly and the empty packaging bag to move to the recycling position, and the second driving member drives the fixed shaft to flip vertically downward, that is, to restore to the position of piercing the packaging bag; at this time, the third driving member drives the push plate to move away from the top plate of the frame. Since the clamping member no longer fixes the empty packaging bag, the push plate can push the empty packaging bag to fall, that is, the push plate drops to a position that passes over the fixed shaft and the clamping member, thereby realizing the recycling of the empty packaging bag.

[0016] In a preferred technical solution of the utility model, the frame top plate is provided with a through hole; the third driving member is fixed above the frame top plate, and the output end of the third driving member passes through the through hole to connect with the push plate.

[0017] The purpose of the third driving member is to drive the push plate to rise and fall relative to the frame top plate to achieve the removal of the empty packaging bag; the third driving member can specifically be a structure such as a cylinder, which is arranged above the frame top plate to reserve space below the frame top plate for installing the push plate and the second driving member, so that the overall structure is simple and compact.

[0018] In a preferred technical solution of the utility model, a guide rod is provided between the frame top plate and the push plate.

[0019] One end of the guide rod is fixedly connected to the push plate, and the other end passes through the frame top plate and is slidably connected to the frame top plate through a bearing or other structure. When the third driving member drives the push plate to rise and fall, the guide rod can ensure that the push plate rises and falls smoothly, which helps to improve the efficiency of removing empty packaging bags. In the present application, there can be two guide rods, which are symmetrically arranged at both sides of the third driving member to ensure that the push plate rises and falls smoothly.

[0020] In a preferred technical solution of the present utility model, a connecting frame is provided on the top of the fixed shaft, and the output end of the second driving member is connected to the connecting frame.

[0021] The connecting frame can be arranged at the top center of the fixed shaft, which is equivalent to an extension of the fixed shaft. If the force of the second driving member is directly applied to the fixed shaft, it cannot effectively drive the fixed shaft to rotate. If the force of the second driving member is applied to the connecting frame, the connecting frame can drive the fixed shaft to rotate, and then drive the clamping member to flip, so as to achieve stable clamping of the packaging bag and avoid energy waste.

[0022] In a preferred technical solution of the present invention, the angle between the output end of the second driving member and the plane where the frame top plate is located is 10-20°.

[0023] The present application sets a certain angle between the output end of the second driving member and the plane where the push plate is located. Assuming that the plane where the push plate is located is a horizontal plane and the second driving member is a cylinder, the output end of the cylinder is set at an angle relative to the horizontal plane to facilitate the fixed axis to flip in a specific direction. When the stroke of the cylinder used by the second driving member is limited, the fixed axis can be driven to flip at a specific angle; secondly, setting the tilt angle is the easiest way to achieve the purpose of flipping, which helps to improve the flipping stability.

[0024] In a preferred technical solution of the present utility model, the first driving member is a mechanical arm, and the clamping assembly is fixed to the end of the mechanical arm.

[0025] The clamping assembly is installed at the end of the robotic arm, which can drive the clamping assembly to move away from or towards the packaging bag, and can also drive the clamping assembly and the packaging bag to move to the loading position or the recycling position.

[0026] In the preferred technical solution of the utility model,

[0027] The beneficial effects of the utility model are:

[0028] The utility model provides an automatic unpacking clamp, comprising a clamping assembly and a first driving member connected to the clamping assembly, wherein the first driving member is used to drive the clamping assembly to approach or move away from a packaging bag; the packaging bag contains raw materials; the clamping assembly comprises two clamping jaws arranged opposite to each other, the clamping jaws comprise a fixed shaft and M clamping members distributed along the length direction of the fixed shaft, the fixed shaft is connected to a second driving member, and the second driving member can drive the fixed shaft to flip around its axis, when the clamping members in the two clamping jaws flip along with the fixed shaft to be parallel to each other and face the same direction, such as flipping to face vertically downward, Driven by a driving member, the clamping member can penetrate into the interior of the packaging bag; when the clamping member penetrates into the interior of the packaging bag, the second driving member drives the fixed shaft to rotate, so that the clamping member flips 90°, and the two clamping members can clamp the top of the packaging bag; the first driving member can drive the clamping assembly and the packaging bag to move to the loading position to realize the subsequent loading process; the clamping assembly of the present application adopts a piercing and flipping clamping method, which can penetrate into the interior of the packaging bag and then flip it to achieve clamping of the top of the packaging bag. As the raw material in the packaging bag decreases, the clamping state will not change, which can ensure complete loading and improve loading efficiency and raw material utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the overall structure of the automatic unpacking fixture for this application;

[0030] Figure 2 A side view of the automatic unpacking fixture for this application;

[0031] Figure 3A top view of the automatic unpacking fixture for this application;

[0032] Figure 4 This is a flow chart of the automatic unpacking and clamping principle of this application.

