Automatic unpacking and feeding device for material package

Abstract

The utility model provides a kind of material package automatic unpacking feeding device, including material rack, stock bin and be used for the material package on material rack is transferred to the feeding mechanism of stock bin, and stock bin is equipped with unpacking mechanism, and feeding mechanism includes manipulator, base plate, clamping mechanism and shake material mechanism;Manipulator is arranged between material rack and stock bin;Base plate is set in the execution end of manipulator;Clamping mechanism can be horizontally opened and closed and be set in the bottom of base plate and be used for clamping material package, and the claw end of clamping mechanism is equipped with the sharp part for inserting inside material package;Shake material mechanism is connected between the top of base plate and the execution end of manipulator, and is used for driving base plate to drive clamping mechanism to shake.The material package automatic unpacking feeding device can significantly reduce manual labor intensity and improve work efficiency, and can meet the continuity production demand.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and more specifically, to an automatic unpacking and feeding device for material packages. Background Technology

[0002] In production sectors such as injection molding and chemicals, which heavily rely on continuous and stable material supply, timely and efficient supply of raw materials is crucial for maintaining the smooth operation of the production line. Currently, the industry generally relies on manual labor to handle, disassemble, and feed raw material packages. Manually handling heavy packages (especially those weighing over 25kg) and unpacking them is extremely labor-intensive, and operators are prone to fatigue. More importantly, the speed of manual operation is difficult to improve, and its efficiency is far lower than the operating rhythm of modern production equipment. This often forces upstream equipment to stop operating (standby) while waiting for raw materials, severely restricting the continuity of production and overall efficiency. Utility Model Content

[0003] The purpose of this utility model is to overcome at least one defect in the prior art and provide an automatic unpacking and feeding device for material bags that can significantly reduce the intensity of manual labor and improve work efficiency. This automatic unpacking and feeding device can automatically complete the unpacking and feeding of material bags and can meet the needs of continuous production.

[0004] To address the aforementioned problems, this utility model provides an automatic package unpacking and loading device, comprising a rack, a hopper, and a loading mechanism for transferring packages from the rack to the hopper. The hopper contains an unpacking mechanism. The loading mechanism includes a robotic arm, a base plate, a clamping mechanism, and a shaking mechanism. The robotic arm is positioned between the rack and the hopper. The base plate is located at the actuator end of the robotic arm. The clamping mechanism is horizontally openable and closable at the bottom of the base plate and is used to grip packages. The clamping claws of the clamping mechanism have spikes for inserting into the package. The shaking mechanism is connected between the top of the base plate and the actuator end of the robotic arm and drives the base plate to shake the clamping mechanism.

[0005] Compared with the prior art, the advantages of this utility model are as follows: This utility model realizes automatic grasping and transfer of material bags by using a robotic arm in conjunction with the spikes of the clamping mechanism, completely replacing manual handling and significantly reducing labor intensity. The horizontal opening and closing of the clamping mechanism and the design of the spikes inserting into the material bag ensure reliable clamping during the transfer and unloading process of the material bag, preventing the material bag from falling off. The shaking mechanism drives the clamping mechanism to shake, so that the residual material in the material bag is fully detached from the bag, reducing raw material waste. The overall structure works in a coordinated manner to realize full automation from picking up material from the rack, transferring it to the silo, unpacking and feeding, greatly improving work efficiency, effectively solving the production line standby problem caused by manual operation, and meeting the needs of continuous production.

