Automatic unpacking device

Abstract

The utility model provides an automatic unpacking device which comprises a breaking device used for cutting material bags, a conveying device used for conveying the material bags to the breaking device, a recycling device used for receiving falling materials in the breaking device and a grabbing device used for grabbing broken empty material bags. The grabbing hooks are installed on the grabbing frame and can stretch out and draw back, the push-pull motor is installed on the grabbing frame and controls the grabbing hooks to stretch out and draw back, the reciprocating motor pushes the grabbing frame to move in a reciprocating mode, and the material bag recycling box is located on one side and receives empty material bags. In the process that the grabbing hook grabs the empty material bag, the empty material bag can be lifted and extruded, the action enables materials remaining in the material bag in the placing state to fall out of a notch of the material bag through extrusion movement, and the residual materials in the empty material bag are greatly reduced.

Description

Technical Field

[0001] This utility model relates to the field of automatic unpacking, and in particular to an automatic unpacking device for grabbing damaged empty bags to clean the residual material in the empty bags. Background Technology

[0002] In current industrial production processes, large quantities of raw materials or auxiliary materials are typically processed to obtain the final product. These raw materials or auxiliary materials are often packaged in bags, and the bags are opened and the materials are extracted according to the mixing ratios. If this process were done manually, it would greatly increase the labor intensity of the operators and also result in low efficiency.

[0003] Current technology includes automated unpacking devices that can automatically unpack conveyed bags and collect empty bags, forming an assembly line operation. However, fully automated unpacking devices are only suitable for large-scale enterprise production scenarios. These devices use robotic arms and CNC structures, which, while fast and efficient, are expensive and require processing a large number of bags to meet operational requirements. Therefore, they are not suitable for small and medium-sized enterprises or places that only operate on demand.

[0004] Currently, there are also some semi-automated unpacking devices to meet the needs of small and medium-sized enterprises, such as CN.

[0005] Patent 105501577B discloses a parallel-path automatic unpacking and discharging device that uses a gear mechanism to break open bags and collect materials. However, this solution handles empty bags by pushing them directly off the breaking device. Because the bags are placed on the breaking device and cut open by blades below, the materials fall automatically. Regardless of the number of cuts, residual material inevitably remains inside the bag. Although some residual material can be squeezed out during the bag-collecting process, the bag remains stuck to the breaking device, making it impossible to completely clean the residual material from the empty bags. Utility Model Content

[0006] The purpose of this invention is to provide an automatic unpacking device for grabbing damaged empty bags to remove residual materials from the bags.

[0007] This utility model discloses an automatic unpacking device, including a breaking device for cutting the material bag, a conveying device for feeding the material bag to the breaking device, a recycling device for receiving the material that falls from the breaking device, and a gripping device for grabbing the empty material bag after it has been broken.

[0008] The gripping device includes a gripping frame, multiple retractable gripping hooks mounted on the gripping frame, a push-pull motor mounted on the gripping frame to control the extension and retraction of the gripping hooks, a reciprocating motor to drive the gripping frame to move back and forth, and a bag recycling bin located on one side to receive empty bags.

[0009] In one embodiment of this utility model, the gripping hook includes multiple hollow tubes connected in sequence by pins. A spring connected to the tail end of the hollow tube is installed inside the hollow tube. The other end of the spring is connected to a steel cable, and the other end of the steel cable is connected to the push-pull motor.

[0010] In one embodiment of this utility model, the hollow tubes constituting the gripping hook are arc-shaped tubes, and the arc surface on one side is larger than the arc surface on the opposite side.

[0011] In one embodiment of this utility model, the diameter of each hollow tube gradually increases from the tail end to the top end, and the top end of the lower hollow tube is inserted into the bottom end of the upper hollow tube.

[0012] In one embodiment of this utility model, a concave spring groove is provided inside the hollow tube, and the spring is located inside the spring groove.

[0013] In one embodiment of this utility model, a first pulley is installed in the top hollow tube near the end of the push rod motor to facilitate the movement of the steel cable.

