CN116022430A

CN116022430A - Unpacking and conveying device

Info

Publication number: CN116022430A
Application number: CN202310013836.4A
Authority: CN
Inventors: 崔杰; 刘恒俊; 陈岩松; 陈杰; 李鑫; 董文军
Original assignee: Suzhou Jinchen Intelligent Technology Co ltd
Current assignee: Suzhou Jinchen Intelligent Technology Co ltd
Priority date: 2023-01-05
Filing date: 2023-01-05
Publication date: 2023-04-28

Abstract

The invention relates to the technical field of automation equipment, and discloses an unpacking and conveying device. The unpacking and conveying device comprises: the lifting mechanism comprises a lifting driving assembly and a bearing plate, wherein the lifting driving assembly can drive the bearing plate to move along the Z direction and sequentially move to a cutting station, a blanking station and a recycling station from top to bottom; the first conveying mechanism can convey the materials to a bearing plate positioned at the cutting station along the Y direction; the cutting mechanism can cut off the binding piece positioned on the material of the cutting station; the two supporting blocks can be respectively penetrated through two ends of the supporting plate along the X direction and limit the stacking body on the supporting plate to a blanking station so as to separate the lower surface of the stacking body from the binding piece; the adsorption and recovery mechanism can adsorb the binding pieces on the bearing plates at the recovery station and convey the binding pieces to the recovery box. The unpacking and conveying device can unpack materials, and the process of recovering the binding pieces is smooth and does not influence the position of the stacking body.

Description

Unpacking and conveying device

Technical Field

The invention relates to the technical field of automatic equipment, in particular to an unpacking and conveying device.

Background

The cigarette case packer can wrap the wrapping paper outside the cigarette bundle to form a cigarette case, and under normal conditions, as shown in fig. 1, the wrapping paper is in a strip shape as a whole, for convenience in transportation and use, a plurality of wrapping papers are stacked into a stack (hereinafter referred to as a stacked body), and then a kraft paper (hereinafter referred to as a bundling member) is wrapped around the wrapping paper in the middle position of the stack along the length direction so as to wrap the plurality of wrapping papers into a whole (hereinafter referred to as materials), and meanwhile, two ends of the wrapping papers along the length direction are exposed so as to be convenient for distinguishing. When feeding the cigarette packet packaging machine, the bundling member needs to be removed (unpacking for short) and then the stacked body is conveyed to the cigarette packet packaging machine.

The unpacking and conveying equipment in the prior art comprises a conveying mechanism, a cutting structure and a rubber roller mechanism, wherein the conveying mechanism conveys materials to a cutting station, and the cutting mechanism cuts a binding piece, so that the binding piece is changed into a sheet shape from a winding drum state, and then the wrapping of a stacking body is loosened. The rubber roller mechanism is positioned at one side of the cutting station and can wind one end of the binding piece and finally convey the whole binding piece into the recovery box after winding. On the one hand, since the binding element is usually packaged by the adhesive tape, the adhesive tape is easily stuck on the adhesive roll when the adhesive roll winds the binding element, and the binding element cannot be successfully recovered; on the other hand, when the bundle is wound and pulled out by the glue roller mechanism, the bundle is easily dragged by the stack to displace or disorder, and further the subsequent transportation of the stack is affected.

Therefore, there is a need to provide an unpacking and conveying device to solve the above-mentioned problems.

Disclosure of Invention

The invention aims to provide an unpacking and conveying device which can unpack materials, and the process of recovering a binding piece is smooth and does not influence the position of a stacking body.

To achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a unpacking conveyor for unpacking the material, the material includes the stack body and tie up, tie up cladding the stack body is in along the middle part of X direction, unpacking conveyor includes the frame and sets up in the frame:

the lifting mechanism comprises a lifting driving assembly and a supporting plate, wherein the lifting driving assembly can drive the supporting plate to move along the Z direction and sequentially move to a cutting station, a blanking station and a recycling station from top to bottom;

the first conveying mechanism is positioned at one side of the cutting station and can convey materials to the bearing plate positioned at the cutting station along the Y direction;

the cutting mechanism is arranged on the other side of the cutting station and can cut off the binding piece positioned on the material of the cutting station;

the two bearing blocks are fixed on the frame, can respectively penetrate through two ends of the bearing plate along the X direction, limit the stacked body on the bearing plate at the blanking station and separate the lower surface of the stacked body from the binding piece;

The adsorption and recovery mechanism is arranged on one side of the recovery station and can adsorb the binding piece on the bearing plate at the recovery station and convey the binding piece into the recovery box.

As an alternative scheme, the unpacking and conveying device further comprises a blanking driving mechanism and a second conveying mechanism, wherein the second conveying mechanism is arranged at one end of the blanking station along the X direction, and the blanking driving mechanism can push the stacked body on the supporting plate of the blanking station to the second conveying mechanism.

As an alternative scheme, the bearing board all is provided with along X to the both ends and dodges the hole, the bearing board is located when the unloading station, every the bearing piece corresponds wears to establish one dodge the hole, just the upper surface of bearing piece with the upper surface parallel and level of bearing board, still be provided with on the bearing board along X to extending first recess, unloading actuating mechanism includes unloading actuating source and unloading push rod, the unloading actuating source can drive the unloading push rod moves along X direction, the lower extreme of unloading push rod can stretch into in the first recess.

As an alternative, the unpacking and conveying device further includes a plurality of guide rods, the guide rods are disposed on the frame and extend along the Y direction, and the guide rods are disposed on two sides of the support plate along the X direction, so as to limit the stacked body on the support plate when the support plate is lifted.

As an alternative, the first conveying mechanism includes:

the first conveying belt can drive the materials to move along the Y direction;

the material beating assembly is arranged on one side of the first conveyor belt along the Y direction and comprises a material beating driving source and a material beating plate, and the material beating driving source can drive the material beating plate to move along the X direction and be in butt joint with materials on the first conveyor belt.

As an alternative, the first conveying mechanism further includes a stopping assembly disposed at one end of the first conveyor belt in the Y direction, the stopping assembly having a first state in which the material is stopped at the end of the first conveyor belt and a second state in which the material is prevented from moving from the first conveyor belt onto the support plate.

As an alternative, the first conveying mechanism further comprises a first pressing component, and the first pressing component can press the material on the first conveying belt after the material on the first conveying belt is conveyed onto the bearing plate.

As an alternative, the cutting mechanism includes:

the second pressing component can press the upper surface of the material positioned at the cutting station;

The first sucking disc component can suck the first side surface of the binding piece of the material positioned at the cutting station and drive the first side surface to be far away from the stacking body along the Y direction;

and a cutting unit configured to output the bundle moving in the X direction and cut the bundle.

As an alternative, the cutting mechanism includes two first suction cup assemblies, the two first suction cup assemblies are arranged at intervals along the Z direction, and the cutting assembly is arranged between the two first suction cup assemblies.

As an alternative, the adsorption recovery mechanism includes:

the transverse moving driving assembly can drive the second sucker assembly to be close to the supporting plate located at the recovery station along the Y direction, so that the second sucker assembly contacts and adsorbs the binding piece on the supporting plate, and the transverse moving driving assembly can drive the second sucker assembly to be far away from the supporting plate along the Y direction, so that the second sucker assembly can put the binding piece into the recovery box.

The invention has the beneficial effects that:

when the unpacking and conveying device is used, the lifting driving assembly drives the supporting plate to move to the cutting station, then the first conveying mechanism conveys materials to the supporting plate, then the cutting mechanism cuts off the binding pieces on the materials, then the lifting driving assembly drives the supporting plate and the materials to move downwards together, when the supporting plate moves to the blanking station, the supporting block penetrates through the supporting plate, at the moment, two ends of the stacked body are supported on the supporting block, so that the stacked body does not move downwards any more, the lifting driving assembly continues to drive the supporting plate to move downwards, the supporting plate drives the cut binding pieces to move downwards to the recovery station together, at the moment, the lower surface of the stacked body is separated from the binding pieces, the binding pieces are absorbed by the absorption and recovery mechanism, and the binding pieces are conveyed to the recovery box. According to the unpacking and conveying device, the cutting of the binding piece and the recovery of the binding piece are staggered in the upper space and the lower space through the arrangement of the lifting mechanism, so that a space is provided for arranging the adsorption and recovery mechanism on the side of the binding piece, the binding piece is taken away and recovered in an adsorption mode, and the binding piece does not need to be wound, so that adhesive tapes on the binding piece cannot be adhered to other positions, and smooth recovery of the binding piece is ensured; in addition, through setting up the support piece at the unloading station, make adsorb recovery mechanism when adsorbing the tie-up, tie-up and the lower extreme of stacking body are completely separated, consequently tie-up can not drag the stacking body, avoids stacking body to take place position drunkenness or dislocation.