[0033] Reference numerals:

[0034] 1. Fixed shaft; 2. Fixed plate; 3. Connecting plate; 4. Guide rod; 5. Frame top plate; 6. Column; 7. Push plate; 8. Third driving member; 9. Second driving member; 10. Clamping member; 11. Through hole; 12. Connecting frame. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0036] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "the" and "the" used in the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0037] It should be understood that although the terms "first", "second", "third", etc. may be used to describe various information in the present invention, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0038] Example 1

[0039] like Figure 1-Figure 3 As shown, an automatic unpacking clamp comprises a clamping assembly and a first driving member connected to the clamping assembly, wherein the first driving member is used to drive the clamping assembly to approach or move away from a packaging bag;

[0040] The clamping assembly includes two clamping jaws arranged opposite to each other, and the clamping jaws include a fixed shaft 1 and M clamping members 10 distributed along the length direction of the fixed shaft 1. The fixed shaft 1 is connected to a second driving member 9, and the second driving member 9 can drive the fixed shaft 1 to flip around its axis. When the clamping members 10 in the two clamping jaws flip along with the fixed shaft 1 to be parallel to each other and in the same direction, the clamping members 10 can penetrate into the interior of the packaging bag; M is an integer greater than 0.

[0041] The first driving member of the present application is used to drive the clamping assembly to approach or move away from the packaging bag; the packaging bag contains raw materials. The specific raw materials can be in the form of particles, etc. When the clamping member 10 penetrates into the packaging bag, it can easily pass through the granular raw materials and enter the packaging bag.

[0042] The clamping assembly of the present application includes two clamping jaws arranged opposite to each other, the clamping jaws include a fixed shaft 1 and M clamping members 10 distributed along the length direction of the fixed shaft 1, the fixed shaft 1 is connected to a second driving member 9, and the second driving member 9 can drive the fixed shaft 1 to flip around its axis. When the clamping members 10 in the two clamping jaws flip along with the fixed shaft 1 to be parallel to each other and face the same direction, such as flipping to face vertically downward, the clamping member 10 can penetrate into the packaging bag under the drive of the first driving member; when the clamping member 10 penetrates into the packaging bag When the first driving member 9 is in the rotating state, the second driving member 9 drives the fixed shaft 1 to rotate, so that the clamping member 10 flips 90°, and the two clamping members 10 can clamp the top of the packaging bag; the first driving member can drive the clamping assembly and the packaging bag to move to the loading position to realize the subsequent loading process; the clamping assembly of the present application adopts a piercing and flipping clamping method, which can penetrate into the interior of the packaging bag and then flip it to clamp the top of the packaging bag. As the raw materials in the packaging bag decrease, the clamping state will not change, which can ensure complete loading and improve the loading efficiency and raw material utilization.

[0043] In the present application, the fixed shaft 1 is fixed in position, and the second driving member 9 drives it to rotate around its axis. Since the clamping member 10 and the fixed shaft 1 are fixedly connected, when the fixed shaft 1 rotates, the direction of the clamping member 10 will change. When the clamping member 10 needs to penetrate into the packaging bag, the clamping member 10 in the two clamping jaws rotates to face vertically downward, so that the clamping member 10 penetrates from the top of the packaging bag. Or the clamping members 10 in the two clamping jaws rotate to face the same direction and are parallel to each other, and penetrate from the side or any one surface of the packaging bag.

[0044] After the clamping member 10 penetrates the packaging bag, it is unable to clamp the packaging bag. At this time, the second driving member 9 is required to drive the fixed shaft 1 to rotate so that the clamping member 10 flips 90°. In the present application, the clamping member 10 can flip 90° in the following three ways:

[0045] The first type: the clamping members 10 in the two clamping jaws are turned in opposite directions. For example, when the clamping members 10 are inserted into the packaging bag, they are all facing the vertical downward direction. At this time, the second driving member 9 drives the two fixed shafts 1 and the clamping members 10 to turn 90 degrees toward the center direction of the connecting line of the two clamping jaws, so that the clamping members 10 on the opposite sides can clamp the top of the packaging bag after the flip. Since the packaging bag contains granular raw materials, the clamping member 10 can smoothly pass through the granular raw materials and rotate after piercing the packaging bag to achieve clamping of the top of the packaging bag.

