US20230257146A1

US20230257146A1 - Bag opening apparatus and method

Info

Publication number: US20230257146A1
Application number: US17/673,630
Authority: US
Inventors: Gary Cook; Joel KROEKER
Original assignee: Commonwealth Automation Technologies Inc
Current assignee: Commonwealth Automation Technologies Inc
Priority date: 2022-02-16
Filing date: 2022-02-16
Publication date: 2023-08-17

Abstract

Apparatus and methods for opening bags, wherein the method comprises: positioning the bag upon two or more gripping members; gripping a first section and a second section of the bag with the gripping members, wherein a third section of the bag is between the first section and the second section of the bag; heating the bag along the third section of the bag to form a heated section within the third section of the bag; inserting one or more ripping members into the third section of the bag; moving at least one of the ripping members inserted into the third section of the bag along the third section of the bag to form a tear in the bag within the heated section of the bag; and moving at least one of the gripping members apart from at least one other of the gripping members to move the first section of the bag apart from the second section of the bag, thereby enlarging the tear in the bag.

Description

TECHNICAL FIELD

The present disclosure relates to apparatus and methods for opening bags. More particularly, the present disclosure relates to apparatus and methods for opening bags, for example laundry bags, by heating and tearing the bags.

BACKGROUND

A bag may be used to contain material for packaging, storage, and/or transportation. Material packaged, stored, and transported in a bag may include fabric material to be cleaned, for example laundry such as clothing, sheets, towels, and the like.
A bag may comprise any substance strong enough to contain the material stored within the bag during typical packaging, storage and transportation conditions. Typical substances that a bag may be comprised of include cloth, plastic, paper, and the like, or any blend thereof.
Bags such as laundry bags are commonly used to package, store and transport laundry for cleaning. A laundry bag may be filled with laundry and stored for a period of time, and then transported to a location where the laundry is removed from the laundry bag and separated from the laundry bag. Once removed and separated from the laundry bag, the laundry may then be processed, for example by cleaning the laundry.
Laundry may be removed from a laundry bag through an opening in the laundry bag. The larger the opening in the laundry bag and the faster the opening is formed, the faster the laundry bag may be emptied of laundry.
Once laundry is removed from a laundry bag, the laundry is typically separated from the laundry bag so that the laundry may be processed separately from the laundry bag. For example, the laundry may enter a laundry machine, and the laundry bag may be disposed of. Additionally, it may be undesirable for a laundry bag to be processed along with the laundry. For example, a laundry bag may comprise a substance such as plastic that may break down during cleaning of the laundry and interfere with the operation of a laundry machine, for example by breaking into small pieces and clogging filters and/or drains. As such, it is generally desirable to maintain the laundry bag in one or a small number of pieces when tearing open the laundry bag, thereby facilitating separation of the laundry bag from the laundry.
There is a general desire for apparatus and methods for quickly forming a large opening in a bag such as a laundry bag. There is a further desire for apparatus and methods that also separate the bag from material stored within the bag, without damaging the material stored within the bag.
The foregoing examples of the related art and limitations related thereto are intended to be illustrative and not exclusive. Other limitations of the related art will become apparent to those of skill in the art upon a reading of the specification and a study of the drawings.