Drawings

FIG. 1 is a schematic diagram of the structure of a material;

fig. 2 is a schematic structural view of a feeding system and a packaging machine according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a feeding system and a packaging machine according to an embodiment of the present invention at another view angle

FIG. 4 is a schematic view of the unpacking and conveying device and the stack area according to the embodiment of the present invention;

fig. 5 is a schematic view of the internal structure of the unpacking and conveying device according to the embodiment of the present invention;

FIG. 6 is a schematic view of a carrier plate in a cutting station according to an embodiment of the present invention;

FIG. 7 is a schematic view of a carrier plate according to an embodiment of the present invention in one view when in a recovery station;

FIG. 8 is a schematic view of the structure of the lifting mechanism, the bearing blocks and the guide rods provided in the embodiment of the invention;

FIG. 9 is a schematic view of a carrier plate according to an embodiment of the present invention in another view when in a recovery station;

FIG. 10 is a schematic structural view of a transfer conveyor according to an embodiment of the present invention;

FIG. 11 is a schematic view of a first lifting mechanism and an overhead horizontal transport mechanism according to an embodiment of the present invention;

FIG. 12 is a schematic view of a high-altitude horizontal conveying mechanism according to an embodiment of the present invention when conveying a stacked body;

FIG. 13 is a schematic view of a part of the high-altitude horizontal conveying mechanism according to the embodiment of the present invention;

FIG. 14 is a schematic view of the structure of the overhead horizontal transport mechanism and the second lifting mechanism provided in accordance with an embodiment of the present invention;

FIG. 15 is a schematic view of a second lifting mechanism according to an embodiment of the present invention;

fig. 16 is a schematic structural diagram of a carrying tool according to an embodiment of the present invention;

FIG. 17 is a schematic view of a carrier tool with a stack according to an embodiment of the present invention;

FIG. 18 is a top view of a carrier tool according to an embodiment of the present invention unloading a stack;

fig. 19 is a schematic diagram of communication relationship between control units according to an embodiment of the present invention.

In the figure:

100. a material; 101. a stack; 102. a binding member;

10. unpacking and conveying device; 11. a lifting mechanism; 111. a lifting driving assembly; 112. a bearing plate; 1121. avoidance holes; 1122. a first groove; 12. a first conveying mechanism; 121. a first conveyor belt; 122. a stop assembly; 1221. a wide air claw; 1222. a gear lever; 123. a beating component; 1231. a beating driving source; 1232. a material beating plate; 124. a first hold-down assembly; 1241. a first lower pressure cylinder; 1242. a first lower pressure plate; 13. a cutting mechanism; 131. a second hold-down assembly; 1311. a second pressing cylinder; 1312. a second lower pressure plate; 132. a first chuck assembly; 133. a cutting assembly; 14. a support block; 141. a second groove; 15. an adsorption recovery mechanism; 151. a traversing drive assembly; 152. a second chuck assembly; 16. a blanking driving mechanism; 161. a blanking driving source; 162. a blanking push rod; 17. a second conveying mechanism; 171. supporting the slideway; 172. a limiting plate; 18. a guide rod; 19. a first vertical surface; 110. a second vertical surface; 120. a first housing;

20. A transfer conveyor; 21. a first lifting mechanism; 211. a first lift drive assembly; 212. a carrying plate; 213. a second slot; 22. a high-altitude horizontal conveying mechanism; 221. a slideway assembly; 2211. a slideway body; 2212. a baffle; 2213. a shield; 2214. a first slot; 222. a pushing driving assembly; 223. a push rod assembly; 23. a second lifting mechanism; 231. a second lift drive assembly; 232. carrying a jig; 2321. a frame body; 23211. a rear plate; 23212. a side plate; 23213. gear shaping; 2322. a tray; 23221. tooth slots; 2323. a cleat assembly; 23231. a clamping cylinder; 23232. a splint body; 2324. a discharge drive assembly; 24. a second housing;

30. a stack area;

40. a robot;

50. a security scanner;

60. a 3D camera; 61. a mounting bracket;

70. a control unit; 71. a main control module; 72. an industrial switch; 73. a servo drive module; 74. a robot control module; 75. an industrial personal computer; 751. a human-machine interface; 76. an I/O control module; 77. a speed regulating motor module; 78. a sensor detection module; 79. a solenoid valve control module; 710. a safety control module; 711. a 3D vision module;

200. and (5) packaging the machine.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

The embodiment provides a feeding system, which can be used for feeding to the packaging machine 200. As shown in fig. 1, the material 100 includes a stack 101 formed by stacking a plurality of paper sheets, and a bundling member 102 bundled at a middle position of the stack 101 in a length direction so that both ends of the stack 101 are exposed to the outside of the bundling member 102. The loading system is capable of removing (hereinafter unpacking) the bundles 102 of material 100 and then feeding the stack 101 into the infeed end of the packaging machine 200.

As shown in fig. 2 and 3, the loading system includes a stack area 30, a robot 40, an unpacking conveyor 10, and a transfer conveyor 20. The stacking area 30 is used for stacking the materials 100 to be unpacked, and the robot 40 can sequentially send the materials 100 in the stacking area 30 into the unpacking and conveying device 10 according to a preset sequence. The unpacking and conveying device 10 can remove the bundle 102 of the material 100, and can send the removed bundle 102 into a recovery box and convey the unpacked stack 101 into the transfer and conveying device 20. The transfer conveyor 20 is used to feed the stack 101 into the packaging machine 200.

As shown in fig. 2, the unpacking and conveying device 10 is provided with a first shell 120, the transferring and conveying device 20 is provided with a second shell 24, and the first shell 120 and the second shell 24 can prevent operators from touching by mistake, so that the safety is good. Preferably, a first sensor (not shown) is disposed at a door of the first housing 120 (there may be one door or a plurality of doors), and the robot 40 stops operating if the first sensor detects that the door is opened in the operating state of the unpacking and conveying device 10. Similarly, a second sensor is provided at the door of the second housing 24 (there may be one door or a plurality of doors), and the robot 40 stops operating when the second sensor detects that the door is open in the operating state of the transfer conveyor 20. The safety of the feeding system is further improved through the first sensor and the second sensor.

The stack area 30 and the robot 40 are inconvenient to provide with a protective housing and thus have a certain safety hazard. In the prior art, the robot 40 is generally a general industrial robot, so that a fence needs to be installed at the periphery of the feeding system, but there is still a safety hazard when a person enters the fence and touches the robot 40 or the material 100 in the stacking area 30.

To this end, as shown in fig. 2, the feeding system further includes a plurality of safety scanners 50, the plurality of safety scanners 50 are installed at the periphery of the stacking area 30, the safety scanners 50 are in communication connection with the robot 40, when the safety scanners 50 detect that someone runs into, the safety scanners can communicate with the robot 40, and the robot 40 is stopped working, so that personnel damage is reliably avoided, and the safety of the feeding system is improved. Preferably, the feeding system further comprises an alarm assembly, the alarm assembly is in communication connection with the security scanner 50, and when the security scanner 50 detects that a person breaks in, the alarm assembly communicates with the alarm assembly, so that the alarm assembly sends out alarm sounds to prompt a person to notice and leave the person by mistake, and the worker is notified to verify and restart the robot 40 to work. Alternatively, the security scanner 50 is preferably a surface scanner, so that a plurality of security scanners 50 may enclose a tighter area, thereby improving security.

