Bottle unloading device

Abstract

The utility model provides a bottle unloading device, which belongs to the technical field of wine bottle conveying lines, and comprises a bottle unloading manipulator, a bottle unloading device, a bottle unloading device and a bottle unloading device, and is characterized in that the bottle unloading manipulator is provided with negative-pressure suction nozzles in one-to-one correspondence with wine bottles on a tray; the lifting device is provided with a vertically-arranged supporting frame and a lifting platform arranged on the supporting frame in a sliding mode; the bottle supporting frame is arranged on the lifting platform, bottle supporting pieces are symmetrically arranged on the bottle supporting frame, and the bottle supporting pieces clamp the tray or release clamping of the tray through horizontal movement; the lifting table is used for being borne below the wine bottles stacked through the tray, and the lifting table is matched with the bottle unloading manipulator and used for lifting the wine bottles upwards; according to the bottle unloading device, the lifting platform is matched with the bottle unloading manipulator, so that the bottle unloading manipulator can take bottles at the same height every time, the time waste caused by continuously adjusting the height of the bottle unloading manipulator is avoided, and the material taking efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to wine bottle conveying line technical field, specifically related to a bottle unloading device. BACKGROUND

[0002] In logistics, empty wine bottles are generally stacked into multiple layers for conveying by using special pallets. However, after the wine bottles are placed on a wine bottle packaging production line, they need to be conveyed one by one on the conveying line. Therefore, a bottle unloading device is needed to unload the wine bottles layer by layer onto the conveying line.

[0003] In the prior art, a mechanical hand is generally used to unload the bottles. Since each layer of wine bottles has multiple bottles arranged in a matrix, the mechanical hand is provided with a same number of negative pressure suction nozzles arranged in a matrix, so that a plurality of wine bottles in a layer can be unloaded at one time. For example, Chinese patent document CN114890128A discloses a full-automatic robot bottle unloader, which has a grabbing mechanism and a stacking mechanism. When in use, the stacking mechanism is used to fix the partition plate at the bottom of the layer of wine bottles, and then the grabbing mechanism is used to grab the layer of wine bottles.

[0004] However, with the above-mentioned solution, after the upper layer of wine bottles is unloaded, the grabbing mechanism needs to be lowered to a lower position for grabbing the wine bottles as the number of layers of wine bottles decreases, resulting in an excessively large moving stroke of the robot and an extended operation time. SUMMARY

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the defect that the bottle unloading mechanical hand in the prior art has an excessively large moving stroke when grabbing the lower layer of wine bottles and the operation time is extended, so as to provide a bottle unloading device.

[0006] To solve the above-mentioned technical problem, the utility model provides a bottle unloading device for unloading wine bottles stacked by a pallet, comprising:

[0007] a bottle unloading mechanical hand having a negative pressure suction nozzle corresponding to each wine bottle on the pallet, the bottle unloading mechanical hand further having a symmetrical hook claw for hooking the pallet;

[0008] a lifting device having a vertically arranged support frame and a lifting platform slidingly arranged on the support frame;

[0009] a bottle supporting frame arranged on the lifting platform, the bottle supporting frame having a symmetrical bottle supporting member, the bottle supporting member clamping or releasing the clamping of the pallet through horizontal movement;

[0010] When in use, the bottle supporting frame is first used to clamp the pallet below the layer of wine bottles to be unloaded, then the negative pressure suction nozzle on the bottle unloading mechanical hand is used to grab the wine bottles on the pallet, and finally the hook claw on the bottle unloading mechanical hand is used to grab the pallet.

[0011] A lifting platform is used for carrying under the wine bottles through the tray stack, and the lifting platform is matched with the bottle unloading manipulator to lift the wine bottles upward.

[0012] The bottle unloading device provided by the utility model is matched with the bottle unloading manipulator, and can guarantee that the bottle unloading manipulator takes bottles at the same height each time. When the stacked wine bottles are unloaded, as the wine bottles are unloaded layer by layer, the lifting platform is lifted upward, so that the layer to be unloaded is always kept at a relatively appropriate operation height of the bottle unloading manipulator. This avoids wasting time due to the need for the bottle unloading manipulator to constantly adjust the height, and greatly improves the material taking efficiency.

