CN217575964U

CN217575964U - Unstacking, shearing and packing belt mechanism and material taking device

Info

Publication number: CN217575964U
Application number: CN202220882074.2U
Authority: CN
Inventors: 周伟
Original assignee: Anhui Peitian Robotics Group Co Ltd
Current assignee: Anhui Peitian Robotics Group Co Ltd
Priority date: 2022-04-14
Filing date: 2022-04-14
Publication date: 2022-10-14
Anticipated expiration: 2032-04-14

Abstract

The application discloses packing area mechanism and extracting device are cut to breaking a jam, should break a jam and cut packing area mechanism and include: the first mounting plate comprises a first surface and a second surface which are arranged oppositely; the first tool side quick-change connecting disc is arranged on the first surface and used for connecting the unstacking, shearing and packing belt mechanism with the tail end of the mechanical arm; a first gripper mounted on the second surface for gripping the carton from the carton form onto the table; and the pneumatic scissors are connected with the first mounting plate and used for cutting off the packing belt on the periphery of the carton on the workbench. The utility model provides a mechanism of taking area is cut in unstacking can realize the automation in unstacking, cutting the packing area, reduces intensity of labour, improves production efficiency.

Description

Unstacking, shearing and packing belt mechanism and material taking device

Technical Field

The application relates to the technical field of packaging, in particular to a unstacking, shearing and packing belt mechanism and a material taking device.

Background

With the rapid development of Chinese intelligence, various industries are beginning to develop automation. However, the current situation that the paper boxes are unstacked and the materials are taken from the paper boxes mainly still by adopting a manual mode is urgently needed to be changed due to the fact that the labor intensity is high and the efficiency is low.

SUMMERY OF THE UTILITY MODEL

The application provides a mechanism and extracting device are taken in packing of cutting of breaking a jam can realize breaking a jam, cutting the automation of packing, need not artifical the participation, can reduce intensity of labour, improves production efficiency.

The first aspect of the embodiment of this application provides a mechanism is taken in packing of cutting out a jam, includes: the first mounting plate comprises a first surface and a second surface which are arranged oppositely; the first tool side quick-change connecting disc is arranged on the first surface and used for connecting the unstacking, shearing and packing belt mechanism with the tail end of the mechanical arm; a first gripper mounted on the second surface for gripping the carton from the carton form onto a table; and the pneumatic scissors are connected with the first mounting plate and used for shearing off the packing belt on the periphery of the carton on the workbench.

A second aspect of the embodiment of the application provides a material taking device, which comprises a mechanical arm, a first control mechanism and the unstacking, shearing and packing belt mechanism, wherein the unstacking, shearing and packing belt mechanism is installed at the tail end of the mechanical arm, and the first control mechanism is connected with the unstacking, shearing and packing belt mechanism and is used for controlling the operation of the unstacking, shearing and packing belt mechanism; and meanwhile, a machine side quick-change connecting disc is installed at the tail end of the mechanical arm and is used for being connected with the first tool side quick-change connecting disc, so that the tail end of the mechanical arm is installed, and the stacking, shearing and packing mechanism is arranged.

The beneficial effect of this application is: this application utilizes the mechanism of cutting into piles up and cuts packing area of breaking a jam to grab the carton from carton buttress type and get the workstation on to cut off the outlying packing area of carton on the workstation, thereby convenient follow-up utilization snatchs the barreled material mechanism and takes out the inside barreled material of carton, perhaps utilizes to snatch the bag material mechanism and take out the inside bag material of carton, realizes breaking into piles up a jam, cuts the automation in packing area, need not artifical the participation, can reduce intensity of labour, improvement production efficiency.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic view of the material extracting apparatus of the present application in operation;

FIG. 2 is a schematic view of the structure of the take-out device of FIG. 1;

FIG. 3 is a schematic structural view of the de-stacking, shearing and strapping mechanism of FIG. 2;

FIG. 4 is a schematic view of the arrangement of the pneumatic scissors and the first pneumatic clamp of FIG. 3;