In this embodiment, as shown in fig. 2, the first housing 120 of the unpacking and conveying device 10 is formed with a first vertical surface 19 and a second vertical surface 110 that are disposed in a crossing manner, the feeding system includes two safety scanners 50, the scanning planes of the two safety scanners 50 are two horizontal sector planes, the two horizontal sector planes are disposed in a crossing manner, the first vertical surface 19, the second vertical surface 110 and the scanning planes of the two safety scanners 50 enclose a safety area, and the safety area covers the stack area 30 and the active area of the robot 40. By arranging the stack area 30 between the first vertical surface 19 and the second vertical surface 110, the first housing 120 of the unpacking and conveying device 10 naturally forms protection for the stack area 30, so that the stack area 30 and the active area of the robot 40 can be fully protected by arranging two safety scanners 50, and the cost of the whole feeding system is reduced. In this embodiment, both security scanners 50 are mounted on the first housing 120 of the unpacking conveyor 10.

Alternatively, the robot 40 may be a six-axis mechanical arm, and the fixed end of the robot 40 is mounted on the first housing 120 of the unpacking and conveying device 10, so that the output end of the robot 40 can conveniently grasp the material 100 in the stacking area 30. Preferably, in this embodiment, the robot 40 is a cooperative six-axis mechanical arm, and external force detection sensors are disposed at each joint of the cooperative six-axis mechanical arm, so that the robot 40 can stop working when the external force detection sensors detect that external force contacts the robot 40, thereby further improving the safety of the feeding system. The six-axis mechanical arm with the external force detection sensor is an existing component, and specific structural details and working principles of the six-axis mechanical arm are not repeated here.

In order to ensure that the robot 40 can sequentially grasp the stacked materials 100 in the stacking area 30 according to a preset sequence, the position of each material 100 in the stacking area 30 is usually obtained by adopting a 2D camera in combination with a distance sensor in the prior art, and the structure has the advantages of complex installation, high requirement on the stacking standard degree of the materials 100, low operation efficiency and only detection of one material 100 information at a time.

In this regard, as shown in fig. 2, the feeding system of the present embodiment further includes a 3D camera 60,3D camera 60 for acquiring an image of the stack area 30, where the 3D camera 60 is communicatively connected to the robot 40, and the robot 40 can grasp the material 100 in the stack area 30 according to the image acquired by the 3D camera 60. Specifically, the 3D camera 60 collects the feature information of the materials 100 and performs model training by a deep learning method, and can accurately calculate the three-dimensional space coordinates corresponding to each material 100 according to the collected images. The robot 40 can implement the placement of the materials 100 in the stack area 30 into the unpacking and conveying device 10 according to a preset sequence through coordinate transformation and path planning. In this embodiment, only one component of the 3D camera 60 is required to obtain three-dimensional image information of the stack area 30, which has a simple structure, is convenient to install, and has low standard requirements for stacking the materials 100. In addition, the information of the whole layer of material 100 can be obtained by shooting each layer of material 100 only once, and the operation efficiency of the feeding system is improved.

In this embodiment, as shown in fig. 2, the top end of the first housing 120 of the unpacking and conveying device 10 is provided with the mounting bracket 61,3D, and the camera 60 is arranged on the mounting bracket 61, so that the 3D camera 60 is fixed at a higher position, which not only can prevent the external structure from interfering with the shooting, but also ensures that the 3D camera 60 has a sufficiently large field of view, and further covers the whole stack area 30.

In the prior art, the unpacking and conveying device 10 generally adopts a glue roll winding mode to recover the binding member 102, and since the binding member 102 is generally packaged by using an adhesive tape, the problem that the adhesive tape is stuck on the glue roll easily occurs when the binding member 102 is wound by the glue roll, and thus the binding member 102 cannot be successfully recovered, and when the binding member 102 is wound and drawn out by the glue roll mechanism, the binding member 102 easily drags the paper sheets of the stacked body 101 to displace or disorder, and further the subsequent conveying of the stacked body 101 is affected.

Preferably, as shown in fig. 4 to 9, the X-direction and the Y-direction in the drawings represent horizontal directions perpendicular to each other, and the Z-direction represents vertical directions. The unpacking and conveying device 10 includes a frame disposed within the first housing 120 for supporting structures within the first housing 120. The unpacking and conveying device 10 further comprises a lifting mechanism 11, a first conveying mechanism 12, a cutting mechanism 13, two bearing blocks 14, an adsorption and recovery mechanism 15, a blanking driving mechanism 16 and a second conveying mechanism 17 which are supported on the frame. Specifically, as shown in fig. 6, the lifting mechanism 11 includes a lifting drive assembly 111 and a support plate 112, and the lifting drive assembly 111 can drive the support plate 112 to move in the Z direction and sequentially move from top to bottom to a cutting station, a blanking station, and a recovery station. As shown in fig. 5, the first conveying mechanism 12 is located at one side of the cutting station in the X direction, the first conveying mechanism 12 can convey the material 100 to the supporting plate 112 located at the cutting station in the Y direction, the cutting mechanism 13 is disposed above the lifting mechanism 11, and is located at the other side of the cutting station in the X direction, that is, the cutting mechanism 13 and the first conveying mechanism 12 are disposed opposite to each other. The cutting mechanism 13 is capable of severing the bundle 102 from the material 100 at the cutting station, i.e., the bundle 102 releases the restraint of the stack 101. The two support blocks 14 are fixed on the frame, as shown in fig. 8, when the support plate 112 moves to the blanking station, the two support blocks 14 can be respectively inserted into two ends of the support plate 112 along the X direction, and limit the stacked body 101 on the support plate 112 to the blanking station, so that the lower surface of the stacked body 101 is separated from the binding member 102. As shown in fig. 9, the suction and recovery mechanism 15 is provided on one side of the recovery station in the X direction, that is, opposite to the lifting mechanism 11, and the suction and recovery mechanism 15 is capable of sucking the bundle 102 on the carrier plate 112 at the recovery station and conveying the bundle 102 into a recovery box (not shown). The discharging driving mechanism 16 and the second conveying mechanism 17 are respectively arranged at two ends of the discharging station along the X direction, and the discharging driving mechanism 16 can push the stacked body 101 positioned on the supporting plate 112 of the discharging station to the second conveying mechanism 17.

In use, the unpacking and conveying device 10 of the invention, the lifting drive assembly 111 drives the bearing plate 112 to move to the cutting station; the robot 40 places the material 100 on the first conveyor 12, the first conveyor 12 delivering the material 100 onto the carrier plate 112; the cutting mechanism 13 then cuts the bundle 102 on the material 100; then the lifting driving component 111 drives the supporting plate 112 and the material 100 to move downwards together, when the supporting plate 112 moves to the blanking station, the supporting block 14 penetrates through the supporting plate 112, at the moment, the two ends of the stacked body 101 are supported on the supporting block 14, so that the stacked body 101 does not move downwards any more, and the lifting driving component 111 continues to drive the supporting plate 112 to move downwards, so that the supporting plate 112 drives the cut binding piece 102 to move downwards together to the recycling station, and at the moment, the lower surface of the stacked body 101 is separated from the binding piece 102; next, the adsorbing and recovering mechanism 15 adsorbs the bundle 102 and conveys the bundle 102 into a recovery box; then, the lifting driving assembly 111 drives the supporting plate 112 to move upwards to the blanking station, and the supporting plate 112 again supports the stacked body 101; then, the discharging driving mechanism 16 acts to push the stacked body 101 at the discharging station onto the second conveying mechanism 17.

In the unpacking and conveying device 10 of the embodiment, the cutting of the binding member 102 and the recovery of the binding member 102 are staggered in the vertical space through the arrangement of the lifting mechanism 11, so that a space is provided for arranging the adsorption recovery mechanism 15 on the side of the binding member 102, the binding member 102 is taken away in an adsorption mode and recovered, and the binding member 102 does not need to be wound, so that the problem that the adhesive tape on the binding member 102 is adhered to other structures can be avoided, and the smooth recovery of the binding member 102 is ensured; in addition, since the support block 14 is provided at the blanking station, the suction and recovery mechanism 15 completely separates the bundle 102 from the lower end of the stack 101 when the bundle 102 is sucked, and therefore the bundle 102 is not dragged to the stack 101, and the position of the stack 101 is prevented from moving or being dislocated.