[0006] As an improvement, the clamping mechanism includes a fixed frame, multiple first arc-shaped grippers, multiple second arc-shaped grippers, a first connecting rod, a second connecting rod, a first cylinder, and a second cylinder; the fixed frame includes a clamp base and multiple columns, with the clamp base and a base plate fixedly connected to each end of the columns respectively; four rotating seats are provided at the four corners of the top of the clamp base, wherein a first rotating shaft is rotatably arranged between two rotating seats on one side of the clamp base, and a second rotating shaft is rotatably arranged between two rotating seats on the other side of the clamp base; multiple first arc-shaped grippers are fixedly connected to the first connecting rod at axial intervals, and one end of each first arc-shaped gripper is fixedly connected to the first rotating shaft, and the first connecting rod is parallel to the first rotating shaft; multiple first arc-shaped grippers are fixedly connected to the base plate respectively; the ... Two arc-shaped grippers are fixedly connected to the second connecting rod at axial intervals, and one end of each second arc-shaped gripper is fixedly connected to the second rotating shaft. The second connecting rod is parallel to the second rotating shaft. The arc-shaped openings of the first and second arc-shaped grippers are arranged opposite each other. The other ends of the first and second arc-shaped grippers extend downward from both sides of the clamping seat to form a clamping area below the clamping seat. The other ends of the first and second arc-shaped grippers are provided with spikes. The cylinder body of the first cylinder is hinged to the first rotating shaft, and the piston rod end is hinged to the second connecting rod. The cylinder body of the second cylinder is hinged to the first connecting rod, and the piston rod end is hinged to the second rotating shaft. This structure uses two independent cylinder drive systems to control the opening and closing motion of the arc-shaped grippers, making the gripping action smoother and more reliable. Multiple arc-shaped grippers are arranged at intervals along the axial direction to form distributed gripping points. With the sharp part inserting into the material bag, the gripping stability of irregular material bags is significantly enhanced. The parallel design of the connecting rod and the rotating shaft ensures that the movement trajectory of the grippers is accurate and avoids jamming. The arc-shaped grippers form a lever fulcrum through the cooperation of the rotating shaft and the rotating seat, so that the output stroke of the cylinder can drive the end of the gripper to obtain a large opening and closing range, while reducing the demand on the cylinder output power.

[0007] As an improvement, a pair of first paddle blocks are axially spaced and fixed on the first connecting rod. One end of the pair of first paddle blocks is fixedly connected to the first rotating shaft, and the other end of the pair of first paddle blocks is arranged on both sides of the piston rod of the second cylinder and fixedly connected to the first pin. The piston rod of the second cylinder is rotatably connected to the first pin through the second rotating block. A pair of second paddle blocks are axially spaced and fixed on the second connecting rod. One end of the pair of second paddle blocks is fixedly connected to the second rotating shaft, and the other end of the pair of second paddle blocks is arranged on both sides of the piston rod of the first cylinder and fixedly connected to the second pin. The piston rod of the first cylinder is rotatably connected to the second pin through the first rotating block. This structure achieves an efficient and direct force transmission path between the cylinder piston rod and the rotating shaft through the rigid connection of the first and second levers to the first and second rotating shafts respectively, and the cooperation of the first and second pins with the rotating block. The symmetrical arrangement of the levers on both sides of the piston rod ensures that the cylinder thrust can be evenly applied to both sides of the rotating shaft, effectively preventing the shaft from jamming due to unilateral force during rotation. At the same time, the rotating pair formed by the rotating block and the pin significantly reduces the frictional resistance between moving parts, making the opening and closing action of the gripper smoother and more fluid, thereby improving the reliability and service life of the entire clamping mechanism.

[0008] As an improvement, the shaking mechanism includes a fixed base, a push cylinder, a hinge mechanism, and a telescopic mechanism; the fixed base is fixed to the actuator end of the robot; one end of the substrate is rotatably connected to the bottom of one end of the fixed base via the hinge mechanism about a horizontal axis; the other end of the substrate is movably connected to the bottom of the other end of the fixed base via the telescopic mechanism; a slide rail extending from one end to the other end is fixed to the top of the substrate, and a slider is slidably mounted on the slide rail, with the sliding direction of the slider perpendicular to the rotation axis of the substrate; the telescopic mechanism includes a pair of lifting rods arranged on both sides of the slider and a first rotating joint and a second rotating joint disposed at both ends of the lifting rods; one end of the lifting rod is hinged to the slider via the first rotating joint, and the other end of the lifting rod is hinged to the bottom of the other end of the fixed base via the second rotating joint; the push cylinder is fixed to the top of the substrate, and its piston rod end is movably connected to the slider; the push cylinder pushes the slider to slide along the slide rail, thereby causing the other end of the substrate to rise and fall. After applying this structure, the horizontal thrust of the push cylinder drives the slider to move along the slide rail, forcing the two ends of the lifting rod to rotate around the rotating joint at the bottom of the fixed seat and the rotating joint on the slider, converting the horizontal displacement of the slider into the vertical lifting motion of the end of the substrate; the lifting rod, as a rigid lever, combined with the hinge mechanism set between one end of the substrate and the bottom of the fixed seat, forms a seesaw-like shaking mode, creating a significant amplification effect on the stroke of the push cylinder piston rod. Only a small stroke of the push cylinder is needed to drive the substrate to shake significantly, resulting in low energy consumption and high reliability, ensuring that the material in the package is completely detached.