FIG. 5 is a schematic structural view of the barrel grabbing mechanism of FIG. 1;

FIG. 6 is a schematic structural view of the bag material grabbing mechanism in FIG. 1;

fig. 7 is a schematic view of the unstacking, shearing and packing belt mechanism, the barrel material grabbing mechanism and the bag material grabbing mechanism in fig. 1, which are placed on a tool table.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

Referring to fig. 1 to 3, in an embodiment, the material taking device 1000 includes a mechanical arm 1100, a first control mechanism 1200 and a unstacking, shearing and packing belt mechanism 1300, wherein the first control mechanism 1200 is connected to the unstacking, shearing and packing belt mechanism 1300 and is configured to control operation of the unstacking, shearing and packing belt mechanism 1300.

The operation of the robot 1100 is controlled by the second control mechanism 2100, the robot 1100 may specifically be a robot arm of a robot, and when the robot 1100 is a robot arm of a robot, the second control mechanism 2100 is a robot control cabinet. For convenience of explanation, the robot arm 1100 will be described below as a robot arm of a robot.

The unstacking, shearing and packing belt mechanism 1300 is used for grabbing the carton (1) onto the workbench from the carton stack type (10) and shearing the packing belt on the periphery of the carton (1) on the workbench.

Before unpacking, the AGV trolley conveys trays carrying a plurality of cartons 1 to two pallet placing areas A, then the mechanical arm 1100 drives the unstacking, shearing and packaging belt mechanism 1300 with the connected tail ends to move, meanwhile, in the moving process of the unstacking, shearing and packaging belt mechanism 1300, the first control mechanism 1200 controls the first grabbing piece 1330 to grab the cartons 1 onto the workbench from the carton stacking type 10, then the mechanical arm 1100 drives the unstacking, shearing and packaging belt mechanism 1300 to continue to move, and in the moving process, the first control mechanism 1200 controls the pneumatic scissors 1340 to shear the packaging belts on the peripheries of the cartons 1.

The unstacking, shearing and packing belt mechanism 1300 specifically includes a first mounting plate 1310, a first tool-side quick-change connecting disc 1320, a first gripping member 1330 and pneumatic scissors 1340.

The first mounting plate 1310 includes oppositely disposed first and

second surfaces

1311, 1312; a first tool-side quick-change connector pad 1320 is mounted on the first surface 1311 for connecting the de-stacking shear strapping mechanism 1300 to the end of the robotic arm 1100. The tail end of the mechanical arm 1100 is provided with a machine-side quick-change connecting disc (not shown due to an angle problem), and the machine-side quick-change connecting disc is used for connecting a first tool-side quick-change connecting disc 1320, so that the unstacking, shearing and packing belt mechanism 1300 is mounted at the tail end of the mechanical arm 1100. Specifically, by the mutual cooperation of the machine-side quick-change connecting disc and the first tool-side quick-change connecting disc 1320, the unstacking, shearing and baling belt mechanism 1300 can be quickly installed at the end of the mechanical arm 1100, and the whole process can be performed without manual intervention.

A first gripper 1330 is mounted on the second surface 2312 for gripping the carton 1 from the carton stack 10 to a work station. In the present embodiment, the first gripper 1330 includes a first vacuum suction cup 1331, and in an application scenario, in order to ensure that the first gripper 1330 can stably and firmly grip the carton 1, the first vacuum suction cup 1331 may specifically be a sponge suction cup.

In this embodiment, in order to monitor the degree of vacuum of the first gripper 1330 when sucking the carton 1, a first negative pressure switch 1350 is further connected to the first gripper 1330. In the process that the first gripper 1330 sucks the carton 1, the first negative pressure switch 1350 detects the vacuum degree in the first gripper 1330 in real time, and if the first negative pressure switch 1350 detects that the vacuum degree in the first gripper 1330 does not meet the standard, the material taking device 1000 gives an alarm.