SUMMARY

The following embodiments and aspects thereof are described and illustrated in conjunction with systems, tools and methods which are meant to be exemplary and illustrative, not limiting in scope. In various embodiments, one or more of the above-described problems have been reduced or eliminated, while other embodiments are directed to other improvements.
One aspect of the invention provides a method for removing material from a bag, the method comprising: positioning the bag upon two or more gripping members; gripping a first section and a second section of the bag with the gripping members, wherein a third section of the bag is between the first section and the second section of the bag; heating the bag along the third section of the bag to form a heated section within the third section of the bag; inserting one or more ripping members into the third section of the bag; moving at least one of the ripping members inserted into the third section of the bag along the third section of the bag to form a tear in the bag within the heated section of the bag; and moving at least one of the gripping members apart from at least one other of the gripping members to move the first section of the bag apart from the second section of the bag, thereby enlarging the tear in the bag.
In some embodiments, inserting the one or more ripping members into the third section of the bag comprises: piercing the heated section of the bag with the ripping members to form one or more holes in the bag; and inserting the ripping members into the heated section of the bag.
In some embodiments, moving the at least one of the ripping members along the third section of the bag and moving the at least one of the gripping members apart from the at least one other of the gripping members comprises moving the at least one of the ripping members substantially perpendicular to the movement of the at least one of the gripping members.
In some embodiments, the method further comprises separating the bag from the material comprises suctioning the bag from the material with a vacuum, and/or the bag comprises a plastic laundry bag and the material comprises laundry.
One aspect of the invention provides an apparatus removing material from a bag, the apparatus comprising: a first set of one or more gripping members configured to grip a first section of the bag when the bag is paced upon the gripping members; a second set of one or more gripping members configured to grip a second section of the bag and move apart from the first set of gripping members; one or more ripping members insertable into a third section of the bag and moveable along the third section of the bag, wherein the third section of the bag is between the first section and the second section of the bag; and a heater configured to heat at least a portion of the third section of the bag.
In some embodiments, the apparatus further comprises a vacuum configured to suction an area between the first set of gripping members and the second set of gripping members
In addition to the exemplary aspects and embodiments described above, further aspects and embodiments will become apparent by reference to the drawings and by study of the following detailed descriptions.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments are illustrated in referenced figures of the drawings. It is intended that the embodiments and figures disclosed herein are to be considered illustrative rather than restrictive.

FIG. 1A is a schematic diagram of an apparatus for removing material from a bag according to an example embodiment of the present invention.

FIG. 1B is a schematic diagram of the apparatus depicted in FIG. 1A, wherein a heated section is formed in the bag by the apparatus according to an example embodiment of the present invention.

FIG. 10 is a schematic diagram of the apparatus depicted in FIG. 1A, wherein a tear is formed in the bag by the apparatus according to an example embodiment of the present invention.

FIG. 1D is a schematic diagram of the apparatus depicted in FIG. 1A, wherein the tear in the bag is enlarged by the apparatus according to an example embodiment of the present invention.

FIGS. 2A to 2C are schematic diagrams of a side view of the apparatus depicted in FIGS. 1A to 1D. FIG. 2A depicts the apparatus forming a heated section in the bag. FIG. 2B depicts the apparatus forming a tear in the bag. FIG. 2C depicts the apparatus enlarging the tear in the bag, and material exiting the bag through the tear.

FIG. 3 is a flow chart illustrating a method for removing material from a bag according to an example embodiment of the present invention.

FIG. 4A is a front perspective view of an apparatus for opening bags according to an example embodiment of the present invention.

FIG. 4B is a top perspective view of a section of the apparatus depicted in FIG. 4A.

FIG. 4C is a side view of a section of the apparatus depicted in FIG. 4A.

DESCRIPTION

Throughout the following description specific details are set forth in order to provide a more thorough understanding to persons skilled in the art. However, well known elements may not have been shown or described in detail to avoid unnecessarily obscuring the disclosure. Accordingly, the description and drawings are to be regarded in an illustrative, rather than a restrictive, sense.
The present disclosure is directed to apparatus and methods for removing material from a bag by gripping the bag, heating a section of the bag, and ripping open the bag along the heated section. Once the bag is ripped open, the material may exit the bag, and/or the bag may be separated from the material, for example by suctioning the bag from the material.
To rip open the bag, the bag is gripped by two or more gripping members and heated by a heater to weaken a section of the bag between the gripping members. One or more ripping members are then inserted into the bag and moved along the bag. The movement of the ripping members along the bag exerts a force along the bag, and the force causes the bag to tear within the weakened section of the bag. Once the tear is formed in the bag, the tear is enlarged by moving the gripping members apart.
In some embodiments, inserting the ripping members into the bag comprises piercing the bag with the ripping members to form one or more holes in the bag, and inserting the ripping members into the bag through the holes.
An apparatus comprising a heater, gripping members, and ripping members may quickly form a single large tear in a bag. A large tear in the bag may facilitate quickly and easily removing material stored within the bag from the bag. Furthermore, a single tear in the bag may facilitate quickly and easily separating the bag from the material, for example by suctioning the bag from the material.
A large tear in a bag may be a tear with a length between half a width of the bag and the width of the bag.
In some embodiments, two ripping members are inserted into the bag and moved apart to form a tear between the two ripping members. Inserting two ripping members into a bag may increase the precision and speed in which the tear is formed in the bag compared to inserting only one ripping member into a bag.
In some embodiments, the gripping members are moved apart in a first direction and the ripping members are moved apart in a second direction substantially perpendicular to the first direction. So moving the gripping members and ripping members may increase the size by which the tear is enlarged when moving the gripping members apart compared to moving the gripping members in another direction relative to moving of the ripping members.
Gripping, heating, and tearing open a bag may facilitate removing material stored within the bag from the bag without damaging the material. For example, where the bag comprises a plastic laundry bag and the material comprises laundry, the force used to insert the ripping members into the laundry bag may be sufficient to pierce the laundry bag, but insufficient to damage the laundry. Similarly, the temperature of air used to heat the laundry bag may be sufficient to weaken the laundry bag, but insufficient to damage the laundry within the laundry bag. Finally, the force of the grippers gripping the laundry bag and the force on the laundry bag from moving the grippers apart may be respectively sufficient to grip the laundry bag and enlarge the tear, but insufficient to damage the laundry.
Heating a bag weakens the bag. Weakening a bag controls the formation of a tear in the bag, as the weakened section of the bag will break first, thereby forming a tear in the weakened section of the bag. Furthermore, weakening the bag may allow the tear to be enlarged without forming a second tear in the bag. Once the tear is formed, the force on the bag from moving the gripping members apart may cause the bag to tear contiguous with the existing tear, as the exiting tear further weakens the already weakened bag. Moving the gripping members apart may also stretch the bag around the tear, thereby further enlarging the opening in the bag formed by the tear.
In some embodiments, the ripping members are inserted into the weakened section of the bag, thereby requiring less force to insert the ripping members into the bag than if the ripping members were inserted outside of the weakened section.
In some embodiments, the gripping members and/or the ripping members are further configured to avoid damaging the material stored within a bag. For example, one or both of the gripping members and/or the ripping members may comprise one or more of:

- blunted ends, for example rounded tips; and/or
- ends comprising a soft material, for example rubber.

FIG. 1A is a schematic diagram of apparatus 100 for removing material 12 (depicted in FIGS. 2A to 2C) from bag 14, according to an example embodiment of the present invention. Apparatus 100 comprises gripping members 16A to 16H (collectively, gripping members 16), ripping members 18A and 18B (collectively, ripping members 18), heater 20, and vacuum 22.
Apparatus 100 may remove material 12 from bag 14 by:

- operating gripping members 16 to grip bag 14;
- operating heater 20 to heat a section of bag 14;
- inserting ripping members 18 into bag 14 and moving ripping members 18 along bag 14 to form a tear; and
- moving gripping members 16 apart to enlarge the tear in bag 14.

Once the tear is formed and enlarged in bag 14, material 12 may exit bag 14 through the tear, and bag 14 may be separated from material 12, for example by suctioning bag 14 from material 12 with vacuum 22.
Bag 14 may be notionally divided into three sections: first section 14A, second section 14B, and third section 14C.
Third section 14C of bag 14 is between first section 14A and second section 14B. FIG. 1A depicts an embodiment where first section 14A opposes second section 14B, and third section 14C comprises the area of bag 14 between first section 14A and second section 14B.
One or more of gripping members 16A, 16B, 16C and 16D (collectively, first set of gripping members 17A) grip first section 14A of bag 14, and one or more of gripping members 16E 16F, 16G and 16H (collectively, second set of gripping members 17B) grip second section 14B of bag 14. As third section 14C of bag 14 is between first section 14A and second section 14B, third section 14C is also between first set of gripping members 17A and second set of gripping members 17B when gripping members 16 grip bag 14.
Apparatus 100 is configured to move first set of gripping members 17A apart from second set of gripping members 17B in direction D1, and/or second set of gripping members 17B apart from first set of gripping members 17A in direction D2. Where both sets of gripping member 17A and 17B move, D1 is at an angle to D2. In some embodiments, direction D2 is opposite to (180 degrees from) direction D1.
When first set of gripping members 17A moves apart from second set of gripping members 17B, first section 14A is moved by first set of gripping members 17A apart from second section 14B, and/or second section 14B is moved by second set of gripping members 17B apart from first section 14A. Moving one or both of first section 14A and second section 14B apart from each other pulls first section 14A and second section 14B apart, and exerts a lateral force on third section 14C.
In some embodiments, gripping members 16 are arranged in two opposing rows, for example a row of first set of gripping members 17A opposing a row of second set of gripping members 17B, as depicted in FIG. 1A. Arranging gripping members 16 in opposing rows may increase the lateral force on third section 14C when two or more of first set of gripping members 17 A grip bag 14 and/or two or more of second set of gripping members 17 B grip bag 14.
One or more of ripping members 18 are configured to move towards third section 14C and along third section 14C. Moving one or more of ripping members 18 towards third section 14C allows one or more of ripping members 18 to pierce third section 14C, and/or be inserted into third section 14C of bag 14. Moving one or more of ripping members 18 along third section 14C allows one or more of ripping members 18 to form a tear in third section 14C of bag 14.
In the embodiment depicted in FIG. 1A, apparatus 100 is configured to move ripping member 18A along third section 14C in direction D3, and towards third section 14C in direction D5. Ripping member 18B is configured to move along third section 14C in direction D4, and towards third section 14C in direction D5.
The angle between the direction of the movement of gripping members 16 and the direction of the movement of ripping members 18 along third section 14C may affect the area by which tear 26 (depicted in FIG. 10 ) is enlarged by the movement of gripping members 16. The closer the angle between the direction of the movement of gripping members 16 and the direction of the movement of ripping members 18 is to perpendicular, the greater the area tear 26 may be enlarged from the movement of gripping members 16.