As shown in fig. 5, the first conveyor 12 includes a first conveyor belt 121, and the first conveyor belt 121 can drive the material 100 to move in the Y direction. Specifically, the first conveyor belt 121 includes a speed motor, a pulley, and a belt wound around the pulley, and the speed motor drives the pulley to rotate, thereby moving the belt-driven material 100 in the Y direction. The first conveyor belt 121 is a speed-adjusting motor, which can adjust the rotation speed of the belt according to the requirement, and further adjust the conveying speed of the material 100.

The belt is liable to deflect the position of the material 100 when conveying the material 100, and preferably, as shown in fig. 5 and 6, the first conveying mechanism 12 further includes a material beating assembly 123 disposed on one side of the first conveying belt 121 along the Y direction, the material beating assembly 123 includes a material beating driving source 1231 and a material beating plate 1232, and the material beating driving source 1231 can drive the material beating plate 1232 to move along the X direction and abut against the material 100 on the first conveying belt 121. The clapping component 123 is in contact with the surface of the material 100 perpendicular to the X direction, so that the position deviation of the material 100 in the X direction can be corrected, the material 100 is ensured to fall onto the supporting plate 112 positioned at the cutting station in an accurate posture, and further the smooth cutting is ensured. In this embodiment, the material beating component 123 is disposed at one end of the first conveying belt 121 near the cutting station, that is, when the material 100 reaches the cutting station quickly, the deviation of the material 100 is corrected. Specifically, the clapping driving source 1231 may be a cylinder, and the clapping accuracy is high and the control is convenient. Further, the clapping assembly 123 further comprises a first solenoid valve for controlling the extending or retracting action of the cylinder.

Preferably, as shown in fig. 5 and 6, the first conveyor 12 further comprises a stop assembly 122, wherein the stop assembly 122 is disposed at one end of the first conveyor belt 121 in the Y-direction, the stop assembly 122 having a first state in which the material 100 is stopped at the end of the first conveyor belt 121 and a second state in which the avoidance material 100 moves from the first conveyor belt 121 onto the carrier plate 112. Stopping the surface of the material 100 perpendicular to the Y-direction by the stop assembly 122 may correct for differences in the position of the material 100 in the Y-direction. The matching of the clapping assembly 123 and the stopping assembly 122 can ensure the overall position accuracy of the material 100 before reaching the cutting station, and further ensure the position accuracy of the material 100 when reaching the supporting plate 112 positioned at the cutting station.

Preferably, in actual use, the stop assembly 122 switches from the first state to the second state after stopping at least two materials 100. When the stop assembly 122 is switched from the first state to the second state, the stop assembly 122 avoids the movement of the material 100 along the Y direction, and at this time, the first conveyor belt 121 drives all the materials 100 to move along the Y direction, and for the first material 100, after a part of the first material 100 leaves the first conveyor belt 121, the rear material 100 will generate a forward pushing force on the first material 100 until the first material 100 completely falls on the supporting plate 112 located at the cutting station. In this embodiment, by controlling the timing of switching the stop component 122 to the second state, the rear material 100 generates a driving force to the first material 100, so as to ensure that the first material 100 can accurately fall on the supporting plate 112, and further ensure that the subsequent cutting is performed smoothly. Specifically, in this embodiment, in operation, the stopping assembly 122 moves to the first state capable of stopping the materials 100, then the first conveyor 121 conveys the materials 100 to the stopping assembly 122, after the stopping assembly 122 stops three materials 100, the stopping assembly 122 is switched from the first state to the second state, and the first conveyor 121 and the second two materials 100 push the first material 100 onto the supporting plate 112. Preferably, the unpacking conveyor 10 also includes a first position sensor for detecting whether material 100 is reaching the carrier plate 112 at the cutting station. When the first position sensor detects that the material 100 arrives on the carrier plate 112, the first conveyor belt 121 stops conveying after a preset time delay. The time delay is to ensure that the material 100 falls completely onto the carrier plate 112.

In this embodiment, as shown in fig. 6, the stop assembly 122 includes a wide air jaw 1221 and two levers 1222, wherein the wide air jaw 1221 is fixed on the rack, and the two levers 1222 are respectively connected to two output ends of the wide air jaw 1221. The two output ends of the wide air claw 1221 are arranged in the X direction and can be close to or distant from each other in the X direction. When the two output ends of the wide air jaw 1221 are close to each other, the two levers 1222 are close to each other and reach a position where they can stop the material 100, i.e. the stop assembly 122 reaches the first state; when the two output ends of the wide air jaw 1221 are moved away from each other, the two bars 1222 are moved away so that the avoidance material 100 moves in the Y-direction from the first conveyor belt 121 onto the carrier plate 112, i.e., the stop assembly 122 reaches the second state. Specifically, the stop assembly 122 further includes a second solenoid valve for controlling the extension and retraction of the output end of the wide air jaw 1221.

Preferably, as shown in fig. 6, the first conveying mechanism 12 further includes a first pressing component 124, where the first pressing component 124 is capable of pressing the next material 100 (i.e., the second material 100) on the first conveying belt 121 after the first conveying belt 121 conveys the previous material 100 (i.e., the first material 100) onto the supporting plate 112. Thereby avoiding the second material 100 from continuing to move under the action of inertia and avoiding the mutual pulling and dragging between the second material 100 and the first material 100. In this embodiment, as shown in fig. 6, the first pressing component 124 includes a first pressing cylinder 1241 and a first pressing plate 1242, the first pressing cylinder 1241 is fixed on the frame, and the output end is downward, the first pressing plate 1242 is connected with the output end of the first pressing cylinder 1241, and the first pressing cylinder 1241 can drive the first pressing plate 1242 to move downward, so as to press the material 100 located at the end of the first conveying belt 121. In this embodiment, the first pressing assembly 124 further includes a third solenoid valve for controlling the extension and retraction of the output end of the first pressing cylinder 1241. Note that, the timing of the first pressing assembly 124 is as follows: when the first position sensor detects that the material 100 arrives on the supporting plate 112, the first pressing component 124 stops conveying after a preset time delay, that is, the pressing action of the first pressing component 124 is performed simultaneously with the stopping conveying of the first conveying belt 121.

When the material 100 has arrived precisely on the carrier plate 112 at the cutting station, the cutting mechanism 13 cuts the bundle 102 of material 100. Specifically, as shown in fig. 6 and 7, the cutting mechanism 13 includes a second pressing member 131, a first suction cup member 132, and a cutting member 133. Wherein the second pressing component 131 can press the upper surface of the material 100 located at the cutting station, so that a certain gap is generated between the first side surface of the binding 102 (i.e., the side surface of the binding 102 facing away from the first conveying mechanism 12, and the side surface of the binding 102 facing toward the cutting component 133) and the stacked body 101. The first suction cup assembly 132 can suck the first side surface of the bundling member 102 of the material 100 located at the cutting station and drive the first side surface away from the stacking body 101 along the Y direction, so that the gap between the bundling member 102 and the stacking body 101 can be further increased, and at this time, the cutting assembly 133 can output movement along the X direction and cut off the bundling member 102. By providing the second hold-down assembly 131 and the second suction cup assembly 152, a sufficiently large gap can be provided between the bundle 102 and the stack 101 to ensure that the stack 101 is not damaged during cutting of the bundle 102.

Preferably, in this embodiment, as shown in fig. 7, the cutting mechanism 13 includes two first suction cup assemblies 132, the two first suction cup assemblies 132 are disposed at intervals along the Z direction, and the cutting assembly 133 is disposed between the two first suction cup assemblies 132. By disposing the cutting assembly 133 between the two first suction cup assemblies 132, the cutting assembly 133 is aligned just to the position where the clearance of the bundle 102 from the stack 101 is maximized, thereby further avoiding damage to the stack 101 by the cutting assembly 133.