A pneumatic scissors 1340 is connected to the first mounting plate 1310 for cutting the packaging tape around the carton 1 on the table. Specifically, when the strapping band needs to be cut, the mechanical arm 1100 drives the end-connected unstacking, shearing and strapping band mechanism 1300 to move to a proper position, so that the strapping band enters between two blades of the pneumatic scissors 1340, and then the pneumatic scissors 1340 cut the strapping band under the control of the first control mechanism 1200.

Considering that there are generally two strapping bands around the periphery of the carton 1, as shown in fig. 3, two pneumatic scissors 1340 are simultaneously installed at one side edge of the first surface 1311 of the first mounting plate 1310, and the scissors bodies of the two pneumatic scissors 1340 protrude from the first mounting plate 1310. Specifically, the two pneumatic scissors 1340 are arranged corresponding to different strapping bands, and the two pneumatic scissors 1340 are oriented differently.

In order to clean the cut packing belts in time and avoid the cut packing belts from being stacked on the workbench, referring to fig. 3 and 4, the unstacking, shearing and packing belt mechanism 1300 further includes first pneumatic clamps 1360, the first pneumatic clamps 1360 are disposed in one-to-one correspondence with the pneumatic scissors 1340 of the carton 1, that is, the number of the peripheral packing belts of the carton 1, the number of the pneumatic scissors 1340, and the number of the first pneumatic clamps 1360 are equal, wherein the first pneumatic clamps 1360 are connected to the first control mechanism 1200 and are configured to clamp the corresponding packing belt before the corresponding pneumatic scissors 1340 cut the corresponding packing belt under the control of the first control mechanism 1200.

Specifically, before the pneumatic scissors 1340 cut the packing belt, the corresponding first pneumatic clamp 1360 clamps the packing belt under the control of the first control mechanism 1200, then after the pneumatic scissors 1340 cut the packing belt, the first pneumatic clamp 1360 still clamps the packing belt, and finally, the packing belt is separated from the carton 1 along with the movement of the mechanical arm 1100, and can be conveyed to the recycling bin.

The operation of the unstacking, shearing, strapping band mechanism 1300 will now be described, with the number of strapping bands being two:

firstly, the mechanical arm 1100 drives the unstacking, shearing and packing mechanism 1300 to move to the pallet placing area a, then the first grabbing piece 1330 sucks the carton 1 under the control of the first control mechanism 1200, then the mechanical arm 1100 continues to move so that the carton 1 is placed on the workbench, and in the process, the first negative pressure switch 1350 detects the vacuum degree in the first grabbing piece 1330 in real time.

Then the mechanical arm 1100 drives the unstacking, tape shearing and packaging mechanism 1300 to move to a first packaging tape, the first control mechanism 1200 controls the corresponding first pneumatic clamp 1360 to clamp the first packaging tape, and then the first control mechanism 1200 controls the corresponding pneumatic scissors 1340 to shear the first packaging tape.

Then, the movement of the unstacking, shearing and packaging belt mechanism 1300 is prevented from being limited by the clamped first packaging belt, the mechanical arm 1100 first drives the unstacking, shearing and packaging belt mechanism 1300 to lift the first packaging belt by a certain height, for example, 300mm, then the mechanical arm 1100 drives the unstacking, shearing and packaging belt mechanism 1300 to move to the second packaging belt, the first control mechanism 1200 controls the corresponding first pneumatic clamp 1360 to clamp the second packaging belt, and then the first control mechanism 1200 controls the corresponding pneumatic scissors 1340 to shear the second packaging belt.

At the moment, the two packing belts are clamped by the first pneumatic clamp 1360, then the mechanical arm 1100 drives the unstacking, packing belt shearing mechanism 1300 to drive, so that the two packing belts are separated from the carton 1, and finally, when the two packing belts move to the recycling box, the first pneumatic clamp 1360 loosens the packing belts, and the two packing belts are thrown into the recycling box.