[0014] In one embodiment of this utility model, the gripping frame includes a fixed frame, a ring frame is connected below the fixed frame, the gripping hook is connected to the ring frame, a pulley frame is provided above the fixed frame, the pulley frame is equipped with second pulleys, the number and position of the second pulleys correspond to the number and position of the gripping hooks, and the steel cable in each gripping hook is connected to the push-pull motor after passing through the corresponding second pulley.

[0015] In one embodiment of this utility model, the number of gripping hooks is 4 to 6, and each gripping hook is evenly distributed around the center on the ring frame.

[0016] In one embodiment of this utility model, the push-pull motor is installed on the top of the gripping frame and connected to a reducer and a linear lead screw. The linear lead screw is connected to the steel cable. A sliding rail is installed above the breaking device. The gripping frame is movably installed on the sliding rail. The push-pull motor is installed on one side of the gripping frame and is used to push the gripping frame to move linearly back and forth on the sliding rail.

[0017] In one embodiment of this invention, the push-pull motor is mounted on top of the gripping frame and connected via a reducer and a linear lead screw. The linear lead screw is connected to the steel cable. The gripping frame is mounted above the breaking device via a bearing flange. A first conical gear is mounted on the bearing flange located on one side of the gripping frame, and a second conical gear is mounted on the drive shaft of the push-pull motor. The push-pull motor drives the gripping frame to reciprocate in an arc around the bearing flange via forward and reverse rotation. During the gripping process of the empty bag, the gripping hook in this invention performs a lifting and squeezing action on the empty bag. This action causes the material remaining in the bag during its placement state to fall out from the cut of the bag through squeezing and movement, greatly reducing the amount of residual material in the empty bag. Structurally, placing the gripping frame above the breaking device also reduces the impact on the falling material and increases the installation space of the breaking device, allowing for better placement of the blades.

[0018] This solution operates on empty bags that have already been unloaded. During the gripping process, the gripping hook changes the original state of the empty bag. Compared with the existing technology of grabbing the bag in advance and then breaking it, it causes greater disturbance to the empty bag, making it easier for residual material to fall out, thereby increasing cleaning efficiency and reducing waste. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the automatic unpacking device of this utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the grab hook in one embodiment;

[0021] Figure 3 yes Figure 2 A diagram illustrating the retracted state of the grab hook;

[0022] Figure 4 This is a schematic diagram of a gripping hook with a spring groove in one embodiment;

[0023] Figure 5 This is a top view of the gripper in one embodiment. Detailed Implementation

[0024] The specific structure and implementation process of this solution will be described in detail below through specific embodiments and accompanying drawings. Hereinafter, "top" refers to the top of the image when facing the screen, and "bottom" refers to the bottom of the image when facing the screen.

[0025] This solution is an improvement based on the existing technology. Therefore, in the following detailed description of the solution, only the improvement points of this solution will be described in detail. For the contents not described in detail, please refer to the existing technology, such as patent CN 105501577B.

[0026] like Figure 1 As shown, in one embodiment of this utility model, an automatic unpacking device is disclosed, including a frame or box 1, a breaking device 2 for cutting the material bag 7 installed on the frame or box 1, a conveying device 3 for conveying the material bag 7 to the breaking device 2, a recycling device 21 for receiving the material falling from the breaking device 2, and a gripping device 4 for gripping the empty material bag 71 after it is broken.

[0027] The breaking device 2 generally includes a cutter 22 consisting of one or more cutting wheels, driven by a motor. It cuts the bottom or sides of the passing bag 7, so that the material in the bag 7 automatically falls from the cut into the recycling device 21 below.

[0028] The conveying device 3 includes a conveyor belt 31 connected to the breaking device 2. The material bags 7 can be placed on the conveyor belt 31 manually or mechanically. When each material bag 7 passes through the breaking device 2 in sequence, it is cut open by the cutter 22, so that the material inside falls into the recycling device 21 below.

[0029] The recycling device 21 is a container for receiving materials falling from the broken device 2. The recycling device 21 can be connected to a material output device so that the accumulated material inside can be directly transported to a designated mixing site or transferred on a transport vehicle.

[0030] The above-described working process and the specific structure of each device are conventional knowledge in the prior art, and will not be explained in detail here. For details, please refer to the reference patents given earlier in this solution.