In some embodiments, one or both of directions D3 and D4 are substantially perpendicular to one or both of directions D1 and D2. In such embodiments, one or more of gripping members 16 move apart from one or more others of gripping members 16 in a direction substantially perpendicular to a direction in which one or more of ripping members 18 move along third section 14C. As such, tear 26 in third section 14C is formed perpendicular to the force exerted on third section 14C by the movement of gripping members 16. Forming tear 26 perpendicular to the force exerted on third section 14C by the movement of gripping members 16 may maximize the area by which tear 26 is enlarged by the movement of gripping members 16.
FIG. 1B is a schematic diagram of apparatus 100 wherein heated section 24 is formed within third section 14C of bag 14 by heater 20 heating third section 14C. As heated section 24 is within third section 14C of bag 14, heated section 24 is between first section 14A and second section 14B of bag 14.
In some embodiments, there may be advantages to forming heated section 24 with a certain shape and/or orientation relative to one or more of: first section 14A, second section 14B, gripping members 16, ripping members 18, and one or more of directions D1, D2, D2 and D4. A certain shape and/or orientation of heated section 24 may have one or more of the following advantages over another shape and/or orientation of heated section 24:

- less force may be required to insert ripping members 18 into third section 14C of bag 14;
- less force may be required to move one or more of ripping members along third section 14C and form tear 26 in bag 14;
- tear 26 may be enlarged by a greater area from the movement of gripping members 16;
- a higher likelihood of forming a single tear in bag 14 from the movement of ripping members 18; and/or
- a lower likelihood of forming a second tear in bag 14 from the movement of gripping members 16.

FIG. 1B depicts an embodiment of apparatus 100 wherein heated section 24 is a longitudinally extending area between first section 14A and second section 14B. In some embodiments, a width of heated section 24 is less than 1/10 a length of heated section 24.
When heated section 24 is formed where ripping members 18 are inserted into bag 14, ripping members may be inserted into bag 14 with less force than if ripping members 18 were inserted into bag 14 outside of heated section 24. Furthermore, inserting ripping members into heated section 24 may form a smaller hole in bag 14 than if ripping members 18 were inserted into bag 14 outside of heated section 24. A smaller hole in bag 14 may cause the movement of ripping members 18 along third section 14C to form a longer and narrower tear 26 in direction D3 and/or D4 than a larger hole in bag 14.
In some embodiments, heater 20 may be configured to form heated section 24 in bag 14. For example, heater 20 may be positioned relative to gripping members 16 to expel heated air along third section 14C to form heated section 24.
FIG. 10 is a schematic diagram of apparatus 100 wherein tear 26 is formed within third section 14C of bag 14 by moving ripping members 18 apart along third section 14C, after inserting ripping members 18 into third section 14C.
In some embodiments, tear 26 may be formed with a certain orientation to one or more of gripping members 16. In the embodiment depicted in FIG. 10 , tear 26 is formed substantially perpendicular to the row of first set of gripping members 17A and to the row of second set of gripping members 17B. As such, tear 26 is formed within section 14C substantially perpendicular to directions D1 and D2.
Forming tear 26 substantially perpendicular to directions D1 and D2 may result in tear 26 being enlarged more by the movement of gripping members 16 than another orientation of tear 26 to gripping members 16.
FIG. 10 depicts an embodiment of apparatus 100 where both ripping members 18A and 18B are inserted into third section 14C and moved apart from each other. Inserting both ripping members 18 into third section 14C and moving ripping members 18 apart from each other may form a tear in third section 14C closer to parallel with directions D3 and D4 than if only one of ripping members 18 is inserted into third section 14C.
In some embodiments:

- both of ripping members 18 are inserted into third section 14C, and only one of ripping members 18A and 18B are moved apart from the other of ripping members 18A and 18B to form tear 26; and/or
- only one of ripping members are inserted into third section 14C, and only one of ripping members 18A and 18B are moved apart from the other of ripping members 18A and 18B to form tear 26.

As third section 14C is between first set of gripping members 17A and second set of gripping members 17B, when first set of gripping members 17A move in direction D1 and/or second set of gripping members 17B move in direction D2, third section 14C is pulled apart by a lateral force from the movement of first section 14A and/or second section 14B. The lateral force on third section 14C enlarges tear 26.
FIG. 1D is a schematic diagram of apparatus 100 wherein tear 26 is enlarged by moving one or more of first set of gripping members 17A in direction D1 and/or one or more of second set of gripping members 17B in direction D2. When first set of gripping members 17A are moved apart from second set of gripping members 17B, bag 14 is stretched across section 14C, and tear 26 is enlarged by bag 14 stretching around tear 26 and/or further tearing tear 26.
In some embodiments, ripping members 18 are configured to be retracted in a direction opposite to the direction in which they are inserted into bag 14. Where ripping members 18 are configured to be inserted into bag 14 by moving in direction D5, ripping members 18 may be retracted in a direction opposite to direction D5.
Ripping members 18 may be retracted:

- after forming tear 26 and before gripping members 16 move apart;
- after forming tear 26 and concurrent with moving gripping members 16 apart; or
- after gripping members 16 move apart and before bag 14 is separated from material 12.

Retracting ripping members 18 may avoid ripping members 18 interfering with gripping members 16 moving apart and enlarging tear 26, and/or bag 14 being separated from material 12.
FIGS. 2A to 2C are schematic diagrams of a side view of apparatus 100, wherein apparatus 100 forms tear 26 along the bottom of bag 14, and material 12 exits bag 14. FIG. 2A depicts heater 20 forming heated section 24 along the bottom of bag 14. FIG. 2B depicts ripping member 18A inserted into the bottom of bag 14 and forming tear 26. FIG. 2C depicts gripping members 16A and 16E moved apart to enlarge tear 26, and material 26 exiting bag 14 through tear 26.
FIG. 3 is a flow chart illustrating method 300 for removing material 12 from bag 14.
Method 300 may be performed by apparatus 100. Method 300 comprises steps:

- 310: positioning bag 14 upon gripping members 16;
- 320: gripping first section 14A of bag 14 with one or more of first set of gripping members 17A and gripping second section 14B of bag 14 with one or more of second set of gripping members 17B;
- 330: heating bag 14 along third section 14C to form heated section 24 within third section 14C;
- 340: inserting one or more of ripping member 18 into third section 14C of bag 14;
- 350: moving at least one of the ripping member 18 inserted into third section 14C along third section 14C to form tear 26 within heated section 24; and
- 360: moving first set of gripping members 17A apart from second set of gripping members 17B to move first section 14A of bag 14 apart from second section 14B of bag 14, thereby enlarging tear 26.

Method 300 may further comprise one or more of the following steps:

- 370: separating bag 14 from material 12; and
- 380: aligning first section 14A of bag 14 with one or more of first set of gripping members 17A, aligning second section 14B of bag 14 with one or more of second set of gripping members 17B, and directing bag 14 upon gripping members 16.

FIG. 4A is a front perspective view of apparatus 400 for opening bags, for example laundry bags. Apparatus 400 comprises body 410 and gripper frame 412 mounted to body 410. First set of gripping members 414A and second set of gripping members 414B (collectively, gripping members 414) are mounted to gripper frame 412.
Apparatus 400 further comprises funnel 416 and chute 418 mounted to body 410 above gripper frame 412. Funnel 416 and chute 418 may be configured to align a bag with gripping members 414, and direct the bag on to gripping members 414. Funnel 416 may comprise angled walls for centering a bag with chute 418, and directing the bag into chute 418. Chute 418 may have an opening above gripper frame 412. Chute 418 may be mounted to body 410 with the opening of chute 418 aligned with gripper frame 412.
Funnel 416 and chute 418 may be configured to:

- align a first section of a bag with first set of gripping members 414A;
- align a second section of the bag with second set of gripping members 414B; and
- direct the first section of the bag upon first set of gripping members 414A and the second section of the bag upon second set of gripping members 414B.