[0009] As an improvement, an ejection mechanism is provided within the clamping area. This mechanism includes a lower pressure plate and a lifting cylinder. The lower pressure plate is vertically connected to the bottom of the clamping base via a guide mechanism consisting of guide posts and guide sleeves. The lifting cylinder is fixed to the clamping base, with its output end facing downwards and fixedly connected to the top of the lower pressure plate. With this structure, when the clamping mechanism releases an empty bag, the lifting cylinder drives the lower pressure plate downwards, forcibly pushing the empty bag suspended on the spikes away from the grippers. The guide post and guide sleeve structure ensures that the lower pressure plate moves vertically without deviation, avoiding interference with the grippers. This design solves the problem of empty bag adhesion, ensuring smooth continuous operation.

[0010] As an improvement, multiple first clearance slots and multiple second clearance slots are provided on both sides of the lower pressure plate. The first clearance slots correspond to the first arc-shaped grippers and extend inward from one side of the lower pressure plate; the second clearance slots correspond to the second arc-shaped grippers and extend inward from the other side of the lower pressure plate. With this structure, the clearance slots provide a dedicated movement channel for the arc-shaped grippers. When the lower pressure plate rises and falls, the grippers can freely pass through the space within the slots. This structure eliminates the spatial conflict between the ejection action and the gripper reset, ensuring that the ejection mechanism and the clamping mechanism do not interfere with each other when working together.

[0011] As an improvement, a pair of hoppers is provided, with a waste bag collection frame between them. The feeding mechanism can reciprocate between the hoppers and the waste bag collection frame. With this structure, the dual-hopper design enables alternating feeding: when one hopper is unpacking, the other hopper can continue to receive new bags, forming a continuous feeding cycle. After unpacking, the feeding mechanism directly transfers the empty bags to the waste bag collection frame in the middle, realizing automatic waste collection and reducing equipment downtime for cleaning.

[0012] As an improvement, the unpacking mechanism includes a knife holder and blades; the knife holder is fixedly mounted at both ends inside the hopper, and the blades are fixedly mounted on the knife holder with the cutting edge facing upwards. With this structure, when the robot lowers the package into the hopper, the bottom of the package contacts the blades; as the lowering action continues, the blades with the cutting edge facing upwards automatically cut through the bottom of the package, allowing the material to fall into the hopper under gravity; the way the knife holder is fixed at both ends ensures that the blades remain stable under impact loads. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a perspective view of the present invention; Figure 3 This is a schematic diagram of the clamping mechanism with a material shaking mechanism in this utility model. Figure 4 This is the first perspective view of the clamping mechanism with a material shaking mechanism in this utility model; Figure 5 This is the second perspective view of the clamping mechanism with a material shaking mechanism in this utility model; Figure 6 This is a left view of the clamping mechanism with a material shaking mechanism in this utility model; Figure 7 This is a right view of the clamping mechanism with a material shaking mechanism in this utility model; Figure 8 This is a schematic diagram of the structure of the silo in this utility model.