[0031] The improved gripping device 4 in this solution is described in detail below:

[0032] like Figure 1 As shown, the gripping device 4 includes a gripping frame 41 installed above the breaking device 2, multiple retractable gripping hooks 5 installed on the gripping frame 41, a push-pull motor 42 for controlling the extension and retraction of the gripping hooks 5 installed on the gripping frame 41, a reciprocating motor 6 installed above the breaking device 2 to push the gripping frame 41 to move back and forth, and a bag recycling bin 43 located on one side to receive empty bags.

[0033] In this scheme, after the breaking device 2 breaks the bag 7 and the material in the bag has been theoretically unloaded, the gripping frame 41 and the gripping hook 5 are located above the empty bag, and the gripping hook 5 is in the open state. The push-pull motor 42 is started to control the gripping hook 5 to retract and lock the empty bag. Then the reciprocating motor 6 pushes the gripping frame 41 to move above the bag recycling box 43. The push-pull motor 42 controls the gripping hook 5 to open, so that the empty bag automatically falls into the bag recycling box 43 below. The reciprocating motor 6 then pulls the gripping frame 41 back above the breaking device 2. The above process is repeated to achieve cyclic operation.

[0034] In this design, during the gripping process of the hook 5, an upward and squeezing motion is generated on the empty bag. This motion causes the material remaining in the bag 7 during its resting state to fall out from the cut of the bag 7 through squeezing and movement, greatly reducing the amount of residual material in the empty bag. Structurally, placing the gripping frame 4 above the breaking device 2 also reduces the impact on the falling material, while increasing the installation space of the breaking device 2, allowing for better placement of the blade 22.

[0035] This solution operates on empty bags that have already been unloaded. During the gripping process of the gripping hook 5, the original state of the empty bag is changed. Compared with the existing technology of grabbing the bag in advance and then breaking it, this solution causes greater disturbance to the empty bag, making it easier for residual material to fall out, thereby increasing cleaning efficiency and reducing waste.

[0036] like Figure 2 As shown, in one embodiment of this utility model, the specific gripping hook 5 includes multiple hollow tubes 51 connected in sequence by pins. A spring 52 connected to the inside of the tail hollow tube 512 is installed inside the hollow tube 51. The tail hollow tube 512 refers to the tip of the gripping hook 5. The other end of the spring 52 is connected to a steel cable 53, and the other end of the steel cable 53 is connected to the push-pull motor 42.

[0037] In other solutions, the gripping hook 5 can be a single solid structure, but this solution uses a multi-section hollow tube 51 connection method. When the steel cable is not tightened, the entire gripping hook 5 is in a vertical state, occupying little space. Furthermore, when the steel cable 53 is tightened, the gripping hook 5 retracts inward at that position, eliminating the need for additional swing space and significantly saving operating space. By using hollow tubes 51 with different curvatures, the curvature of the entire gripping hook 5 can be adjusted to accommodate different material bags 7. Adjusting the degree of retraction of the gripping hook 5 can generate a greater compression amplitude on the empty bag, improving the cleaning effect of residual material. In addition, the hollow tube 51 structure reduces the weight of the entire gripping hook 5, and the cooperative structure of the spring 52 and steel cable 53 reduces the difficulty of controlling each gripping hook 5.

[0038] When the gripping hook 5 is not in operation, the steel cable 53 does not apply tension to the spring 52, the internal spring 52 is in a state of no elasticity, and the gripping hook 5 is in a relaxed, open state. When the push-pull motor 42 tightens the steel cable 53 and applies tension to the spring 52, the empty tube 512 connected to the other end of the spring 52 is pulled towards the steel cable 53. At this time, the elastic force direction of the spring 52 forms an angle with the pulling force direction, thus causing the entire gripping hook 5 to form an inwardly contracting arc shape, which can then be inserted into an empty material bag. By controlling the pulling speed of the push-pull motor 52, the contraction speed of the gripping hook 5 can be adjusted, allowing the gripping hook to penetrate material bags of different hardness at different speeds. Specifically, the push-pull motor 42 can be a stepper motor, which converts rotational power into linear tension through a lead screw structure.