In this embodiment, as shown in fig. 7, the second pressing assembly 131 includes a second pressing cylinder 1311 and a second pressing plate 1312, where the second pressing cylinder 1311 is fixed on the frame, and an output end of the second pressing cylinder 1311 is disposed downward, and the second pressing plate 1312 is connected to an output end of the second pressing cylinder 1311. The second pressing assembly 131 further includes a fourth solenoid valve for controlling the extension and retraction actions of the second pressing cylinder 1311. The first suction cup assembly 132 includes an extension cylinder fixed to the frame and capable of outputting movement in the Y direction, and a first suction nozzle connected to an output end of the extension cylinder, the extension cylinder driving the first suction nozzle to approach the material 100 in the Y direction so that the first suction nozzle can be attracted to the bundle 102, and when the extension cylinder driving the first suction nozzle to be away from the material 100 in the Y direction, a gap is generated between the bundle 102 and the stacked body 101. In this embodiment, the first suction cup assembly 132 further includes a fifth solenoid valve for controlling the extending and retracting actions of the extending cylinder, and a sixth solenoid valve for controlling the first suction nozzle to generate vacuum or break vacuum. The cutting assembly 133 includes a cutting cylinder and a cutter, wherein the cutting cylinder is fixed on the frame and can output a linear motion along the X direction, and the cutter is connected with an output end of the cutting cylinder. The cutting cylinder drives the cutter to move in the X-direction to sever the first side surface of the bundle 102 in the X-direction. In this embodiment, the cutting assembly 133 further includes a seventh solenoid valve for controlling the extension and retraction of the cutting cylinder.

When the cutting of the binding 102 is completed, the first sucking disc assembly 132 releases the binding 102, the second pressing assembly 131 lifts up to no longer press down the material 100, and the cutting assembly 133 resets, at which time the lifting driving assembly 111 drives the supporting plate 112 and the material 100 thereon to move downward together.

Preferably, as shown in fig. 7 and 8, the lifting driving assembly 111 is a linear module, specifically, the lifting driving assembly 111 is disposed below the cutting mechanism 13 along the Z direction, the lifting driving assembly 111 includes a first servo motor and a first transmission assembly, the bearing plate 112 is connected with an output end of the first transmission assembly, and the first transmission assembly converts a rotational motion of the first servo motor into a linear motion along the Z direction.

Preferably, as shown in fig. 8, the supporting blocks 14 are fixed on the frame, two opposite ends of the supporting plate 112 along the X direction are respectively provided with a avoiding hole 1121, when the lifting driving assembly 111 drives the supporting plate 112 to move to the blanking station, each supporting block 14 is correspondingly provided with a avoiding hole 1121, so that the supporting blocks 14 can contact two opposite ends of the stacked body 101 along the X direction, when the supporting plate 112 continues to move downwards to the recycling station, the stacked body 101 is left on the supporting blocks 14, and the binding element 102 moves downwards together with the supporting plate 112, so that the lower surface of the stacked body 101 is separated from the binding element 102.

Preferably, as shown in fig. 8, the unpacking and conveying device 10 further includes a plurality of guide rods 18, where the plurality of guide rods 18 are disposed on the frame and extend along the Z direction, and the guide rods 18 are disposed on two sides of the support plate 112 along the X direction, so as to limit the stacked body 101 on the support plate 112 when the support plate 112 is lifted, thereby avoiding the stacked body 101 from being shifted or misplaced during the lifting process, and further ensuring that the stacked body 101 can be smoothly driven onto the second conveying mechanism 17 by the blanking driving mechanism 16. In this embodiment, the guide rods 18 are provided in four, two of which are provided on one side of the support plate 112 in the X direction and the other two of which are provided on the other side of the support plate 112 in the X direction. In other embodiments, the number and position of the guide rods 18 may be adjusted as desired.

As shown in fig. 8 to 9, the suction and recovery mechanism 15 is disposed opposite to the lift driving assembly 111, and the suction and recovery mechanism 15 includes a traverse driving assembly 151 and a second suction cup assembly 152, and the traverse driving assembly 151 is capable of driving the second suction cup assembly 152 to approach the carrier plate 112 located at the recovery station in the Y direction so that the second suction cup assembly 152 contacts and sucks a second side surface of the bundle 102 on the carrier plate 112, the second side surface being a surface disposed opposite to the first side surface. The traversing drive assembly 151 can also drive the second suction cup assembly 152 in the Y-direction away from the carrier plate 112 at the recovery station to move the second suction cup assembly 152 directly above the recovery tank, and when the second suction cup assembly 152 breaks the vacuum, the bundle 102 automatically drops into the recovery tank.

In this embodiment, the traversing driving assembly 151 includes a traversing cylinder, and the second suction cup assembly 152 is connected to an output end of the traversing cylinder, and the traversing cylinder can output a linear motion along the Y direction to drive the second suction cup assembly 152 to approach or separate from the binding 102. In this embodiment, the traverse driving assembly 151 further includes an eighth solenoid valve for extending or retracting the output end of the traverse cylinder. The second suction cup assembly 152 includes a support plate connected to the output end of the traverse cylinder and a plurality of second suction nozzles fixed to the support plate. The second suction cup assembly 152 also includes a ninth solenoid valve that can control the second suction nozzle to create or break a vacuum.

When the adsorbing and recovering mechanism 15 takes the bundle 102 away, the lifting driving assembly 111 drives the supporting plate 112 to move upwards from the recovering station to the blanking station, and at this time, as shown in fig. 8, the upper surface of the supporting plate 112 is flush with the upper surface of the supporting block 14, and at this time, the supporting plate 112 and the supporting block 14 jointly support the stacked body 101. Preferably, the support plate 112 is further provided with a first groove 1122 extending along the X direction, as shown in fig. 9, the blanking driving mechanism 16 includes a blanking driving source 161 and a blanking push rod 162, the blanking driving source 161 can drive the blanking push rod 162 to move along the X direction, and the lower end of the blanking push rod 162 can extend into the first groove 1122. Since the stacked body 101 is formed by stacking a plurality of paper sheets, by inserting the lower end of the blanking push rod 162 into the first groove 1122, the blanking push rod 162 can be fully contacted with all paper sheets of the stacked body 101, thereby ensuring that the paper sheets of the lowermost layer can also move together in the process of pushing the stacked body 101 to the second conveying mechanism 17. In this embodiment, the support block 14 is provided with a second groove 141 matching with the first groove 1122, and the second groove 141 enables the blanking push rod 162 to move smoothly along the X direction.

In this embodiment, the blanking driving source 161 may be a linear module, and specifically, the blanking driving source 161 includes a second servo motor and a second transmission assembly, and the blanking push rod 162 is connected with an output end of the second transmission assembly. The second transmission assembly can convert the rotation motion output by the second servo motor into linear motion along the X direction, so that the stacked body 101 is pushed onto the second conveying mechanism 17, and the blanking driving source 161 can continuously drive the stacked body 101 to move on the second conveying mechanism 17 along the X direction until the stacked body 101 is pushed into the transferring conveying device 20 from the second conveying mechanism 17.

In this embodiment, as shown in fig. 7, the second conveying mechanism 17 includes a supporting slide 171 and two limiting plates 172. Wherein the supporting slide 171 extends along the X direction, two limiting plates 172 are respectively located at two sides of the supporting slide along the X direction, and the blanking driving source 161 can drive the blanking push rod 162 to push the stacked body 101 from the supporting plate 112 located at the blanking station to the supporting slide 171, and then continuously push the stacked body 101 to move from the supporting slide 171 to the transferring and conveying device 20. The two limiting plates 172 can limit the stacked body 101, so as to avoid position deviation of the stacked body 101 along the Y direction when moving on the bearing slide 171. Preferably, the supporting surface of the supporting slideway 171 is wavy along the Y direction, so that friction on the stacked body 101 can be reduced to enable the stacked body 101 to move more smoothly, and on the other hand, the lower end of the discharging push rod 162 can be inserted into the wavy concave part to ensure that the paper sheets at the lowest layer of the stacked body 101 can move smoothly along the supporting slideway 171.