Gripper frame 412 comprises first platform 420A and second platform 420B (collectively, gripper platforms 420; depicted in FIG. 4B). In some embodiments, gripper platforms 420 are mounted to body 410 at an angle to each other so that gripper platforms 420 from a V-shape. The V-shape of gripper platforms 420 may center a bag within gripper platforms 420, as a bag may slide towards the middle of gripper platforms 420 due to the V-shape of gripper platforms 420.
First platform 420A is movably mounted to body 410. In some embodiments, first platform 420A is mounted to drive belt 422, wherein drive belt 422 moves first platform 420A laterally along body 410. Drive belt 422 moves first platform 420A laterally along body 410 to move first set of gripping members 414A mounted to first platform 420A apart from second set of gripping members 414B mounted to second platform 420B. Furthermore, first platform 420A is moved apart from second platform 420B to create an opening between first platform 420A and second platform 420B. Once a bag is torn open, the material stored within the bag may exit the bag and fall through the opening between first platform 420A and second platform 420B.
As material falls between the opening between first platform 420A and second platform 420B, the material may collect along trap door 424. Trap door 424 may be opened (as depicted in FIG. 4A) to allow the material to exit apparatus 400.
FIG. 4B is a top perspective view of a section of apparatus 400, wherein first set of grippers 414A comprises six rotary grippers, and second set of grippers 414B comprises six rotary grippers. Apparatus 400 further comprises heaters 426 and ripping members 428.
FIG. 4C is side view of a section of apparatus 400, wherein ripping members 428 are mounted to insertion pistons 430, and insertion pistons 430 are mounted to ripping pistons 432. Insertion pistons 430 raise ripping members 428, thereby inserting ripping members 428 into a bag when a bag is gripped by grippers 418. Ripping pistons 432 move insertion pistons 430, and thereby ripping members 428, along a bag when a bag is gripped by grippers 418.
Insertion pistons 430 may lower ripping members 428, thereby retracting ripping members 428 after inserting ripping members 428 into a bag. Ripping members 428 may be retracted to reset ripping members 428 before inserting ripping members 428 into a second bag.
Ripping pistons 432 may move ripping members 428 in a first direction and a second direction opposite the first direction. In some embodiments, ripping pistons 432 move one or both of ripping members 428 in one of the first and second directions to rip a bag gripped by gripping members 414, and in a second one of the first and second directions to reset ripping pistons 432. Ripping pistons 432 may be reset before inserting ripping members 428 into a second bag.
In some embodiments, ripping pistons 432 move one or both of ripping members 428 in either of the first and second directions to rip a bag gripped by gripping members 414. In such embodiments, ripping pistons 432 may not need to be reset before inserting ripping members 428 into a second bag.
Apparatus 400 may comprise motor 440 for powering one or more of gripping members 414, drive belt 422, trap door 424, heaters 426, insertion pistons 430, and ripping pistons 432.
Apparatus 400 may comprise a controller, for example a microcontroller, for controlling one or more of motor 440, gripping members 414, drive belt 422, trap door 424, heaters 426, insertion pistons 430, and ripping pistons 432. In some embodiments, the controller operates motor 440, gripping members 414, drive belt 422, trap door 424, heaters 426, insertion pistons 430, and ripping pistons 432 to perform method 300.

VARIOUS EMBODIMENTS

In one or more embodiments, bag 14 comprises one or more of:

- a flexible container that material is placed within and sealed, for example a plastic laundry bag; and
- a substance wrapped around a bundle of material, for example plastic wrap wrapped around a bundle of laundry.

In one or more embodiments:

- one or more of first set of gripping members 17A, 414 A grip bag 14 less than 10 centimeters apart from where one or more of second set of gripping members 17B, 414 B grip bag 14;
- bag 14 has width in direction D1, and first set of gripping members 17A, 414A are moved apart from second set of gripping members 17B, 414B by a distance greater than half of the width of bag 14; and/or
- ripping members 18, 428 are configured to be retracted in a direction opposite to the direction in which they are inserted into bag 14.