[0039] Furthermore, to facilitate the retraction of the gripping hook 5, each empty tube 51 in this design can be configured as an arc-shaped tube, with one side of the arc surface being larger than the opposite side, i.e., the arc surface on the side furthest from the center is larger than the arc surface on the side closer to the center. This structure allows the spring 52 to more easily apply the retraction force along the arc of the empty tube 51.

[0040] In one embodiment of this utility model, a protruding spring groove 55 is provided in each hollow tube 51. The spring groove 55 is located on the side of each hollow tube 51 facing the center. After the hollow tubes 51 are connected, the internal spring 52 can be easily locked in the spring groove 55, so that the spring 52 can slide more easily in the gripping hook 5. At the same time, the gripping hook 5 can retract more easily towards the center after being pulled by the steel cable 53.

[0041] Furthermore, to reduce friction between the empty bag and the gripping hook 5, the diameter of each empty tube 51 on the same gripping hook 5 gradually increases from the tail end empty tube 512 to the top end empty tube 511. During installation, the top end of the lower-level empty tube 51 is inserted into the bottom end of the upper-level empty tube 51. This structure prevents the empty bag from getting caught on the gripping hook 5 when it releases the bag.

[0042] In one embodiment of this utility model, to reduce friction between the steel cable 53 and the gripping hook 5, a first pulley 54 is installed in the top hollow tube 511 near the push rod motor 42 to facilitate the movement of the steel cable 53. During operation, the steel cable 53 is connected to the spring 52 inside the gripping hook 5 through the first pulley 54, making it easier to pull the steel cable 53 and preventing wear on the inner side of the gripping hook 5.

[0043] In one embodiment of this utility model, the specific gripping frame 41 includes a fixed frame 411, with a ring frame 412 fixedly connected below the fixed frame 411. Each gripping hook 5 is movably connected to the ring frame 412, or fixedly connected to the ring frame 412 via a top hollow tube 511. A pulley frame 413 is installed above the fixed frame 411, and multiple second pulleys 414 are installed on the pulley frame 413. The number and position of the second pulleys 414 correspond to the number and position of the gripping hooks 5. Each steel cable 53 connected to the push-pull motor 42 passes through the second pulleys 414 on the pulley frame 413 and then connects to each gripping hook 5. The pulley frame 413 allows adjustment of the position of the steel cables 53, preventing mutual interference between the steel cables 53, and also allows adjustment of the angle at which the steel cables 53 enter the gripping hooks 5 to achieve optimal pulling force.

[0044] In this scheme, the push-pull motor 42 can achieve the stretching action through the screw device (not shown in the figure), and each steel cable 53 can be fixed on the screw device. When the screw device moves linearly under the drive of the push-pull motor 42, it will pull the steel cable 53 to move back and forth, and then pull the gripping hook 5 through the spring 52 to stretch.

[0045] The number of gripping hooks 5 in this utility model can be set to 4 to 6, and each gripping hook 5 is evenly distributed around the center on the fixing frame 411.

[0046] The further fixing frame 411 can also be a rectangular structure. During the arrangement, the steel cable 53 is adjusted to correspond to the gripping hooks 5 at different distances, so that the gripping hooks 5 at different positions can be gripped synchronously. For example, when the material bag 7 is long, a rectangular fixing frame 411 structure can be used.

[0047] In one embodiment of this utility model (not shown in the figure), a moving working method for the gripping hook 5 is provided: a push-pull motor 42 is installed on the top of the gripping frame 41, the push-pull motor 42 is connected to a reducer and a linear screw structure, the output end of the linear screw is connected to a steel cable 53, two parallel sliding rails are installed above the frame 1 or the breaking device 2, the two sliding rails are located on both sides of the breaking device 2, the gripping frame 41 is movably installed on the sliding rails, and a reciprocating motor 6 is installed on one side of the gripping frame 41, preferably on the side away from the material bag recycling box 43, the reciprocating motor can push the gripping frame 41 to move back and forth in a straight line on the sliding rails.