In general, in order for a worker to conveniently operate and maintain the packing machine 200, it is required that the periphery of the packing machine 200 cannot be closely disposed with other structures even though a certain space is left around the packing machine 200. This may lead to a more tortuous path for transporting the stack 101 into the packaging machine 200, and the transfer conveyor 20 of the prior art occupies a larger plant area, which is detrimental to the overall plant layout.

In this regard, preferably, as shown in fig. 1 and 2, the transfer conveyor 20 includes a front section for interfacing with the unpacking conveyor 10, the front section being located laterally of the packing machine 200 and spaced apart from the packing machine 200, and a rear section of the transfer conveyor 20 being located above the packing machine 200, the rear section being capable of conveying the stack 101 into the packing machine 200 from top to bottom. By arranging the front section of the transfer conveying device 20 and the packing machine 200 at intervals and conveying the stacked body 101 into the packing machine 200 from top to bottom at the rear section, on one hand, the areas for operators to operate are reserved around the packing machine 200, and the use requirement of the packing machine 200 is met; on the other hand, the rear section of the transfer conveying device 20 is arranged above the packaging machine 200, so that the space above the packaging machine 200 is fully utilized, the occupied area of the transfer conveying device 20 is reduced, and the factory layout is facilitated.

Specifically, as shown in fig. 1 and 10, the transfer conveyor 20 includes a first lifting mechanism 21, an overhead horizontal conveying mechanism 22, and a second lifting mechanism 23. Wherein the first lifting mechanism 21 constitutes the front section of the transfer conveyor 20 and the high-altitude horizontal conveyor 22 and the second lifting mechanism 23 constitute the rear section of the transfer conveyor 20. The high-altitude horizontal conveyance mechanism 22 extends in the Y direction, and both ends of the high-altitude horizontal conveyance mechanism 22 are respectively abutted with the upper ends of the first lifting mechanism 21 and the upper ends of the second lifting mechanism 23. The first lifting mechanism 21 is capable of receiving the stack 101 from the unpacking and conveying device 10, and is capable of lifting the stack 101 in the Z-direction. The high-altitude horizontal conveying mechanism 22 is capable of receiving the stacked body 101 obtained on the first lifting mechanism 21 and conveying the stacked body 101 to the second lifting mechanism 23, and the second lifting mechanism 23 is capable of driving the stacked body 101 to descend along Z and to be placed in the packaging machine 200. In the present embodiment, the blanking drive mechanism 16 is capable of pushing the stacked body 101 on the second conveying mechanism 17 into the first lifting mechanism 21. To facilitate the docking of the first lifting mechanism 21 with the second conveyor 17, the first lifting mechanism 21 is arranged within the first housing 120 of the unpacking conveyor 10.

Preferably, as shown in fig. 10 and 11, the first lifting mechanism 21 includes a first lifting driving assembly 211 and a carrier plate 212, the carrier plate 212 is disposed on a side of the first lifting driving assembly 211 facing the high-altitude horizontal conveying mechanism 22, the carrier plate 212 is used for supporting the stacked body 101, the blanking driving mechanism 16 can push the stacked body 101 on the second conveying mechanism 17 onto the carrier plate 212, and the first lifting driving assembly 211 can drive the carrier plate 212 to move along the Z direction and butt against the high-altitude horizontal conveying mechanism 22. In this embodiment, the first lifting driving assembly 211 may be a linear module, specifically, the first lifting driving assembly 211 includes a third servo motor and a third transmission assembly, the carrier plate 212 is connected with an output end of the third transmission assembly, and the third transmission assembly converts a rotational motion of the third servo motor into a linear motion along the Z direction.

In the prior art, the stacked paper sheets are usually transported by a belt, and because the stacked body 101 is formed by stacking multiple independent paper sheets, the belt only applies an acting force to the lowest paper sheet in the process of transporting the stacked body 101 by the belt, and the upper paper sheet advances under the friction force action of the lower paper sheet, and the advancing power of each paper sheet is inconsistent, dislocation may occur between each paper sheet in the transporting process, and thus the stacked body 101 cannot meet the use requirement due to overlarge dislocation when entering the packaging machine 200.

As shown in fig. 11-13, the high-altitude horizontal conveyance mechanism 22 includes a chute assembly 221, a pusher drive assembly 222, and a push rod assembly 223. Wherein the slide assembly 221 extends along the Y direction, and the pushing driving assembly 222 can drive the pushing rod assembly 223 to move along the Y direction, so that the pushing rod assembly 223 sequentially completes: pushing the stack 101 from the first lifting mechanism 21 onto the ramp assembly 221, moving the stack 101 along the ramp assembly 221, pushing the stack 101 on the ramp assembly 221 onto the second lifting mechanism 23. The cooperation of the slide assembly 221, the pushing driving assembly 222 and the push rod assembly 223 not only realizes the transfer of the stacked body 101 between the first lifting mechanism 21 and the high-altitude horizontal conveying mechanism 22 and the transfer between the high-altitude horizontal conveying mechanism 22 and the second lifting mechanism 23, but also realizes the conveying of the stacked body 101 in the high-altitude horizontal conveying mechanism 22. In addition, compared with the conventional belt conveying manner, in the present embodiment, in the process of conveying the stack 101 horizontally, the push rod assembly 223 contacts with the whole stack 101, so that the pushing force is uniformly applied to each layer of paper sheet of the stack 101, and thus the problem that each layer of paper sheet of the stack 101 is misplaced in the conveying process can be avoided.

In this embodiment, the pushing driving assembly 222 may be a linear module, specifically, the pushing driving assembly 222 includes a fourth servo motor and a fourth transmission assembly, an output end of the push rod assembly 223 is connected with an output end of the fourth transmission assembly, and the fourth transmission assembly converts a rotational motion of the fourth servo motor into a linear motion along the Y direction.

Preferably, as shown in fig. 12 and 13, the slide assembly 221 includes a slide body 2211, a first slot 2214 extending along the Y direction is provided on an upper surface of the slide body 2211, a first end of the push rod assembly 223 is connected to an output end of the pushing driving assembly 222, and a second end can be inserted into the first slot 2214. By inserting the pusher member 223 into the first slot 2214, the pusher member 223 is allowed to fully contact the lowermost sheet of the stack 101 and provide a force to ensure synchronous movement of all sheets of the stack 101. Alternatively, the number of the first slots 2214 is two, and the second ends of the push rod assemblies 223 can be respectively matched with the two second slots 213. In other embodiments, the number of the second slots 213 may be more, and may be set according to actual needs, which is not limited herein.

Preferably, as shown in fig. 11, the carrier plate 212 is provided with a second slot 213 extending in the Y direction, the second slot 213 being capable of being collinear with the first slot 2214, and a second end of the push rod assembly 223 being capable of being inserted into the second slot 213. The end of the push rod assembly 223 is inserted into the second slot 213 and moves in the Y direction, and is capable of fully contacting with the paper sheet at the lowest layer of the stack 101 and providing an acting force, so as to ensure that the paper sheet at the lowest layer is also smoothly pushed onto the slide body 2211. In the present embodiment, the number of the second slots 213 is identical to that of the first slots 2214, and when the carrier plate 212 is docked with the slide body 2211, each of the second slots 213 is correspondingly co-linear with one of the second slots 213.

Preferably, as shown in fig. 13, the upper surface of the slide body 2211 is configured in a wave shape in the width direction thereof. The wave shape is formed by a plurality of sections of circular arcs, so that the contact area between the slide way body 2211 and the stacking body 101 is reduced, the friction force of the slide way body 2211 to the stacking body 101 is reduced, and the stacking body 101 moves on the slide way body 2211 more smoothly.

Preferably, as shown in fig. 12, the slide assembly 221 further includes a baffle 2212, where the baffle 2212 is disposed on two sides of the slide body 2211 along the Y direction, and the baffles 2212 on two sides can limit the position of the stack 101 along the X direction, so as to avoid a positional deviation of the stack 101 along the X direction. In this embodiment, the pusher member 223 is formed from a plurality of segments of rod members so that the pusher member 223 can extend from the outside of the barrier 2212 to the inside of the barrier 2212.