[0013] Optionally, the claws are oppositely arranged in two groups, and each group is symmetrically arranged in two claws, and the claws are connected through the rotating driving device. In use, the rotating driving device drives the claws to rotate to grab or release the tray. Through the above arrangement, when the rotating driving device drives the claws to rotate to grab the tray, the four claws firmly hook the tray from different positions, which can uniformly disperse the weight of the tray and avoid the problem of tilting of the tray due to force on a single point or a few points.

[0014] Optionally, the hooking end of the claw has an inclined hook head towards the tray. When the claw approaches the tray under the driving of the rotating driving device, the inclined hook head can more easily align with the edge or specific hooking part of the tray. The inclined hook head makes the automatic control system not need to control the position and angle of the claw too accurately when the claw grabs the tray. Even if there is a certain position deviation of the claw when approaching the tray, the inclined hook head can guide the claw to accurately hook the tray during the rotation of the claw, which reduces the operation difficulty. In actual operation, this can reduce the failure of grabbing due to operation errors and improve the stability of work.

[0015] Optionally, the rotation driving device is provided with an inclined driving shaft for rotating the claw, and the distal ends of the driving shafts of the two claws oppositely arranged on both sides of the bottle unloading manipulator are inclined towards each other in a downward direction. The inclined driving shaft of the rotation driving device makes the distal ends of the driving shafts of the opposite claws inclined towards each other in a downward direction, creating a unique motion trajectory for the claw. When the claw rotates, the inclined design guides the claw to approach the tray at a specific angle, as if a "guide line" is planned for the claw, making it easier to accurately align with the hooking position of the tray edge. Compared with the vertical arrangement of the driving shaft, the inclined arrangement significantly reduces the adjustment action of the claw when searching for the hooking point. In actual warehouse and production environments, the placement of the tray is difficult to be completely regular, and may be offset in position, inclined in angle, etc. The claw with an inclined driving shaft design can automatically adapt to the positional deviation of the tray to a certain extent, thanks to its unique motion trajectory. Even if the tray is not in the ideal placement state, the claw can still relatively easily achieve hooking, reducing the dependence on the placement accuracy of the tray and improving the adaptability of the bottle unloading device in different working scenarios.

[0016] Optionally, when the claw is rotated to the lowest end by the rotation driving device, the claw is lower than the lowest end of the negative pressure suction nozzle, and when the claw is rotated to the highest end by the rotation driving device, the claw is higher than the lowest end of the negative pressure suction nozzle. The claw is connected to the rotation driving device by a torsional spring, and the torsional spring has an elastic force for driving the claw to rotate upward. The elastic force of the torsional spring makes the claw have a certain elastic buffer when grabbing the tray. During the process of the claw contacting the tray and rotating to hook, the torsional spring can adaptively adjust the grabbing force of the claw according to the actual position and resistance of the tray. During the carrying process, if vibration or shaking is encountered, the elastic force of the torsional spring can continuously provide a tendency for the claw to hold the tray upward, preventing the tray from accidentally falling off the claw. Even if disturbed by external interference, the claw can still maintain the state of holding the tray under the action of the torsional spring.

[0017] Optionally, the lifting device is a chain wheel elevator, the support frame is provided with a chain wheel connected to a lifting power device, and the lifting platform is slidingly connected to the support frame and connected to the chain wheel. During use, the chain wheel drives the lifting platform to lift along the lifting platform.

[0018] Optionally, the bottle supporting frame comprises two support arms arranged horizontally and a sliding beam slidingly arranged between the two support arms, and the two ends of the sliding beam are connected to clamping driving devices. During use, the sliding beam is driven by the clamping driving devices to slide horizontally on the support arms to clamp or release the tray. This structure enables the operator or the automatic system to accurately control the position of the sliding beam, thereby accurately adjusting the clamping force and position of the tray.

[0019] Optionally, the distal ends of the support arms are connected by a crossbeam to form a frame. The frame structure provides good stability and rigidity to the entire bottle supporting frame. When clamping the tray, the frame structure can evenly distribute the pressure from the tray, preventing local deformation due to excessive force, and enhancing the reliability of the bottle supporting frame in clamping the tray.

[0020] Optionally, the bottle supporting members are connected to the sliding beam by elastic assemblies, which have multiple sets of elastic members arranged in an array. The elastic assemblies provide cushioning protection for the tray. Specifically, when clamping the tray, the elastic assemblies can adapt to the shape and surface condition of the tray to a certain extent, avoiding damage to the tray caused by rigid clamping.