[0014] Explanation of reference numerals in the attached figures: 1. Material rack; 2. Material bin; 21. Waste bag collection frame; 3. Feeding mechanism; 31. Robotic arm; 32. Base plate; 321. Slide rail; 322. Slider; 33. Clamping mechanism; 330. Spike; 34. Shaking mechanism; 341. Fixed base; 342. Push cylinder; 343. Hinge mechanism; 344. Telescopic mechanism; 3440. Lifting rod; 3441. First rotating joint; 3442. Second rotating joint; 4. Unpacking mechanism; 41. Knife holder; 42. Blade; 5. Fixed frame; 50. Clamping area; 51. Fixture base; 510. Rotary... 52. Moving base; 521. Column; 522. First rotating shaft; 523. Second rotating shaft; 61. First arc-shaped gripper; 62. Second arc-shaped gripper; 71. First connecting rod; 711. First lever block; 712. First pin; 72. Second connecting rod; 721. Second lever block; 722. Second pin; 81. First cylinder; 810. First rotating block; 82. Second cylinder; 820. Second rotating block; 9. Ejection mechanism; 91. Lower pressure plate; 911. First clearance groove; 912. Second clearance groove; 92. Lifting cylinder; 93. Guide mechanism. Detailed Implementation

[0015] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0016] like Figures 1 to 3 As shown, an automatic package unpacking and loading device includes a rack 1, a hopper 2, and a loading mechanism 3 for transferring packages from the rack 1 to the hopper 2. The hopper 2 is equipped with an unpacking mechanism 4. The loading mechanism 3 includes a robot arm 31, a base plate 32, a clamping mechanism 33, and a shaking mechanism 34. The robot arm 31 is disposed between the rack 1 and the hopper 2. The base plate 32 is disposed at the execution end of the robot arm 31. The clamping mechanism 33 is horizontally openable and closable at the bottom of the base plate 32 and is used to clamp packages. The clamping claw end of the clamping mechanism 33 is provided with a spike 330 for inserting into the package. The shaking mechanism 34 is connected between the top of the base plate 32 and the execution end of the robot arm 31 and is used to drive the base plate 32 to shake the clamping mechanism 33.

[0017] This embodiment achieves automatic gripping and transfer of material packages through the robot arm 31 in conjunction with the spikes 330 of the clamping mechanism 33, completely replacing manual handling and significantly reducing labor intensity. The horizontal opening and closing of the clamping mechanism 33 and the design of the spikes 330 inserting into the material package ensure reliable clamping during the transfer and unloading process, preventing the material package from falling off. The shaking mechanism 34 drives the clamping mechanism 33 to shake, so that the residual material in the material package is fully detached from the bag, reducing raw material waste. The overall structure works in a coordinated manner to achieve full automation from picking up material from the rack 1, transferring it to the silo 2, unpacking and feeding it, greatly improving work efficiency, effectively solving the production line standby problem caused by manual operation, and meeting the needs of continuous production.