Preferably, the ramp assembly 221 further includes a shield 2213, the shield 2213 covering the ramp body 2211 and the stack 101 thereon, thereby improving safety of high-altitude transportation. Preferably, the shield 2213 is selectively openable to facilitate maintenance in the event of a failure of the overhead horizontal transport. The specific manner in which the shield 2213 is opened may be by an electric push rod drive, and is not specifically limited herein.

As shown in fig. 14-16, the second lifting mechanism 23 includes a second lifting driving assembly 231 and a carrying jig 232, the pushing driving assembly 222 can drive the pushing rod assembly 223 to push the stacked body 101 on the slideway assembly 221 onto the carrying jig 232, the second lifting driving assembly 231 can drive the carrying jig 232 to move along the Z direction, and the carrying jig 232 can support the stacked body 101, correct the position of the stacked body 101 and automatically unload the stacked body 101 into the packaging machine 200. In this embodiment, the stacking body 101 can be transported into the packaging machine 200 from top to bottom by matching the second lifting driving assembly 231 and the carrying jig 232, so that the space around the packaging machine 200 is not occupied, and the carrying jig 232 can further correct the position of the stacking body 101, so as to ensure that the stacking body 101 enters into the packaging machine 200 in an accurate posture.

In this embodiment, the second lifting driving assembly 231 may be a linear module, specifically, the second lifting driving assembly 231 includes a fifth servo motor and a fifth transmission assembly, the carrying jig 232 is connected with the output end of the fifth transmission assembly, and the fifth transmission assembly can convert the rotation motion of the fifth servo motor into the linear motion along the Z direction, so as to drive the carrying jig 232 to rise to the upper end to be in butt joint with the slideway assembly 221, or move to the lower end and be located above the feeding end of the packaging machine 200.

In this embodiment, as shown in fig. 16-18, the carrying jig 232 includes a frame body 2321 and a tray 2322, wherein the frame body 2321 is connected with the output end of the second lifting driving component 231, the tray 2322 is connected with the frame body 2321, the tray 2322 is used for supporting the stacked body 101, and the pushing driving component 222 can drive the pushing rod component 223 to push the stacked body 101 on the slideway component 221 onto the tray 2322, so that the second lifting driving component 231 drives the stacked body 101 to move up and down. The push rod assembly 223 and the frame body 2321 can define a position of the stack 101 in the Y-direction during the push rod assembly 223 pushing the stack 101 to the tray 2322 in the Y-direction. In this embodiment, the frame body 2321 is substantially U-shaped, that is, includes a rear plate 23211 and two side plates 23212, the opening of the frame body 2321 faces the horizontal high-altitude conveying device 22, and the cooperation of the push rod assembly 223 and the rear plate 23211 can achieve position limitation of the stacked body 101 along the Y direction.

Preferably, as shown in fig. 17 and 18, the carrying jig 232 further includes a clamping plate assembly 2323, where the clamping plate assembly 2323 is connected to the frame body 2321, and the clamping plate assembly 2323 can clamp the stacked body 101 along the X direction, so as to correct the position and posture of the stacked body 101 on the tray 2322 along the X direction, and ensure that the stacked body 101 finally enters the packaging machine 200 in an accurate position and posture. In this embodiment, the clamping plate assembly 2323 includes a clamping cylinder 23231 and two clamping plate bodies 23232, the clamping cylinder 23231 is fixedly connected with the frame body 2321, the two clamping plate bodies 23232 are respectively connected with two output ends of the clamping cylinder 23231 and are located between two side plates 23212 of the frame body 2321, and the clamping cylinder 23231 can drive the two clamping plate bodies 23232 to approach each other along the X direction so as to clamp the stacked body 101. Preferably, the clamping plate assembly 2323 further includes a tenth solenoid valve for controlling the extension and retraction of the output end of the clamping cylinder 23231, thereby controlling the clamping or unclamping of the clamping plate body 23232.

Preferably, as shown in fig. 16-18, the carrying fixture 232 further includes a discharging driving assembly 2324, the discharging driving assembly 2324 is disposed on the frame body 2321, and an output end of the discharging driving assembly 2324 is connected to the tray 2322, and the discharging driving assembly 2324 can drive the tray 2322 to move along the Y direction relative to the frame body 2321, so that the frame body 2321 pushes the stacked body 101 on the tray 2322 down. When the second lifting driving assembly 231 drives the carrying jig 232 to move downward above the feeding end (as shown in fig. 14, the feeding end may be a belt assembly) of the packaging machine 200, the discharging driving assembly 2324 drives the tray 2322 to withdraw backward along the Y direction, and the stacked body 101 will not move along the Y direction under the action of the back plate 23211 of the frame body 2321, at this time, the tray 2322 will not support the stacked body 101 any more, and when the clamping cylinder 23231 of the clamping plate assembly 2323 drives the two clamping plate bodies 23232 to move away from each other, the stacked body 101 will not be supported by any more carrying jig 232, so as to fall on the feeding end of the packaging machine 200, thereby realizing automatic discharging of the carrying jig 232. In this embodiment, the discharging driving component 2324 may be an air cylinder, where the discharging driving component 2324 is fixed on the frame body 2321 and the output end is connected with the tray 2322. The discharge drive assembly 2324 also includes an eleventh solenoid valve for controlling the extension and retraction of the cylinder.

Preferably, as shown in fig. 16, a tooth slot 23221 extending along the Y direction is provided on the tray 2322, a gear shaping 23213 is provided on one side of the frame body 2321 facing the upper surface of the tray 2322, and the gear shaping 23213 is inserted into the tooth slot 23221 and can slide relative to the tooth slot 23221. In this embodiment, the gear shaping 23213 is disposed on the rear plate 23211 of the frame body 2321, and the rear plate 23211 can be stably contacted with the paper sheets at the lowest layer of the stacked body 101 through the cooperation of the gear shaping 23213 and the tooth grooves 23221 on the tray 2322, so that when the tray 2322 is withdrawn backwards along Y, the rear plate 23211 can stop all the paper sheets of the stacked body 101 and further ensure that all the paper sheets of the stacked body 101 fall into the feeding end of the packaging machine 200 in an accurate position. Alternatively, as shown in fig. 16, three gear shaping grooves 23213 are provided on the frame body 2321, three gear shaping grooves 23221 are correspondingly provided on the tray 2322, each gear shaping groove 23213 is correspondingly inserted into one gear shaping groove 23221, and in other embodiments, the number of the gear shaping grooves 23221 and the number of the gear shaping grooves 23213 can be flexibly set, which is not limited herein.

Preferably, as shown in fig. 19, the feeding system further comprises a control unit 70, and the control unit 70 is used for controlling the operation of the robot 40, the 3D camera 60, the unpacking and conveying device 10 and the transferring and conveying device 20. As shown in fig. 19, the control unit 70 includes a main control module 71, an industrial switch 72, a servo drive module 73, a robot control module 74, an industrial personal computer 75, an I/O control module 76, a speed motor module 77, a sensor detection module 78, and a solenoid valve control module 79. The industrial switch 72 is communicatively connected to the main control module 71, and the servo driving module 73 is communicatively connected to the industrial switch 72. The robot control module 74 is communicatively coupled to the industrial switch 72. The industrial personal computer 75 is communicatively connected to the industrial switch 72, and the industrial personal computer 75 includes a human-machine interface 751. The 3D vision module 711 is communicatively connected to the industrial personal computer 75. The I/O control module 76 is in communication connection with the main control module 71, and the variable speed motor module 77, the sensor detection module 78 and the electromagnetic valve control module 79 are all in communication connection with the I/O control module 76.

In this embodiment, the first, second, third, fourth and fifth servomotors are all electrically connected to the servo driving module 73. The main control module 71 realizes signal transmission with the servo driving module 73 through the industrial switch 72, and further realizes control of the five servo motors. Specifically, the main control module 71 communicates with the industrial switch 72 via the EtherCAT protocol, and the industrial switch 72 communicates with the servo drive module 73 via the EtherCAT protocol.

In this embodiment, the robot 40 is electrically connected to the robot control module 74, and the main control module 71 performs signal transmission with the robot control module 74 via the industrial switch 72, thereby controlling the operation of the robot 40. Specifically, the industrial switch 72 and the servo driving module 73 communicate with each other through the EtherNet/IP protocol.