It should be noted that the unstacking, shearing and strapping machine 1300 may not include the first pneumatic clamp 1360 without considering the cleaning of the sheared strapping machine.

With reference to fig. 1, 2, and 5, the material extracting apparatus 1000 further includes a bucket catching mechanism 1400.

The material barrel mechanism 1400 is connected to the first control mechanism 1200, and is configured to grasp a material barrel inside the carton 1 under the control of the first control mechanism 1200, and the material barrel grasping mechanism 1400 includes a second tool-side quick-change connecting disc 1410; the second control mechanism 2100 controlling the robot 1100 switches the machine-side quick-change connector pad on the robot 1100 to be connected to the second tool-side quick-change connector pad 1410 according to the received trigger instruction.

After the unstacking, shearing and packaging belt mechanism 1300 shears off the packaging belt on the periphery of the carton 1, the cover of the carton 1 is cut by the cover disassembling device, and the cover is removed from the workbench, at this time, if the raw material in the carton 1 is a barrel material, the second control mechanism 2100 controls the machine side quick-change connecting disc on the mechanical arm 1100 to be not connected with the first tool side quick-change connecting disc 1320 any more, but connected with the second tool side quick-change connecting disc 1410, so that the barrel material grabbing mechanism 1400 is installed at the tail end of the mechanical arm 1100, and the tail end actuator connected with the tail end of the mechanical arm 1100 is switched. In the process of switching the end effector connected to the end of the arm 1100, manual intervention is not required, and efficiency can be improved.

After the bucket gripping mechanism 1400 is installed at the end of the robot arm 1100, the bucket gripping mechanism 1400 lifts the buckets out of the interior of the carton 1 and places the buckets on the conveying line as the robot arm 1100 moves.

Wherein the grab bucket mechanism 1400 further includes a second mounting plate 1420 and a second pneumatic clamp 1430.

The second mounting plate 1420 includes a first surface 1421 and a second surface 1422 which are oppositely arranged, and the second tool-side quick-change connector pad 1410 is mounted on the first surface 1421; the second pneumatic gripper 1430 is mounted on the second surface 1422 and connected to the first control mechanism 1200, for gripping the barrel material inside the carton 1 under the control of the first control mechanism 1200.

Specifically, in the process of grabbing the barrel, the mechanical arm 1100 drives the barrel grabbing mechanism 1400 to move to the inside of the carton 1, then the second pneumatic clamp 1430 clamps the barrel under the control of the first control mechanism 1200, and finally the mechanical arm 1100 drives the barrel grabbing mechanism 1400 to move so as to lift the barrel out of the inside of the carton 1 and place the barrel on the conveying line.

With continued reference to fig. 5, the second pneumatic clamp 1430 includes a cylinder 1431, a first sub-clamp 1432, and a second sub-clamp 1433.

The air cylinder 1431 is connected to the first control mechanism 1200; the first sub-clamping plate 1432 and the second sub-clamping plate 1433 are connected to the air cylinder 1431 to move toward or away from each other by the driving of the air cylinder 1431.

Specifically, when the barrel needs to be clamped, the air cylinder 1431 drives the first sub-clamping plate 1432 and the second sub-clamping plate 1433 to move back and forth under the control of the first control mechanism 1200, so that the barrel is located between the first sub-clamping plate 1432 and the second sub-clamping plate 1433, and then the air cylinder 1431 drives the first sub-clamping plate 1432 and the second sub-clamping plate 1433 to move towards each other, so that the first sub-clamping plate 1432 and the second sub-clamping plate 1433 are matched with each other to clamp the barrel.

In order to ensure that the barrel material is clamped, the first sub-clamping plate 1432 and the second sub-clamping plate 1433 are both L-shaped plates, and an arc-shaped notch 14321 matched with the barrel material is arranged at one end, not connected with the air cylinder 1431, of the first sub-clamping plate 1432 and the second sub-clamping plate 1433.