[0021] Optionally, the elastic assembly includes a telescopic column and an elastic member connected to the telescopic column. The telescopic column is arranged between the bottle supporting member and the sliding beam, and the elastic member has an elastic force that drives the telescopic column to expand. Due to the action of the elastic member, the telescopic column can adapt to the surface shape and unevenness of the tray. During the unloading process, whether the tray is shaken or encounters bumps during subsequent handling, the elastic member can absorb the vibration energy through the telescopic column. The technical scheme of the utility model has the following advantages:

[0022] 1. The unloading device provided by the utility model is equipped with a negative pressure suction nozzle corresponding to each wine bottle on the tray, which ensures accurate adsorption of each wine bottle and avoids missing or misgrasping. The symmetrical hooks are used to hook the tray to ensure the stability and reliability of the tray grasping. This design enables the unloading manipulator to accurately operate when grasping the wine bottles and the tray, improving the efficiency and accuracy of unloading. The unloading manipulator cooperates with the bottle supporting frame to unload the stacked wine bottles, which ensures the stability of the wine bottles during unloading and improves the efficiency of unloading.

[0023] The bottle supporting frame first clamps the tray below the layer of wine bottles to be unloaded, providing a stable basis for subsequent unloading operations. Then the negative pressure suction nozzle grasps the wine bottles, and finally the hook grasps the tray. This orderly operation process ensures the stability of the unloading process.

[0024] The stable material taking height significantly improves the material taking time of the unloading manipulator. The unloading manipulator does not need to adjust the position between different layers, reducing the moving path and time, and can complete the grasping action of the wine bottles and the tray more quickly.

[0025] 2. The unloading device provided by the utility model grasps the tray through the rotation of the hook, thereby facilitating the grasping of the next layer of wine bottles after the tray is unloaded. The hook head of the hook is inclined towards the tray, and the hook rotates around the inclined drive shaft, which facilitates the hooking and unhooking of the tray.

[0026] 3. The bottle unloading device provided by this utility model has a hook connected by a torsion spring. After gripping the tray, it works in conjunction with a negative pressure suction nozzle to press the tray downwards, which improves the stability of the hook holding the tray. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a perspective view of a specific embodiment of the bottle unloading device provided in the present utility model.

[0029] Figure 2 for Figure 1 A 3D view of the gripping end of the bottle unloading robot.

[0030] Figure 3 for Figure 2 A schematic diagram showing the state of the bottle unloading robot gripping the pallet;

[0031] Figure 4 for Figure 3 The main view;

[0032] Figure 5 for Figure 1 A schematic diagram showing the state of the tray after it has been picked up by a bottle-unloading robot.

[0033] Figure 6 for Figure 5 A 3D view of the gripping end of the bottle unloading robot.

[0034] Figure 7 for Figure 6 The main view;

[0035] Figure 8 for Figure 7 Side view;

[0036] Figure 9 for Figure 7 Top view;

[0037] Figure 10 for Figure 1 and Figure 5 A three-dimensional structural diagram of the central lifting platform and the bottle support frame;

[0038] Figure 11Another specific embodiment of the bottle unloading device provided in the embodiments of the utility model is shown in the perspective view.

[0039] Figure 12 For Figure 11 The schematic view of the lifting platform.

[0040] Explanation of reference signs:

[0041] 1, tray; 2, wine bottle; 3, bottle unloading manipulator; 4, negative pressure suction nozzle; 5, hook claw; 6, support frame; 7, lifting platform; 8, bottle supporting frame; 9, bottle supporting piece; 10, driving shaft; 11, support arm; 12, crossbeam; 13, lifting platform; 14, sliding beam. Specific embodiment

[0042] The technical scheme of the utility model will be described clearly and completely in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0043] In the description of the utility model, it should be explained that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the utility model.

[0044] In the description of the utility model, it should be explained that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected, it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0045] In addition, the technical features involved in different embodiments of the utility model described below can be combined with each other as long as there is no conflict between them.

[0046] For example, Figure 1 , Figure 11 and Figure 12The image shows a specific embodiment of the bottle unloading device provided in this example, used to unload wine bottles 2 stacked and transported via a tray 1. It includes: a bottle unloading robot 3, a lifting device, a bottle-holding frame 8, and a lifting platform 13. The bottle unloading robot 3 has negative pressure suction nozzles 4 corresponding one-to-one with the wine bottles 2 on the tray 1, and also has symmetrically arranged hooks 5 for hooking the tray 1. The lifting device has a vertically arranged support frame 6 and a lifting platform 7 slidably arranged on the support frame 6. The bottle-holding frame 8 is arranged on the lifting platform 7, and has symmetrically arranged bottle-holding components 9. The bottle-holding components 9 clamp the tray 1 or release the clamping of the tray 1 by horizontal movement.