In this embodiment, the man-machine interface 751 is used for a worker to select and operate the operation of the entire feeding system. The main control module 71 realizes signal transmission with the man-machine interface 751 through the industrial switch 72, so that the feeding system performs the operation of the staff. The industrial switch 72 communicates with the industrial personal computer 75 via ModbusTCP protocol, which in turn communicates with the human machine interface 751.

In this embodiment, the 3D camera 60 is electrically connected to the 3D vision module 711. The main control module 71 sequentially passes through the industrial switch 72 and the industrial personal computer 75 to realize signal transmission with the 3D vision module 711, so as to realize control of the 3D camera 60. Specifically, the industrial personal computer 75 communicates with the 3D vision module 711 through TCP/IP protocol.

In this embodiment, the speed-adjusting motor at the first conveyor belt 121 is electrically connected to the speed-adjusting motor module 77. The main control module 71 realizes signal transmission with the speed regulating motor module 77 through the I/O control module 76, thereby realizing control of the speed regulating motor. The main control module 71 communicates with the I/O control module 76 via the EtherCAT protocol.

In this embodiment, the first sensor at the door body of the first housing 120, the second sensor at the door body of the second housing 24, the first position sensor, and the like are all electrically connected with the sensor detection module 78, and the main control module 71 realizes signal transmission with the sensor detection module 78 through the I/O control module 76, so as to further realize control of each sensor.

In this embodiment, the first solenoid valve, the second solenoid valve … and the eleventh solenoid valve are electrically connected to the solenoid valve control module 79. The main control module 71 performs signal transmission with the solenoid valve control module 79 through the I/O control module 76, and further performs control of each solenoid valve.

Preferably, the control unit 70 further includes a safety control module 710, and the servo drive module 73 and the sensor detection module 78 are respectively communicatively connected to the safety control module 710. Namely, the servo driving module 73 communicates with the main control module 71 through two lines of the safety control module 710 and the industrial switch 72, respectively, so that the operation safety of each servo motor is improved. Similarly, the sensor detection module 78 communicates with the main control module 71 via two lines, I/O control module 76 and security control module 710, respectively, to improve the operational safety of each sensor.

Preferably, the packaging machine 200 includes a packaging machine control cabinet, and the packaging machine control cabinet is communicatively connected to the I/O control module 76, so as to communicate with the main control module, so that the feeding system can perform feeding according to the requirement of the packaging machine.

It is to be understood that the foregoing examples of the invention are provided for the purpose of illustration only and are not intended to limit the scope of the invention, which is defined by the claims, since modifications in both the detailed description and the application scope of the invention will become apparent to those skilled in the art upon consideration of the teachings of the invention. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. An unpacking and conveying device for unpacking materials (100), wherein the materials (100) comprise a stacking body (101) and a binding piece (102), and the binding piece (102) is wrapped on the middle part of the stacking body (101) along the X direction, and the unpacking and conveying device is characterized by comprising a rack and a plurality of binding pieces, wherein the rack is arranged on the rack:

the lifting mechanism (11) comprises a lifting driving assembly (111) and a supporting plate (112), wherein the lifting driving assembly (111) can drive the supporting plate (112) to move along the Z direction and sequentially move to a cutting station, a blanking station and a recycling station from top to bottom;

a first conveying mechanism (12) which is positioned at one side of the cutting station and can convey the material (100) to the supporting plate (112) positioned at the cutting station along the Y direction;

a cutting mechanism (13) which is arranged on the other side of the cutting station and can cut off the binding piece (102) on the material (100) positioned at the cutting station;

the two bearing blocks (14) are fixed on the frame, the two bearing blocks (14) can respectively penetrate through two ends of the bearing plate (112) along the X direction, limit the stacked body (101) on the bearing plate (112) at the blanking station, and separate the lower surface of the stacked body (101) from the binding piece (102);

And the adsorption and recovery mechanism (15) is arranged on one side of the recovery station, and the adsorption and recovery mechanism (15) can adsorb the binding piece (102) on the bearing plate (112) at the recovery station and convey the binding piece (102) into a recovery box.

2. Unpacking and conveying device according to claim 1, characterized in that it further comprises a blanking driving mechanism (16) and a second conveying mechanism (17), said second conveying mechanism (17) being arranged at one end of the blanking station in the X-direction, said blanking driving mechanism (16) being able to push the stack (101) located on the carrier plate (112) of the blanking station onto said second conveying mechanism (17).

3. The unpacking and conveying device according to claim 2, wherein the two ends of the supporting plate (112) along the X direction are respectively provided with an avoiding hole (1121), when the supporting plate (112) is located at the blanking station, each supporting block (14) correspondingly penetrates through one avoiding hole (1121), the upper surface of each supporting block (14) is flush with the upper surface of the supporting plate (112), the supporting plate (112) is further provided with a first groove (1122) extending along the X direction, the blanking driving mechanism (16) comprises a blanking driving source (161) and a blanking push rod (162), the blanking driving source (161) can drive the blanking push rod (162) to move along the X direction, and the lower end of the blanking push rod (162) can extend into the first groove (1122).

4. A unpacking and conveying device according to any one of claims 1-3, characterized in that it further comprises a plurality of guide rods (18), a plurality of said guide rods (18) being arranged on said frame and extending in the Z-direction, said guide rods (18) being arranged on both sides of said carrier plate (112) in the X-direction to limit said stacks (101) on said carrier plate (112) when said carrier plate (112) is lifted.

5. A unpacking and conveying device according to any one of claims 1-3, characterized in that said first conveying means (12) comprise:

a first conveyor belt (121) capable of driving the material (100) to move in the Y-direction;

clapping material subassembly (123) set up one side along Y is to first conveyer belt (121), clapping material subassembly (123) are including clapping material drive source (1231) and clapping material board (1232), clapping material drive source (1231) can drive clapping material board (1232) along X along the motion and with material (100) looks butt on first conveyer belt (121).

6. The unpacking conveyor according to claim 5, wherein said first conveyor mechanism (12) further comprises a stop assembly (122), said stop assembly (122) being disposed at one end of said first conveyor belt (121) in the Y-direction, said stop assembly (122) having a first condition for stopping said material (100) at the end of said first conveyor belt (121) and a second condition for avoiding movement of said material (100) from said first conveyor belt (121) onto said carrier plate (112).

7. The unpacking and conveying device according to claim 5, wherein said first conveying mechanism (12) further comprises a first pressing assembly (124), said first pressing assembly (124) being capable of pressing a subsequent one of said materials (100) on said first conveyor belt (121) after a previous one of said materials (100) has been conveyed on said carrier plate (112) by said first conveyor belt (121).

8. A unpacking and conveying device according to any one of claims 1-3, characterized in that the cutting mechanism (13) comprises:

a second hold-down assembly (131), said second hold-down assembly (131) being capable of pressing against an upper surface of said material (100) at said cutting station;

a first suction cup assembly (132) capable of sucking a first side surface of the binding member (102) of the material (100) at the cutting station and driving the first side surface away from the stacked body (101) in the Y direction;

and a cutting unit (133) capable of moving in the X direction and cutting the binding material (102).

9. Unpacking and conveying device according to claim 8, characterized in that said cutting means (13) comprise two of said first suction cup assemblies (132), said two first suction cup assemblies (132) being arranged at intervals along the Z-direction, said cutting assembly (133) being arranged between two sets of said first suction cup assemblies (132).

10. A unpacking and conveying device according to any one of claims 1-3, characterized in that the adsorption recovery mechanism (15) comprises:

the transverse moving driving assembly (151) and the second sucking disc assembly (152), the transverse moving driving assembly (151) can drive the second sucking disc assembly (152) to be close to the supporting plate (112) located at the recovery station along the Y direction, so that the second sucking disc assembly (152) contacts and adsorbs the binding piece (102) on the supporting plate (112), and the transverse moving driving assembly (151) can drive the second sucking disc assembly (152) to be far away from the supporting plate (112) along the Y direction, so that the second sucking disc assembly (152) can put the binding piece (102) into the recovery box.