[0046] The second type: the clamping members 10 in the two clamping jaws are turned in a direction away from each other. For example, when the clamping members 10 are inserted into the packaging bag, they are all facing the vertical downward direction. At this time, the second driving member 9 drives the two fixed shafts 1 and the clamping members 10 to turn 90 degrees in a direction away from each other, so that the clamping members 10 on the opposite sides can clamp the top of the packaging bag after the flip. Since the packaging bag contains granular raw materials, the clamping member 10 can smoothly pass through the granular raw materials and rotate after piercing the packaging bag to clamp the top of the packaging bag.

[0047] The third type: the clamping members 10 in the two clamping jaws are turned in the same direction. For example, when the clamping members 10 are inserted into the packaging bag, they are all facing the vertical downward direction. At this time, the second driving member 9 drives the two fixed shafts 1 and the clamping members 10 to turn 90° in the same direction, such as turning 90° to the left or right; so that the clamping members 10 on the opposite sides after turning can clamp the top of the packaging bag. Since the packaging bag contains granular raw materials, the clamping member 10 can smoothly pass through the granular raw materials and rotate after piercing the packaging bag to clamp the top of the packaging bag.

[0048] The purpose of the above three flipping methods is to enable the clamping member 10 to clamp after piercing the packaging bag. If the piercing angle is maintained, the packaging bag cannot be fixed; after flipping, the packaging bag can be fixed and clamped. After the packaging bag is fixed, the first driving member can drive the packaging bag and the clamping assembly to move the position, so as to realize the operation of loading the raw materials in the packaging bag and recycling the empty packaging bag.

[0049] In the present application, M clamping members 10 are arranged in the same fixed axis 1, and M can be one or more. When M is multiple, multiple clamping members 10 are arranged in each side of the clamp, which is similar to having multiple fingers on each side. Multiple fingers are inserted into the packaging bag and then turned over for clamping, which can ensure more stable clamping.

[0050] Example 2

[0051] like Figure 1-Figure 3As shown, an automatic unpacking clamp comprises a clamping assembly and a first driving member connected to the clamping assembly, wherein the first driving member is used to drive the clamping assembly to approach or move away from a packaging bag;

[0052] The clamping assembly includes two clamping jaws arranged opposite to each other, and the clamping jaws include a fixed shaft 1 and M clamping members 10 distributed along the length direction of the fixed shaft 1. The fixed shaft 1 is connected to a second driving member 9, and the second driving member 9 can drive the fixed shaft 1 to flip around its axis. When the clamping members 10 in the two clamping jaws flip along with the fixed shaft 1 to be parallel to each other and in the same direction, the clamping members 10 can penetrate into the interior of the packaging bag; M is an integer greater than 0.

[0053] The clamping member 10 described in the present application is a steel cone, the bottom of the steel cone is a conical structure, and the top of the steel cone is fixedly connected to the fixed shaft 1.

[0054] The material of the steel cone is relatively hard, and it is easier to penetrate the packaging bag and the granular raw materials inside the packaging bag; at the same time, the present application sets the bottom of the steel cone, that is, the end away from the fixed axis 1, to a conical structure, that is, the bottom has a sharp angle, which makes it easier for the steel cone to pierce the packaging bag and enter the interior of the packaging bag, thereby improving the clamping efficiency.

[0055] The automatic unpacking fixture of the present application also includes a main frame, which includes a frame top plate 5 and a column 6 fixed to the bottom of the frame top plate 5, and both ends of the fixed shaft 1 are rotatably connected to the column 6.

[0056] The main frame is the supporting frame of the clamp of the present application. The frame top plate 5 can be a rectangular structure. Four columns 6 are arranged at the bottom of the frame top plate 5. The four columns 6 are respectively located at the four corners of the frame top plate 5 and on the side walls of the frame top plate 5. The two ends of the fixed shaft 1 are respectively rotatably connected with the two columns 6 on the same side. The fixed shaft 1 is rotatably connected because it needs to be turned over under the drive of the second driving member 9, thereby driving the clamping member 10 to turn over. The arrangement of the columns 6 and the frame top plate 5 in the present application can limit the clamping assembly inside the main frame, making the entire clamp structure compact and easy to carry and carry.