[0018] like Figure 3 and Figure 4As shown, the clamping mechanism 33 includes a fixed frame 5, multiple first arc-shaped grippers 61, multiple second arc-shaped grippers 62, a first connecting rod 71, a second connecting rod 72, a first cylinder 81, and a second cylinder 82. The fixed frame 5 includes a clamp base 51 and multiple columns 52, with the clamp base 51 and the base plate 32 fixedly connected at both ends of the columns 52 respectively. Four rotating seats 510 are provided at the four corners of the top of the clamp base 51. A first rotating shaft 521 is rotatably arranged between two rotating seats 510 on one side of the clamp base 51, and a second rotating shaft 522 is rotatably arranged between two rotating seats 510 on the other side of the clamp base 51. Multiple first arc-shaped grippers 61 are fixedly connected to the first connecting rod 71 at axial intervals, and one end of each first arc-shaped gripper 61 is fixedly connected to the first rotating shaft 521. The first connecting rod 71 is parallel to the first rotating shaft 521. A plurality of second arc-shaped grippers 62 are fixedly connected to the second connecting rod 72 at axial intervals, and one end of each second arc-shaped gripper 62 is fixedly connected to the second rotating shaft 522. The second connecting rod 72 is parallel to the second rotating shaft 522. The arc-shaped openings of the first arc-shaped gripper 61 and the second arc-shaped gripper 62 are arranged opposite each other. The other ends of the first arc-shaped gripper 61 and the second arc-shaped gripper 62 extend downward from both sides of the clamping seat 51 to form a clamping area 50 below the clamping seat 51. The other ends of the first arc-shaped gripper 61 and the second arc-shaped gripper 62 are provided with spikes 330. The cylinder body of the first cylinder 81 is hinged to the first rotating shaft 521, and the piston rod end is hinged to the second connecting rod 72. The cylinder body of the second cylinder 82 is hinged to the first connecting rod 71, and the piston rod end is hinged to the second rotating shaft 522. This structure uses two independent cylinder drive systems to control the opening and closing motion of the arc-shaped grippers, making the gripping action smoother and more reliable. Multiple arc-shaped grippers are arranged at intervals along the axial direction to form distributed gripping points. With the insertion of the spike 330 into the material bag, the gripping stability of irregular material bags is significantly enhanced. The parallel design of the connecting rod and the rotating shaft ensures that the movement trajectory of the grippers is accurate and avoids jamming. The arc-shaped grippers form a lever fulcrum through the cooperation of the rotating shaft and the rotating seat 510, so that the smaller output stroke of the cylinder can drive the end of the gripper to obtain a larger opening and closing range, while reducing the demand on the cylinder output power.

[0019] like Figure 6 and Figure 7As shown, a pair of first lever blocks 711 are axially spaced and fixed on the first connecting rod 71. One end of the pair of first lever blocks 711 is fixedly connected to the first rotating shaft 521, and the other end of the pair of first lever blocks 711 is arranged on both sides of the piston rod of the second cylinder 82 and fixedly connected to the first pin shaft 712. The piston rod of the second cylinder 82 is rotatably connected to the first pin shaft 712 through the second rotating block 820. A pair of second lever blocks 721 are axially spaced and fixed on the second connecting rod 72. One end of the pair of second lever blocks 721 is fixedly connected to the second rotating shaft 522, and the other end of the pair of second lever blocks 721 is arranged on both sides of the piston rod of the first cylinder 81 and fixedly connected to the second pin shaft 722. The piston rod of the first cylinder 81 is rotatably connected to the second pin shaft 722 through the first rotating block 810. This structure achieves an efficient and direct force transmission path between the cylinder piston rod and the rotating shaft through the rigid connection of the first lever 711 and the second lever 721 to the first rotating shaft 521 and the second rotating shaft 522, respectively, and the cooperation of the first pin 712, the second pin 722 and the rotating block. The symmetrical arrangement of the levers on both sides of the piston rod allows the cylinder thrust to be evenly applied to both sides of the rotating shaft, effectively preventing the phenomenon of uneven load jamming caused by unilateral force during the rotation of the rotating shaft. At the same time, the rotating pair formed by the rotating block and the pin significantly reduces the frictional resistance between moving parts, making the opening and closing action of the gripper smoother and more fluid, thereby improving the reliability and service life of the entire clamping mechanism 33.