In this embodiment, considering that the material inside the carton 1 may also be bag material, the material taking device 1000 further includes a bag material grasping mechanism 1500 in conjunction with fig. 1, 2 and 6.

The bag material grabbing mechanism 1500 is connected with the first control mechanism 1200 and is used for grabbing bag materials inside the carton under the control of the first control mechanism 1200, and the bag material grabbing mechanism 1500 comprises a third tool side quick-change connecting disc 1510; the second control mechanism 2100 that controls the robot 1100 switches the machine-side quick-change connector pad on the robot 1100 to be connected to the third tool-side quick-change connector pad 1510 according to the received trigger instruction.

Specifically, when the bag material inside the carton 1 needs to be grabbed, the first control mechanism 1200 switches the end effector mounted at the end of the mechanical arm 1100, and connects the machine-side quick-change connecting disc at the end of the mechanical arm 1100 with the third tool-side quick-change connecting disc 1510, so that the bag material grabbing mechanism 1500 is mounted at the end of the mechanical arm 1100.

With continued reference to fig. 6, the bag material gripping mechanism 1500 includes a third mounting plate 1520 and a second vacuum chuck 1530.

The third mounting plate 1520 includes a first surface 1521 and a second surface 1522 disposed opposite to each other, and the third tool-side quick-change connector 1510 is mounted on the first surface 1521; a second vacuum chuck 1530 is mounted on the second surface 1522 and connected to the first control mechanism 1200 for sucking the bag material inside the carton 1 under the control of the first control mechanism 1200.

Specifically, in the process of grabbing the bulk material, the robot arm 1100 drives the bag material grabbing mechanism 1500 to move to the inside of the carton 1, then the second vacuum chuck 1530 sucks the bulk material under the control of the first control mechanism 1200, and finally the robot arm 1100 drives the bag material grabbing mechanism 1500 to move, so as to lift the bag material out of the inside of the carton 1 and place the bag material on the conveying line.

In order to monitor the vacuum degree of the second vacuum chuck 1530 during sucking the bag material, the second vacuum chuck 1530 is further connected to a second negative pressure switch 1540. In the process of sucking the bag material by the second vacuum chuck 1530, the second negative pressure switch 1540 detects the vacuum degree in the second vacuum chuck 1530 in real time, and if the second negative pressure switch 1540 detects that the vacuum degree in the second vacuum chuck 1530 does not reach the standard, the material taking device 1000 may alarm.

With continued reference to fig. 2, the reclaimer assembly 1000 further includes a vision mechanism 1600.

The vision mechanism 1600 is mounted on the robotic arm 1100 for taking a picture of the carton stack 10 to determine the position of the carton 1 in the carton stack 10 and a picture of the carton 1 placed on a table to determine the position of the strapping band at the periphery of the carton 1.

Specifically, before the unstacking, shearing and packaging belt mechanism 1300 picks the carton 1 in the carton stack type 10, the vision mechanism 1600 takes a picture of the carton stack type 10, then the second control mechanism 2100 analyzes the obtained first image to obtain the position of the carton 1 in the carton stack type 10, and then the mechanical arm 1100 drives the unstacking, shearing and packaging belt mechanism 1300 to pick the carton 1 according to the position of the carton 1 under the control of the second control mechanism 2100.

After the carton 1 arrives at the workbench, the vision mechanism 1600 takes a picture of the carton 1, the second control mechanism 2100 analyzes the obtained second image to obtain the position of the packaging belt on the periphery of the carton 1, and the mechanical arm 1100 drives the unstacking, shearing and packaging belt shearing mechanism 1300 to shear the packaging belt under the control of the second control mechanism 2100.

It should be noted that in other embodiments, the material taking device 1000 may not include the vision mechanism 1600, and the position of the carton 1 in the carton stack 10, and the position of the packing belt around the carton 1 may be input into the robot 1000 in advance by the operator.

The vision mechanism 1600 includes a first vision sensor 1610 and a second vision sensor 1620 in consideration of different photographing views required when photographing the carton stack type 10 and the carton 1 placed on the table.