[0057] The present application can also set a track perpendicular to the fixed axis 1 in the column 6, and the fixed axis 1 is located in the track. The track can be a track extending in the horizontal direction, or a track extending in the vertical direction. The position of the fixed axis 1 in the track can be moved. Before the clamping operation, the position of the fixed axis 1 can be ensured according to the size and shape of the packaging bag, and the distance between the two fixed axes 1 can be ensured to be smaller than the size of the surface of the packaging bag to be clamped, so as to ensure that the clamping member 10 can penetrate into the packaging bag. Once the position of the fixed axis 1 is determined, the fixed axis 1 and the column 6 can be rotatably connected by a hinge or other structure to ensure that the position of the column 6 does not move, but under the action of the second driving member 9, it can be rotated around its axis.

[0058] In the present application, a push plate 7 is arranged below the frame top plate 5, and the push plate 7 is arranged parallel to the frame top plate 5; the push plate 7 is connected to a third driving member 8, and the third driving member 8 is used to drive the push plate 7 to move toward or away from the frame top plate 5.

[0059] The push plate 7 is located inside the main frame and is arranged parallel to the frame top plate 5. When the clamping member 10 penetrates the packaging bag and then turns 90 degrees, the clamping member 10 just abuts against the push plate 7, and the packaging bag is clamped between the clamping member 10 and the push plate 7. The present application can achieve stable clamping of the packaging bag through the mutual abutment and cooperation between the push plate 7 and the clamping member 10, thereby improving the clamping stability and clamping efficiency.

[0060] At the same time, the push plate 7 is connected to the third driving member 8, and the third driving member 8 can drive the push plate 7 to move toward or away from the frame top plate 5; when the raw materials inside the packaging bag are loaded, the clamping assembly clamps the empty packaging bag. The first driving member drives the clamping assembly and the empty packaging bag to move to the recycling position, and the second driving member 9 drives the fixed shaft 1 to flip vertically downward, that is, to restore to the position of piercing the packaging bag; at this time, the third driving member 8 drives the push plate 7 to move away from the frame top plate 5. Since the clamping member 10 no longer fixes the empty packaging bag, the push plate 7 can push the empty packaging bag to fall, that is, the push plate 7 drops to a position that passes over the fixed shaft 1 and the clamping member 10, so as to realize the recycling of the empty packaging bag.

[0061] A connecting frame 12 is provided on the top of the fixed shaft 1 of the present application, and the output end of the second driving member 9 is connected to the connecting frame 12 .

[0062] The connecting frame 12 can be arranged at the top center of the fixed shaft 1, which is equivalent to an extension of the fixed shaft 1. If the force of the second driving member 9 is directly applied to the fixed shaft 1, the fixed shaft 1 cannot be effectively driven to rotate. If the force of the second driving member 9 is applied to the connecting frame 12, the connecting frame 12 can drive the fixed shaft 1 to rotate, and then drive the clamping member 10 to flip, so as to achieve stable clamping of the packaging bag and avoid energy waste.

[0063] The frame top plate 5 of the present application is provided with a through hole 11 ; the third driving member 8 is fixed above the frame top plate 5 , and the output end of the third driving member 8 passes through the through hole 11 to connect with the push plate 7 .

[0064] The purpose of the third driving member 8 is to drive the push plate 7 to rise and fall relative to the frame top plate 5 so as to realize the removal of the empty packaging bag; the third driving member 8 can specifically be a structure such as a cylinder, which is arranged above the frame top plate 5 to reserve space below the frame top plate 5 for installing the push plate 7 and the second driving member 9, so that the overall structure is simple and compact.

[0065] As a specific embodiment, the present application can install a fixed plate 2 above the frame top plate 5, the fixed plate 2 is arranged parallel to the frame top plate 5, and both ends of the fixed plate 2 are connected to the frame top plate 5 through the connecting plate 3. The cross-sectional area of ​​the fixed plate 2 is smaller than the cross-sectional area of ​​the frame top plate 5, and the third driving member 8 is arranged at the center of the fixed plate 2, and the output end of the third driving member 8 passes through the through hole 11 in the frame top plate 5 and is connected to the push plate 7. In the present application, the fixed plate 2 and the frame top plate 5 enclose a space for installing the third driving member 8, forming a shielding and protective effect for the third driving member 8.