[0020] like Figure 2 , Figure 4 and Figure 5As shown, the shaking mechanism 34 includes a fixed base 341, a push cylinder 342, a hinge mechanism 343, and a telescopic mechanism 344. The fixed base 341 is fixed to the execution end of the robot arm 31. One end of the base plate 32 is rotatably connected to the bottom of one end of the fixed base 341 via the hinge mechanism 343 about a horizontal axis. Specifically, the hinge mechanism 343 is a common hinge structure in the prior art, including an upper hinge seat and a lower hinge seat. The upper hinge seat is fixed to the bottom of the fixed base 341 and is provided with a hinge shaft. The lower hinge seat is fixed to the top of the base plate 32 and is rotatably connected to the hinge shaft. The other end of the base plate 32 is movably connected to the bottom of the other end of the fixed base 341 via the telescopic mechanism 344. The top of the base plate 32 is fixed with a mechanism extending from one end to the other. An extended slide rail 321 is provided, on which a slider 322 slides. The sliding direction of the slider 322 is perpendicular to the rotation axis of the substrate 32. The telescopic mechanism 344 includes a pair of lifting rods 3440 arranged on both sides of the slider 322, and a first rotating joint 3441 and a second rotating joint 3442 disposed at both ends of the lifting rods 3440. One end of the lifting rod 3440 is hinged to the slider 322 through the first rotating joint 3441, and the other end of the lifting rod 3440 is hinged to the bottom of the other end of the fixed seat 341 through the second rotating joint 3442. A push cylinder 342 is fixed to the top of the substrate 32, and its piston rod end is movably connected to the slider 322. The push cylinder 342 pushes the slider 322 to slide along the slide rail 321, thereby driving the other end of the substrate 32 to rise and fall. After applying this structure, the horizontal thrust of the push cylinder 342 drives the slider 322 to move along the slide rail 321, forcing the two ends of the lifting rod 3440 to rotate around the rotating joint at the bottom of the fixed seat 341 and the rotating joint on the slider 322, converting the horizontal displacement of the slider 322 into the vertical lifting motion of the end of the substrate 32; the lifting rod 3440, as a rigid lever, combined with the hinge mechanism 343 set between one end of the substrate 32 and the bottom of the fixed seat 341, forms a seesaw-like shaking mode, creating a significant amplification effect on the piston rod stroke of the push cylinder 342. Only a small stroke reciprocating motion of the push cylinder 342 is needed to drive the substrate 32 to shake significantly, resulting in low energy consumption and high reliability, ensuring that the material in the package is completely detached.

[0021] like Figure 3 and Figure 5 As shown, the clamping area 50 is equipped with an ejection mechanism 9, which includes a lower pressure plate 91 and a lifting cylinder 92. The lower pressure plate 91 is vertically and movably connected to the bottom of the clamping base 51 via a guide mechanism 93 consisting of guide posts and guide sleeves. The lifting cylinder 92 is fixed to the clamping base 51, with its output end facing downwards and fixedly connected to the top of the lower pressure plate 91. With this structure, when the clamping mechanism 33 releases the empty bag, the lifting cylinder 92 drives the lower pressure plate 91 to move downwards, forcibly pushing the empty bag suspended on the spikes 330 away from the grippers. The guide post and guide sleeve structure ensures that the lower pressure plate 91 moves vertically without deviation, avoiding interference with the grippers. This design solves the problem of empty bag adhesion and ensures smooth continuous operation.

[0022] like Figure 3 and Figure 5 As shown, the lower pressure plate 91 has multiple first clearance slots 911 and multiple second clearance slots 912 on both sides. The first clearance slots 911 correspond to the first arc-shaped gripper 61 and extend inward from one side of the lower pressure plate 91. The second clearance slots 912 correspond to the second arc-shaped gripper 62 and extend inward from the other side of the lower pressure plate 91. With this structure, the clearance slots provide a dedicated movement channel for the arc-shaped gripper. When the lower pressure plate 91 rises and falls, the gripper can freely pass through the space inside the slot. This structure eliminates the spatial conflict between the ejection action and the gripper reset, ensuring that the ejection mechanism 9 and the clamping mechanism 33 do not interfere with each other when working together.

[0023] like Figure 1 and Figure 2 As shown, there is a pair of hoppers 2, with a waste bag collection frame 21 between them. The feeding mechanism 3 can reciprocate between the hoppers 2 and the waste bag collection frame 21. With this structure, the dual hoppers 2 design achieves alternating feeding: when one hopper 2 is unpacking, the other hopper 2 can continue to receive new bags, forming a continuous feeding cycle. After unpacking, the feeding mechanism 3 directly transfers the empty bags to the waste bag collection frame 21 in the middle, realizing automatic collection of waste materials and reducing equipment downtime for cleaning.