[0047] In use, the tray 1 below the wine bottle 2 of the unloading layer is first clamped by the bottle support frame 8, and then the wine bottle 2 on the tray 1 is grabbed by the negative pressure suction nozzle 4 on the unloading robot 3. Finally, the tray 1 is grabbed by the hook 5 on the unloading robot 3.

[0048] The lifting platform 13 is used to support the bottles 2 stacked on the tray 1. The lifting platform 13 cooperates with the bottle-unloading robot 3 to lift the bottles 2 upwards. Specifically, after one layer of bottles 2 is unloaded by the bottle-unloading robot 3, the lifting platform 13 can be used to lift the lower layer of bottles 2 to the height where the upper layer of bottles 2 were previously located, making it easier for the bottle-unloading robot 3 to grasp them. This design reduces the downward movement of the bottle-unloading robot 3 and the movement of the bottle-holding frame 8.

[0049] like Figure 12 As shown, the lifting platform 13 has an independent conveying structure for transporting pallets 1, which is parallel to and spaced apart from the incoming and outgoing conveying structures of pallets 1, thus enabling it to receive incoming materials and transport the last pallet 1 out. Specifically, the lifting platform 13 can adopt a scissor lift mechanism, which has a large lifting stroke and load-bearing capacity, and can meet the lifting requirements of different heights and various heavy pallets 1. The conveying structure can be a conveying roller group or a conveyor belt, etc. When using conveying rollers, several conveying rollers are arranged parallel and spaced apart on the platform surface of the lifting platform 13 along the conveying direction. A sprocket is installed at one end of the conveying roller, which is connected to a high-power reduction motor through a chain to realize the synchronous rotation of all conveying rollers and ensure the smooth transport of pallets 1.

[0050] The bottle unloading device provided by the embodiment can guarantee the stability of the wine bottles 2 during unloading and improve the unloading efficiency by the bottle unloading mechanical hand 3 cooperating with the bottle supporting frame 8. The bottle unloading mechanical hand 3 can take the bottles at the same height each time by the cooperation of the lifting platform 13 and the bottle unloading mechanical hand 3. When the stacked wine bottles 2 are unloaded, the lifting platform 13 is lifted upward as the wine bottles 2 are unloaded layer by layer, so that the layer to be unloaded is always kept at a suitable operating height of the bottle unloading mechanical hand 3. This avoids the waste of time caused by the bottle unloading mechanical hand 3 constantly adjusting the height and greatly improves the material taking efficiency.

[0051] As shown in Figure 2 , Figure 3 and Figure 4 , in the embodiment, the claws 5 are oppositely arranged in two groups, each group has two symmetrically arranged claws 5, the claws 5 are connected by a rotating driving device, the rotating driving device can be an electric motor, the driving shaft 10 of the electric motor is connected with the rotating shaft of the claw 5, or the rotating shaft of the claw 5 is an integral structure with the driving shaft 10 of the electric motor. In use, the rotating driving device drives the claws 5 to rotate to grab or release the tray 1. That is, in the embodiment, a group of claws 5 are arranged on the symmetrically opposite sides of the bottle unloading mechanical hand 3, and the same group of claws 5 are used to grab the two symmetrically opposite sides of the tray 1. In this way, the stability of grabbing the tray 1 can be improved by four claws 5.

[0052] As shown in Figure 3 , in the embodiment, when the rotating driving device drives the claws 5 to rotate to the lowest end, the claws 5 are lower than the lowest end of the negative pressure suction nozzle 4, and when the rotating driving device drives the claws 5 to rotate to the highest end, the claws 5 are higher than the lowest end of the negative pressure suction nozzle 4. In this way, the negative pressure suction nozzle 4 and the claws 5 can cooperate to grab the tray 1. In addition, in the embodiment, the claws 5 are connected with the rotating driving device through a torsional spring, and the torsional spring has an elastic force to drive the claws 5 to rotate upward. In this way, the rotating driving device can be protected, the error tolerance rate between the angle of the rotating driving device rotating the claws 5 and the length of the negative pressure suction nozzle 4 can be improved, and the tray 1 can be guaranteed to be adsorbed by the negative pressure suction nozzle 4 and hooked by the claws 5 at the same time.