[0066] like Figure 1 As shown, a guide rod 4 is provided between the frame top plate 5 and the push plate 7 described in the present application.

[0067] One end of the guide rod 4 is fixedly connected to the push plate 7, and the other end passes through the frame top plate 5, and is slidably connected to the frame top plate 5 through a bearing or other structure. When the third driving member 8 drives the push plate 7 to rise and fall, the guide rod 4 can ensure that the push plate 7 rises and falls smoothly, which helps to improve the efficiency of removing empty packaging bags. In the present application, there can be two guide rods 4, which are symmetrically arranged at both sides of the third driving member 8 to ensure that the push plate 7 rises and falls smoothly.

[0068] In order to make the structure of the automatic unpacking fixture of the present application compact and simple, the angle between the output end of the second driving member 9 of the present application and the plane where the frame top plate 5 is located is 10-20°, and can be specifically set to 18°.

[0069] Specifically, the second driving member 9 can be a structure such as a cylinder, and there are two second driving members 9, which are respectively connected to the two fixed shafts 1. The second driving member 9 can be arranged at the bottom position of the frame top plate 5, that is, in the space between the frame top plate 5 and the push plate 7, and can be fixed in the frame top plate 5; this is because the push plate 7 needs to be lifted and moved relative to the frame top plate 5, and the position of the frame top plate 5 is fixed, which is conducive to the fixation of the second driving member 9, and at the same time, it can ensure that the structure of the entire automatic unpacking fixture is compact and simple, and is easy to carry and carry.

[0070] Furthermore, the angle between the output end of the second driving member 9 and the plane where the frame top plate 5 is located is 18°.

[0071] In the present application, the output end of the second driving member 9 is arranged at a certain angle to the plane where the push plate 7 is located. Assuming that the plane where the push plate 7 is located is a horizontal plane, and the second driving member 9 is a cylinder, the output end of the cylinder is arranged to be inclined relative to the horizontal plane, so as to facilitate the fixed shaft 1 to flip in a specific direction. When the stroke of the cylinder used by the second driving member 9 is limited, the fixed shaft 1 can be driven to flip at a specific angle; secondly, setting the inclined angle is the easiest way to achieve the purpose of flipping, which helps to improve the flipping stability.

[0072] In the present application, the first driving member is a mechanical arm, and the clamping assembly is fixed at the end of the mechanical arm. That is, the clamping assembly is installed at the end of the mechanical arm, and the mechanical arm can drive the clamping assembly to move away from or close to the packaging bag, and can also drive the clamping assembly and the packaging bag to move to the feeding position or the recycling position.

[0073] Example 3

[0074] like Figure 4 As shown, the working principle of an automatic unpacking fixture described in Example 2 includes:

[0075] S1: The first driving member drives the automatic unpacking fixture to move above the packaging bag.

[0076] The packaging bag contains granular raw materials, and the first driving member can be a mechanical arm, which drives the clamping assembly to move above the stacked packaging bag.

[0077] S2: The second driving member 9 drives the clamping member 10 to rotate vertically downward.

[0078] In order to achieve orderly clamping of the packaging bags, this embodiment is configured to clamp and load the stacked packaging bags one by one from above.

[0079] The second driving member 9 drives the fixed shaft 1 to rotate around its axis. Since the clamping member 10 and the fixed shaft 1 are fixedly connected, when the fixed shaft 1 rotates, the direction of the clamping member 10 will change.

[0080] S3: The first driving member drives the clamping member 10 to continue to move downward until the clamping member 10 penetrates into the packaging bag.

[0081] The robotic arm continues to drive the clamping assembly to move downward, so that the clamping piece 10 penetrates from the top of the packaging bag; the specific clamping piece 10 can be a steel cone, which is made of a relatively hard material and can easily penetrate the packaging bag and the granular raw materials inside the packaging bag; at the same time, the present application sets the bottom of the steel cone, that is, the end away from the fixed axis 1, to a conical structure, that is, the bottom has a sharp angle, which is convenient for the steel cone to pierce the packaging bag and enter the interior of the packaging bag, thereby improving the clamping efficiency.

[0082] S4: The second driving member 9 drives the clamping members 10 in the two clamping jaws to flip 90 degrees to clamp the top of the packaging bag.