In one or more embodiments, bag 14 comprises a plastic bag, and forming heated section 24 comprises softening bag 14 by partially melting the plastic bag.
In some embodiments, heating bag 14 with heater 20, 426 comprises heating heated section 24 of bag 14 to one or more of: between 100 degrees Celsius and 150 degrees Celsius, and between 150 degrees Celsius and 220 degrees Celsius. In some embodiments, heated section 24 of bag 14 comprises one or more of: the portion of bag 14 heated to at least 100 degrees Celsius, and the portion of bag 14 heated to at least 150 degrees Celsius.
In one or more embodiments, one or more of gripping members 16, 414 comprise rotary grippers. Rotary grippers comprise two curved arms configured to close together and grip an object between tips of the two arms. Rotary grippers may comprise pads on the tips of the arms, wherein the pads are closed together when the rotary grippers close. The arms may comprise a rigid material, for example metal, and the pads may comprise a flexible material, for example rubber.
Each rotary gripper may comprise one or more pistons for moving one or both arms of the rotary gripper. When a bag, for example a laundry bag, rests upon a rotary gripper, the rotary grippers may grip the bad by actuating one or more pistons to close the arms of the gripper, thereby gripping the bag.
In some embodiments, one or more of gripping members 16, 414 are configured to open between 2 centimeters and 3 centimeters.
In some embodiments, heater 22, 426 comprises one or more of: a hot air heater, an infrared heater, and a heated wire.
Vacuum 22 may comprise a fan and a nozzle, wherein the fan is configured to pull air through the nozzle, thereby sucking material into the nozzle. In some embodiments, vacuum 22 comprise a filter over the nozzle, wherein the filter is configured to permit torn bags to pass into the nozzle, and block material stored in the bag from passing through the filter. Vacuum 22 may be configured to collect and store ripped bags in a bags reservoir.

Interpretation of Terms

Unless the context clearly requires otherwise, throughout the description and the

- “comprise”, “comprising”, and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of “including, but not limited to”;
- “connected”, “coupled”, or any variant thereof, means any connection or coupling, either direct or indirect, between two or more elements; the coupling or connection between the elements can be physical, logical, or a combination thereof;
- “herein”, “above”, “below”, and words of similar import, when used to describe this specification, shall refer to this specification as a whole, and not to any particular portions of this specification;
- “or”, in reference to a list of two or more items, covers all of the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list;
- the singular forms “a”, “an”, and “the” also include the meaning of any appropriate plural forms.

Words that indicate directions such as “vertical”, “transverse”, “horizontal”, “upward”, “downward”, “forward”, “backward”, “inward”, “outward”, “left”, “right”, “front”, “back”, “top”, “bottom”, “below”, “above”, “under”, and the like, used in this description and any accompanying claims (where present), depend on the specific orientation of the apparatus described and illustrated. The subject matter described herein may assume various alternative orientations. Accordingly, these directional terms are not strictly defined and should not be interpreted narrowly.
Where a component (e.g. a gripping member, ripping member, heater, etc.) is referred to above, unless otherwise indicated, reference to that component (including a reference to a “means”) should be interpreted as including as equivalents of that component any component which performs the function of the described component (i.e., that is functionally equivalent), including components which are not structurally equivalent to the disclosed structure which performs the function in the illustrated exemplary embodiments of the invention.
Specific example embodiments have been described herein for purposes of illustration. These are only examples. The technology provided herein can be applied to systems other than the example systems described above. Many alterations, modifications, additions, omissions, and permutations are possible within the practice of this invention. This invention includes variations on described embodiments that would be apparent to the skilled addressee, including variations obtained by: replacing features, elements and/or acts with equivalent features, elements and/or acts; mixing and matching of features, elements and/or acts from different embodiments; combining features, elements and/or acts from embodiments as described herein with features, elements and/or acts of other technology; and/or omitting combining features, elements and/or acts from described embodiments.
Various features are described herein as being present in “some embodiments”. Such features are not mandatory and may not be present in all embodiments. Embodiments of the invention may include zero, any one or any combination of two or more of such features. This is limited only to the extent that certain ones of such features are incompatible with other ones of such features in the sense that it would be impossible for a person of ordinary skill in the art to construct a practical embodiment that combines such incompatible features. Consequently, the description that “some embodiments” possess feature A and “some embodiments” possess feature B should be interpreted as an express indication that the inventors also contemplate embodiments which combine features A and B (unless the description states otherwise or features A and B are fundamentally incompatible).
It is therefore intended that the following appended claims and claims hereafter introduced are interpreted to include all such modifications, permutations, additions, omissions, and sub-combinations as may reasonably be inferred. The scope of the claims should not be limited by the preferred embodiments set forth in the examples, but should be given the broadest interpretation consistent with the description as a whole.