Wherein the first visual sensor 1610 is configured to take a picture of the carton stack 10 to determine the position of the carton 1; the second visual sensor 1620 is used to take a picture of the carton 1 placed on the workbench to determine the position of the packaging tape around the carton 1.

Wherein set up first vision sensor 1610, second vision sensor 1620 and shoot carton buttress type 10, the carton of placing on the workstation respectively, compare and adopt the visual sensor of zooming to shoot, can save equipment cost.

Wherein to ensure that the image captured by the first visual sensor 1610 is clear, as shown in fig. 1, the pallet placement area a is further provided with an illumination mechanism 1700 for providing illumination.

As can be seen from the above description, the second control mechanism 2100 may switch the actuators connected to the ends of the arms 1100, when unstacking and strapping tape cutting are required, the second control mechanism 2100 controls the actuators connected to the arms 1100 to be the unstacking and strapping tape cutting mechanism 1300, after the cover of the carton 1 is removed, if the raw material inside the carton 1 is a barrel material, the second control mechanism 2100 controls the actuators connected to the arms 1100 to be the barrel material gripping mechanism 1400, but if the raw material inside the carton 1 is a bag material, the second control mechanism 2100 controls the actuators connected to the arms 1100 to be the bag material gripping mechanism 1500, wherein as shown in fig. 7, when the unstacking and strapping mechanism 1300, the barrel material gripping mechanism 1400, or the bag material gripping mechanism 1500 is in an idle state, the end actuators in the idle state may be placed on the tool table 2200.

In addition, the application also protects the unpacking, shearing and packing belt mechanism 1300, the barrel material grabbing mechanism 1400 and the bag material grabbing mechanism 1500, and specific structures thereof can be referred to above, and are not described herein again.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims

1. A mechanism (1300) for de-stacking, shearing and packing belt, comprising:

a first mounting plate (1310) comprising a first surface (1311) and a second surface (1312) that are oppositely disposed;

a first tool-side quick-change connection pad (1320) mounted on the first surface (1311) for connecting the unstacking, shearing and strapping mechanism (1300) to an end of a robotic arm (1100);

a first gripper (1330) mounted on the second surface (1312) for gripping the carton (1) from the carton stack (10) onto a work bench;

and the pneumatic scissors (1340) are connected with the first mounting plate (1310) and are used for cutting the packing belt on the periphery of the carton (1) on the workbench.

2. The de-stacking, shearing, strapping band mechanism (1300) of claim 1, wherein the number of the pneumatic shears (1340) is two, the two pneumatic shears (1340) are mounted on the same side edge of the first surface (1311), and the two pneumatic shears (1340) are oriented differently, with their respective shears bodies protruding from the first mounting plate (1310).

3. The de-stacking, shear, and strapping machine mechanism (1300) of claim 1, further comprising:

the first pneumatic clamp (1360), the pneumatic scissors (1340) and the packing belts on the periphery of the carton (1) are arranged in a one-to-one correspondence mode, and the first pneumatic clamp (1360) is used for clamping the corresponding packing belts before the corresponding pneumatic scissors (1340) cut off the corresponding packing belts.

4. The de-stacking, shearing, strapping band mechanism (1300) of claim 1, wherein the first gripper (1330) comprises a first vacuum chuck (1331).

5. The de-stacking, shearing, strapping and strapping mechanism (1300) of claim 4, wherein the first vacuum cup (1331) is connected to a first vacuum switch (1350), the first vacuum switch (1350) being configured to detect a vacuum level in the first vacuum cup (1331).

6. A reclaiming device (1000), wherein the reclaiming device (1000) comprises a robot arm (1100), a first control mechanism (1200) and the unstacking, shearing and packing belt mechanism (1300) as claimed in any one of claims 1 to 5 mounted at the end of the robot arm (1100), the first control mechanism (1200) is connected with the unstacking, shearing and packing belt mechanism (1300) for controlling the operation of the unstacking, shearing and packing belt mechanism (1300);

meanwhile, a machine side quick-change connecting disc is installed at the tail end of the mechanical arm (1100) and is used for being connected with the first tool side quick-change connecting disc (1320), so that the unstacking, shearing and packing belt mechanism (1300) is installed at the tail end of the mechanical arm (1100).