[0048] When the gripping frame 41 is in the gripping position during operation, it will trigger the sensor installed on the frame 1. The control system will control the push-pull motor 42 to work, tighten the steel cable 53, and tighten the gripping hook 5 through the spring 52. The tightened gripping hook 5 will pierce into the empty material bag, or clamp and squeeze the empty material bag. This process will further shake out the residual material in the empty material bag. After the gripping is complete, the control system then controls the reciprocating motor 6 to operate. The reciprocating motor 6 can push the gripping frame 41 to move along the sliding track to the other side via a connecting rod or lead screw structure. When the gripping frame 41 moves above the bag collection box 43, it will trigger the sensor at that position. The control system then controls the push-pull motor 42 to release the steel cable 53, causing the gripping hook 5 to loosen, and the clamped empty bag will fall naturally into the bag collection box 43. The control system then controls the reciprocating motor 6 to pull the gripping frame 41 back to the gripping position along the sliding track. The push-pull motor 42, upon returning to the gripping position, triggers the sensor at that position, and the control system controls the push-pull motor 42 to tighten the steel cable 53, thus starting a new round of gripping. The above process is repeated until the entire operation is completed.

[0049] The use of a sliding track allows for easy transfer of empty bags. The process of grabbing and dropping empty bags can be completed using only sensors and two motors, without the need for complex control programs. Furthermore, the grabbing process can be adjusted according to the working speed of the breaking device 2, making it easy to adapt to the unpacking of different bags.

[0050] In another embodiment of this utility model (not shown in the figure), another method of moving the gripping hook 5 is provided: the push-pull motor 42 is installed on the top of the fixed frame 411, and the push-pull motor 42 is connected to a reducer and a linear screw, which is connected to each steel cable 53. The fixed frame 411 is installed on one side of the upper frame 1 of the damage device 2 through a bearing flange. After installation, the fixed frame 411, together with the push-pull motor 42, can rotate according to the bearing flange. A first conical gear is installed on the bearing flange located on one side of the fixed frame 411, and a second conical gear is installed on the drive shaft of the reciprocating motor 6. The first and second conical gears mesh. When the drive shaft of the reciprocating motor 6 rotates, it drives the second conical gear to rotate. The second conical gear drives the meshing first conical gear to rotate. The first conical gear then drives the connected bearing flange and the fixed frame 411 on it to rotate simultaneously.

[0051] The work process is as follows:

[0052] When the fixed frame 411 is in the gripping position, it will trigger the sensor installed on the frame 1. The control system will control the push-pull motor 42 to work, tighten the steel cable 53, and tighten the gripping hook 5 through the spring 52. The tightened gripping hook 5 will pierce into the empty bag or clamp and squeeze the empty bag. This process will further shake out the residual material in the empty bag. After the gripping is complete, the control system controls the reciprocating motor 6 to operate. The reciprocating motor 6 drives the entire fixed frame 411 to rotate through the second conical gear, the first conical gear, and the bearing flange. When the rotating fixed frame 411 moves above the bag collection box 43, it triggers the sensor at that position. The control system then controls the push-pull motor 42 to release the steel cable 53, causing the gripping hook 5 to loosen, and the clamped empty bag naturally falls into the bag collection box 43. The control system then controls the reciprocating motor 6 to reverse, rotating the fixed frame 411 back to the gripping position. The push-pull motor 42, returning to the gripping position, triggers the sensor at that position, and the control system controls the push-pull motor 42 to tighten the steel cable 53, thus starting a new round of gripping. The above process is repeated until the entire operation is completed.

[0053] This solution allows for easier placement of the material bag recycling bins at position 43, facilitating optimization of the overall equipment layout. Furthermore, this structure is more labor-saving and conserves energy.

[0054] In the aforementioned embodiments, the specific motor operation control can be switched by the control system using sensors. For example, when the push-pull motor 42 reaches the position for grabbing an empty bag, it will trigger the corresponding sensor, thereby controlling the push-pull motor 42 to work. When the steel cable 53 pulls the spring 52 to retract the gripping hook 5 to grab the empty bag, the displacement sensor senses the moving distance of the steel cable 53, thereby triggering the reciprocating motor 6 to start working, and then pushing the push-pull motor 42 to the empty bag delivery point. After the push-pull motor 42 reaches the delivery point, it triggers the sensor at this point, and the control system controls the push-pull motor 42 to work to release the steel cable 53 so that the empty bag is released. The displacement sensor, based on the change in the distance of the steel cable 53, triggers the reciprocating motor 6 to pull the gripping frame 41 back to the gripping position, forming the next cycle.