[0053] As shown in Figures 2-4 , in use, the claws 5 are first rotated outward to open, then the negative pressure suction nozzle 4 is pressed against the tray 1, and then the claws 5 are rotated inward to keep the tray 1 hooked under the action of the torsional spring, so that the tray 1 is stably grabbed under the joint action of the negative pressure suction nozzle 4 and the claws 5, and then the tray 1 is moved to the temporary storage position by the mechanical hand.

[0054] As shown in FIG. 5, Figure 6 and Figure 7 When the upper tray 1 is unloaded, the claw 5 is rotated inwardly by the rotation driving device, so that the lowest end of the claw 5 is higher than the lowest end of the negative pressure suction nozzle 4. In this way, the wine bottle 2 can be more easily grabbed by the negative pressure suction nozzle 4.

[0055] As shown in FIG. 5, Figure 8 In this embodiment, the hooking end of the claw 5 has a hook head inclined towards the direction of the tray 1. In this way, the tray 1 can be more accurately grabbed, thereby avoiding the problem of empty grabbing. Of course, the above description is not limiting, and in some alternative embodiments, the claw 5 can also be arranged without inclination, and the claw 5 can be symmetrically hooked at both ends of the tray 1 when in use.

[0056] As shown in FIG. 5, Figure 9 In this embodiment, the drive shaft 10 of the rotation driving device for rotating and driving the claw 5 is arranged obliquely, specifically, the distal ends of the drive shafts 10 of the two claws 5 arranged opposite to each other on both sides of the bottle unloading robot 3 are inclined towards each other. In this way, the tray 1 can be more accurately grabbed when in use.

[0057] As shown in FIG. 5, Figure 10 In this embodiment, the lifting platform 7 is slidably connected to the support frame 6, and a lifting device is arranged between the support frame 6 and the lifting platform 7. The lifting device can be a chain wheel elevator, which includes a lifting power device, chain wheels and a chain. The lifting power device can be an electric motor, the rotating driving end of the lifting power device is connected to the chain wheels, the chain wheels are arranged in two groups vertically spaced apart, the two groups of chain wheels are respectively rotatably connected to the support frame 6, the chain is rotatably arranged between the two groups of chain wheels, the chain is moved by the rotation of the chain wheels, the lifting platform 7 is connected to the chain, and the lifting platform 7 is lifted by the chain when in use. Of course, the above description is not limiting, and in some alternative embodiments, the lifting device can also use other conventional devices, such as oil cylinder, air cylinder or electric push rod lifting, etc.

[0058] As shown in FIG. 5, Figure 10As shown, in the embodiment, the bottle supporting frame 8 comprises two horizontally spaced support arms 11 and a sliding beam 14 slidingly arranged between the two support arms 11, and the two ends of the sliding beam 14 are connected with clamping driving devices. In use, the sliding beam 14 is driven to slide horizontally on the support arms 11 by the clamping driving devices to clamp or release the tray 1. Specifically, the distal ends of the support arms 11 are connected by a cross beam 12 to form a frame. The clamping driving devices can be oil cylinders, air cylinders or electric push rods, etc. The support arms 11 have a guide rail structure cooperating with the sliding beam 14 to guide the sliding beam 14. Specifically, the guide rail structure can be a sliding table module. Of course, the above description is not restrictive, and in some alternative embodiments, the guide rail structure can also be a combination of guide columns and guide sleeves, etc.

[0059] As shown, Figure 10 In the embodiment, the bottle supporting member 9 is connected to the sliding beam 14 by an elastic assembly having a plurality of groups arranged in an array. The elastic assembly comprises a telescopic column arranged between the bottle supporting member 9 and the sliding beam 14 and an elastic member connected to the telescopic column, and the elastic member has an elastic force to drive the telescopic column to elastically expand. Through the above arrangement, when clamping the tray 1, the elastic assembly can adapt to the shape and surface condition of the tray 1 to a certain extent to avoid damage to the tray 1 caused by rigid clamping. Specifically, the elastic assembly can be an elastic telescopic rod, one end of which is connected to the bottle supporting member 9 and the other end of which is connected to the sliding beam 14.