[0024] like Figure 2 and Figure 8 As shown, the unpacking mechanism 4 includes a knife holder 41 and a blade 42. The two ends of the knife holder 41 are fixedly installed inside the hopper 2, and the blade 42 is fixedly installed on the knife holder 41 with the cutting edge facing upwards. With this structure, when the robot arm 31 lowers the package into the hopper 2, the bottom of the package contacts the blade 42. As the lowering action continues, the blade 42 with the cutting edge facing upwards automatically cuts through the bottom of the package, allowing the material to fall into the hopper 2 under gravity. The way the two ends of the knife holder 41 are fixed ensures that the blade 42 remains stable under impact load.

[0025] Although the disclosure is as stated above, the scope of protection of this disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this utility model.

Claims

1. An automatic unpacking and feeding device for material packages, comprising a material rack (1), a material bin (2), and a feeding mechanism (3) for transferring material packages on the material rack (1) to the material bin (2), wherein the material bin (2) is provided with an unpacking mechanism (4), characterized in that: The feeding mechanism (3) includes a robot (31), a base plate (32), a clamping mechanism (33), and a shaking mechanism (34); the robot (31) is disposed between the material rack (1) and the hopper (2); the base plate (32) is disposed at the execution end of the robot (31); the clamping mechanism (33) is horizontally openable and closed at the bottom of the base plate (32) and is used to clamp the material bag, and the clamping claw end of the clamping mechanism (33) is provided with a spike (330) for inserting into the inside of the material bag; the shaking mechanism (34) is connected between the top of the base plate (32) and the execution end of the robot (31) and is used to drive the base plate (32) to drive the clamping mechanism (33) to shake.

2. The automatic unpacking and feeding device for material packages according to claim 1, characterized in that: The clamping mechanism (33) includes a fixed frame (5), multiple first arc-shaped grippers (61), multiple second arc-shaped grippers (62), a first connecting rod (71), a second connecting rod (72), a first cylinder (81), and a second cylinder (82); the fixed frame (5) includes a clamp seat (51) and multiple columns (52), with the clamp seat (51) and the base plate (32) fixedly connected at both ends of the columns (52); the clamp seat (51) has four rotating seats (510) at its top four corners, wherein the rotating seats are located at the four corners of the base plate (32). A first rotating shaft (521) is rotatably disposed between two rotating seats (510) on one side of the clamp seat (51), and a second rotating shaft (522) is rotatably disposed between two rotating seats (510) on the other side of the clamp seat (51); a plurality of first arc-shaped grippers (61) are fixedly connected to the first connecting rod (71) at axial intervals, and one end of each first arc-shaped gripper (61) is fixedly connected to the first rotating shaft (521), and the first connecting rod (71) is parallel to the first rotating shaft (521). A plurality of second arc-shaped grippers (62) are fixedly connected to the second connecting rod (72) at axial intervals, and one end of each second arc-shaped gripper (62) is fixedly connected to the second rotating shaft (522). The second connecting rod (72) is parallel to the second rotating shaft (522). The arc-shaped openings of the first arc-shaped gripper (61) and the second arc-shaped gripper (62) are arranged opposite to each other. The other end of the first arc-shaped gripper (61) and the other end of the second arc-shaped gripper (62) are located on both sides of the clamp seat (51). Extending downwards respectively, a clamping area (50) is formed below the clamping seat (51), and the other end of the first arc-shaped clamp (61) and the other end of the second arc-shaped clamp (62) are provided with the spike (330); the cylinder body of the first cylinder (81) is hinged to the first rotating shaft (521), and the piston rod end is hinged to the second connecting rod (72); the cylinder body of the second cylinder (82) is hinged to the first connecting rod (71), and the piston rod end is hinged to the second rotating shaft (522).