7. The reclaimer device (1000) of claim 6, wherein said reclaimer device (1000) further comprises:

the barrel grabbing mechanism (1400) is connected with the first control mechanism (1200) and used for grabbing barrels inside the carton (1) under the control of the first control mechanism (1200), and the barrel grabbing mechanism (1400) comprises a second tool side quick-change connecting disc (1410);

wherein a second control mechanism (2100) controlling the robotic arm (1100) switches the machine-side quick-change connector pad on the robotic arm (1100) to connect with the second tool-side quick-change connector pad (1410) according to the received trigger instruction.

8. The material extracting apparatus (1000) as claimed in claim 7, wherein the bucket grasping mechanism (1400) comprises:

a second mounting plate (1420) comprising a first surface (1421) and a second surface (1422) that are oppositely disposed, the second tool-side quick-change connector pad (1410) being mounted on the first surface (1421);

and the second pneumatic clamp (1430) is arranged on the second surface (1422) and is connected with the first control mechanism (1200) and is used for clamping the barrel material inside the carton (1) under the control of the first control mechanism (1200).

9. The reclaiming apparatus (1000) of claim 8, wherein the second pneumatic clamp (1430) includes:

a cylinder (1431) electrically connected to the first control mechanism (1200);

the first sub-clamping plate (1432) and the second sub-clamping plate (1433) are connected with the air cylinder (1431) so as to move towards or away from each other under the driving of the air cylinder (1431).

10. The reclaiming apparatus (1000) according to claim 9 wherein the first sub-clamp plate (1432) and the second sub-clamp plate (1433) are each L-shaped plates and the ends of the first sub-clamp plate (1432) and the second sub-clamp plate (1433) that are not connected to the cylinder (1431) are provided with arcuate notches (14321) that mate with the buckets.

11. The reclaimer device (1000) of claim 6, wherein said reclaimer device (1000) further comprises:

the bag material grabbing mechanism (1500) is connected with the first control mechanism (1200) and used for grabbing bag materials inside the carton (1) under the control of the first control mechanism (1200), and the bag material grabbing mechanism (1500) comprises a third tool side quick-change connecting disc (1510);

wherein a second control mechanism (2100) that controls the robot arm (1100) switches the machine-side land on the robot arm (1100) to be connected to the third tool-side quick-change land (1510) according to the received trigger instruction.

12. The material extracting apparatus (1000) according to claim 11, wherein the bag material grabbing mechanism (1500) comprises:

a third mounting plate (1520) comprising a first surface (1521) and a second surface (1522) which are oppositely arranged, the third tool side quick-change connector disc (1510) being mounted on the first surface (1521);

and the second vacuum chuck (1530) is arranged on the second surface (1522) and is connected with the first control mechanism (1200) and used for sucking the bag material in the carton (1) under the control of the first control mechanism (1200).

13. The reclaimer device (1000) of claim 6, wherein said reclaimer device (1000) further comprises:

a vision mechanism (1600) mounted on the robotic arm (1100) for taking a picture of a carton stack (10) to determine the position of the carton (1) in the carton stack (10) and taking a picture of the carton (1) placed on the table to determine the position of the strapping band at the periphery of the carton (1).

14. The reclaiming apparatus (1000) of claim 13, wherein the vision mechanism (1600) comprises:

a first visual sensor (1610) mounted on the robotic arm (1100) for taking a picture of the carton stack (10) to determine the position of the carton (1) in the carton stack (10);

a second vision sensor (1620) mounted on the robotic arm (1100) for taking a picture of the carton (1) placed on the table to determine the position of the strapping band at the periphery of the carton (1).