[0083] Specifically, the clamping members 10 in the two clamping jaws are turned in opposite directions. For example, when the clamping members 10 are inserted into the packaging bag, they are all facing the vertical downward direction. At this time, the second driving member 9 drives the two fixed shafts 1 and the clamping members 10 to turn 90 degrees toward the center direction of the connection line of the two clamping jaws, so that the clamping members 10 on the opposite sides after the flip can clamp the top of the packaging bag. Since the packaging bag contains granular raw materials, the clamping member 10 can smoothly pass through the granular raw materials and rotate after piercing the packaging bag to achieve clamping of the top of the packaging bag.

[0084] S5: The first driving member drives the clamping assembly to move to the loading position to load the raw materials in the packaging bag.

[0085] The mechanical arm drives the clamping assembly and the packaging bag to move from the packaging bag stacking position to the loading position. A cutting structure such as a cutter can be set at the loading position. When the bottom of the packaging bag abuts against the cutting structure, the cutting structure can cut the bottom of the packaging bag to form a larger loading gap. At this time, the mechanical arm can drive the packaging bag to shake slightly to ensure that the raw materials in the packaging bag are quickly and fully loaded. During the loading process, the clamping member 10 always clamps the top of the packaging bag and will not change due to the loading state, which can ensure the clamping stability.

[0086] S6: After the loading is completed, the first driving member drives the clamping assembly and the empty packaging bag to move to the recycling place. At this time, the second driving member 9 drives the fixed shaft 1 to rotate until the clamping member 10 is vertically downward, that is, it keeps the direction of piercing the packaging bag, that is, the clamping member 10 no longer limits the packaging bag. The third driving member 8 drives the packaging bag to descend until the packaging bag is completely separated from the clamping member 10, and finally falls to the recycling place under the action of gravity.

[0087] The unpacking and clamping method of the present application is simple, and adopts a piercing and flipping clamping method, which can penetrate into the packaging bag and then flip it to achieve clamping of the top of the packaging bag. As the raw materials in the packaging bag decrease, the clamping state will not change, which can ensure complete loading and improve loading efficiency and raw material utilization.

[0088] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings. In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0089] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0090] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0091] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An automatic unpacking fixture, characterized in that: It comprises a clamping assembly and a first driving member connected to the clamping assembly, wherein the first driving member is used to drive the clamping assembly to approach or move away from the packaging bag; The clamping assembly comprises two clamping jaws arranged opposite to each other, the clamping jaws comprising a fixed shaft (1) and M clamping members (10) distributed along the length direction of the fixed shaft (1), the fixed shaft (1) being connected to a second driving member (9), the second driving member (9) being able to drive the fixed shaft (1) to flip around its axis, when the clamping members (10) in the two clamping jaws flip along with the fixed shaft (1) to be parallel to each other and facing the same direction, the clamping members (10) are able to penetrate into the interior of the packaging bag; M is an integer greater than 0.

2. The automatic unpacking fixture according to claim 1, characterized in that: The clamping member (10) is a steel cone, the bottom of the steel cone is a cone-shaped structure, and the top of the steel cone is fixedly connected to the fixed shaft (1).

3. The automatic unpacking fixture according to claim 1, characterized in that: It also comprises a main frame, which comprises a frame top plate (5) and a column (6) fixed at the bottom of the frame top plate (5), and both ends of the fixed shaft (1) are rotatably connected to the column (6).

4. The automatic unpacking fixture according to claim 3, characterized in that: A push plate (7) is arranged below the frame top plate (5), and the push plate (7) is arranged parallel to the frame top plate (5); the push plate (7) is connected to a third driving member (8), and the third driving member (8) is used to drive the push plate (7) to move in a direction close to or away from the frame top plate (5).

5. The automatic unpacking fixture according to claim 4, characterized in that: The frame top plate (5) is provided with a through hole (11); the third driving member (8) is fixed above the frame top plate (5), and the output end of the third driving member (8) passes through the through hole (11) to connect with the push plate (7).

6. The automatic unpacking fixture according to claim 5, characterized in that: A guide rod (4) is arranged between the frame top plate (5) and the push plate (7).

7. The automatic unpacking fixture according to claim 3, characterized in that: A connecting frame (12) is provided on the top of the fixed shaft (1), and the output end of the second driving member (9) is connected to the connecting frame (12).

8. The automatic unpacking fixture according to claim 7, characterized in that: The angle between the output end of the second driving member (9) and the plane where the frame top plate (5) is located is 10-20°.

9. The automatic unpacking fixture according to claim 1, characterized in that: The first driving member is a mechanical arm, and the clamping assembly is fixed at the end of the mechanical arm.

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