Claims

1. A method for removing material from a bag, the method comprising:

positioning the bag upon two or more gripping members;

gripping a first section and a second section of the bag with the gripping members, wherein a third section of the bag is between the first section and the second section of the bag;

heating the bag along the third section of the bag to form a heated section within the third section of the bag;

inserting one or more ripping members into the third section of the bag;

moving at least one of the ripping members inserted into the third section of the bag along the third section of the bag to form a tear in the bag within the heated section of the bag; and

moving at least one of the gripping members apart from at least one other of the gripping members to move the first section of the bag apart from the second section of the bag, thereby enlarging the tear in the bag.

2. The method according to claim 1, wherein the ripping members comprise two ripping members, and moving the at least one of the ripping members along the third section of the bag comprises moving a first one of the ripping members apart from a second one of the ripping members.

3. The method according to claim 1, wherein inserting the one or more ripping members into the third section of the bag comprises:

piercing the heated section of the bag with the ripping members to form one or more holes in the bag; and

inserting the ripping members into the heated section of the bag.

4. The method according to claim 1, wherein moving the at least one of the ripping members along the third section of the bag and moving the at least one of the gripping members apart from the at least one other of the gripping members comprises moving the at least one of the ripping members substantially perpendicular to the movement of the at least one of the gripping members.

5. The method according to claim 1, wherein:

the two or more gripping members comprise a first set and a second set of gripping members;

positioning the bag upon the gripping members comprises positioning the first section and the second section of the bag respectively upon the first set and the second set of gripping members; and

gripping the first section and the second section of the bag with the gripping members comprises closing the first set and the second set of gripping members respectively upon the first section and the second section of the bag.

6. The method according to claim 1, wherein positioning the bag upon the gripping members comprises aligning the bag with the gripping members with a funnel and a chute and directing the bag upon the gripping members with the funnel and the chute.

7. The method according to claim 1, wherein gripping the first section and the second section of the bag with the gripping members comprises gripping the first section and the second section of the bag less than 10 centimeters apart.

8. The method according to claim 1, wherein moving the at least one of the gripping members apart from the at least one other of the gripping members comprises moving the gripping members apart by a distance greater than ½ of a width of the bag.

9. The method according to claim 1, further comprising retracting the ripping members after moving the at least one of the ripping members and before moving the at least one of the gripping members.

10. The method according to claim 1, wherein the gripping members comprise rotary grippers.

11. The method according to claim 1, further comprising separating the bag from the material.

12. The method according to claim 11, wherein separating the bag from the material comprises suctioning the bag from the material with a vacuum.

13. The method according to claim 1, wherein the bag comprises a plastic bag, and heating the bag comprises melting the plastic bag.

14. The method according to claim 1, wherein heating the bag comprises heating the bag to between 150 degrees Celsius and 220 degrees Celsius.

15. The method according to claim 1, wherein the bag comprises a plastic laundry bag and the material comprises laundry.

16. An apparatus for removing material from a bag, the apparatus comprising:

a first set of one or more gripping members configured to grip a first section of the bag when the bag is paced upon the gripping members;

a second set of one or more gripping members configured to grip a second section of the bag and move apart from the first set of gripping members;

one or more ripping members insertable into a third section of the bag and moveable along the third section of the bag, wherein the third section of the bag is between the first section and the second section of the bag; and

a heater configured to heat at least a portion of the third section of the bag.

17. The apparatus according to claim 16, further comprising a vacuum configured to suction an area between the first set of gripping members and the second set of gripping members.

18. The apparatus according to claim 16, further comprising a funnel and a chute configured to align the bag with the gripping members and direct the bag upon the gripping members.

19. The apparatus according to claim 16, wherein each of the first set of gripping members and the second set of gripping members comprises six rotary grippers.

20. The apparatus according to claim 16, wherein the heater is configured to heat the portion of the third section of the bag to between 150 degrees Celsius and 220 degrees Celsius.