[0060] As shown, Figure 10 In some embodiments, the side of the bottle supporting member 9 facing the tray 1 is provided with a strip-shaped groove for embedding the tray 1. In use, the bottle supporting member 9 is moved towards the tray 1 to embed the edge of the tray 1 in the strip-shaped groove. Through this arrangement, the stability of abutting against the tray 1 can be further improved. Of course, the above description is not restrictive, and in some alternative embodiments, the side of the bottle supporting member 9 facing the tray 1 can also be a flat surface.

[0061] Obviously, the above embodiments are only examples for clear illustration and are not a limitation on the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments need not and cannot be exhaustively listed. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A bottle unloading device for unloading wine bottles (2) stacked in a pallet (1), characterized in that, The device comprises: a bottle unloading manipulator (3) with negative pressure nozzles (4) corresponding to the wine bottles (2) on the tray (1), the bottle unloading manipulator (3) further comprising symmetrically arranged claws (5) for hooking the tray (1); a lifting device with a vertically arranged support frame (6) and a lifting platform (7) slidingly arranged on the support frame (6); a bottle supporting frame (8) arranged on the lifting platform (7), the bottle supporting frame (8) comprising symmetrically arranged bottle supporting members (9) for horizontally clamping or releasing the tray (1), in use, the tray (1) below the wine bottles (2) of the layer to be unloaded is first clamped by the bottle supporting frame (8), then the wine bottles (2) on the tray (1) are grabbed by the negative pressure nozzles (4) on the bottle unloading manipulator (3), and finally the tray (1) is grabbed by the claws (5) on the bottle unloading manipulator (3); a lifting table (13) for bearing below the wine bottles (2) stacked by the tray (1), the lifting table (13) cooperating with the bottle unloading manipulator (3) to lift the wine bottles (2) upward.

2. The bottle unscrambling apparatus of claim 1 wherein, The claws (5) are oppositely arranged in two groups, each group comprising two symmetrically arranged claws (5), the claws (5) being connected by a rotating driving device, in use, the rotating driving device drives the claws (5) to rotate to grab or release the tray (1).

3. A bottle unscrambler as defined in claim 2, wherein The hooking end of the claw (5) has a hook head inclined toward the tray (1).

4. The bottle unscrambling apparatus of claim 3 wherein, The driving shaft (10) of the rotating driving device for rotatingly driving the claw (5) is inclined, the distal ends of the driving shafts (10) of the two claws (5) oppositely arranged on the two sides of the bottle unloading manipulator (3) being inclined toward each other downward.

5. A bottle unscrambling apparatus according to any one of claims 2-4, characterised in that, When the rotating driving device drives the claw (5) to rotate to the lowest end, the claw (5) is lower than the lowest end of the negative pressure nozzle (4), when the rotating driving device drives the claw (5) to rotate to the highest end, the claw (5) is higher than the lowest end of the negative pressure nozzle (4), the claw (5) is connected with the rotating driving device by a torsion spring, the torsion spring having an elastic force for driving the claw (5) to rotate upward.

6. A bottle unscrambling apparatus according to any one of claims 1-4, wherein, The lifting device is a chain wheel lifting machine, the support frame (6) has a chain wheel connected with a lifting power device, the lifting platform (7) is slidingly connected to the support frame (6), the lifting platform (7) is connected with the chain wheel, in use, the chain wheel drives the lifting platform (7) to lift.

7. The bottle unscrambling apparatus of any one of claims 1-4, wherein, The bottle supporting frame (8) comprises two horizontally spaced support arms (11) and a sliding beam (14) slidingly arranged between the two support arms (11), the two ends of the sliding beam (14) being connected with clamping driving devices, in use, the sliding beam (14) is driven by the clamping driving devices to horizontally slide on the support arms (11) to clamp or release the tray (1).

8. The bottle unscrambling apparatus of claim 7 wherein, The distal end of the support arm (11) is connected by a cross beam (12) to enclose a frame type.

9. The bottle unscrambling apparatus of claim 7 wherein, The bottle supporting part (9) is connected to the sliding beam (14) by an elastic assembly, which has multiple groups arranged in an array.

10. The bottle unscrambling apparatus of claim 9 wherein, The elastic assembly comprises a telescopic column and an elastic piece connected to the telescopic column, the telescopic column is arranged between the bottle supporting part (9) and the sliding beam (14), and the elastic piece has an elastic force to drive the telescopic column to elastically expand.

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