[0055] In this invention, by controlling the speed at which the gripping hook 5 is released, the gripping hook 5 can generate a rapid elastic force, thereby creating a shaking action on the empty bag, which can further clean out the material in the empty bag. Therefore, a collection structure for recycling materials can be set at the bottom of the bag recycling bin 43 to improve the recycling rate.

[0056] In other embodiments, the height of the gripping frame 41 can be adjusted according to the gripping position, and the distance between the gripping hook 5 and the empty bag can be achieved by controlling the lifting and lowering of the gripping frame 41. The specific lifting structure can adopt mature solutions in the prior art, which will not be repeated here.

[0057] Therefore, those skilled in the art should recognize that although many exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications conforming to the principles of the present invention can be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all such other variations or modifications.

Claims

1. An automatic unpacking apparatus comprising a breaking device for cutting a bag, a conveying device for conveying the bag to the breaking device, and a recovery device for receiving a material dropped in the breaking device, characterized in that, Also include the broken empty bag after the grabbing device, The grabbing device comprises a grabbing frame, a plurality of grabbing hooks installed on the grabbing frame in a telescopic manner, a push-pull motor installed on the grabbing frame for controlling the telescopic movement of the grabbing hooks, a reciprocating motor for reciprocating the grabbing frame, and a bag recycling box located on one side for receiving empty bags.

2. The automatic unpacking device according to claim 1, wherein The grabbing hook comprises a plurality of hollow tubes connected in sequence by a pin, a spring is installed in the hollow tube and connected with the tail end of the hollow tube, the other end of the spring is connected with a steel cable, and the other end of the steel cable is connected with the push-pull motor.

3. The automatic unpacking device according to claim 2, wherein The hollow tubes constituting the grabbing hook are arc-shaped tubes, and the arc surface of one side is larger than that of the opposite side.

4. The automatic unpacking device according to claim 3, wherein The diameter of each hollow tube gradually increases from the tail end to the top end, and the top end of the lower hollow tube is inserted into the bottom end of the upper hollow tube.

5. The automatic unpacking device according to claim 2, wherein The hollow tube is provided with a concave spring groove, and the spring is located in the spring groove.

6. The automatic unpacking device according to claim 2, wherein A first pulley is installed in the top end of the hollow tube near the end of the push-pull motor.

7. The automatic unpacking device according to claim 2, wherein The grabbing frame comprises a fixed frame, a ring-shaped frame is connected below the fixed frame, the grabbing hooks are connected to the ring-shaped frame, a pulley frame is arranged above the fixed frame, a second pulley is installed on the pulley frame, the number and position of the second pulley correspond to the number and position of the grabbing hooks, and the steel cable in each grabbing hook passes through the corresponding second pulley and is connected with the push-pull motor.

8. The automatic unpacking device according to claim 7, wherein The number of grabbing hooks is 4-6, and each grabbing hook is uniformly distributed around the center on the ring-shaped frame.

9. The automatic unpacking device according to claim 2, wherein The push-pull motor is installed on the top of the grabbing frame and connected with a speed reducer and a linear guide rod, the linear guide rod is connected with the steel cable, a sliding rail is installed above the breaking device, the grabbing frame is movably installed on the sliding rail, the push-pull motor is installed on one side of the grabbing frame for pushing the grabbing frame to move linearly and reciprocally on the sliding rail.

10. The automatic unpacking device according to claim 2, wherein The push-pull motor is installed on the top of the grabbing frame and connected with a speed reducer and a linear guide rod, the linear guide rod is connected with the steel cable, the grabbing frame is movably installed on the breaking device through a bearing flange, a first conical gear is installed on the bearing flange on one side of the grabbing frame, a second conical gear is installed on the drive shaft of the push-pull motor, and the push-pull motor drives the grabbing frame to rotate arcuately and reciprocally around the bearing flange through forward and reverse rotation.

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