3. The automatic unpacking and feeding device for material packages according to claim 2, characterized in that: A pair of first paddles (711) are fixedly fixed at an axial distance on the first connecting rod (71). One end of the pair of first paddles (711) is fixedly connected to the first rotating shaft (521). The other ends of the pair of first paddles (711) are arranged on both sides of the piston rod of the second cylinder (82) and fixedly connected to the first pin (712). The piston rod of the second cylinder (82) is rotatably connected to the first pin (712) through the second rotating block (820). A pair of second paddles (721) are fixedly fixedly fixed at an axial distance on the second connecting rod (72). One end of the pair of second paddles (721) is fixedly connected to the second rotating shaft (522). The other ends of the pair of second paddles (721) are arranged on both sides of the piston rod of the first cylinder (81) and fixedly connected to the second pin (722). The piston rod of the first cylinder (81) is rotatably connected to the second pin (722) through the first rotating block (810).

4. The automatic unpacking and feeding device for material packages according to claim 1, characterized in that: The shaking mechanism (34) includes a fixed base (341), a push cylinder (342), a hinge mechanism (343), and a telescopic mechanism (344); the fixed base (341) is fixed to the execution end of the robot (31); one end of the base plate (32) is rotatably connected to the bottom of one end of the fixed base (341) via the hinge mechanism (343) about a horizontal axis; the other end of the base plate (32) is movably connected to the bottom of the other end of the fixed base (341) via the telescopic mechanism (344); a slide rail (321) extending from one end to the other end is fixed on the top of the base plate (32), and a slider (322) is slidably mounted on the slide rail (321), the sliding direction of the slider (322) being perpendicular to the rotation axis of the base plate (32); the telescopic mechanism (344) is slidably mounted on the slide rail (321); the telescopic mechanism (344) is rotatably connected to the bottom of the fixed base (341) about a horizontal axis; the other end of the base plate (32) is rotatably connected to the bottom of the fixed base (341) about a horizontal axis; the other end of the base plate (32) is rotatably connected to the bottom of the fixed base (341) about a horizontal axis; the other end of the base plate (32) is rotatably connected to the bottom of the fixed base (341) about a horizontal axis; the other end of the base plate (341 ... The retraction mechanism (344) includes a pair of rods (3440) arranged on both sides of the slider (322) and a first rotating joint (3441) and a second rotating joint (3442) disposed at both ends of the rods (3440); one end of the rod (3440) is hinged to the slider (322) through the first rotating joint (3441), and the other end of the rod (3440) is hinged to the bottom of the other end of the fixed seat (341) through the second rotating joint (3442); the push cylinder (342) is fixed to the top of the base plate (32), and its piston rod end is movably connected to the slider (322); the push cylinder (342) pushes the slider (322) to slide along the slide rail (321), thereby driving the other end of the base plate (32) to rise and fall.

5. The automatic unpacking and feeding device for material packages according to claim 2, characterized in that: The clamping area (50) is provided with an ejection mechanism (9), which includes a lower pressure plate (91) and a lifting cylinder (92). The lower pressure plate (91) is connected to the bottom of the clamping seat (51) in a vertically movable manner through a guide mechanism (93) consisting of a guide post and a guide sleeve. The lifting cylinder (92) is fixed on the clamping seat (51), with its output end facing downward and fixedly connected to the top of the lower pressure plate (91).

6. The automatic unpacking and feeding device for material packages according to claim 5, characterized in that: The lower pressure plate (91) is provided with a plurality of first clearance slots (911) and a plurality of second clearance slots (912) on both sides; the first clearance slots (911) are provided corresponding to the first arc-shaped gripper (61) and extend inward from one side of the lower pressure plate (91); the second clearance slots (912) are provided corresponding to the second arc-shaped gripper (62) and extend inward from the other side of the lower pressure plate (91).

7. The automatic unpacking and feeding device for material packages according to claim 6, characterized in that: The hopper (2) is provided in pairs, and a waste bag collection frame (21) is provided between the pair of hoppers (2). The feeding mechanism (3) can reciprocate between the hopper (2) and the waste bag collection frame (21).

8. The automatic unpacking and feeding device for material packages according to claim 1, characterized in that: The unpacking mechanism (4) includes a knife holder (41) and a blade (42); the two ends of the knife holder (41) are fixedly installed in the hopper (2), and the blade (42) is fixedly installed on the knife holder (41) with the blade facing upward.

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